KR101713702B1 - Sealer nozzle device - Google Patents

Abstract

A sealer application device is disclosed. The disclosed sealer applying device is a device for applying a sealer as a moving part from a lower part of a moving part of a vehicle body to a stationary member mounted on an arm end of the robot, and (ii) Iii) a rotary member rotatably mounted on the stationary member separately from the valve unit; iv) a spring member selectively contacting the moving part and being flexibly connected to the valve unit, And a position control unit for supporting the nozzle unit and slidably and slidably mounted on the rotary member and determining a movement range of the nozzle unit with respect to the rotary member and restoring the nozzle unit to a correct position as an elastic force can do.

Description

[0001] SEALER NOZZLE DEVICE [0002]

An embodiment of the present invention relates to a sealer applying apparatus, and more particularly to a sealer applying apparatus applied to a sealer applying process of a vehicle body.

Generally, in the coating process of the vehicle body, the undercoating process includes a process for applying sealer, deadener, and RPP (Rocker Panel Primer) to the vehicle body.

Among these processes, the sealer application process is a process in which a sealer is applied to a joint portion between panels such as a door, a side outboard, a fender, a roof, a hood, a trunk lid, etc. of a vehicle body to allow external dust and various foreign substances to penetrate through the joint portion of the panel And to improve watertightness, rust prevention and noise prevention of the vehicle body.

The sealer application process is divided into an integrated sealer, a lower sealer, and an Euler sealer depending on the purpose of the operation. The sealer is classified into an outer sealer, a lower sealer, and a moving part sealer depending on a working area. In order to improve the quality of the sealer, And internal sealers are adopting automation.

However, since the sealing process of the moving parts such as the hood and the trunk lid of the vehicle body requires a position correcting system capable of correcting the coating position of the sealer in accordance with the position distribution of the moving parts, the investment cost of the entire equipment is increased.

In addition, in the sealing process of the moving part, since the robot locus is interfered with the lower end of the two-layered ceiling of the painting sealer line, it is impossible to apply sealing automation to the moving part.

Embodiments of the present invention are directed to providing a sealer applicator that can implement sealing automation of moving parts such as hoods and trunk lids and does not require a position correction system to correct for position scattering of moving parts.

A sealer applying apparatus according to an embodiment of the present invention is a sealer applying apparatus for applying a sealer to a moving part from a lower side of a moving part of a vehicle body, comprising: i) a fixing member mounted on an arm end of the robot; and ii) Iii) a rotary member rotatably mounted on the stationary member separately from the valve unit; iv) a valve member selectively contacting the moving part, A nozzle unit which is flexiblely connected to the unit and which injects the sealer into the moving part; v) a nozzle unit which is mounted to slidably and flowably support the nozzle unit, , And a position control unit for restoring the nozzle unit to the correct position as an elastic force.

The sealer applying device according to an embodiment of the present invention may include a driving motor fixedly mounted on the fixing member and mounted to be connected to the rotating member to rotate the rotating member in the forward and reverse directions for a predetermined interval.

In the sealer applying apparatus according to an embodiment of the present invention, the rotating member includes a rotating plate connected to the driving motor, a cylindrical body having a lower end coupled to the rotating plate and surrounding the valve unit, And a ring-shaped support for supporting the position control unit.

In the sealer applying apparatus according to an embodiment of the present invention, the position control unit includes a disk-like flow member fixedly mounted on the nozzle unit, and a plurality of positioning members disposed on the inner peripheral surface of the support member A plurality of leg members which are slidably mounted to be movable in a direction of the center of the flow member and a spring which is mounted to the leg members between the flow member and the leg member.

In the sealer applying apparatus according to the embodiment of the present invention, an induction groove having a round cross-sectional shape may be formed on the inner circumferential surface of the support body to support the leg members with a predetermined clearance and to limit the movement displacement of the flow member .

In the sealer applying apparatus according to an embodiment of the present invention, the guide groove defines a locking region for locking the flow member as the rotary member rotates, and an unlocking region for unlocking the flow member .

In the sealer applying apparatus according to the embodiment of the present invention, the gap between the flow member and the guide groove with respect to the unlocking region may be set to be larger than the gap between the flow member and the guide groove with respect to the locking region.

In the sealer applying apparatus according to an embodiment of the present invention, the guide groove may form four rounded corner portions along the circumferential direction of the inner circumferential surface of the support.

