JPS62262774A - Method for supplying sealant to sealing robot - Google Patents
Method for supplying sealant to sealing robotInfo
- Publication number
- JPS62262774A JPS62262774A JP61106041A JP10604186A JPS62262774A JP S62262774 A JPS62262774 A JP S62262774A JP 61106041 A JP61106041 A JP 61106041A JP 10604186 A JP10604186 A JP 10604186A JP S62262774 A JPS62262774 A JP S62262774A
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- sealant
- pump
- relief valve
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000565 sealant Substances 0.000 title claims abstract description 35
- 238000007789 sealing Methods 0.000 title claims description 24
- 238000000034 method Methods 0.000 title claims description 7
- 238000011144 upstream manufacturing Methods 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 230000005856 abnormality Effects 0.000 abstract description 10
- 239000000463 material Substances 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000008023 solidification Effects 0.000 abstract 1
- 238000007711 solidification Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000010992 reflux Methods 0.000 description 1
- 239000006228 supernatant Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Coating Apparatus (AREA)
- Spray Control Apparatus (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は自動車の車体を搬送ライン上でシール剤塗布ロ
ボットにより被搬送物の必要箇所にシール剤を塗布する
シール剤自動塗布におけるシール剤の供給方法に関する
ものである。Detailed Description of the Invention (Field of Industrial Application) The present invention is applied to automatic sealant application in which a sealant is applied to necessary parts of an automobile body on a conveyance line by a sealant application robot to the necessary parts of the conveyed object. This concerns the supply method.
（従来の技術）
自動車の車体のスポットに溶接等によって接合されたパ
ネル等の合せ目に気密性、液密性を与えるためのシーリ
ングは搬送ライン上においてシーリングガンを用いて手
作業によって行われている。かかるシーリングを必要と
する箇所は多岐に亘り、特にエンジンルームの最奥部は
無理な姿勢による作業を余儀なくされ、且つ迅速に作業
を行うことが要求され、ために手作業の限界からくる数
多くの問題からシーリング工程には多人数を投入してシ
ーリング作業を行っているのが現状である。(Prior art) Sealing to provide airtightness and liquidtightness to the joints of panels, etc. that are joined by welding or the like to spots on the car body is performed manually using a sealing gun on the conveyor line. There is. There are a wide variety of locations that require such sealing, especially in the innermost parts of the engine room, where work is forced to be done in an awkward position and work must be done quickly, resulting in a large number of problems due to the limitations of manual work. Due to this problem, the current situation is that many people are involved in the sealing process.
（発明が解決しようとする問題点）
以上の従来の問題点に鑑みシーリング作業の自グロボシ
ドを搬送ラインに配置し、作業プログラムの手順に従っ
てシーリングロボットによりシーリング作業を行わせる
方式も試みられているが、パネル合せ目のバラつき、ボ
ディ精度誤差等のためノズルが被塗布部のパネル合せ目
から位置ズレを生じ良好なシーリングが行えない等の改
善すべき問題があり、そこで車体をライン上で正確に位
置決めすること、合せ目等のバラつきをなくし、シーリ
ングロボットによるシーリング自動作業化の精度向上が
研究されている。(Problems to be Solved by the Invention) In view of the above-mentioned conventional problems, attempts have been made to arrange autoglobosides for sealing work on a conveyance line and have a sealing robot perform the sealing work according to the steps of a work program. There are problems that need to be improved, such as variations in panel seams and body precision errors, which cause the nozzle to be misaligned from the panel seam in the area to be coated, making it impossible to achieve good sealing. Research is underway to improve the accuracy of automated sealing work using sealing robots by eliminating variations in positioning and seams.
ところで前記ロボットによるシーリング作業では、シー
ル剤を定量供給ポンプで供給する必要があり、かかるロ
ボットによりシール剤供給塗布にさいし、ポンプの吐出
側に詰まり等の異常が発生した場合、配管内が異常な高
圧となり、配管機器等を破壊する虞れがあること、ポン
プ吸入側に材料供給異常が生じた場合にはポンプが空運
転し、破損する虞れがあること、圧力をかけた状態で長
時間放置するとシール剤の固化を招くので作業終了時の
残圧抜き対策が必要である。By the way, in the above-mentioned sealing work using a robot, it is necessary to supply the sealant with a metered supply pump, and if an abnormality such as a blockage occurs on the discharge side of the pump when such a robot is supplying the sealant, it may cause an abnormality in the piping. There is a risk of high pressure resulting in damage to piping equipment, etc. If a material supply abnormality occurs on the pump suction side, the pump may run dry and be damaged, and the pump may be left under pressure for a long time. If left unattended, the sealant will solidify, so measures must be taken to release the residual pressure at the end of the work.
