JPS61257262A - Coating apparatus for high viscous fluid - Google Patents

Abstract

PURPOSE:To coat a high viscous fluid efficiently by fitting plural pieces of coating guns to a coating apparatus main body and enabling the mutual relative positions of the plural coating guns to be regulated with a driving means. CONSTITUTION:In relation to an apparatus coating a high viscous fluid such as mastic sealer, a coating apparatus main body 22 is fitted to a tip of an arm 21 of a robot and a holding arm and a movable arm 24 are provided to the main body 22 and plural coating guns 25, 26 are fitted to these tip parts. The movable arm 24 is axially supported freely movably for the main body 22 by means of a pin 27 and both the holding arm and the movable arm 24 are opened and closed and the mutual distance interval L between the coating guns 25, 26 is optionally regulated. In such a way, since the mutual relative distance between the coating guns is capable of regulation, the operation efficiency is made excellent and wastefulness such as the line-drawing coating is omitted.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a high viscosity fluid applicator for applying high viscosity fluid such as mastic sealer, and in particular, to an apparatus capable of efficiently realizing application work. It is.

(Prior Art) High viscosity fluid application work by robots is performed in various industries. For example, in the assembly process of automobile parts, a mastic sealer applicator is used that applies mastic sealer to seal between panel members by discharging it from a paint gun in the applicator body attached to the tip of a robot arm. ing.

As shown in FIG. 7, the conventional mastic sealer coating device is equipped with a coating gun 3 at the tip of an arm 2 of a robot 1. A raw material supply hose 5 that guides the mastic sealer and an air hose 6 that guides working air.
are connected. A solenoid valve 7 is provided in the middle of the air hose 6 to control the operation of the coating gun 3. On the other hand, a panel member 9 to which a mastic sealer is to be applied is held on the workbench 8, and a coating gun 3 is set at a predetermined position on this panel member 9 to perform the application work.

Further, as shown in FIG. 8, the coating gun 3 discharges the mastic sealer supplied from the raw material supply hose 5 by opening and closing a needle valve 11 with respect to a valve seat 12. The needle valve 11 is connected to a piston 13, and is normally closed by the biasing force of a spring 14 attached to the piston 13.

Then, switch the solenoid valve 7 to connect the air hose 6.
When pressurized air is fed into the cylinder 15 from the cylinder 15, the piston 13 is moved against the spring 14, the needle valve 11 is opened, and the mastic sealer 16 is discharged as shown in FIG. It is now possible to

(Problem to be Solved by the Invention) However, since only one coating gun 3 is provided for each robot, one coating gun 3 is provided for each of the many locations on the member to be coated that require coating. However, the coating process takes time. In order to shorten the work time, line drawing work is also carried out in which the mastic sealer is continuously discharged while the application gun 3 is moved from one application point to the other. At the same time as it is consumed, the member to be coated must be made into a large shape so that the drawing and coating work can be carried out, which is extremely uneconomical and increases the weight. Furthermore, if a special multi-ejector for dot-like coating is used, it is possible to achieve efficient dot-like application, but it lacks versatility and makes it impossible to apply to a variety of materials. Become.

The present invention has been made in view of the problems of the prior art described above, and it is an object of the present invention to enable high viscosity fluid such as mastic sealer to be applied to multiple locations simultaneously.

(Means for Solving the Problems) The present invention to achieve the above object includes attaching a plurality of coating guns each discharging a high viscosity fluid to a coating device attached to the tip of a robot arm, and at least One of the coating guns is attached to the tip of a movable arm, and a drive means for driving the movable arm is provided in the coating apparatus main body, and the relative positions of the plurality of coating guns can be adjusted by the drive means. This is a high viscosity fluid coating device.

(Function) Since the relative positions of multiple coating guns can be adjusted, it is possible to simultaneously apply high viscosity fluid to multiple coating locations from each coating gun at a predetermined coating location.
The workability of applying high viscosity fluids has been greatly improved.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

As shown in FIGS. 1, 2, and 3, a coating device main body 22 is attached to the tip of an arm 21 of the robot. This applicator main body 22 has a holding arm 23 extending toward the front of the arm 21 and a movable arm 24 rotatably attached to the device main body 22. Coating guns 25° and 26 are respectively attached to the parts. The holding arm 23 is formed integrally with the coating device main body 22. Further, the movable arm 24 is bent in a dogleg shape, and is pivotally supported by a pin 27 with respect to the applicator main body 22 so as to be freely rotatable. As a result, the holding arm 23 and the movable arm 24 are opened and closed, and the coating gun 25.
The mutual distance between the 26 can be adjusted as desired.

