JPS60220165A - Apparatus for coating high viscosity material - Google Patents

Abstract

PURPOSE:To make it possible to perform stable coating sealing, by making a gun main body freely attachable to a sealing apparatus through an attachment base and bringing said gun main body into engagement with not only the shaking apparatus provided to the attachement base but also a movement apparatus. CONSTITUTION:Solenoid valves 63, 64 for shaking cylinders 40, 40' are brought to an OFF state and the shaking cylinders 40, 40' are operated so as to fall the leading end of a nozzle chip 14 to a direction pressed to a panel joint part 75. Then, the leading end of the nozzle chip 14 is guided to the sealing start point C of the panel joint part 75 and the nozzle part of a coating apparatus 1 is pressed to the joint part direction and the direction vertical to the panel surface at said start point C to perform the teaching of a sealing course. Thereafter, when the operation of a robot 2 is regenerated, the leading end of the nozzle chip 14 moves along the panel joint part 75 by the repulsive force of a shaking spring 44 and an expanding and contracting spring 32 to perform sealing.

Description

[Detailed Description of the Invention] Technological Classification/Field> The disclosed technology is a technical field of painting processing in which a high viscosity material such as sealer is applied to the joints of objects to be coated so as not to interfere with the constituent members of the objects to be coated. belongs to

<Explanation of the gist> Accordingly, the present invention is characterized in that a gun body having a nozzle at its tip that communicates with a supply port for a high viscosity material such as the sealer material can be attached to a sealing device via a mounting base using a high-pressure gun. The invention relates to a viscous material coating device, in which the gun body is linked to a rocking device attached to the mounting base, and also linked to a moving device attached to the mounting base, so that it can be applied to components of objects to be coated, such as automobile bodies. This invention relates to a high-viscosity material coating device that can apply a high-viscosity material along the seam without interfering with the seam.

<Prior Art> As is well known, for example, in two steps of painting an automobile body, a sealer filler as a predetermined sealing material is applied along the joints of predetermined panels joined by spot welding or the like to form the body. A sealing process is provided to prevent rain leakage around the body and the occurrence of rust and corrosion.

<Problems with the conventional technology> However, in conventional sealing devices such as playback type painting robots that automatically seal the seams of nuclide panels, there is a possibility that the panels may be misaligned with the center of the cellocapode conveyor, etc. Due to loading misalignment with the trolley or jig used to load the body, and errors in the assembly of the body itself, each automobile body has a misalignment, and the body and sealing device are not aligned relative to each other. With automatic sealing, in which the sealer filler is applied to the joints of the panels, it is very difficult to seal with narrow bead widths.

Furthermore, by detecting the positional deviation between the seam of the panels and the target point of the sealing device, and inputting the detected signal as a feedback signal to control the sealing device, the target point of the sealing device can be adjusted to the actual coating line. A sealing device has also been devised that has the function of positioning a coating device having a nozzle portion attached to the sealing device so as to align the position of the coating device, and has been adopted in the sealing process.
In particular, when using a nuclide device on a complex structure such as an automobile body, the structure of the position detection section and control section is complicated and expensive, and the detection section and body components interfere with each other, resulting in a problem with the application range. The disadvantage is that it tends to be limited.

As a result, as a means for automatic application using a sealing device, a means capable of absorbing misalignment of the coating device itself, the nozzle mounting portion K of the coating device, and the nozzle tip was provided to prevent relative misalignment between the coating device and the panel seam. Application devices have been devised that are capable of absorbing and following the seams of the panels.

Furthermore, in the case of car body sealing processes, no matter how compact the coating device is, the nozzle installed in the coating device may be difficult due to the shape of the seams of the panels to be coated or interferences near the panel seams. There are areas where it is impossible to seal by following the seam of the panels, and in such areas, unless the thickness of the beat is a problem,
It is desirable to perform automatic application by spraying, and a coating device has been devised that enables accurate spraying by making the positional deviation absorbing mechanism part fixable at any timing.

However, the coating devices that have been invented in the past that are configured to perform both spraying and copying methods require modification of the mechanism and control part of the sealing device such as a robot, or the positioning When absorbing misalignment, the nozzle angle changes, causing problems such as unstable tracing or a complicated nozzle positioning mechanism during spraying, resulting in an increase in shape and weight. Yes, and also horizontally,
Due to the stiffness of the sealer hose, unnecessary force was applied to the nozzle, causing problems such as unstable tracing and the hose protruding, which was an obstacle to work.

