JPS6336829B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in an apparatus for automatically applying a sealant to sheet metal joints in an automobile body, particularly to sheet metal joints in a wheel house.

Conventionally, in the painting process of automobiles, for example, a sealer was applied to the sheet metal joints in the wheel housing by humans to make them waterproof. However, this work had to be carried out from below the vehicle body, facing upwards, resulting in poor posture and extremely fatigued workers.

Therefore, when trying to have a robot perform this work, conventional robots are generally articulated (shaped like a human arm), so their structure is complex and heavy, and they cannot work at high speeds.In addition, they are cantilevered. Because of this, the accuracy was poor, and therefore it was not possible to perform highly precise work such as applying sealant to the joints of sheet metal. Furthermore, since the car body is continuously moved during the painting process, the robot must also be moved together with the car body, resulting in a complex structure and poor accuracy.

The present invention solves the above-mentioned problems, and includes a conveyor that transports the hanger device on which the car body is placed to the next process after stopping it at an intermediate point, and a conveyor that is installed below the above-mentioned intermediate point to transport the car body located at the intermediate point. A positioning device that is lifted and positioned by the hanger device, a first member that is movable in a straight line in a horizontal direction, a second member that is movable in a horizontal direction perpendicular to the first member, and a positioning device that is mounted on the second member. A third member that is erected, a fourth member that moves up and down along the third member, and a nozzle device that is rotatable and tiltable with respect to the fourth member and that spouts a sealant, and is attached to the positioned vehicle body. The present invention relates to a sealant application device characterized by having a sealer application device for applying a sealant.

Therefore, there is no need for a person to apply the sealant in a bad posture, which is good for the health of the worker. Further, in order to move the sealing device three-dimensionally, the first, second, and fourth members need only move linearly, so the structure is easy, the movement accuracy is high, and the sealing device can be moved at high speed.
Further, since the first and second members move in the horizontal direction, there is no need to support the load movement of both members during movement, and the movement can be performed at high speed and with high precision. In addition, since the sealant application work is carried out with the vehicle body stopped, the accuracy of the application work is improved and the construction of the sealing device is simplified.

Hereinafter, one embodiment of the present invention will be specifically described. 1 to 7, the hanger rail 1 extends from the undercoating process of the painting line through the sealant application process 2 to the undercoat painting process (not shown) as shown in FIG. 1. The hanger device 3 is movably suspended from the rail 1 and has a vehicle body 4 placed thereon. The first conveyor 8 is provided in the undercoating process and engages with the hanger device 3 from which the vehicle body 4 is hung, and continuously moves the hanger device 3.
The second conveyor 9 is provided along the hanger rail 1 in the sealant application process 2, moves the hanger device 3 that has entered the hanger rail 1 in the sealant application process 2, positions it on the positioning device 5, and stops it. When the sealant application work is completed, the hanger device 3
is conveyed to the starting end of the third conveyor 10. The third conveyor 10 is provided along the hanger rail 1 in the undercoat painting process.

The positioning device 5 is provided with a hydraulic cylinder 52 on a base 51, and a support plate 53 on the operating rod of the hydraulic cylinder 52. Further, this support plate 53 is provided with a guide rod 58, and this guide rod 58 is engaged with the base 51 so that it can move up and down. This support plate 53
Support stands 54 and 54' are provided at two locations each to support the load of the vehicle body 4, and the support stands 54 come into contact with a front stringer (not shown) of the car body 4, and the support stand 54' comes into contact with a rear brace (not shown) of the car body 4. The vehicle body 4 is supported by these. As shown in FIG. 2, the first clampers 55 clamp the front braces 42 extending in the vehicle width direction at the front end of the floor panel 41 of the vehicle body 4. and a fixed member 551 that is pivotally supported by the fixed member 551.
The arm 553 is formed in a letter shape and has one end facing the fixing member 551 and the other end engaged with an operating rod of an electromagnet 552. 2nd clamper 5
As shown in FIG. 3, numeral 6 is for clamping front stringers 43 extending in the longitudinal direction on the lower surface of the floor panel 41. L-shaped stringers 6 are provided on the left and right sides in the vehicle width direction, and the middle part is pivotally supported by the support plate 53. has a first arm 561 and a second arm 562, one end of the first arm 561 and one end of the second arm 562 are opposite to each other, and the other end of the first arm 561 and the second arm 562 are opposite to each other.
An electromagnet 563 is attached to the other end of the arm 562, respectively.
The actuating rod is engaged. 3rd Clamber 57
As shown in FIG. 4, the rear frame 44 of the vehicle body 4, which extends in the longitudinal direction of the vehicle body, is clamped, and one end is connected to the fixing member 571 provided on the left and right sides of the vehicle body width direction and fixed to the support plate 53. 571 and an electromagnet 572 at the other end.
The arm 573 engages with the actuating rod of the arm 573 and is pivotally supported by the fixing member 571.

