JPH0247952B2 - WAAKUHENOSHIIRINGUZAITONOTOFUHOHO - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) The present invention is mainly used for applying two or more types of coating agents such as sealants and adhesives to large sheet metal workpieces such as side panels of automobiles. Regarding the method.

(Prior art) Conventionally, when welding various inner members to the side panel and welding the side panel to the floor and roof in the same process, adhesive was applied to the roof side rail portion of the side panel in the previous process. In addition, a sealant is applied to the side sills, rear fender, etc. where the inner parts are welded. In this case, an adhesive application station and a sealant application station are provided in two stages, front and rear, and the side panel is held by a jig placed at each station, and an application robot placed opposite the side panel is used to apply each predetermined amount. Generally, a coating agent is applied to a predetermined portion of the side panel.

(Problems to be Solved by the Invention) In the above method, equipment costs increase due to the provision of multiple coating stations for coating different types of coating agents, and the coating on the clamper of the workpiece provided in the jig increases. In order to prevent the adhesive from adhering to the workpiece, the coating agent cannot be applied to a certain area on both sides of the part where the workpiece is gripped by the clamper, and the coating agent must be applied manually to these areas in a subsequent process. There is a problem in that this creates a need and reduces productivity. Also, a coating robot with an adhesive coating nozzle attached to a single coating station and a coating robot with a sealant coating nozzle attached are installed side by side, so that adhesive and sealant can be coated at the same station. Although this is possible, it is difficult to put it into practical use because of interference between robots, and it is also difficult to put it into practical use by installing an adhesive application nozzle and a sealant application nozzle on a dispensing robot so that they can be selectively operated. It is conceivable to make it possible to apply the same amount of paint, but in this case, it would be necessary to move the coating robot significantly over the entire upper and lower range of the side panel, which would necessitate the use of a large general-purpose robot as the coating robot, and the equipment would need to be There is the problem of rising costs.

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a coating method that enables efficient coating of two or more coating agents on a workpiece using a small coating robot at the same coating station without leaving any uncoated areas. That purpose.

(Means for Solving the Problems) In order to achieve the above object, the present invention has a jig hold a workpiece through a clamper attached to the jig, and uses a coating robot installed opposite the jig to apply a sealant or the like. In a method in which at least two types of coating agents such as adhesives are applied to each predetermined coating site of a workpiece, at least two coating nozzles that discharge different types of coating agents to the coating robot can be selectively operated. The application nozzle is selectively activated while changing the position of the workpiece by moving the jig and moving the application nozzle along a predetermined application area of the workpiece by the operation of the application robot, and performs application work. It is characterized in that a clamper that grips the coating material is opened when the coating material passes through the coating nozzle.

(Example) Referring to FIGS. 1 to 3, reference numeral 1 denotes a coating station provided in the middle of a workpiece conveyance path in which a side panel w of an automobile, which is a workpiece, is suspended and conveyed by a hanger 2. 1, a jig 3 on one side facing the workpiece conveyance path, and a jig 3 on the other side, front and rear 1
A pair of coating robots 4, 4 were arranged.

The jig 3 has a longitudinally elongated swinging frame 6 mounted on a machine base 5 so as to be swingable about shafts 6a, 6a at both front and rear ends of the swinging frame 6, and a plurality of swinging frames for gripping side panels w on the swinging frame 6. A longitudinally elongated jig frame 8 to which clampers 7 ₁ , 7 ₂ . The shaft 6a is connected via a chain 10 to a motor 9 mounted on the lower part of the machine 5, and the operation of the motor 9 causes the swinging frame 6 to swing about the shafts 6a, 6a. Also, a pair of longitudinal guide sleeves 6b, 6b and an intermediate cylinder 11 are attached to the upper surface of the swing frame 6, and both guide sleeves 6b, 6
b, the jig frame 8 is slidably inserted and supported by a pair of front and rear guide bars 8a, 8a protruding from the jig frame 8, and the piston rod 11a of the cylinder 11 is connected to the jig frame 8. The jig frame 8 is caused to move back and forth in the lateral direction by the operation of the cylinder 11, and after the side panel w is conveyed to the coating station 1 by the hanger 2, the jig frame 8 is suspended from the hanger 2. side panel lol
The side panel w is held by the jig frame 8 via each clamper 7 ₁ , 7 ₂ . . . In this state, the hanger 2 is swung about the support shaft 2b relative to the carrier 2a above it from the lower hanging position shown by the imaginary line in FIG. 2 to the upper retracted position shown by the solid line, and the hanger 2 From the jig 3
I moved the side panel w to .