In the sealer applying apparatus according to an embodiment of the present invention, the guide groove may have the unfixed area of the rounded corner portion, and the straightened portion between the rounded corner portions may be a locking region.

In the sealer applying apparatus according to an embodiment of the present invention, the valve unit may be connected to the nozzle unit through a sealer hose.

In the sealer applying apparatus according to the embodiment of the present invention, the sealer hose may be provided with a spring for exerting an elastic force with the flow member and restoring the position of the sealer hose.

In the sealer applying apparatus according to the embodiment of the present invention, the nozzle unit may be provided with a pair of flange portions for supporting the flow member.

In the sealer applying apparatus according to the embodiment of the present invention, the fixing member may be provided with a plurality of guide projections for guiding rotation of the rotary plate.

In the sealer applying apparatus according to an embodiment of the present invention, the rotary plate may be formed with a plurality of slot holes, in which the guide protrusions are fitted, and a rotation range of the rotary member is limited.

In the sealer applying apparatus according to an embodiment of the present invention, the fixing member includes a cylindrical body portion having a lower end coupled to an arm end of the robot and the drive motor installed therein, and a cylindrical body portion coupled to an upper end portion of the body portion And a cover portion on which the guide protrusions are installed.

In the sealer applying apparatus according to an embodiment of the present invention, the valve unit includes a plurality of support rods that penetrate the rotary plate and are installed in the cover portion, a mounting bracket installed at an upper end of the support rods, And a control valve connected to the nozzle unit through a sealer hose.

In the sealer applying apparatus according to the embodiment of the present invention, the sealer hose may be provided with a spring which exerts an elastic force by the position control unit and restores the position of the sealer hose.

In the sealer applying apparatus according to an embodiment of the present invention, slot-type through holes through which the support rods are passed may be formed in the rotary plate.

The nozzle unit may include a nozzle tip connected to the valve unit, and a guide pin connected to the nozzle tip and contacting the moving part. In the sealer applying apparatus according to an embodiment of the present invention,

The embodiments of the present invention can apply the sealer on the lower part of the moving part of the vehicle body and the sealer on the moving part in a contact manner.

Therefore, in the embodiment of the present invention, since the robot locus is not interfered with the lower end of the two-layer ceiling of the painting sealer line from the lower side of the moving part, sealing automation for the moving part becomes possible.

Further, in the embodiment of the present invention, since the nozzle unit is configured to be movable and the position of the nozzle unit is corrected through the position control unit itself, a vision system for correcting the position of the nozzle with vision as in the prior art It does not need it, and it can reduce the investment cost of the whole plant.

These drawings are for the purpose of describing an exemplary embodiment of the present invention, and therefore the technical idea of the present invention should not be construed as being limited to the accompanying drawings.
1 is a view schematically showing a process system to which a sealer applying apparatus according to an embodiment of the present invention is applied.
2 and 3 are perspective views showing a sealer applying apparatus according to an embodiment of the present invention.
Fig. 4 is a front view of the configuration of Fig. 2. Fig.
5 and 6 are views showing a position control unit applied to a sealer applying apparatus according to an embodiment of the present invention.
7 to 10 are views for explaining the operation of the sealer applying apparatus according to the embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. .

1 is a view schematically showing a process system to which a sealer applying apparatus according to an embodiment of the present invention is applied.

A sealer applying apparatus 100 according to an embodiment of the present invention is a sealer applying apparatus for a sealer applied to a door, a side outer, a fender, a loop, a hood, a trunk lid or the like of a vehicle body 1, To the sealer applying step.

That is, the sealer applying apparatus 100 applies a sealer to the joint between the panels of the vehicle body 1 in the lowering process of the painting factory to prevent external dust and various foreign substances from penetrating into the panel, The watertightness, the rust prevention and the prevention of noise in the process system.

For example, the sealer applying apparatus 100 can be applied to a moving part 3, for example, a hood and a trunk lid of a vehicle body 1 that require correction of a sealer applying position in accordance with the scattering of the position and the assembling position of the vehicle body 1. [ For example.

The sealer applying apparatus 100 according to the embodiment of the present invention corrects the sealer application position on the moving part 3 without being interfered with the robot locus by the lower end of the two-layered ceiling of the painting sealer line, 3) can be automatically implemented.

For this purpose, in the embodiment of the present invention, the sealer applying apparatus 100 can be configured to apply the sealer in a contact manner below the moving part 3 of the vehicle body 1 without interference of the robot locus.