本発明は以上の問題点を解決すべくなされたもので、そ
の目的とする処は、シーリングロボットでシール剤を自
動的に塗布するにさいし、シール剤の供給ライン上に異
常が発生した場合、これを検出して異常に対処し、以っ
てシール剤供給系の保護を図るようにしたことにある。The present invention has been made to solve the above problems, and its purpose is to automatically apply sealant with a sealing robot, and when an abnormality occurs on the sealant supply line, This is detected and the abnormality is dealt with, thereby protecting the sealant supply system.
（問題点を解決するための手段）
以上の問題点を解決するための手段は、自動車車体を搬
送ライン上でシーリングロボットにより該車体の必要箇
所にシール剤を塗布するようにしたシーリング方法にお
いて、シール剤供給系に配設されるシール剤定量供給ポ
ンプの下流側に高圧用の圧力センサを、上流側に高・低
圧用の圧力センサを設けるとともに、供給系の高圧用圧
力センサの下流側と供給系の高・低圧用圧力センサの上
流側とにバイパス系路を設け、該各糸路には前記各セン
サの異常圧力検出で開くリリーフ弁を設け、該リリーフ
弁を圧力逃がし用バイパス系路に接続し、且つ定量供給
ポンプの運転を前記センサの異常圧力検出↑停止させる
ように構成したことである。(Means for Solving the Problems) A means for solving the above problems is a sealing method in which a sealing agent is applied to the necessary parts of an automobile body on a conveyance line by a sealing robot. A pressure sensor for high pressure is installed downstream of the sealant metering supply pump installed in the sealant supply system, and a pressure sensor for high and low pressure is installed upstream. A bypass system is provided upstream of the pressure sensor for high and low pressure in the supply system, and a relief valve that opens when abnormal pressure is detected by each of the sensors is provided in each thread path, and the relief valve is connected to the bypass system for pressure relief. and is configured to stop the operation of the quantitative supply pump when the abnormal pressure is detected by the sensor.
（上記手段による作用）
上記手段によれば、圧力異常でリリーフ弁を開いてシー
ル剤供給系の圧力を逃がし、一方ボンブの運転が停止さ
れ、配管１機器及びポンプは保護される。(Effects of the above means) According to the above means, the relief valve is opened in the event of pressure abnormality to release the pressure in the sealant supply system, while the operation of the bomb is stopped, and the piping 1 equipment and the pump are protected.
（実施例）
次に未発明の一実施例を添付図面を参照しつつ詳述する
。(Embodiment) Next, an embodiment of the invention will be described in detail with reference to the accompanying drawings.
第１図はシーリングロボット及びシール剤供給系の説明
図で、（１）はロボットで、これの先部にシール剤塗布
ノズル（２）が設けられ、これに塗布ガン（３）が付設
され、ガン（３）の開閉でノズル（２）からのシール剤
は供給され、遮断される。FIG. 1 is an explanatory diagram of a sealing robot and a sealant supply system. (1) is a robot, a sealant application nozzle (2) is provided at the tip of the robot, a coating gun (3) is attached to this, The sealing agent from the nozzle (2) is supplied and cut off by opening and closing the gun (3).
供給系はシール剤収納タンク（４）、シール剤を汲み上
げるメインポンプ（５）を備え、ポンプ（５）から主ラ
イン（６）でシール剤は送られ、分岐された各ロボット
毎の供給ライン（７）に送られる。ライン（７）には切
換弁（８）及びこれの下流にラインフィルタ（１０）が
介設され、この下流にレギュレータ（１１）を介設する
。レギュレータ（１１）の下流にはシール剤定量供給用
ポンプ（１２）を介設し、ポンプ（１２）はモータ（１
３）、減速機（１４）を介して運転される。The supply system includes a sealant storage tank (4) and a main pump (5) that pumps up the sealant.The sealant is sent from the pump (5) through the main line (6), and the branched supply line for each robot ( 7). The line (7) is provided with a switching valve (8) and a line filter (10) downstream of this, and a regulator (11) is provided downstream of this. A sealant quantitative supply pump (12) is installed downstream of the regulator (11), and the pump (12) is connected to the motor (1).
3), operated via a speed reducer (14).
