KR102242259B1 - Swirl sealer application system and method of applicating sealer using same - Google Patents

Abstract

The swirl sealer application system according to an embodiment of the present disclosure is configured to spray and apply the sealer to the surface of the panel constituting the vehicle body in a form in which the swirl pattern is repeated, and control the amount of eccentricity in the direction in which the sealer is sprayed on the surface of the panel. A possible application device; A camera device configured to capture an image of the sealer applied to the surface of the panel when the application device sprays the sealer with each adjusted eccentricity to apply; And a control device configured to control the application device and the camera device. The control device controls the coating device to spray and apply the sealer with a first eccentric amount corresponding to the target coating width set on the surface of the panel, and capture a first image of the applied sealer by spraying the first eccentric amount on the surface of the panel. Control the camera device, measure the first coating width of the sealer based on the first image of the sealer, and if the measured first coating width of the sealer is different compared to the set target coating width of the sealer, the first eccentricity amount in the coating device The coating device is controlled so that the sealer sprayed by the sprayer is sprayed with a second eccentric amount for compensating for different coating widths.

Description

Swirl sealer application system and sealer application method using the same {SWIRL SEALER APPLICATION SYSTEM AND METHOD OF APPLICATING SEALER USING SAME}

The present disclosure relates to a swirl sealer application system and a sealer application method using the same.

The vehicle body is assembled by welding or bonding panels of various metal materials, and during the assembly process, a paste-like material having characteristics such as adhesion, sealing, vibration suppression, rust prevention, waterproofing, and strength reinforcement (hereinafter referred to as'sealer'). It is applied to the panel of metal material by this application device.

In order to increase the completeness of the assembly quality of a vehicle, an inspection device configured to check whether a sealer applied to a panel constituting a vehicle body is defective has been proposed. However, conventionally, the coating device and the inspection device have been operated as separate separate devices that are individually operated by an operator. For this reason, even if a sealer application defect is confirmed through the inspection device, in order to eliminate the application defect, the operator needs to newly set the application condition of the coating device, and it is difficult to quickly solve the sealer application defect. That is, with the conventional coating device and the inspection device, there is a problem in that it takes a considerable amount of time to secure the initial quality of the sealer applied to the panel constituting the vehicle body.

Embodiments according to the present disclosure provide a swirl sealer coating system capable of quickly securing the initial quality of a sealer applied in a swirl pattern to a panel constituting a vehicle body, and a sealer coating method using the same.

One aspect of the present disclosure provides embodiments of a swirl sealer application system. The swirl sealer application system according to an exemplary embodiment is configured to spray the sealer on the surface of the panel constituting the vehicle body in a form in which the swirl pattern is repeated, and the amount of eccentricity in the direction in which the sealer is sprayed to the surface of the panel can be adjusted. Applicator; A camera device configured to capture an image of the sealer applied to the surface of the panel when the application device sprays the sealer with each adjusted eccentricity to apply; And a control device configured to control the application device and the camera device. The control device controls the coating device to spray and apply the sealer with a first eccentric amount corresponding to the target coating width set on the surface of the panel, and capture a first image of the applied sealer by spraying the first eccentric amount on the surface of the panel. Control the camera device, measure the first coating width of the sealer based on the first image of the sealer, and if the measured first coating width of the sealer is different compared to the set target coating width of the sealer, the first eccentricity amount in the coating device The coating device is controlled so that the sealer sprayed by the sprayer is sprayed with a second eccentric amount for compensating for different coating widths.

In one embodiment, the application device may include an electric application gun assembly in which the eccentric angle of the nozzle toward the surface of the panel is adjusted to adjust the amount of eccentricity.

In one embodiment, the application device may include a pneumatic application gun assembly in which the pressure of air blown to the sealer sprayed toward the surface of the panel is adjusted to adjust the amount of eccentricity.

In one embodiment, the control device determines the first amount of eccentricity according to the set application condition, and the set application condition is among the eccentric angle of the nozzle toward the surface of the panel and the pressure of air blown on the sealer sprayed toward the surface of the panel. It may include a first application condition including any one and a spray distance of the sealer.

In an embodiment, the set application condition may further include a second application condition including a sealer application temperature, a viscosity of the sealer, and a sealer application speed.

In one embodiment, the control device calculates a first compensation value for adjusting the amount of eccentricity based on the set target application width of the sealer, the first eccentricity amount, and the measured first application width of the sealer, and the first amount of eccentricity and the first compensation The second eccentricity can be determined based on the value.

In one embodiment, the control device calculates a first calculation value obtained by subtracting the measured first coating width of the sealer from the set target coating width of the sealer in order to determine the second eccentricity amount, and determining the first eccentricity amount. And a memory device for storing information on a control table set based on a set application condition for the control table, and the information on the control table may include information on a reference compensation value set in each of the plurality of calculation value comparison sections. The processing unit calculates the reference compensation value of the calculation value comparison section corresponding to the first calculation value among the plurality of calculation value comparison periods as a first compensation value, and determines a second eccentricity amount by adding the first compensation value to the first eccentricity amount. I can.

In one embodiment, the control device controls the camera device to capture a second image of the sealer applied by spraying with a second eccentric amount on the surface of the panel, and based on the second image of the sealer, the second application width of the sealer is determined. When the measured second coating width of the sealer is different from the set target coating width of the sealer, the coating device is configured so that the sealer sprayed with the second eccentric amount from the coating device is sprayed with a third eccentric amount to compensate for the different coating width. Can be controlled.

In one embodiment, the control device calculates a second compensation value for adjusting the amount of eccentricity based on the set target application width of the sealer, the second eccentricity amount, and the measured second application width of the sealer, and the second eccentricity amount and the second compensation value. The third eccentricity can be determined based on the value.

In one embodiment, the processing device calculates a second calculation value obtained by subtracting the measured second coating width of the sealer from the set target coating width of the sealer, and an operation corresponding to the second calculation value among a plurality of calculation value comparison intervals. The reference compensation value of the value comparison section may be calculated as the second compensation value, and the third eccentricity amount may be determined by adding the second compensation value to the second eccentricity amount.

In one embodiment, if the measured first coating width of the sealer is smaller than the set target coating width of the sealer, the control device is configured to reduce the difference between the set target coating width of the sealer and the measured first coating width of the sealer. If the coating device is controlled so that the amount of eccentricity is increased, and the measured first coating width of the sealer is larger than the set target coating width of the sealer, the first measurement is to reduce the difference between the measured first coating width of the sealer and the set target coating width of the sealer. The application device can be controlled so that the amount of eccentricity is reduced.

In one embodiment, the application device comprises: a pump assembly having at least one pump connected to a sealer supply source and installed in the sealer room; A filter assembly for filtering the sealer transferred from the pump assembly; A booster assembly for extruding the sealer filtered in the filter assembly to be sprayed onto the surface of the panel through the application gun assembly; A robot that moves the panel relative to the application gun assembly; And a sealer transfer channel through which the sealer is transferred between the pump assembly, the filter assembly, the booster assembly, and the application gun assembly, and the sealer transfer channel may include a high-pressure pipe for heating and maintaining the sealer transferred therein to a set temperature. .

In one embodiment, the swirl sealer application system may further include a robot controller connected to the control device to control the driving of the robot.

Another aspect of the present disclosure provides embodiments of a sealer application method that can be performed by the swirl sealer application system described above. A method of applying a sealer according to an exemplary embodiment is the step of spraying a sealer with an eccentric amount in a direction of spraying to the surface of the panel corresponding to a target coating width set on the surface of a panel constituting a vehicle body, and applying a swirl pattern in a repeating manner. ; Capturing a first image of the sealer applied to the surface of the panel; Measuring a first coating width of the sealer based on the first image of the sealer, and comparing the measured first coating width of the sealer with a set target coating width of the sealer; And when the measured first coating width of the sealer is different from the set target coating width of the sealer, calculating a compensation value for compensating for the different coating width, and adjusting the eccentricity of the sealer applied to the surface of the panel based on the compensation value. Includes steps.