The sealer applying apparatus 100 may be configured at the tip of the arm 7 of the robot 5 constructed on the floor of the worksite outside the transfer system MS for transferring the vehicle body 1. [

That is, the sealer applying apparatus 100 can apply the sealer to the moving part 3 without being interfered with the locus of the robot 5 from the lower side of the moving part 3 to the lower-end ceiling of the second sealer line have.

Hereinafter, the configuration of the sealer applying apparatus 100 according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIGS. 2 and 3 are perspective views showing a sealer applying apparatus according to an embodiment of the present invention, and FIG. 4 is a front structural view of FIG.

2 to 4, the sealer applying apparatus 100 according to the embodiment of the present invention basically includes a fixing member 10, a valve unit 30, a rotary member 50, A nozzle unit 70, and a position control unit 80, which will be described below in terms of their constitution.

The fixing member 10 is fixedly mounted on the tip of the arm 7 of the robot and includes a body 11 to which the lower end is coupled to the tip of the arm 7 of the robot, And a cover portion 13 coupled to an upper end portion of the cover portion 13.

The body portion 11 has a cylindrical shape with its upper and lower ends opened, and the lower end of the cylinder can be coupled to the tip of the arm 7 of the robot.

A drive motor 20 for rotating the rotary member 50, which will be described later, in the forward and reverse directions is provided on the inner wall surface of the body portion 11.

In this case, the driving motor 20 may be fixed to the inner wall surface of the body part 11 through the fixing bracket 22 inside the body part 11. [

The cover portion 13 is formed in a disk shape and can be coupled to the upper end of the body portion 11. A plurality of (four) guide protrusions 15 for guiding the rotation of the rotary member 50 may be provided on the upper surface of the cover portion 13 so as to protrude at intervals of 90 degrees.

The drive shaft 24 of the drive motor 20 is rotatably passed through the center of the cover 13 and the drive shaft 24 protrudes from the upper surface of the cover 13 .

In this embodiment, the valve unit 30 is for fixing the supply and return of the sealer to the nozzle unit 70, which will be described later, and is fixedly mounted to the cover portion 13 of the fixing member 10 .

The valve unit 30 includes a plurality of support rods 31 mounted on the upper surface of the cover portion 13, a mounting bracket 33 provided on the upper end of the support rods 31, a mounting bracket 33, And a control valve 35 installed in the main body.

The support rods 31 are installed vertically in the vertical direction, and the mounting brackets 33 are fixed to the upper ends of the support rods 31.

The control valve 35 is for supplying a sealer pneumatically fed from a separate sealer supply device (not shown in the figure) to a nozzle unit 70 to be described later or returning the sealer to the sealer supply device.

The control valve 35 is a 3-way valve known in the art and is connected to a sealer feeder through a sealer feed line 41 and a sealer return line 43 , And can be connected to the nozzle unit (70) through the sealer hose (45).

The rotating member 50 is rotatably mounted on the fixing member 10 separately from the valve unit 30 and includes a rotating plate 51, a cylindrical body 53, a supporting body 55, .

The rotating plate 51 has a disk shape connected to the driving motor 20 and a central portion thereof can be coupled to the driving shaft 24 of the driving motor 20.

The guide protrusions 15 provided on the cover 13 of the fixing member 10 are fitted to the edge of the rotary plate 51 and a plurality of slot holes 57 are formed at regular intervals along the circumferential direction.

That is, the rotary plate 51 is guided and rotated by the guide protrusions 15 fitted in the slot holes 57, and can be rotated to a predetermined section within the range of the slot hole 57.

The support rods 31 of the valve unit 30 mentioned above are inserted between the slot holes 57 of the rotary plate 51 and the central portion thereof and fixed to the cover portion 13 of the fixing member 10 A pair of through holes 59 are formed.

The through holes 59 are formed in the form of slots facing each other with the drive shaft 24 of the drive motor 20 at the center.

That is, the through hole 59 is for preventing the rotation plate 51 from interfering with the support rods 31 when the rotation plate 51 is rotated by the drive motor 20.

The cylindrical body 53 has a cylindrical shape with open ends at both ends (upper and lower ends), and the lower end of the cylindrical body 53 can be coupled to the rotary plate 51 while surrounding the valve unit 30.