ライン（７）のポンプ（１２）の下流には該ライン内の
所定以上の圧力を検出する高圧用センサ（１５）が介設
され、又上流には該ライン内の所定以上及び所定以下の
圧力を検出する高・低圧用センサ（１６）が介設される
。高圧用センサ（１５）の下流は配管（１７）を介して
ロポッ） （１）のガン（３）に接続されてシール剤を
ノズル（２）に供給する如くし、配管（１７）の下流で
センサ（１５）の下流のラインには逃がし用バイパス路
（１８）を分岐せしめ、該糸路（１８）にはリリーフ弁
（１９）を介設し、リリーフ弁（］９）はアクチュエー
タ（２０）で閉塞され、弁（１８）は常閉である。弁（
１９）の下流にはチェックバルブ（２１）を設けるとと
もに切換弁（２２）を介してタンク（４）への環流ライ
ン（２３）に接続する。又ライン（７）のレギュ１、
− ｋ ／＋＋％ ｌ＋ ＞”ｒ −ｇｒｆ
’ｌＴ１ ｍ 曳１ＪＪ−／ＩＱＮ ｔ＋ ／
％Ｉマロ Ｉｆ Ｉｆ ’ｌしがしバイパス用糸路
（２４）を分岐せしめ、この糸路（２４）にはアクチュ
エータ（２６）で開閉されるリリーフ弁（２５）を介設
し、該弁（２５）は常閉で、弁（２５）の上澄にチェッ
クバルブ（２７）を介設し、前記チェックバルブ（２１
）下流と合流せしめ、糸路（２３）に接続する。A high pressure sensor (15) is installed downstream of the pump (12) in the line (7) to detect a pressure above a predetermined level in the line, and a high pressure sensor (15) is installed upstream to detect pressure above a predetermined level and below a predetermined level in the line. A high/low pressure sensor (16) is provided to detect the high and low pressure. The downstream of the high pressure sensor (15) is connected to the gun (3) of the robot (1) through the piping (17) to supply sealant to the nozzle (2), and the downstream of the piping (17) A relief bypass path (18) is branched into the downstream line of the sensor (15), and a relief valve (19) is interposed in the yarn path (18), and the relief valve (9) is connected to the actuator (20). The valve (18) is normally closed. valve(
A check valve (21) is provided downstream of the tank (19) and connected to a reflux line (23) to the tank (4) via a switching valve (22). Also, regulation 1 of line (7),
− k /++% l+ ＞”r −grf
'lT1 m Hiki1JJ-/IQN t+/
If the bypass yarn path (24) is branched, a relief valve (25) that is opened and closed by an actuator (26) is interposed in this yarn path (24), and the valve ( 25) is normally closed, and a check valve (27) is interposed in the supernatant of the valve (25), and the check valve (21) is
) is merged with the downstream and connected to the yarn path (23).
以上のリリーフ弁（１９） 、（２５）の７クチユエー
タ（２０）、（２Ｂ）及び既述のストップ弁（９）の７
クチユエータ（２８）は夫々を開閉動作させる例えば圧
気系（２９）に介設したソレノイド弁（３ｏ）に接続し
、図では既述のガン（３）の開閉用ソレノイド弁（３１
）も回路中に併設し、弁（３０） 、（３１）夫々は圧
気ＩＸ （３２）に接続され、ソレノイド弁（３ｏ）は
図の接続された（Ａ）位置をアクチ！ ！ −タ（２０
） 、 （２Ｂ）、 （２８）（７） 閉トし、（Ｂ）
位置を７クチユエータ（２０）、（２Ｂ）、（２８）の
開位置とする。The above relief valves (19) and (25), the 7 cutout units (20) and (2B), and the already mentioned stop valve (9), 7.
Each of the actuators (28) is connected to a solenoid valve (3o) for opening and closing the gun (3), for example, which is installed in the pressure system (29).
) are also installed in the circuit, and the valves (30) and (31) are each connected to the pressure IX (32), and the solenoid valve (3o) is activated at the connected position (A) in the figure. ! -ta (20
), (2B), (28)(7) closed, (B)
The positions are set to the open positions of the seven cutuators (20), (2B), and (28).
以上において、タンク（４）内のシール剤はライン（８
）、（７）でフィルタ（ｌＯ）、レギュレータ（１１）
を介してポンプ（１２）に送り込まれ、ポンプ（１２）
で加圧され、配管（１７）でロボット（１）のガン（３
）を介してノズル（２）から吐出され、シール剤を塗布
する。In the above, the sealant in the tank (4) is
), (7) filter (lO), regulator (11)
is sent to the pump (12) via the pump (12).