In an embodiment, a method of applying a sealer comprises: capturing a second image of a sealer applied by spraying it on a surface of a panel with a controlled eccentricity; Measuring a second application width of the sealer based on the second image of the sealer, and comparing the second application width of the sealer with a set target application width of the sealer; And when the second coating width of the sealer is different from the set target coating width of the sealer, a compensation value for compensating for the different coating width is calculated again, and the eccentricity of the sealer applied to the surface of the panel is calculated based on the calculated compensation value. It may further include the step of adjusting again.

In one embodiment, the step of spraying and applying the sealer with an eccentric amount corresponding to the target application width set on the surface of the panel includes determining an eccentric amount corresponding to the target application width set according to the set application condition, and the set application Conditions include the first application condition including the spray distance of the sealer and the eccentric angle of the nozzle toward the surface of the panel, the pressure of air blown to the sealer sprayed toward the surface of the panel, the application temperature of the sealer, and the viscosity of the sealer. , It may include a second application condition including the application rate of the sealer.

In one embodiment, the step of calculating the compensation value and adjusting the eccentricity of the sealer sprayed on the surface of the panel based on the compensation value is calculated by subtracting the measured coating width of the sealer from the set target coating width of the sealer. Calculating a value; Obtaining a compensation value corresponding to an operation value from information in a control table set by the first application condition and the second application condition; And adding a compensation value to the amount of eccentricity of the sealer.

In one embodiment, in the step of adjusting the eccentricity of the sealer, if the measured coating width of the sealer is smaller than the set target coating width of the sealer, the difference between the set target coating width of the sealer and the measured coating width of the sealer. When the measured coating width of the sealer is larger than the set target coating width of the sealer, it may be adjusted to decrease in order to reduce the difference between the measured coating width of the sealer and the set target coating width of the sealer.

According to embodiments of the present disclosure, information such as a pattern for determining the coating quality of a sealer is shared between the coating device and the camera device, and is connected to the control device so as to be interlocked with each other. During the sealer application process, it is possible to check in real time whether or not the sealer is defective, and if the sealer is not applied, the application device matches the compensated application condition to solve the sealer application defect without resetting the application condition by the operator. It can work. In addition, the compensated application condition can be utilized as a basis for the application condition in the next operation. That is, repetitive learning may be performed in order to eliminate the coating defect of the sealer, and the application condition may be reset based on information obtained through the learning. Therefore, it is possible to easily and quickly solve the defective application of the sealer. According to the swirl sealer application system and sealer application method according to the embodiments of the present disclosure, not only the completeness of the assembly quality of the automobile is improved by solving the defect of the sealer application, but also the initial quality of the sealer applied to the panels constituting the vehicle body is improved. By significantly reducing the time required to secure it, it is possible to improve the productivity of automobile manufacturing.

1 is a block diagram illustrating a swirl sealer application system according to an embodiment of the present disclosure.
2 is a perspective view showing a swirl sealer application system according to an embodiment of the present disclosure.
3 is a perspective view showing a swirl sealer application system according to another embodiment of the present disclosure.
4 is a view for explaining an eccentric angle of a nozzle in the application gun assembly according to an embodiment of the present disclosure.
5 is a view for explaining a swirl pattern formed by the sealer sprayed from the nozzle shown in FIG. 4.
6 is a view showing a part of an application gun assembly according to another embodiment of the present disclosure.
7 is a diagram illustrating an example of a panel to which a sealer is applied in a swirl pattern according to an embodiment of the present disclosure.
8 is a diagram illustrating an example of a control table according to an embodiment of the present disclosure.
9 is a diagram illustrating an example of a table for setting an operation value comparison section and a reference compensation value included in a control table according to an embodiment of the present disclosure.
10 is a block diagram illustrating a method of applying a sealer according to an embodiment of the present disclosure.
11 is a block diagram illustrating a method of controlling an eccentric amount of a sealer in a method of applying a sealer according to an exemplary embodiment of the present disclosure.
12 is a block diagram illustrating a step of adjusting an eccentric amount of a sealer in a method of applying a sealer according to an embodiment of the present disclosure.

Embodiments of the present disclosure are illustrated for the purpose of describing the technical idea of the present disclosure. The scope of the rights according to the present disclosure is not limited to the embodiments presented below or specific descriptions of these embodiments.

All technical and scientific terms used in the present disclosure have meanings generally understood by those of ordinary skill in the art, unless otherwise defined. All terms used in the present disclosure are selected for the purpose of more clearly describing the present disclosure, and are not selected to limit the scope of the rights according to the present disclosure.

Expressions such as "comprising", "having", "having", "having", and the like used in the present disclosure indicate the possibility of including other embodiments, unless otherwise stated in the phrase or sentence in which the expression is included. It should be understood as open-ended terms.

Expressions in the singular form described in the present disclosure may include the meaning of the plural form unless otherwise stated, and the same applies to the expression in the singular form described in the claims.

Expressions such as "first" and "second" used in the present disclosure are used to distinguish a plurality of elements from each other, and do not limit the order or importance of the corresponding elements.

In the present disclosure, when a component is referred to as being "connected" or "connected" to another component, a component can be directly connected to or can be connected to another component, or a new other component It is to be understood that it may or may be connected via an element.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding components are assigned the same reference numerals. In addition, in the description of the following embodiments, overlapping descriptions of the same or corresponding components may be omitted. However, even if description of a component is omitted, it is not intended that such component is not included in any embodiment.

The embodiments disclosed below and the embodiments shown in the accompanying drawings are applied by applying a sealer in a swirl pattern to the surface of a panel constituting a vehicle body of an automobile, and checking the quality of the applied sealer in real time. It relates to a system in which a device and an inspection device are integrated (hereinafter, simply referred to as a "swirl sealer application system").

The swirl sealer application system according to the embodiments may be installed adjacent to an assembly line of a vehicle through which a panel of metal materials constituting a vehicle body is conveyed, but the installation location of the swirl sealer application system is not limited thereto.

The sealer used in the swirl sealer application system is a one-component paste-like material mainly composed of epoxy resin, and may be mixed with a latent curing agent and other additives. Such a sealer may be applied to a panel of a vehicle body and then thermally cured when passing through a drying furnace, thereby exhibiting functions such as adhesion of the panel and rust prevention.

1 is a block diagram illustrating a swirl sealer application system 1000 according to an exemplary embodiment of the present disclosure, and FIG. 2 is a perspective view illustrating a swirl sealer application system 1000 according to an exemplary embodiment of the present disclosure.

The swirl sealer application system 1000 of an embodiment shown in FIGS. 1 and 2 includes a hood panel, a door panel, a side panel, a trunk lid panel, and a tail constituting a vehicle body. It may be referred to as a hemming sealing system capable of applying the sealer 10 in a swirl pattern to a hemming junction of a panel 20 such as a tail gage panel.

1 and 2, the swirl sealer application system 1000 of an embodiment is configured to spray and apply the sealer 10 to the surface of the panel 20 constituting the vehicle body in a form in which the swirl pattern is repeated. The applicator 100, the camera device 200 configured to capture an image of the sealer 10 applied to the surface of the panel 20, and the applicator 100 and configured to control the operation of the camera device 200 It includes a control device (300). The coating device 100 may adjust the amount of eccentricity in the spraying direction of the sealer with respect to the surface of the panel 20 so as to adjust the width of the swirl pattern of the sealer 10. In addition, the camera device 200 may capture an image of the sealer 10 applied to the surface of the panel 20 when the coating device 100 sprays the sealer 10 with each adjusted eccentricity to apply. .