As shown in FIG. 1, the sealer applicators 6 and 6' are provided at the front and back of the positioning device 5 in the conveyance direction of the vehicle body 4 (left and right in FIG. 1), and since both 6 and 6' have the same shape, they will be referred to as sealer applicators hereinafter. Only 6 will be explained.

As shown in FIGS. 5 to 7, the sealer applicator 6 has two main rails 61 disposed on a base O so as to extend parallel to each other and perpendicular to the transport direction of the hanger rail 1. The first member 62 is movably mounted on the main rail 61 via rollers 63. Further, the first member 62 is provided with a first pulse motor 64, and a gear 65 provided on the drive shaft of this motor 64 meshes with a rack 66 mounted on the main rail 61. The second member 67 is moved between the first member 67 by a roller 670 provided on a stay 671.
The vehicle body 4 is placed on a rail 620 protruding from the side thereof so as to be movable in the transport direction of the vehicle body 4. Further, a second pulse motor 68 provided on the second member 67 is engaged with a rack 69 of the second member 67 via a gear. The third member 70 is formed into a gate shape and is planted on the second member 67. The fourth member 72 has two sides 701 and 702 extending perpendicularly to the third member 70.
It is held slidably in the vertical direction. The fourth member 72 includes a frame 721, a pipe 722, and a drive device 7.
23, consists of a third pulse motor 724, and the frame body 7
21 is connected to the two sides 701 through the slider 725,
702 so as to be slidable in the vertical direction, and the pipe 7
22 extends from the center lower part of the frame 721 in the left-right direction in FIG. 6 to the upper side of the third member 70;
and is supported on the upper side so as to be slidable in the vertical direction. The third pulse motor 724 is attached to the bottom surface of the lower end of the frame 721 and meshes with a rack 73 provided on the side 701 via a gear 726. The two helical springs 74 have a spring case 741 fixed to the two sides of the third member 70 and the lower outer sides of the third member 701 and 702, respectively, and the spring body 742 to the two sides 7 of the third member 70.
It is locked to the frame 721 of the fourth member 72 via a reel 743 provided on the upper part of the fourth member 702. The drive device 723 is a fourth and fifth pulse motor 72
7,728, an inner shaft 729 and an outer shaft 730, the fourth pulse motor 727 is connected to a pipe-shaped outer shaft 730 via a gear, and the outer shaft 730 is connected to a pipe 72.
2 from its lower end to its upper end. Further, the fifth pulse motor 728 is interlocked with the lower end of the inner shaft 729 via a gear. The inner shaft 729 is provided coaxially with the outer shaft 730 and inserted through the outer shaft 730. As shown in FIG. 7, the wrist device 75 has a case member 751 that is rotatably provided around the axis of the pipe 722 via a bearing at the upper end of the pipe 722.
51 is fixed to the upper end of the outer shaft 730. Furthermore, inside the case member 751, a first bevel gear 752 is fixed to the inner shaft 729 and is rotatable to the case member 751, and a first bevel gear 75 is provided.
A sealer shaft 754 is provided which has a second bevel gear 753 that meshes with the inner shaft 729 and is rotatable around an axis perpendicular to the inner shaft 729 . The sealer shaft 754 is formed in an inverted T-shape and
It has a letter-shaped sealer flow hole 755. The left end of the sealer flow hole 755 is connected to a sealer supply source via a hose (not shown), and the upper end of the sealer flow hole 755 is connected to the nozzle device 76 .

Hereinafter, the effects of the present invention will be explained.

As shown in FIG. 1, the car body 4 suspended from the hanger rail 1 by the hanger device 3 is continuously moved by the first conveyor 8 during the undercoating process.
It is carried from the conveyor 8 to the second conveyor 9 for the sealant application step 2.