The jig frame 8 includes a pair of first clampers 7 ₁ , 7 ₁ in the front and rear that grip the upper frame wa of the side panel w, and a double clamper type clamper that grips the middle part of the front pillar wb. A second clamper ₇₂ , a third clamper ₇₃ that grips the center pillar wc, a fourth clamper ₇₄ that grips the front edge of the rear fender wd, and a fifth clamper ₇₅ that grips the rear lower edge of the rear fender wd. , the sixth clamper ₇ that grips the rear upper edge of the rear fender WD 6
Further, a pair of front and rear workpiece receivers 7', 7' for inserting and holding the side sill we are provided. Then, with the side panel w held by the jig 3, the part shown by the thick dotted line in FIG. 3, that is, the joint part of the roof w ₁ on the outer surface of the upper frame wa as shown in FIG. Front pillar wb as shown in
Apply adhesive A to the joint part of the drip frame _w2 on the outer surface of the front edge of the upper half, and also apply adhesive A to the joint part of the drip frame w2 on the outer surface of the front edge of the upper half. The joint part of the inner member w ₃ on the inner surface of the trailing edge,
The joint part of the inner surface of the lower half of the front pillar wb with the dart lower w ₄ as shown in FIG. 6, the joint part of the inner surface of the lower edge of the side sill w with the floor w ₅ as shown in FIG. Apply sealant B to the joint between the rear wheel house _w6 and the rear floor _w7 on the inner surface of the lower edge of the rear fender wd as shown in Figure 9, and then apply the sealant b to the adhesive a on the front part of the side panel w. The coating robot 4 at the front is used to apply the agent b, and the coating robot 4 at the rear is used to apply the adhesive a and the sealant b at the rear.

Each coating robot 4 includes a slide base 13 on a machine base 12 that is movable back and forth, a swivel base 14 on the slide base 13, and a first swing arm 1 on the swivel base 14.
5, a second swing arm 16 at its upper end, and a second swing arm 16 at its upper end.
The robot is composed of a six-axis structure consisting of a wrist part 17 that can freely swing and rotate at the tip of a swing arm 16, and has a first application nozzle ₁₈₁ that discharges adhesive a to the wrist part 17, and a sealant b. the second to discharge
The application nozzle 18 ₂ is attached in a V-shape in plan view, and by rotating the wrist portion 17, both the nozzles 18 ₁ , 18 ₂ are attached.
Either one of the two swing arms 16 and 16 can be freely selected to be placed in the operating position ahead of the second swing arm 16 in the longitudinal direction.

(Function) To explain the function of the present invention based on the above embodiment, after the side panel w is held by the jig 3,
The coating work is performed by operating the front and rear coating robots 4, 4. In this case, the front coating robot 4 first selects and operates the second coating nozzle ₁₈₂ and then transfers it to A in FIG. from point B to point B along the front edge of the lower half of the front pillar wb where it joins the dart lower _w4 , apply the sealant b to the point, and then apply the sealant b to the point, and then use the first application nozzle ₁₈₁
Select and activate this and move it from point B to the front pillar.
Move the front edge of the upper half of wb along the joint point with the drip frame _w2 and then the joint point of the upper frame wa with the roof _w1 to a point C approximately in the longitudinal direction of the upper frame wa, and Apply adhesive a to both joints, and then selectively activate the second application nozzle ₁₈₂ to spread it from point D at the upper end of front pillar wb to the joint between inner member _w3 and dart lower _w4 at its rear edge. then move it to point E at the lower end of front pillar wb, apply sealant b to that location, and then move it from point F at the front end of side sill we to floor _w5 while keeping the second application nozzle ₁₈₂ selectively activated. The sealing agent b is moved along the joint point with the side sill we to point G at the rear end of the side sill we, and the sealant b is applied to the point.