In the swirl sealer application system 1000 of an embodiment, information such as a pattern for determining the coating quality of the sealer 10 between the application device 100 and the camera device 200 may be shared with each other through the control device 300. have. That is, when the sealer 10 is applied, the control device 300 reads the image of the sealer 10 acquired in real time through the camera device 200 to detect whether or not the sealer 10 is applied. When a defect is confirmed, the operation of the coating device 100 may be controlled so as to quickly resolve the coating defect. The control device 300 can numerically check the coating defect of the sealer 10 by comparing the information obtained by reading the image of the sealer 10 with preset information, and the operation of the coating device 100 based on this. Can be controlled. Accordingly, when a defective application of the sealer 10 is confirmed during the application process of the sealer 10, the operator does not need to operate the application device 100 to newly set the application condition of the sealer 10, so that the sealer ( 10) can be quickly solved. In addition, since an operator does not need to enter a place where the swirl sealer application system 1000 is installed (eg, within a facility driving area in which a robot or the like is driven), a safety accident can be prevented.

Each of the application device 100 and the camera device 200 is provided with the control device 300 so that various types of information related to the sealer application can be shared between the application device 100, the camera device 200, and the control device 300. It is connected to enable transmission and reception of signals (data).

The coating device 100 includes environmental information (e.g., temperature, pressure, humidity, etc. of the installation site) of the place where the coating device 100 is installed, transfer of the sealer 10, heating for maintaining the temperature of the sealer 10, and a robot. Information related to driving of the device may be transmitted to the control device 300. In addition, the coating device 100 is a control device in which vehicle model information including information on the panel 20 (type of panel, information related to the hemming joint in the panel, etc.) It can be operated by receiving a command signal from the 300.

The camera device 200 operates to capture an image of the sealer 10 applied to the surface of the panel 20 according to the command signal received from the control device 300, and the sealer 10 captured by the camera device 200 The image information of) may be transmitted to the control device 300 so that it can be used to determine whether or not the sealer 10 is coated with a defect.

Each of the coating device 100 and the camera device 200 may be connected to the control device 300 through at least one of a wired communication method and a wireless communication method so as to transmit and receive signals with the control device 300. For example, each of the coating device 100 and the camera device 200 may be connected to the control device 300 through Ethernet, which is a local area network, and more specifically, PROFINET (abbreviation for Process Field Net), which is industrial Ethernet. . In addition, each of the coating device 100 and the camera device 200 may be connected to the control device 300 through a wired cable connected through an I/O card.

The application device 100 includes a pump assembly 110, a filter assembly 120, a booster assembly 130, an application gun assembly 140, a high-pressure hose 151, and a high-pressure hose 151 forming a sealer transfer passage 150. ), a high pressure pipe 152 and a heating hose 153, and a robot 160 that drives the panel 20 to be relatively moved with respect to the application gun assembly 140.

The pump assembly 110 is connected to a sealer supply source, and includes at least one pump 111 to pump the sealer 10 supplied from the sealer supply source. The pump 111 is connected to the control device 300, and its operation may be controlled to start or end pumping by the control device 300. The sealer supply source may be configured as a raw material container in the form of a can or a drum, and may be interchangeably coupled to the pump 111. The pump assembly 110 includes a plurality of pumps 111, for example, two pumps (as in the embodiment) so that the raw material container can be replaced without stopping the vehicle assembly line, that is, to continuously supply the sealer 10. 111). Each of the two pumps 111 may be provided with an empty bottle sensor that can check the remaining amount of the sealer contained in the raw material container, and the empty bottle sensor may be connected to the control device 300 so as to transmit information on the remaining amount of the sealer. The two pumps 111 may be connected through an auto change solenoid valve for use conversion, and these solenoid valves may be operated under the control of the control device 300. The sealer 10 pumped from the pump 111 is transferred to the confluence unit 112 through the high-pressure hose 151, and the confluence unit 112 may be provided with a valve that is opened and closed by the control device 300. .

In one embodiment, the pump assembly 110 can be maintained at a control temperature (equipment maintenance temperature) set inside to prevent curing of the sealer 10 in the pump 111 and the high pressure hose 151 It is installed in the sealer room 101. In the sealer room 101, in order to prevent curing of the sealer 10, the indoor temperature may be maintained at room temperature, for example, 20°C to 30°C. In addition, the sealer room 101 may be maintained at a pressure similar to atmospheric pressure therein. A temperature detection sensor, a pressure detection sensor, etc. are provided inside the sealer room 101, and the temperature detection sensor and the pressure detection sensor are connected to the control device 300 to transmit the measured temperature and pressure to the control device 300. I can. A temperature control device controlled by the control device 300 may be provided in the sealer room 101 to maintain a set management temperature. In addition, a pressure regulating device controlled by the control device 300 may be provided in the sealer room 101 to maintain a set management pressure.

The sealer 10 transferred to the confluence 112 is transferred to the filter assembly 120 through the high pressure pipe 152. The high pressure pipe 152 may be configured as a pipe having a heating function for smooth transfer of the sealer 10. In one embodiment, the high-pressure pipe 152 may maintain the sealer 10 at a temperature of about 30°C so that the sealer 10 can be easily transported.

The filter assembly 120 is configured to filter the sealer 10 transferred through the high pressure pipe 152. The filter assembly 120 includes a filter mesh having a cylindrical shape or a similar shape, and the filter assembly 120 has an inlet into which the sealer 10 enters at one side of the upper end and the sealer 10 is filtered at the other side of the upper end. It can be provided with an exit that comes out. The sealer 10 that has entered the inside of the filter assembly 120 through the inlet is filtered while flowing from the outside to the inside of the filter mesh, and may come out through an outlet communicating with the inside of the filter mesh.

The sealer 10 filtered by the filter assembly 120 is transferred to the booster assembly 130 through a heating hose 153. The heating hose 153 may have an electric heat line wrapped around it to heat and maintain the sealer 10 transferred therein at a set temperature. The heating hose 153 may be provided with a heating cord for controlling the current supplied to the heating wire under the control of the control device 300, and the heating cord may be connected to the control device 300. In one embodiment, the heating hose 153 may maintain the sealer 10 at an appropriate transfer temperature, for example, in a temperature range of 30°C to 35°C. The appropriate transfer temperature maintained by the heating hose 153 may vary according to the type of sealer 10. In addition, the appropriate transfer temperature maintained by the heating hose 153 may vary depending on the configuration conditions of the production line (the assembly line of the vehicle) and the condition of securing the sealer quality.

The booster assembly 130 is a constant flow control device, configured to depressurize or pressurize the sealer 10 filtered through the filter assembly 120 and be extruded on the surface of the panel 20 through the application gun assembly 140 do. The booster assembly 130 of an embodiment includes a booster housing 131 in which a filtered sealer is stored, a booster rod 132 installed in the booster housing 131, and a servo motor 133 that rotates to elevate the booster rod 132. ).

The booster assembly 130 may change the volume in the booster housing 131 by rotation of the servo motor 133 and supply the sealer 10 in the amount of the changed volume in the booster housing 131 to the coating gun assembly 140. have. In one embodiment, by applying a servo motor 133 capable of precise control of the rotation speed and rotation speed to the booster assembly 130, the discharge amount of the sealer 10 may be easily adjusted. The servo motor 133 is connected to the control device 300 and may be operated under the control of the control device 300.

The coating amount of the sealer 10 applied to the panel 20 may be determined by the rotational speed (rpm) of the servo motor 133 that determines the discharge amount of the sealer 10 per unit time. In addition, the rotational speed of the servo motor 133 may be determined by the strength of a voltage or current applied to the servo motor 133. That is, the intensity of the voltage or current applied to the servo motor 133 is controlled by the control device 300, thereby controlling the rotational speed of the servo motor 133, and through this, the amount of application of the sealer 10 at a precise flow rate. Can be adjusted.