In this case, when the rotary plate 51 is rotated by the drive motor 20, the cylindrical body 53 rotates together with the rotary plate 51, and the sealer supply line 41 and the sealer 51, And a window 61 for avoiding interference with the return line 43 is formed.

The window 61 has a length corresponding to the rotation range of the rotary plate 51 and penetrates the wall surface of the cylindrical body 53. The sealer supply line 41 and the sealer return line 43 penetrate the window 61 And can be fixed to the body portion 11 of the fixing member 10.

The support 55 supports the position control unit 80 to be described later. The support 55 is fixed to the inner circumferential surface of the upper end of the cylindrical body 53 in the form of a ring having an inner wall surface of a predetermined width .

The specific configuration of such a support body 55 will be described in detail later with the position control unit 80. [

In the present embodiment, the nozzle unit 70 injects a sealer into a moving part 3 (see Fig. 1) of the vehicle body 1 (see Fig. 1 below), and selectively contacts the moving part 3 And can be connected to the sealer hose 45 of the valve unit 30 in a flexible manner.

The nozzle unit 70 is connected to the control valve 35 of the valve unit 30 via a sealer hose 45 and includes a nozzle tip 71 for substantially spraying the sealer to the moving part 3, And a guide pin 73 connected to the moving part 71 and in contact with the moving part 3.

Here, a pair of flange portions 75 (see FIG. 5) are formed at certain intervals in the portion of the nozzle tip 71 connected to the sealer hose 45.

The sealer hose 45 is provided with a first spring 77 that exerts a resilient force to the position control unit 80 to be described later and restores the position of the sealer hose 45.

The first spring 77 is supported by the mounting bracket 33 of the valve unit 30 at one side end (the lower end in the drawing) and the other end (the upper end in the drawing) And is supported by the support portion 75.

In the present embodiment, the position control unit 80 determines the moving range of the nozzle unit 70 relative to the rotary member 50, and restores the nozzle unit 70 to the correct position as an elastic force will be.

The position control unit 80 supports the nozzle unit 70 and is slidably and movably mounted on the support 55 of the rotary member 50. The position control unit 80 is mounted on the support 55 of the rotary member 50, A flow member 81, leg members 83, and a second spring 85.

The flow member 81 is formed in a disc shape and fixedly installed between the flange portion 75 of the nozzle unit 70 and the rotary member 50 separately.

That is, the flow member 81 does not rotate in the rotating direction of the rotary member 50, but moves in the vertical direction (reference to the drawing) as the nozzle unit 70 flexibly flows, Respectively.

Four leg members 83 are disposed at regular intervals (90 degrees apart) of the flow member 81 and are slidably brought into close contact with the inner circumferential surface of the support member 55, 81 in the direction of the center.

The second spring 85 is mounted on each leg member 83 between the flow member 81 and the leg member 83.

An induction groove 63 for supporting the leg members 83 with a predetermined clearance and restricting the movement (flow) displacement of the fluid member 81 is formed on the inner circumferential surface of the support body 55 of the rotary member 50, .

The guide groove 63 has a round cross-sectional shape and has a locking region for locking the flow member 81 with respect to the support body 55 of the rotary member 50 as the rotary member 50 is rotated in one direction, (65) and an unlocking area (67) for unlocking the flow member (81).

The gap D between the flow member 81 and the guide groove 63 with respect to the unlocking region 67 is set to be equal to the distance d between the flow member 81 and the guide groove 63 with respect to the locking region 65 ). ≪ / RTI >

In other words, the guide groove 63 forms four rounded corner portions 69a along the circumferential direction of the inner circumferential surface of the support body 55. The rounded corner portion 69a includes the unlocking region 67, And a straight section 69b between the rounded corner portions 69a may be formed as a locking region 65. [

Hereinafter, the operation of the sealer applying apparatus 100 according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings and the accompanying drawings.

First, in the embodiment of the present invention, as shown in Fig. 7, the driving motor 20 is driven to rotate the rotary member 50 in one direction.

The rotary member 50 is guided by the guide protrusions 15 of the fixing member 10 and is rotated in one direction by a predetermined interval in the slot hole 57 of the rotary plate 51.