Also, the rear coating robot 4 first selectively operates the first coating nozzle ₁₈₁ and moves it from point H at the rear end of the upper frame wa to the point C along the joint with the roof _w1 . , apply adhesive a to the area, and then selectively operate the second application nozzle ₁₈₂ to apply it from the point G to the joint area of the rear fender _wd with the rear wheel house _w6 and the joint area of the rear floor _w7 . I of the rear end of the rear fender WD along
The sealing agent b is applied to both of the locations. Here, the first clamper 7 1 , the second clamper 7 _{2 ,} and the fifth clamper 7 ₅ grip the area where the adhesive a or the sealant b is applied.
When each coating nozzle 18 ₁ , 18 ₂ passes through the arrangement location, each clamper 7 ₁ , 7 ₂ , 7 ₅ is opened by a signal from the robot controller. According to this, each coating nozzle 18 ₁ , 18 ₂ will not adhere to the respective clampers 7 ₁ , 7 ₂ , 7 ₅ , and therefore the portions gripped by the respective clampers 7 ₁ , 7 ₂ , 7 ₅ will not be affected. It becomes possible to apply the adhesive a and the sealant b to as close a position as possible, eliminating the need for additional application in a subsequent process.

In addition, in order to prevent the adhesive a etc. from adhering to the clampers 7 ₁ , 7 ₂ , 7 ₅ when they are closed, the adhesive a etc. is applied to the parts gripped by the clampers 7 ₁ , 7 ₂ , 7 ₅ . do not.

Further, the work of applying the sealant to the application site from point F to point G by the front application robot 4 and the work of applying the sealant to the application site from point G to point I by the rear robot 4 are as follows: Jig 3
The application is performed while the jig frame 8 is swung upward as shown by the imaginary line in FIG. The parts are brought close to each coating robot 4, and coating work can be performed reliably without using a large robot.

(Effects of the Invention) As described above, according to the present invention, two or more types of coating agents can be applied to a workpiece in a single coating station, and even if the coating robot is small and has a relatively narrow operating range, the jig can be By changing the position of the workpiece due to the movement of the jig, the coating area can be brought within the range of motion of the coating robot, and the movement of the jig is also useful for transferring the workpiece to and from workpiece conveyance members such as hangers. In addition, by opening the clamper when passing through the coating nozzle, the coating agent can be applied as close as possible to the part gripped by the clamper, making it possible to significantly reduce equipment costs as a whole. This has the effect of eliminating the need for coating and improving productivity.

[Brief explanation of drawings]

FIG. 1 is a plan view of a coating station that performs coating work according to the method of the present invention, and FIG. 2 is a plan view of a coating station shown in FIG.
Figure 3 is a front view of the coating station seen from the line; Figure 3 is a side view of the jig seen from the direction of arrow X in Figure 2;
Figures to Figures 9 are from -line to - in Figure 3, respectively.
FIG. 3 is a cross-sectional view of each application site of the side panel taken at . w...Side panel (work), 3...Jig,
4...Dispensing robot, 7 ₁ ...7 ₆ ...Clamper,
18 ₁ , 18 ₂ ... coating nozzle.

Claims (1)

[Claims] 1. A jig holds the work via a clamper attached to the jig, and a coating robot installed opposite the jig applies at least two types of coating agents, such as sealants and adhesives, to each predetermined application area of the work. In the method, at least two coating nozzles that discharge different types of coating agents are attached to the coating robot so as to be selectively operable, and the jig is movable to selectively operate the coating while changing the position of the workpiece. The nozzle is moved along a predetermined coating portion of the workpiece by the operation of the coating robot to perform coating work, and a clamper that grips the coating portion of the workpiece is opened when the coating robot passes through the coating nozzle. How to apply sealant, etc. to the workpiece.