Then, the second conveyor 9 detects this with a limit switch or the like, moves the hanger device 3 to the position shown in FIG. 1, and stops its operation here. The limit switch detects this and operates the hydraulic cylinder 52 of the positioning device 5. Therefore, the support plate 53 rises while being guided by the guide rod 58, the support stands 54, 54' contact the front stringer and rear brace of the vehicle body 4, and the vehicle body 4 is lifted off the hanger device 3 and stopped. In response to this, the first to third clampers 5 are automatically
5, 56, 57 electromagnets 552, 563, 572
is activated and arms 553, 561, 562, 57
Rotate 3. That is, the arm 553 of the first clamper 55 tilts from the state shown by the broken line in FIG. 2 to the state shown by the solid line, and clamps the front brace 42 in cooperation with the fixing member 551. Further, the first and second arms 561 and 562 of the second clamper 56 are
As shown in the figure, electromagnets 563 and 5 are
63 rotates to the solid line state and clamps the front stringer 43. Furthermore, the arm 573 of the third clamper 57 rotates from the state shown by the broken line as shown in FIG. 4, and clamps the rear frame 44 in cooperation with the fixing member 571. Here, each electromagnet 552, 563, 572 once lowers the actuating rod to release the first to third clampers 55 to 57, and immediately raises the same rod again to release the first to third clampers 55 to 57.
The vehicle body 4 is fixed on the positioning device 5 by clampers 55 to 57.

When the clamp is detected by the limit switch, the sealing devices 6, 6' are automatically activated.
Here, since the sealing device 6 and the sealing device 6' operate in the same manner, only the operation of the sealer application device 6 will be described below.

In the sealer applicator 6, the first member 62 is first located at the left end in FIG. 6, and the first pulse motor 6 shown in FIG. 5 is activated by a signal from the limit switch.
4 by a predetermined number of rotations to turn the gear 65 meshed with the rack 66, the first member 6 is moved to the right in FIG.
2 stops and positions the first member 62 below the front wheel house of the vehicle body 4. Next, this stoppage is automatically detected and the third pulse motor 724 is rotated to raise the fourth member 72 to a predetermined position.
At the same time, the fifth pulse motor 728 is rotated a predetermined number of revolutions to rotate the inner shaft 729. As a result, the bevel gear 753 is rotated by the bevel gear 752 of the inner shaft 729, and the sealer shaft 7
54 rotates to tilt the nozzle device 76 counterclockwise from the state shown in FIG. Thereby, the tip of the nozzle device 76 faces a joint of a sheet metal (not shown) in the right front wheel house of the vehicle body 4.

Next, the limit switch detects that the nozzle device 76 has reached the initial position. Then, the sealer is sent to the sealer distribution hole 755 at a constant pressure from a sealer supply device (not shown), and then to the nozzle device 76, and at the same time, the fifth pulse motor 728, the second pulse motor 68, the third pulse motor 724, The fourth pulse motor 727 is operated at a predetermined number of rotations, and the inner shaft 729 and the second
Member 67, fourth member 72, outer shaft 730
rotate or move the nozzle device 76;
The nozzle device 76 is tilted, moved up and down, and moved in the front-rear direction of the vehicle body 4, and the tip of the nozzle device 76 is moved along a thin band-shaped joint of an arcuate sheet metal (not shown) in the right wheel house to apply sealer to the joint.

When the nozzle device 76 reaches the end of the seam, the limit switch detects this and stops the supply of sealer to the nozzle device 76, and at the same time the third
The pulse motor 724 is activated to lower the wrist device 75 to the state shown in FIG. 5, which activates the limit switch to operate the first pulse motor 64 by a predetermined number of rotations, moving the first member 62 to the state shown in FIG. the second intermediate position. As a result, the wrist device 75 is located below the left front wheel house of the vehicle body 4. Then, the limit switch detects this and switches the second to fifth pulse motors 6.
8, 724, 727, and 728 by a predetermined number of rotations, and the tip of the nozzle device 76 is made to face the sheet metal joint at the rear end of the left front wheel house. Then, the sealer is automatically supplied from the sealer supply device to the nozzle device 76, and at the same time, the second to fifth pulse motors 68, 724, 727, 728 are operated by a predetermined number of rotations to move the tip of the nozzle device 76 to the left side. Move from the rear end of the front wheel house sheet metal joint to the front end, and apply sealer to the sheet metal joint.

When the tip of the nozzle device 76 reaches the front end, a limit switch is activated to stop supplying sealer to the nozzle device 76, and at the same time, the second to fifth pulse motors 68, 724, 727, 728 are rotated by a predetermined number of rotations. The wrist device 75, the fourth member 72, and the second member 67 are operated to move to the states shown in FIGS. 5 and 6, and then the first pulse motor 64 is rotated to move the first member 62 to the state shown in FIG. return to its original position at the left end.