The gun (3) of the robot (1) is pressurized through the pipe (17).
) is discharged from the nozzle (2) to apply the sealant.
ところで圧力センサ（１５）、（１Ｂ）でライン内のシ
ール剤圧力が異常である場合には次の如くで、第２図は
これのブロック説明図である。By the way, when the pressure of the sealant in the line of the pressure sensors (15) and (1B) is abnormal, the procedure is as follows, and FIG. 2 is a block diagram illustrating this.
ポンプ（１２）下流の圧力が高い場合１例えばノズルが
詰まったり等して圧力が所定以上の場合、圧力は比較回
路（３３）で比較され、高い場合にはこれの検出信号ポ
ンプ（１２）のモータ（１３）の駆動回路（３４）に送
り、これをオフさせ、ポンプ（１２）の運転を停止上す
る。一方、同時に該信号をリリーフ弁（ＩＳ）の７クチ
ユエータ（２０）駆動用ソレノイド弁（３０）の駆動回
路（３５）に送り、これを図のＡ位置から３位着に切り
換え、即ちアクチュエータ（２０）を開動作させ、リリ
ーフ弁（１９）を開き、ライン（７）内の圧力を逃がし
、同時にポンプ（１２）の運転を停止させる。When the pressure downstream of the pump (12) is high 1. For example, if the pressure is higher than a predetermined value due to a clogged nozzle, the pressure is compared in the comparator circuit (33), and if it is high, the detection signal of the pump (12) is It is sent to the drive circuit (34) of the motor (13) and turned off, thereby stopping the operation of the pump (12). On the other hand, at the same time, the signal is sent to the drive circuit (35) of the solenoid valve (30) for driving the 7th actuator (20) of the relief valve (IS), and this is switched from the A position in the figure to the 3rd position, that is, the actuator (20 ), the relief valve (19) is opened to release the pressure in the line (7), and at the same time the operation of the pump (12) is stopped.
高低圧用センサ（１６）上流の圧力が高い場合にも同様
に比較回路（３Ｂ）を介して出力を得、モータ駆動回路
（３４）をオフしてポンプ（１２）の運転を停止し、一
方、リリーフ弁（２５）の７クチユエータ（２６）の駆
動用ソレノイド弁（３０）の駆動回路（３７）にも出力
を送り、弁（３０）を前記と同様に（Ａ）位置から（Ｂ
）位置に切り換え、アクチュエータ（２６）を開動作さ
せ、リリーフ弁（２５）を開いて圧力を逃がし。When the pressure upstream of the high/low pressure sensor (16) is high, the output is similarly obtained via the comparison circuit (3B), the motor drive circuit (34) is turned off, and the operation of the pump (12) is stopped. , the output is also sent to the drive circuit (37) of the solenoid valve (30) for driving the seven-actuator (26) of the relief valve (25), and the valve (30) is moved from the (A) position to (B) in the same manner as above.
) position, open the actuator (26), and open the relief valve (25) to release the pressure.
同時にポンプ（１２）の運転を停止させる。At the same time, the operation of the pump (12) is stopped.
圧力センサ（１６）上流の圧力が所定以下の場合には比
較回路（３６）を介してこれを比較、検出し、モータ駆
動回路（３４）をオフさせ、ポンプ（１２）の空運転を
防止し、併せてリリーフ弁（２５）を開く。If the pressure upstream of the pressure sensor (16) is below a predetermined value, it is compared and detected via the comparison circuit (36), and the motor drive circuit (34) is turned off to prevent the pump (12) from running dry. , simultaneously open the relief valve (25).
以上の他のラインの運転を停止した場合、電源スィッチ
のオフによりソレノイド弁（３０）の常閉Ａ位置への励
磁を止め、３位着へ弁（３０）を復帰させてリリーフ弁
（Ｉｆ） 、（２５）を開き、ライン中の圧力を逃がし
てシール剤の固化を防ぐ。When the operation of the other lines mentioned above is stopped, the excitation of the solenoid valve (30) to the normally closed A position is stopped by turning off the power switch, the valve (30) is returned to the 3rd position, and the relief valve (If) is activated. , (25) to release the pressure in the line and prevent the sealant from solidifying.