Here, the guide protrusion 15 reaches a position for locking the flow member 81 in the slot hole 57 of the rotary plate 51, so that the rotary member 50 is moved in one direction The leg members 83 of the position control unit 80 are slipped in the guide groove 63 of the support body 55 and are positioned in the locking region 65. [

That is, the leg members 83 are positioned in the straight line section 69b of the locking region 65, and the elastic members of the second spring 85 overcome the elastic force of the second spring 85 and enter the inside of the flow member 81, The spring 85 is compressed by the leg members 83 to apply an elastic force to the flow member 81. [

Accordingly, the flow member 81 is maintained in the locked state by the elastic force of the second spring 85, and the nozzle unit 70 is also kept in the locked state.

The laser beam is irradiated to the nozzle tip 71 of the nozzle unit 70 while the nozzle unit 70 is locked via the flow member 81 so that the tip of the nozzle tip 71 Check for deformation.

8, in order to apply the sealer to the moving part 3 of the vehicle body 1, after the completion of the inspection of the deformation of the nozzle unit 70 as described above, (20) to rotate the rotary member (50) in the other direction.

The rotary member 50 is guided by the guide protrusions 15 of the fixing member 10 and is rotated in the other direction by the interval set in the slot hole 57 of the rotary plate 51. [

Here, the guide protrusion 15 reaches a position for unlocking the flow member 81 in the slot hole 57 of the rotary plate 51. As shown in FIG. 6 (a), the rotary member 50 The leg members 83 of the position control unit 80 slip into the guide groove 63 of the support body 55 and are positioned in the unlocking area 67 as they rotate in the other direction.

That is, as the leg members 83 are positioned at the round corner portion 69a of the unlocking region 67, they move outwardly from the inside of the flow member 81 by the elastic restoring force of the second spring 85 do.

Accordingly, the flow member 81 maintains the unlocked state while the elastic force of the second spring 85 is released, so that the nozzle unit 70 is also maintained in the unlocked state.

In this state, in the embodiment of the present invention, the sealer applying device 100 approaches the moving part 3 of the vehicle body 1 through the robot 5 at the initial teaching position as shown in Fig.

At this time, the nozzle unit 70 and the sealer hose 45 connecting the nozzle unit 70 and the valve unit 30 are linearly aligned in the up-and-down direction by the first spring 77, And the flow member 81 is positioned at the rounded corner portion 69a of the unlocking region 67 in a state where the leg members 83 are elastically supported by the second spring 85, (See Fig. 6 (a)).

10, when the sealer applying apparatus 100 is moved to the moving part 3 side of the vehicle body 1 through the robot 5, the guide pin 73 of the nozzle unit 70 is moved The nozzle tip 71 is moved (moved) in one direction by the moving part 3 while being in contact with the nozzle 3.

The flow member 81 slips in the direction of one side while the leg member 83 which is inclined in the region of the guide groove 63 is slipped by the clearance interval of the guide groove 63, Thereby supporting the flow.

Here, the leg member 83, which is inclined in one direction, overcomes the elastic force of the second spring 85 and enters the inside of the flow member 81, and the elastic force of the second spring 85 is transmitted to the flow member 81, Lt; / RTI >

The nozzle tip 71 then applies the sealer supplied through the valve unit 30 with the moving part 3 in a state in which the guide pin 73 is in contact with the moving part 3.

When the sealer applying apparatus 100 is moved to the outside of the moving part 3 through the robot 5 in a state where the application of the sealer to the moving part 3 is completed as described above, The leg member 83 is restored to the correct position by the elastic restoring force of the spring 85 and returned to its original position (refer to FIG. 6 (a)).

Thus, the nozzle unit 70 is restored to its original position in a straight line with the sealer hose 45, and the sealer hose 45 is also restored to its original position by the first spring 77.

As described above, according to the sealer applying apparatus 100 according to the embodiment of the present invention, the sealer can be applied under the moving part 3 of the vehicle body 1, and the sealer can be applied to the moving part 3 in a contact manner The sealer can be applied.

Therefore, in the embodiment of the present invention, since the robot 5 does not interfere with the trajectory of the robot 5 from the lower side of the moving part 3 to the lower two-layer ceiling of the painting sealer line, sealing automation for the moving part 3 becomes possible.

Further, in the embodiment of the present invention, since the nozzle unit 70 is configured to be able to flow flexibly and the position of the nozzle unit 70 is corrected through the position control unit 80 itself, It is not necessary to have a vision system for correcting the position of the nozzle, thereby reducing the investment cost of the entire facility.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And it goes without saying that the invention belongs to the scope of the invention.