Then, the first to third clampers 55 to 5 are automatically activated.
7 operates the electromagnets 552, 563, 572 to release the clamp on the vehicle body 4, and then the hydraulic cylinder 52 operates to lower the support plate 53. Thereby, the vehicle body 4 is placed on the hanger device 3. When the lowering of the support plate 53 is detected by the limit switch, the second conveyor 9 is activated to transport the hanger device 3 from the position shown in FIG. 1 to the third conveyor 10.
is transported by the third conveyor 10 to an undercoat painting process.

Further, the sealer application device 6' also operates in synchronization with the sealing device 6, and automatically applies the sealer to the sheet metal joint in the rear wheel house.

Therefore, labor costs can be saved because the sealer, which was conventionally applied by humans, can be applied automatically, and the conventional sealer application work is done inside the wheel house, which requires an upward position, which is not good for health.
Since you don't have to do this, it is also good for health management.

Furthermore, in order to linearly move the first and second members 62 and 67 in the horizontal direction, the first and second pulse motors 64 and 68 that move both of the members 62 and 67 are
Since there is no need to move the second members 62, 67 against the full load, the first and second members 62, 67 can be moved in the horizontal direction at high speed and with high accuracy using a small motor. Furthermore, the fourth member 72 is connected to the fourth member 7 by a helical spring 74 whose tensile force against elongation is constant.
Since the third pulse motor 724 is pulled with a force equal to the load of the fourth member 72, there is no need for the third pulse motor 724 to support the load of the fourth member 72.
The member 72 can be moved up and down. That is, the first to third
The pulse motors 64, 68, 724 are
Since it is only necessary to move the members 62, 67, and 72, and there is no need to support their loads during movement, each of the members 62, 67, and 72 can be moved at high speed and with high precision. Thus, the tip of the nozzle device 76 can be reliably moved along a thin arcuate line.

Furthermore, the third member 70 is formed in a gate shape, and the second
Since it is planted on the member 67, the third member 70
has a large strength, and both left and right sides 7 of this third member 70
Since the left and right surfaces of the fourth member 70 are guided by 01 and 702, the fourth member 70 does not swing back and forth and left and right, so the nozzle device 76 can reliably trace the joint of the sheet metal.

In addition, the sealer device 6 includes a first second fourth member 6
2, 67, and 72 move linearly to move the wrist device 75 in three-dimensional directions, and because it is not a cantilever type like conventional robots, the structure is simple and highly accurate.

Moreover, the first to third clampers 5 of the positioning device 5
5 to 57, the vehicle body 4 is clamped once and then immediately released and clamped again, so that when the vehicle body 4 is first clamped, the vehicle body 4 is attached to the support base 54 of the support plate 53,
Even if the vehicle body 4 is clamped without being completely placed on the support bases 54, 54', once it is released, the vehicle body 4 will completely fall onto the support bases 54, 54' due to its own weight and reach a predetermined position. 4 is clamped while being deviated in the front, rear, left and right directions, the first to third clampers 5 must be clamped once again after being released.
5 to 57, the vehicle body 4 is moved to a normal position and clamped, ensuring accurate positioning.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing one embodiment of the present invention, and FIG.
The figure shows the first clamper 55 of the positioning device 5 in FIG.
FIG. 3 is a front view showing the positioning device 5 of FIG.
4 is a front view showing the third clamper 57 of the positioning device 5, FIG. 5 is a front view of the sealing device 6 of FIG. 1, and FIG. 6 is a front view of the sealing device 6 of the positioning device 5. 6 and FIG. 7 are enlarged sectional views of essential parts of the sealing device 6. 1: hanger rail, 3: hanger device, 4: vehicle body, 5: positioning device, 6: sealer application device,
9: Second conveyor, 54, 54': Support stand, 55
~57: Clamper, 62: First member, 67: Second
Member, 70: Third member, 72: Fourth member, 75:
Wrist device, 76: Nozzle device.

Claims (1)

[Claims] 1. A conveyor that transports the hanger device on which the vehicle body is placed to the next process after stopping it at an intermediate point, and a positioning device that is provided below the intermediate point and uses the hanger device to lift and position the vehicle body located at the intermediate point. , a first member movable in a straight line in a horizontal direction, a second member movable in a horizontal direction perpendicular to the first member, and a third member installed on the second member.
A fourth member that moves up and down along the third member and a nozzle device that can rotate and tilt with respect to the fourth member and sprays a sealant, and applies the sealant to the positioned vehicle body. A sealant application device comprising a sealer application device.