The sealer 10 supplied from the booster assembly 130 is transferred to the application gun assembly 140. The booster assembly 130 may be integrally formed with the application gun assembly 140 so that the flow rate of the sealer 10 discharged from the application gun assembly 140 does not change due to a pulsation phenomenon.

The application gun assembly 140 includes a discharge valve 141 and an application gun 142. The discharge valve 141 is connected to the control device 300 and may operate to open and close by receiving a control signal from the control device 300. According to the opening and closing of the discharge valve 141, the sealer 10 supplied from the booster assembly 130 is sprayed onto the surface of the panel 20 through the application gun 142 or stopped spraying. The application gun 142 may be an electric application gun in which the degree of eccentricity or the eccentric angle of the nozzle is adjusted so that the sealer 10 can be sprayed in a swirl pattern. In addition, the application gun 142 may be a pneumatic application gun in which the pressure of air blown into the sealer 10 is adjusted so that the sealer 10 can be sprayed in a swirl pattern. In this regard, it will be described in detail in the content to be described later.

The application gun assembly 140 may be provided with a heater to maintain the sealer 10 sprayed through the nozzle at an appropriate application temperature, for example, 34°C to 38°C. The proper application temperature of the sealer 10 controlled by the heater of the application gun assembly 140 is not limited to the illustrated temperature range, and may vary within a predetermined range depending on the configuration conditions of the production line and the condition of securing the quality of the sealer.

In one embodiment, the sealer 10 has a specific gravity of 1.5 or less and a viscosity in the range of 4,000PS to 9,000PS. The sealer 10 is pumped and controlled in a state in which the viscosity is lowered by heating, and after being applied to the panel 20, it may return to its original viscosity state. In addition, the sealer 10 may be cured by heating in a painting drying furnace. For example, the sealer 10 may be completely cured as a period of about 20 minutes elapses after passing through a drying furnace maintained at a temperature of approximately 180°C.

The swirl sealer application system 1000 of an embodiment includes a high pressure pipe 152, a heating hose 153, and an application gun assembly so that the sealer 10 is not cured and maintained at an appropriate temperature before being sprayed onto the panel 20. Although a heater provided in 140 is provided, it is not limited thereto. For example, in another embodiment, at least one sealer temperature control device is additionally provided on the transfer flow path of the sealer 10 to prevent curing of the sealer 10 and smoothly transfer.

The robot 160 includes a body portion fixed to the ground or the like, and an arm 161 coupled to the body portion and driven in three axes (X-axis, Y-axis, and Z-axis on the XYZ coordinate system). The panel 20 may be gripped or seated at the tip (free end) of the arm 161. The robot 160 may position the panel 20 under the application gun 142 by driving the arm 161 and move the panel 20 relative to the application gun 142. As in one embodiment, when the panel 20 is moved relative to the application gun 142 by the driving of the robot 160, the application gun assembly 140 may be coupled to and supported by the stand 102. have.

The robot 160 can maintain a constant distance between the spray gun 142 (nozzle) and the surface of the panel 20, that is, the spray distance of the sealer during spraying of the sealer 10, and the width of the sealer 10 It is possible to increase or decrease the spraying distance of the sealer during the spraying of the sealer 10 so as to change. The spray distance of the sealer may vary depending on the application method. For example, the spraying distance of the sealer can be set within the range of 25.0mm to 35.0mm in the case of the swirl application method, and within the range of 2.0mm to 3.0mm in the case of the extrude application method. Can be. The spray distance of the sealer 10, that is, the distance between the coating gun 142 and the panel 20 may vary in proportion to the coating width of the sealer 10 applied to the surface of the panel 20. In other words, as the distance between the application gun 142 and the panel 20 increases, the width of the sealer 10 sprayed and applied to the panel 20 increases, and between the application gun 142 and the panel 20 As the gap decreases, the coating width of the sealer 10 sprayed and applied to the panel 20 may decrease.

The coating speed of the sealer 10 applied to the panel 20 may be controlled by the robot 160. In one embodiment, the robot 160 is 1 m / s or less, specifically 200 mm / s to 600 mm / s so that the sealer 10 can be applied to the surface of the panel 20 with a thickness of 1.0 mm to 1.5 mm or less. The panel 20 can be moved relative to the application gun 142 at a range of speeds. If the sealer 10 is under-coated on the surface of the panel 20 because the coating speed of the sealer 10 is faster than the set range, the adhesion of the panel may decrease and functions such as rust prevention may decrease. In addition, when the coating speed of the sealer 10 is slower than the set range and the sealer 10 is excessively applied to the surface of the panel 20, the sealer 10 may leak out from the hemming joint and contaminate the hemming die, etc. , It may be troublesome to manually remove the over-coated sealer 10.

The coating apparatus 100 according to an embodiment may further include a robot controller 170 that controls the robot 160. The robot controller 170 may be connected to the control device 300 to receive a signal for controlling the robot 160 from the control device 300. However, in another embodiment, even without including the robot controller 170, the robot 160 may be directly connected to the control device 300 and may be operated and controlled by receiving a signal from the control device 300.

The camera device 200 includes a PC-based vision device including an image sensor 210 and a lighting device 220 capable of detecting subject information (image information of a sealer) and converting it into an electrical image signal. can do. The camera apparatus 200 may further include at least one lens and a body on which at least one lens is mounted so that the magnification can be adjusted. In addition, the camera device 200 may further include a processor capable of editing an image.

The control device 300 may be installed on an assembly line of a vehicle. The control device 300 includes an output device 310, and displays information related to the operation of the application device 100, the camera device 200, and the control device 300 to an operator through the output device 310. I can. As an example, the output device 310 may include a display capable of a touch input, and in this case, the control device 300 is a swirl sealer application system 1000 in response to an operator's manipulation performed on the surface of the output device 310. You can receive orders for the operation of ). Alternatively, the output device 310 may have only a function of displaying information, and in this case, the control device 300 may include various input devices 320 configured with physical hard keys to receive an operator's command. The control device 300 may include a processing device 330 for adjusting the flow rate of the sealer 10 and a memory device 340 capable of storing various types of information generated in the swirl sealer application system 1000. In addition, the control device 300 may include a communication device 350 for transmitting and receiving signals with each of the coating device 100 and the camera device 200.

3 is a perspective view illustrating a swirl sealer application system 1000A including an application device 100A according to another embodiment of the present disclosure. In the description of FIG. 3, the description of the same components as those described in FIG. 2 will be omitted.

In the swirl sealer application system 1000A shown in FIG. 3, the application gun assembly 140 formed integrally with the booster assembly 130 is installed at the free end of the arm 161A provided in the robot 160A, The camera device 200 is attached to the application gun assembly 140. The swirl sealer application system 1000A may include a mounting table 103 on which a panel conveyed through an assembly line of an automobile can be mounted or mounted. That is, the robot 160A in the swirl sealer application system 1000A is positioned to face the application gun assembly 140 with respect to the panel that is fixed on the mounting table 103, and the sealer discharged from the application gun assembly 140 The application gun assembly 140 (in detail, the application gun 142 provided in the application gun assembly 140) may be moved relative to the panel so that the application can be applied by spraying it onto the panel.

4 is a view for explaining the eccentric angle of the nozzle 143 in the application gun assembly 140 according to an embodiment of the present disclosure, and FIG. 5 is a sealer sprayed from the nozzle 143 shown in FIG. It is a drawing for explaining the swirl panel formed by The application gun assembly 140 described in FIGS. 4 and 5 may be referred to as an electric application gun assembly in which the degree of eccentricity (ie, eccentric angle) of the nozzle 143 facing the surface of the panel 20 is adjusted. In addition, the eccentric angle of the nozzle 143 in the electric spray gun assembly may be referred to as the amount of eccentricity in the spraying direction of the sealer 10.