Further, an air cylinder 28 with a brake is attached to the holding arm 23 via a mounting base 29, and the tip of the rod 32 of the air cylinder 28 with a brake is attached to the movable arm 24 via a bracket 31. It is pivoted. The air cylinder 28 with a brake has a brake part 33, and can stop the rod 32 at an appropriate position to arbitrarily determine the opening/closing amount of the movable arm 24. Further, a detection piece 34 is attached to the rod 32 and serves as a mark for the amount of protrusion of the rod 32, and the position of this detection piece 34 is detected by a position sensor 35 provided on the applicator main body 22 side. The opening/closing amount of the movable arm 24, that is, the distance W1 between the coating guns 25 and 26 is detected. The position sensor 35 consists of a light sensor, a proximity switch, etc., and in particular, as shown in FIG.
It is attached to the applicator main body 22 via a bracket 36. Note that a lead wire 37 extending from the position sensor 35 is connected to a controller (not shown).

Further, a raw material supply hose 38 extending from the coating gun 25, 26 is connected to a high-pressure pump (not shown), and an operating air hose 39 is connected to an air supply source (not shown) via a solenoid valve 41. It is connected. On the other hand, an air hose 42 for the air cylinder 28 with a brake is connected to an air supply source via a solenoid valve 43.

To carry out work using such a coating device, first, the arm 21 of the robot is operated to move each of the coating guns 25, 26 closer to each coating point. At this time, the air cylinder 28 with brake is operated to apply the recoating gun 25.2.
This positioning is performed by making the distance interval 6 equal to the distance interval between both application points, and by detecting the position of the detection target piece 34 with a position sensor 35. At the same time, the reapplication guns 25 and 26 are transported to a predetermined position that has been taught in advance by an operation on the robot side. There, the working air is reapplied through the air hose 39 to the gun 25.2.
6, and the mastic sealer fed through the raw material supply hose 38 is discharged from the coating gun 25,26.

As a result, coating work is performed at two locations simultaneously. In this case, the dispensing time of the mastic sealer is controlled by a timer to ensure optimal dot application. By repeating these steps, the coating work is performed on two locations at a time.

Incidentally, since the time required to set the reapplying guns 25 and 26 at predetermined distance intervals is shorter than the time required to move the arm 21 of the robot, there is no delay in cycle time due to position setting.

Furthermore, it is also possible to operate only one of the recoating guns 25 and 26 to perform coating work one point at a time. In this way, even if there are coating points with long intervals, coating can be performed one by one.

Further, an electric motor may be used to adjust the position of the reapplication gun 25, 26, or a potentiometer or the like may be used as the position sensor 35.

Figures 4 to 6 show hoses (38, 39°42)
This figure shows the winding device. This winding device winds up the surplus hoses around the outer periphery of a reel 51 that is mounted on a frame 50 through a hose guide 52. A balancer 53 is connected via a wire 54. The balancer 53 is set to have a spring force that almost balances the weight of the hoses, so that the hoses are always wound in just the right amount. Also,
Ends of the hoses are connected to a rotating hose 56 extending radially from the center of the reel 51. The rotating hose 56 extends outside the reel 51 through an internal passage of the rotating shaft of the reel 51, and is connected to a supply side hose (not shown) via a swivel joint 55 at its externally extending end. has been done.

If such a hose winding device is attached, the hoses can be moved in and out as the robot moves, and excess slack in the hoses can prevent the movement of the robot from being affected. I can do it.

(Effects of the Invention) As described above, according to the present invention, a plurality of coating guns each discharging a high viscosity fluid are attached to a coating device attached to the tip of a robot arm, and at least one of the coating guns is attached to the tip of a movable arm, and a drive means for driving the movable arm is provided in the applicator main body, and the relative positions of the plurality of coating guns can be adjusted by the drive means, compared to conventional devices. It is possible to achieve several times the work efficiency and eliminate unnecessary coating operations such as line drawing coating. Furthermore, there is no need to introduce a dedicated multi-ejector, making it possible to carry out a versatile and economical coating operation.

[Brief explanation of drawings]

FIG. 1 is a side view showing a high viscosity fluid coating device according to an embodiment of the present invention, FIG. 2 is a plan view showing the main parts of FIG. 1, and FIG.
The figure is an enlarged plan view of the main part of Fig. 2, Fig. 4 is a side view showing a hose winding device used in the fluid application device of the present invention, and Fig. 5 is an enlarged sectional view of the reel shown in Fig. 4. , Fig. 4 is a side view of Fig. 7, Fig. 7 is a side view showing a conventional high viscosity coating device, Fig. 8 is an enlarged vertical cross-sectional view of the coating gun, and Fig. 9 is the coating shown in Fig. 8. FIG. 3 is a sectional view showing the discharge state of the gun. It is. 21... Robot arm, 22... Applicator main body, 23... Holding arm, 24... Movable arm, 25
．． 26... Application gun, 28... Air cylinder with brake, 35... Position sensor, 3B, 39.42... Hoses, 41.43... Solenoid valve.

Claims (1)

[Claims] A plurality of coating guns each discharging a high viscosity fluid are attached to a coating device attached to the tip of the arm of the robot, and at least one of the coating guns is attached to the tip of a movable arm, and a driving means for driving the movable arm. A high viscosity fluid coating device, characterized in that the coating gun is provided in the coating device main body, and the relative positions of the plurality of coating guns can be adjusted by the driving means.