以上の如く圧力の異常を検出し、ポンプの運転を停＋ｈ
Ｌ、併せてリリーフ弁を開いてライン内の圧力を逃が
す。As above, detect pressure abnormality and stop pump operation +h
L. At the same time, open the relief valve to release the pressure in the line.
（発明の効果）
グロボットによるシーリング作業において、シール剤供
給回路中の定量供給ポンプによるシール剤の供給がなさ
れるにさいし、目詰まりや材料不足等により高圧、低圧
の圧力異常を検出してリリーフ弁を開きライン圧力を低
減し、併せてポンプの運転を停止するようにしたので供
給ライン及びポンプの保護が図れ、又作業後のライン圧
力の低減によりシール剤の固化防止が図れ１以上を逃が
しバイパス回路、リリーフ弁、センサを付設し、リリー
フ弁駆動手段を付設するという簡単な構成で実現できる
。(Effects of the invention) During sealing work using a globot, when the sealant is supplied by the metered supply pump in the sealant supply circuit, pressure abnormalities in high and low pressures due to clogging or material shortage are detected and the relief valve is activated. Since the line pressure is opened and the pump operation is stopped, the supply line and pump can be protected, and by reducing the line pressure after work, the sealant can be prevented from solidifying, and one or more can be released and bypassed. It can be realized with a simple configuration of adding a circuit, a relief valve, a sensor, and a relief valve driving means.
図面は本発明の一実施例を示すもので、第１図はシーリ
ングロボット及びシール剤供給系の説明図、第２図はブ
ロック説明図である。
尚図面中（１）はシーリングロボット、（７）は供給系
、（１２）はポンプ、（１５） 、（１Ｂ）はセンサ。
（１９）、（２５）はリリーフ弁、（１８） 、（２４
）は逃がし用バイパス系路である。The drawings show one embodiment of the present invention, and FIG. 1 is an explanatory diagram of a sealing robot and a sealant supply system, and FIG. 2 is an explanatory block diagram. In the drawing, (1) is a sealing robot, (7) is a supply system, (12) is a pump, and (15) and (1B) are sensors. (19), (25) are relief valves, (18), (24)
) is a relief bypass line.
Claims (1)
該車体の必要箇所にシール剤を塗布するようにしたシー
リング方法において、シール剤供給系に配設されるシー
ル剤定量供給ポンプの下流側に高圧用の圧力センサを、
上流側に高・低圧用の圧力センサを設けるとともに、供
給系の高圧用圧力センサの下流側と供給系の高・低圧用
圧力センサの上流側とにバイパス系路を設け、該各系路
には前記各センサの異常圧力検出で開くリリーフ弁を設
け、該リリーフ弁を圧力逃がし用バイパス系路に接続し
、且つ定量供給ポンプの運転を前記センサの異常圧力検
出で停止させるように構成したことを特徴とするシーリ
ングロボットにおけるシール剤供給方法。In a sealing method in which a sealant is applied to the necessary parts of an automobile body by a sealing robot on a conveyance line, high pressure is applied to the downstream side of a sealant metering pump installed in the sealant supply system. sensor,
A pressure sensor for high and low pressures is provided on the upstream side, and a bypass line is provided downstream of the pressure sensor for high pressure in the supply system and upstream of the pressure sensor for high and low pressure in the supply system, and a bypass line is provided in each line. is provided with a relief valve that opens when abnormal pressure is detected by each of the sensors, the relief valve is connected to a bypass line for pressure relief, and the operation of the metering pump is configured to be stopped when abnormal pressure is detected by the sensor. A method for supplying sealant in a sealing robot characterized by:
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61106041A JPS62262774A (en) | 1986-05-09 | 1986-05-09 | Method for supplying sealant to sealing robot |
| CA000535446A CA1281896C (en) | 1986-04-23 | 1987-04-23 | Method of and apparatus for supplying coating agent to coating robot |
| GB8709620A GB2192567B (en) | 1986-04-23 | 1987-04-23 | Method of and apparatus for supplying coating agent to coating robot |
| US07/041,849 US4822647A (en) | 1986-04-23 | 1987-04-23 | Coating agent to coating robot, including a method and arrangement for protecting the apparatus from damage due to improper pressures in a supply line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61106041A JPS62262774A (en) | 1986-05-09 | 1986-05-09 | Method for supplying sealant to sealing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62262774A true JPS62262774A (en) | 1987-11-14 |
| JPH0338906B2 JPH0338906B2 (en) | 1991-06-12 |
Family
ID=14423551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61106041A Granted JPS62262774A (en) | 1986-04-23 | 1986-05-09 | Method for supplying sealant to sealing robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62262774A (en) |
-
1986
- 1986-05-09 JP JP61106041A patent/JPS62262774A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0338906B2 (en) | 1991-06-12 |
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