In FIGS. 4 and 5, it is illustrated that the degree of eccentricity of the nozzle 143 provided in the application gun 142 is adjusted according to three steps (for example, (b) to (d)), but is limited thereto. No, it can be adjusted in more detailed steps than this. Here, it may be assumed that the relative movement speed of the application gun assembly 140 with respect to the panel 20 and the rotation speed of the nozzle 143 (ie, the precession speed) are the same.

In one embodiment, the widths (W ₁ , W ₂ , W ₃ ) of the swirl pattern may be adjusted stepwise at set intervals according to the rotation angle of the rotational axis of the servo motor provided inside the application gun assembly 140. In this process, the axis in the longitudinal direction of the nozzle 143 may be eccentric from the main axis of the application gun assembly 140. Accordingly, the width of the swirl pattern may be increased or decreased in proportion to the degree of eccentricity of the nozzle 143.

4A and 5A illustrate the arrangement of the nozzle 143 and the shape of the swirl mark in a state in which the longitudinal axis of the nozzle 143 and the main axis MA coincide. In this state, the nozzle 143 does not precess, and the sealer may not be applied in the form of a swirl pattern. Accordingly, the sealer may be applied in the form of a stream according to the moving direction of the application gun assembly 140 with respect to the panel.

4B and 5B show _{the arrangement of the nozzle 143 in a state in which the longitudinal axis A 1} of the nozzle 143 is eccentric from the main axis MA to the first stage, and Shows the shape of the swirl mark. In this state, since the degree of eccentricity of the nozzle 143 is not large, the width W ₁ of the swirl mark may be formed relatively small. _{The distance d 1} between the swirl marks may be proportional to the relative movement speed of the application gun assembly 140 with respect to the panel, the rotation speed of the nozzle 143 and the degree of eccentricity of the nozzle 143.

4(c) and 5(c) show _{the arrangement of the nozzle 143 in a state in which the longitudinal axis A 2} of the nozzle 143 is eccentric from the main axis MA to the second stage. Shows the shape of the swirl mark. Since the degree of eccentricity of the nozzle 143 is greater than that of the case (b), the width W ₂ of the swirl mark may be formed larger than _{the width W 1} of the swirl mark described above. In addition, when there is a difference only in the eccentric angle of the nozzle 143 and the remaining factors are constant, the spacing d ₂ between the swirl marks may be formed smaller than _{the spacing d 1} of the swirl marks described above.

4(d) and 5(d) show _{the arrangement of the nozzle 143 in a state in which the longitudinal axis A 3} of the nozzle 143 is eccentric from the main axis MA to the third stage. Shows the shape of the swirl mark. Since the nozzle 143 is larger than the case of eccentric (c), the width W ₃ of the swirl mark may be formed larger than _{the width W 2} of the above-described swirl mark. In addition, the spacing d ₃ between the swirl marks may be formed smaller than _{the spacing d 2} of the swirl marks described above.

As such, the width and spacing of the swirl pattern of the sealer may be adjusted according to the eccentric angle of the nozzle 143. In addition, the width and spacing of the swirl pattern of the sealer 10 may be adjusted during the operation of the application devices 100 and 100A, that is, during the precession of the nozzle 143 or the movement of the application gun assembly 140. .

6 is a view showing a portion of an application gun assembly 140 according to another embodiment of the present disclosure.

Referring to FIG. 6, the application gun assembly 140 may be configured as a pneumatic application gun assembly capable of adjusting the pressure of air blown to the sealer 10 sprayed toward the surface of the panel. The application gun assembly 140 has a structure in which air supplied from a proportional pressure regulator is blown along the air hole 144 of the outer surface of the nozzle to form a circular air pattern, that is, a swirl pattern. Depending on the intensity of air blown into the sealer 10 (air pressure), the size (width and spacing) of the swirl pattern of the sealer 10 may be adjusted as shown in FIG. 5. The size of the swirl pattern of the sealer 10 may also be adjusted by the discharge pressure of the sealer 10. In the pneumatic application gun assembly, the pressure of air blown into the sealer 10 may be referred to as the amount of eccentricity of the sealer 10.

7 is a diagram illustrating an example of a panel 20 to which the sealer 10 is applied in a swirl pattern according to an embodiment of the present disclosure.

Referring to FIG. 7, the camera device 200 according to an exemplary embodiment may be attached to the outer surface of the application gun assembly 140. The camera device 200 may acquire an image of the sealer 10 sprayed and applied to the panel 20 in real time. The image of the sealer 10 acquired by the camera device 200 is used to determine the defective application of the sealer. The camera device 200 may include a plurality of image sensors to capture an image of the sealer 10 from a wide angle.

The camera apparatus 200 according to an exemplary embodiment may capture an image of the sealer 10 acquired in real time as a color image. The control device 300 may input sealer color information and inspection area information of the reference image, and the control device 300 registers the color image of the sealer 10 acquired through the camera device 200 within the inspection area. It is possible to measure the width of the applied sealer by finding the point (pixel) that matches the color information.

The panel 20 includes at least one sealer application section (S ₁ , S ₂ , S ₃ , S ₄ , …), and the sealer 10 of the swirl pattern is applied with a target application width set for each sealer application section. Can be. When there are a plurality of sealer application sections, the plurality of sealer application sections may be formed continuously, and may be formed to have at least one disconnection section.

In each of the sealer application sections (S ₁ , S ₂ , S ₃ , S ₄ , …), the control device 300 uses a first eccentricity corresponding to the _{target coating width W 0 set on the surface of the panel 20.} The coating device 100 can be controlled so that the sealer 10 can be sprayed and applied. In addition, the control device 300 may control the camera device 200 to capture a first image of the sealer 10 applied by spraying with a first eccentric amount on the surface of the panel 20.

In the control device 300, a control table is set through learning (teaching) based on the target coating width (W ₀ ) of the sealer 10 and the actual measured width of the sealer 10, and using the set control table. It is possible to perform predictive control for a next operation in which an additional image of the sealer 10 is acquired (work for checking the width of the sealer with the amount of eccentricity adjusted and adjusting the width). That is, the controller 300 includes a first coating width measured a first coating width (W ₁₎ of the sealer (10) based on a first image of a sealer 10, and the measurement of the sealer 10 (W ₁ ) Is different from the set target coating width (W ₀ ) of the sealer 10, the sealer 10 sprayed with the first eccentric amount from the coating device 100 is adjusted to a second eccentric amount to compensate for the different coating width. The application device 100 is controlled to be sprayed.

The control device 300 may determine the first amount of eccentricity according to the set application condition, and the set application condition is the eccentric angle of the nozzle 143 toward the surface of the panel 20 and the sealer sprayed toward the surface of the panel 20. A first application condition including a spray distance of the sealer 10 and any one of the pressure of the air blown to (10) is included. In addition, the set application condition may further include a second application condition including an application temperature of the sealer 10, a viscosity of the sealer 10, and an application speed of the sealer 10. Regarding the formation of the swirl pattern, when the discharge pressure of the sealer is constant, the application width increases as the pressure of air increases, and the application width increases as the amount of eccentricity increases. In addition, when the pressure of the air and the amount of eccentricity are the same, when the discharge pressure of the sealer is low, the coating width increases, and when the pressure is high, the coating width increases. In addition, with respect to the temperature of the sealer, the viscosity of the sealer may be lowered by increasing the temperature of the sealer so as to facilitate the application of the sealer to facilitate quality assurance. In addition, the application speed of the sealer may be adjusted according to the moving speed of the robot corresponding to the application set value of the sealer.