1 ... body 3 ... moving parts
5 ... robot 7 ... arm
10 ... fixing member 11 ... body portion
13 ... Cover part 15 ... Guide projection
20 ... drive motor 22 ... fixed bracket
24 ... drive shaft 30 ... valve unit
31 ... support rod 33 ... mounting bracket
35 ... control valve 41 ... sealer supply line
43 ... Sealer return line 45 ... Sealer hose
50 ... rotating member 51 ... rotating plate
53 ... cylindrical body 55 ... support
57 ... slot hole 59 ... through hole
61 ... window 63 ... guiding groove
65 ... locking area 67 ... unlocking area
69a ... Rounded corner portion 69b ... Linear section
70 ... nozzle unit 71 ... nozzle tip
73 ... guide pin 75 ... flange portion
77 ... First spring 80 ... Position control unit
81 ... flow member 83 ... leg member
85 ... second spring D, d ... spacing
MS ... transfer system

Claims (14)

A sealer applying apparatus for applying a sealer to a moving part from a lower side of a moving part of a vehicle body,
A fixing member mounted on an arm end of the robot;
A valve unit fixedly attached to the fixing member for controlling supply and return of the sealer;
A rotary member rotatably mounted on the fixed member separately from the valve unit;
A nozzle unit that is selectively in contact with the moving part and is connected to the valve unit in a flexible manner, and injects the sealer into the moving part;
A position control unit that supports the nozzle unit and is slidably and slidably mounted on the rotary member, determines a movement range of the nozzle unit with respect to the rotary member, and restores the nozzle unit as a resilient force to a proper position; And
And a driving motor fixedly attached to the fixing member and mounted to be connected to the rotating member to rotate the rotating member in the forward and reverse directions for a predetermined interval,
The rotary member includes a rotating plate connected to the driving motor, a cylindrical body coupled to a lower end of the rotating plate and surrounding the valve unit, and a ring-shaped support coupled to an upper end of the cylindrical body and supporting the position control unit In addition,
Wherein the position control unit comprises: a disk-like flow member fixedly mounted on the nozzle unit; a nozzle member disposed at a predetermined interval around the flow member and slidably in close contact with an inner circumferential surface of the support member, And a spring mounted on each of the leg members between the flow member and the leg member. delete delete delete The method according to claim 1,
Wherein the guiding grooves are formed on the inner circumferential surface of the support with a predetermined clearance, the guiding grooves having a round cross-sectional shape for limiting the movement displacement of the flow member. 6. The method of claim 5,
The guide groove
A locking region for locking the flow member as the rotary member rotates; and an unlocking region for unlocking the flow member. The method according to claim 6,
Wherein an interval between the flow member and the guide groove with respect to the unlocking region is set to be larger than an interval between the flow member and the guide groove with respect to the locking region. The method according to claim 6,
The guide groove
Four rounded corner portions are formed along the circumferential direction of the inner circumferential surface of the support,
Wherein the round corner portion comprises an unlocking region, and the straight section between the rounded corner portions constitutes a locking region. The method according to claim 1,
Wherein the valve unit is connected to the nozzle unit through a sealer hose,
Wherein the sealer hose is provided with a spring for exerting an elastic force to the flow member and restoring the position of the sealer hose,
Wherein the nozzle unit is provided with a pair of flange portions for supporting the flow member. The method according to claim 1,
The fixing member is provided with a plurality of guide protrusions for guiding rotation of the rotary plate,
Wherein the rotary plate has a plurality of slot holes formed therein for fitting the guide protrusions and limiting a rotation range of the rotary member. 11. The method of claim 10,
Wherein:
A cylindrical body portion having a lower end coupled to an arm end of the robot and having the drive motor installed therein,
A cover member coupled to an upper end of the body portion and provided with the guide protrusions,
. 12. The method of claim 11,
The valve unit includes:
And a control valve connected to the nozzle unit through a sealer hose, the control bracket being mounted on the mounting bracket, and a control valve connected to the nozzle unit through a sealer hose, Sealer application device. 13. The method of claim 12,
Wherein the sealer hose is provided with a spring for exerting an elastic force to the position control unit and restoring the position of the sealer hose,
And slot-shaped through-holes through which the support rods pass are formed in the rotary plate. The method according to claim 1,
Wherein the nozzle unit comprises:
A nozzle tip connected to the valve unit; and a guide pin connected to the nozzle tip and contacting the moving part.

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