Control device 300 is set target coating width of the sealer (10) (W _0), the set target coating width (W ₀₎ to fit set first amount of eccentricity and the measured first coating width of the sealer 10, which is (W ₁ ), the first compensation value may be calculated. Also, the control device 300 may determine the second eccentricity amount of the sealer 10 based on the first eccentricity amount and the first compensation value. The control device 300 according to an embodiment may include a processing device 330 and a memory device 340 to calculate a first compensation value (see FIG. 1 ). The processing apparatus 330 may calculate a first calculation value by subtracting the measured first coating width W ₁ of the sealer 10 from the set target coating width W _{0 of the sealer 10.} Also, the memory device 340 may store information of a control table set based on the first application condition and the second application condition.

8 is a diagram illustrating an example of a control table 30 according to an embodiment of the present disclosure. 9 is a diagram illustrating an example of a setting table 30A of an operation value comparison section and a reference compensation value included in the control table 30 according to an embodiment of the present disclosure.

8 and 9, the control table 30 is an image of the sealer 10 applied to the panel 20 in each of at least one sealer application section (S1, S2, S3, S4, ...) The number of operations 31 of the camera device 200 for capturing, the set target coating width W ₀ of the sealer 10 (target value) 32, the sealer 10 measured for each operation of the camera device 200 ) Contains information about the applied width (measured value) 33. Although not shown in FIG. 8, the control table 30 may _{include information on an operation value that is a difference value between the target coating width W 0} of the sealer 10 and the measured coating width of the sealer 10. In order to secure the initial quality of the sealer 10, the application of the sealer 10 may be performed on the same plurality of panels 20, and the information set or measured for each of the plurality of panels 20 is F1 , F2, F3, F4, F5,… It may be divided into, etc. and input and stored in the control table 30. In addition, the control table 30 includes a setting table 30A including information on the reference compensation value 35 set in each of the plurality of calculation value comparison sections 34.

The processing unit 330 of the control device 300 calculates the reference compensation value 35 of the calculation value comparison period corresponding to the first calculation value among the plurality of calculation value comparison periods 34 as a first compensation value, The second amount of eccentricity may be determined by adding the first compensation value to the first amount of eccentricity.

For example, based on the first panel among the plurality of panels 20, when the number of operations is one, the first calculated value is the first amount of eccentricity at the _{target coating width (W 0) of the sealer 10 (W 0) 10 mm.} It is calculated as 0.5mm by subtracting 9.5mm of _{the measured first coating width (W 1} ) of the sealer 10 sprayed and applied to the surface of 20). The processing apparatus 330 determines a second eccentricity amount by reflecting _{the first compensation value N 3} of a section corresponding to the first calculation value of 0.5 mm among the plurality of calculation value comparison sections to the first eccentricity amount. The first compensation value (N ₃ ) may be a value that makes the nozzle 143 more eccentric in the case of an electric spray gun assembly, and increases the pressure of air blown to the sealer 10 in the case of a pneumatic spray gun assembly. Can be a value.

When there is an adjustment of the eccentricity of the sealer 10, that is, when the sealer 10 is applied to the surface of the panel 20 with the adjusted second eccentricity, the sealer 10 applied with the second eccentricity The camera device 200 is controlled to capture the second image of ). Here, the second image of the sealer 10 may be an image of a portion adjacent to the portion where the first image is captured on the swirl pattern. In addition, the second image of the sealer 10 may be an image of a sealer sprayed and applied to another portion of the same panel with a second eccentric amount.

The control device 300 measures _{the second coating width W 2} of the sealer 10 based on the second image of the sealer 10 captured by the camera device 200. In addition, when the measured second coating width W ₂ of the sealer 10 is different from the set target coating width W _{0 of the sealer 10, the control device 300} The coating device 100 may be controlled so that the sealer 10 sprayed with an eccentric amount is sprayed with a third eccentric amount for compensating for a different coating width.

That is, the control device 300 calculates a second compensation value based on the _{set target coating width W 0 of the} sealer 10, the second eccentricity amount, and the measured second coating width W _{2 of the sealer 10} And, based on the second amount of eccentricity and the second compensation value, the third amount of eccentricity may be determined.

In the control device 300, the processing device 330 determines a third eccentricity based on information in the control table 30 stored in the memory device 340. That is, the processing device 330 calculates a second calculation value obtained by subtracting the measured second coating width W ₂ of the sealer 10 from the set target coating width W _{0 of the sealer 10.} In addition, the processing device 330 calculates the reference compensation value 35 of the comparison section corresponding to the second computation value among the plurality of computation value comparison sections 34 in the control table 30 as a second compensation value. , The third eccentricity may be determined by adding the second compensation value to the second eccentricity. Here, the information on the application width of the sealer 10 sprayed and applied with the first and second eccentric amounts is reflected on the control table 30 so that it can be used as information that can be used to adjust the eccentricity of the sealer 10 later. do.

For example, in the case of two operations, the second calculated value is the measured value of the sealer 10 applied by spraying on the surface of the panel 20 with a second eccentric amount at the _{target coating width (W 0) of 10 mm of the sealer 10.} It is calculated as 0.4mm obtained by subtracting 9.6mm of the second coating width (W _{2 ).} The processing device 330 determines a third amount of eccentricity by reflecting _{the second compensation value N 2} of the section corresponding to the second calculation value of 0.4 mm among the plurality of calculation value comparison sections to the second eccentricity amount. _{The reference compensation values (N 1} , N ₂ , N ₃ , N ₄ , N ₅ , N ₆ , …) that are set in the calculation value comparison section and the calculation value comparison section respectively use the swirl sealer application system (1000, 1000A). It can be determined based on the information acquired by learning (teaching) used.

In the control device 300, as the sealer 10 is adjusted to a first eccentric amount, a second eccentric amount, and a third eccentric amount, the measured coating width of the sealer 10 is the target coating width W ₀ ) Can be performed repeatedly adjusting the amount of eccentricity of the sealer 10 until it reaches. In addition, the control device 300 controls the eccentricity of the sealer 10 when _{the measured coating width of the sealer 10 is the same as the target coating width W 0} of the sealer 10 once or more than a predetermined number of times. You can stop.

The swirl sealer application system 1000 of an embodiment is an intelligent sealer application device that can be used to automatically adjust the width of the next sealer with information obtained by learning (teaching). In such a swirl sealer application system 1000, when a poor application of the sealer 10 occurs through the camera device 200, the control device 300 may use the application device in one of the first mode and the second mode. You can control 100. That is, if the measured coating width of the sealer (e.g., the first coating width) is smaller than the set target coating width of the sealer, the eccentricity of the sealer (for example, to reduce the difference between the set target coating width of the sealer and the measured coating width of the sealer) , Controlling the coating device 100 in a first mode of increasing the first eccentricity amount). In addition, if the measured coating width of the sealer (for example, the first coating width) is larger than the set target coating width of the sealer, the eccentricity of the sealer (for example, to reduce the difference between the measured coating width of the sealer and the set target coating width of the sealer) The coating device 100 is controlled in a second mode for reducing the first eccentricity amount).

Hereinafter, a sealer application method using the swirl sealer application systems 1000 and 1000A described above will be described with reference to the accompanying drawings.

10 is a block diagram illustrating a method of applying a sealer according to an embodiment of the present disclosure.

Referring to FIG. 10, in the method of applying a sealer according to an embodiment, the step of applying the sealer to the surface of the panel in a swirl pattern (S110), capturing an image of the sealer applied to the surface of the panel (S120), and the width of the sealer Inspecting (comparing) (S130) and adjusting the amount of eccentricity of the sealer according to the inspection result of the coating width of the sealer (S140).

In the step of applying the sealer (S110), the sealer is sprayed with an eccentric amount corresponding to the target coating width set on the surface of the panel constituting the vehicle body by the application device (hereinafter, referred to as'first eccentric amount'), and the surface of the panel The sealer is applied in a swirl pattern. The sealer sprayed on the surface of the panel and then thermally cured performs functions such as adhesion, sealing, vibration suppression, rust prevention, waterproofing, and strength reinforcement.

The step of spraying and applying the sealer with a first eccentric amount corresponding to the target application width set on the surface of the panel (S110) may include determining a first eccentric amount corresponding to the target application width set according to the set application condition. have. Here, the set application condition is a first application condition including one of the eccentric angle of the nozzle toward the surface of the panel, the pressure of air blown to the sealer sprayed toward the surface of the panel, and the injection distance of the sealer, and the application of the sealer. A second application condition including temperature, viscosity of the sealer, and application rate of the sealer may be included.

In the step of capturing the image of the sealer applied to the surface of the panel (S120), the image of the sealer sprayed and applied with a first eccentric amount (hereinafter, referred to as "first image") is continuously captured by the camera device, or It can be intermittently captured over a predetermined period of time. In one embodiment, a camera device is attached to one side of the application gun so that the camera device may be moved together when the application gun is moved, and the camera device may capture a first image of the sealer immediately after the sealer is sprayed from the application gun. The camera device may check whether the sealer is defective in a non-contact manner, and capture a color image of the sealer so that the coating state of the sealer can be checked through color comparison.

In the step of comparing the coating width of the sealer (S130), the control device measures the coating width of the sealer (hereinafter referred to as “first coating width”) based on the first image of the sealer acquired through the camera device, The measured first application width of the sealer is compared with the set target application width of the sealer. The camera device is operated and controlled to capture a first image of the sealer under the control of the control device, and the first image of the sealer captured by the camera device may be converted into data and transmitted to the control device.

In the step (S140) of adjusting the eccentricity of the sealer according to the comparison result of the coating width of the sealer, if the measured first coating width of the sealer is different from the set target coating width of the sealer, the compensation value for compensating for the different coating width is controlled. Calculated by the device. Further, the control device controls the operation of the application device to adjust the eccentricity amount of the sealer applied to the surface of the panel based on the calculated compensation value. When the measured first application width of the sealer is not different from the set target application width of the sealer, the control device may control the operation of the application device to maintain the eccentric amount of the sealer. In addition, while the eccentricity of the sealer is maintained, the control device can control the camera device to inspect whether the width of the sealer being applied at intervals of a predetermined time is different from the set target application width of the sealer. .

In one embodiment, if the measured coating width of the sealer (eg, the first coating width) is smaller than the set target coating width of the sealer, the set target width of the sealer and the measurement of the sealer It is adjusted to increase to reduce the difference in applied width. In addition, if the measured coating width of the sealer (eg, the first coating width) is larger than the set target coating width of the sealer, the measured coating width of the sealer and the set target coating width of the sealer Is adjusted to be reduced to reduce the difference.

11 is a block diagram illustrating a method of controlling an eccentric amount of a sealer in a method of applying a sealer according to an embodiment of the present disclosure. 11 is, after the step (S140) of adjusting the eccentricity of the sealer according to the inspection result of the coating width of the sealer shown in FIG. 10, whether the coating width of the sealer applied by the adjusted eccentricity is different from the target coating width of the sealer In comparison, if the coating width of the applied sealer is different from the target coating width of the sealer even by the adjusted eccentricity, the amount of eccentricity of the sealer is adjusted again so that the coating width of the sealer applied to the surface of the panel reaches the target coating width of the sealer. Indicate the steps.

Referring to FIG. 11, in the sealer application method according to an embodiment, after the eccentricity of the sealer is adjusted, a renewed image of the sealer is sprayed on the surface of the panel with a controlled eccentricity (hereinafter, referred to as “second eccentricity”). Capturing (hereinafter referred to as “second image”) (S210), measuring the renewed coating width of the sealer (hereinafter referred to as “second coating width”) based on the second image of the sealer ( S220), comparing the second coating width of the sealer with the set target coating width of the sealer (S230), determining whether the second coating width of the sealer is different from the set target coating width of the sealer (S240), 2 If the coating width is different from the set target coating width of the sealer, a compensation value for compensating for the different coating width is calculated again (S250), and the eccentricity of the sealer applied to the surface of the panel is again calculated based on the calculated compensation value. The adjusting step (S260) may be performed. The steps for adjusting the eccentricity of the sealer (S210 to S260) may be repeatedly performed until the coating width of the sealer applied to the surface of the panel and measured becomes the same as the set target coating width of the sealer. In addition, the steps for adjusting the eccentricity of the sealer (S210 to S260) may be stopped when the measured coating width of the sealer becomes the same as the target coating width of the sealer. Steps for obtaining the applied image of the sealer may be performed by the camera device, and the steps of measuring the application width of the sealer based on the applied image of the sealer may be performed by the control device. In addition, if the application width of the sealer is compared with the set target application width of the sealer by the control device, and as a result of the comparison, when the application width of the sealer and the set target application width of the sealer are different, steps of calculating a compensation value to compensate for this are performed. I can. The control device can control the application device so that the sealer can be applied to the surface of the panel with the adjusted eccentricity of the sealer.

12 is a block diagram illustrating a step of adjusting an eccentric amount of a sealer in a method of applying a sealer according to an embodiment of the present disclosure. 12 shows detailed steps included in the step of adjusting the amount of eccentricity of the sealer according to the inspection result of the coating width of the sealer shown in FIG. 10.

Referring to FIG. 12, the step (S140) of calculating a compensation value according to the comparison result of the coating width of the sealer and adjusting the eccentricity of the sealer applied to the surface of the panel based on the compensation value (S140) is at a set target coating width of the sealer. Calculating a calculated value obtained by subtracting the measured coating width of the sealer (S141), obtaining a compensation value corresponding to the calculated value calculated from the information in the control table set based on the first coating condition and the second coating condition (S142) and adding a compensation value to the eccentricity of the sealer (the eccentricity before adjustment) to adjust the eccentricity of the sealer (S143). In an embodiment, in the step of obtaining a compensation value (S142), among a plurality of calculation value comparison periods based on information in a control table including information on a reference compensation value set in each of the plurality of calculation value comparison periods, The calculation value calculated by subtracting the measured coating width of the sealer from the set target coating width of the sealer is obtained as a compensation value used to adjust the eccentricity of the sealer. In the control table, the reference compensation value (or compensation value) is the intensity of voltage or current applied to the servo motor provided in the application gun of the application gun assembly, or the nozzle through a proportional pressure regulator provided in the application gun of the application gun assembly. It can be displayed as the intensity of the air pressure applied to.

According to the above-described embodiments, information related to the sealer applied to the panel is mutually shared between the application device, the camera device, and the control device, and is used to check and eliminate the defect of the sealer applied to the surface of the panel. . Accordingly, it is possible to quickly solve a defect in coating of the sealer without an operator intervention during the coating process of the sealer, thereby reducing the working time required to ensure the initial quality of the sealer. That is, it is possible to improve the manufacturing productivity of automobiles.

The present disclosure described above is not limited by the above-described embodiments and the accompanying drawings. It will be apparent to those of ordinary skill in the art that various substitutions, modifications, and changes are possible without departing from the technical matters of the present disclosure.

10: sealer 20: panel
100, 100A: applicator 110: pump assembly
120: filter assembly 130: booster assembly
140: application gun assembly 150: sealer transfer flow path
160, 160A: robot 200: camera device
300: control device 330: processing device
340: storage device 1000, 1000A: swirl sealer application system

Claims (18)

A coating device comprising an application gun assembly configured to spray and apply a sealer to a surface of a panel constituting a vehicle body in a form in which a swirl pattern is repeated, and capable of adjusting an eccentric amount in a direction in which the sealer is sprayed with respect to the surface of the panel;
A camera device configured to capture an image of the sealer applied to the surface of the panel when the coating device sprays and applies the sealer with each adjusted eccentricity; And
A control device configured to control the application device and the camera device,
The control device
Controlling the coating device to spray and apply a sealer with a first eccentric amount corresponding to a target coating width set on the surface of the panel,
Controlling the camera device to capture a first image of the sealer applied by spraying with the first eccentric amount on the surface of the panel,
The first coating width of the sealer is measured based on the first image of the sealer, and if the measured first coating width of the sealer is different from the set target coating width of the sealer, the first eccentricity amount in the coating device Controlling the coating device so that the sealer sprayed by the spray is sprayed with a second eccentric amount for compensating for a different coating width,
The image of the sealer applied to the surface of the panel captured by the camera device is a color image, and the control device processes the inspection area of the color image based on preset color information to determine the first coating width of the sealer. Measure,
The control device includes a processing device for calculating a first calculation value obtained by subtracting the measured first coating width of the sealer from the target coating width of the sealer in order to determine the second eccentricity amount, and a set for determining the first eccentricity amount. A storage device for storing information of a control table set based on an application condition,
The information of the control table includes information on a reference compensation value set in each of a plurality of operation value comparison intervals,
The processing apparatus calculates a reference compensation value of an operation value comparison period corresponding to the first calculation value among the plurality of calculation value comparison periods as a first compensation value, and reflects the first compensation value to the first eccentricity amount. Determine the second eccentricity amount,
The application gun assembly is an electric application gun assembly in which the eccentric angle of the nozzle facing the surface of the panel is adjusted to adjust the amount of eccentricity,
Swirl sealer application system. delete delete The method of claim 1,
The control device determines the first eccentricity amount according to the set application condition,
The above set application conditions are
A swirl sealer application system comprising a first application condition including an eccentric angle of the nozzle toward the surface of the panel and a spray distance of the sealer. The method of claim 4,
The above set application conditions are
The swirl sealer application system further comprising a second application condition including a coating temperature of the sealer, a viscosity of the sealer, and an application rate of the sealer. delete delete The method of claim 1,
The control device
Controlling the camera device to capture a second image of the sealer applied by spraying with the second eccentric amount on the surface of the panel,
The second coating width of the sealer is measured based on the second image of the sealer, and if the measured second coating width of the sealer is different from the set target coating width of the sealer, the second eccentricity amount in the coating device Controlling the coating device so that the sealer sprayed by the spray is sprayed with a third eccentric amount for compensating for a different coating width.
Swirl sealer application system. The method of claim 8,
The control device
A second compensation value for adjusting the amount of eccentricity is calculated based on the set target coating width of the sealer, the second eccentricity amount, and the measured second coating width of the sealer,
Determining the third eccentricity based on the second eccentricity and the second compensation value
Swirl sealer application system. The method of claim 9,
The processing device is
Calculating a second calculation value obtained by subtracting the measured second coating width of the sealer from the set target coating width of the sealer,
The second compensation value is calculated as the second compensation value by calculating a reference compensation value of an operation value comparison period corresponding to the second calculation value among the plurality of calculation value comparison periods, and adding the second compensation value to the second eccentricity. To determine the amount of eccentricity
Swirl sealer application system. The method of claim 1,
The control device
When the measured first coating width of the sealer is smaller than the set target coating width of the sealer, the first eccentricity is increased to reduce the difference between the set target coating width of the sealer and the measured first coating width of the sealer. Controlling the application device,
When the measured first coating width of the sealer is larger than the set target coating width of the sealer, the first eccentricity is reduced to reduce a difference between the measured first coating width of the sealer and the set target coating width of the sealer. To control the applicator
Swirl sealer application system. The method of claim 1,
The application device
A pump assembly having at least one pump connected to the sealer supply source and installed in the sealer room;
A filter assembly for filtering the sealer transferred from the pump assembly;
A booster assembly for extruding the sealer filtered by the filter assembly to be sprayed onto the surface of the panel through the application gun assembly;
A robot that moves the panel relative to the application gun assembly; And
The pump assembly, the filter assembly, the booster assembly, further comprises a sealer transfer flow path through which the sealer is transferred between the application gun assembly,
The sealer transfer flow path includes a high-pressure pipe and a heating hose for heating and maintaining the sealer transferred therein to a set temperature.
Swirl sealer application system. The method of claim 12,
Further comprising a robot controller connected to the control device to control the operation of the robot, the swirl sealer coating system. Spraying a sealer with an eccentric amount in the direction of spraying to the surface of the panel corresponding to a target coating width set on the surface of the panel constituting the vehicle body, and applying a swirl pattern in a repeating manner;
Capturing a first image of the sealer applied to the surface of the panel;
Measuring a first coating width of the sealer based on the first image of the sealer, and comparing the measured first coating width of the sealer with a set target coating width of the sealer;
If the measured first coating width of the sealer is different from the set target coating width of the sealer, a compensation value for compensating for a different coating width is calculated, and based on the compensation value, the sealer applied to the surface of the panel is Adjusting the amount of eccentricity; And
When the measured first coating width of the sealer is the same as the set target coating width of the sealer, passing the panel through a drying furnace to stop adjusting the amount of eccentricity of the sealer so that the sealer can be cured,
In the step of capturing the first image of the sealer, the first image of the sealer is captured as a color image,
In the step of measuring the first coating width of the sealer based on the first image of the sealer, the first coating width of the sealer is measured by processing the inspection area of the color image based on preset color information,
Calculating the compensation value and adjusting the amount of eccentricity of the sealer sprayed and applied to the surface of the panel based on the compensation value
Calculating a calculated value obtained by subtracting the measured coating width of the sealer from the set target coating width of the sealer;
Obtaining the compensation value corresponding to the calculated value from information in a control table that is set based on a set application condition and includes information on a reference compensation value set in each of a plurality of calculation value comparison sections; And
Including the step of reflecting the compensation value to the amount of eccentricity of the sealer,
The amount of eccentricity of the sealer is adjusted by adjusting the angle of the nozzle toward the surface of the panel. The method of claim 14,
Capturing a second image of a sealer sprayed and applied to the surface of the panel with the controlled eccentricity;
Measuring a second coating width of the sealer based on the second image of the sealer, and comparing the second coating width of the sealer with a set target coating width of the sealer; And
If the second coating width of the sealer is different from the set target coating width of the sealer, a compensation value for compensating for the different coating width is calculated again, and the applied to the surface of the panel based on the recalculated compensation value. Adjusting the amount of eccentricity of the sealer again; And
If the second coating width of the sealer is the same as the set target coating width of the sealer, stopping the adjustment of the eccentricity of the sealer so that the sealer can be cured by passing the panel through a drying furnace.
Sealer application method further comprising a. The method of claim 14,
The step of spraying and applying a sealer with an eccentric amount corresponding to the target application width set on the surface of the panel is
Determining an eccentricity amount corresponding to the set target application width according to a set application condition,
The above set application conditions are
A first application condition including an eccentric angle of the nozzle toward the surface of the panel and a spray distance of the sealer, and a second application condition including the application temperature of the sealer, the viscosity of the sealer, and the application speed of the sealer
Sealer application method comprising a. delete The method of claim 14,
In the step of adjusting the amount of eccentricity of the sealer
The amount of eccentricity of the sealer is
If the measured coating width of the sealer is smaller than the set target coating width of the sealer, it is adjusted to increase to reduce a difference between the set target coating width of the sealer and the measured coating width of the sealer,
If the measured coating width of the sealer is larger than the set target coating width of the sealer, the measured coating width of the sealer and the set target coating width of the sealer are adjusted to be reduced to reduce the difference.
How to apply a sealer.

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