Because of this series of circumstances, it can be used with general playback type robots without the need to modify the sealing device, has a compact structure that is not easily affected by changes in nozzle angle or sealer hose, and can be used for both spraying and copying. There has been a desire for a coating device configured to perform sealing.

<Objective of the Invention> The object of the present invention is to solve the technical problem of the high viscosity material applicator based on the above-mentioned prior art, and to provide a can body with a slim and compact shape toward the nozzle at the tip of the can body. , A predetermined sealing material can be applied along the joints of panels forming the vehicle body without interfering with the constituent members of the vehicle body as the object to be coated, and the nozzle can be positioned reliably as necessary. This makes it possible to perform sealing by accurate spraying, and there is no need for special modifications to sealing equipment such as robots or special playback machines, and it can be manufactured in a small, lightweight, and low cost manner. Moreover, it is an object of the present invention to provide an excellent and versatile high-viscosity material coating device that is useful in the field of coating processing in the manufacturing industry by allowing the gun body to be easily attached to the sealing device.

<Structure of the Invention> In accordance with the above-mentioned object, the structure of the present invention, which is summarized in the above-mentioned claims, has a nozzle communicating with the high-viscosity material supply port at the tip of the gun body in order to solve the above-mentioned problems. , the gun body is freely attached to the sealing device via the mounting base, and the gun body is linked to a rocking device attached to the mounting base, and also linked to a moving device attached to the mounting base. If necessary, the gun body can be restricted from swinging in the left and right directions of the mounting base to ensure nozzle positioning, and the gun body can be moved in the front and rear directions of the mounting base. It can also be regulated,
As a result, by making it possible to independently regulate the movement of the gun body in both directions relative to the mounting base and in both front and back directions, sealant can be applied to the joints of the workpiece to prevent interference with the components of the workpiece. It is possible to apply high viscosity materials such as 100% of viscosity, and has taken technical measures to automatically perform stable coating and sealing.

<Embodiment - Configuration> Next, one embodiment of the present invention will be described as follows based on the drawings from FIG. 1 onwards.

Reference numeral 1 denotes a high-viscosity material coating device, which is attached via a mounting flange 3K at the end of the wrist portion 2a4 of the robot 2 as a sealing device, and a base plate 4 having a cross-sectional shape as a mounting base for the coating device 1, and is fixed in a removable manner. has been done.

A sealer supply port 6 for supplying a sealer material (not shown) as a predetermined sealant is bored in the center of the lower front of the gun body 5 forming the gun body, and the lower end of the gun body 5 is connected to the sealer supply port 6. , there is a hollow shaft 9 which holds the shaft packing 7 and is prevented from rotating with a fixing screw 8.
The rear part of the hollow shaft 9 is firmly screwed, and a nozzle base 12 in which a needle seat 11 is inserted through a packing 10 is firmly screwed to the tip of the hollow shaft 9. A nozzle tip 14 having a tapered tip is clamped and fixed by a nozzle retainer 15 which is held by a nozzle packing 13.

A cylinder part 16 is formed in the upper part of the gun body 5, and a piston 19 fixed with a nut 18 is connected to the cylinder part through a ring packing 20. 16
It is slidable inside.

Further, the gun body 5 is provided with a gun ON air supply port 21 that communicates with the cylinder portion 16. Furthermore, a cylinder base 22 is inserted and fixed into the cylinder portion 16, and a cylinder base 22 is inserted and fixed into the cylinder portion 16. A cylinder cap 24 with a gun OFF air supply port 23 is fixed thereto, and an O-ring 25 for the base and an O-ring 26 for the cap are attached to the cylinder cap 24, respectively.
This ensures airtightness.

In addition, the needle shaft 17 and cylinder base 22
An O-ring 27 is also inserted into the cylinder base 22 between the cylinders to further maintain sealing performance.

The hollow shaft 9Vc is provided with a long groove in the axial direction (not shown) for preventing rotation, and in the upper part of the hollow shaft 9,
The internal linear motion bearing 28 that fits into the long groove of the detent is slidable in the axial direction of the hollow shaft 9, and the linear motion bearing 28 is internally pushed by the bearing holder 29 and fixed to the swing shaft holder 30. has been done.

Further, a holder cap 31 is fitted to the lower end of the bearing holder 29.
A telescopic shaft spring 32 is externally mounted between the nozzle base 12 and the nozzle base 12, and resiliently biases the nozzle portion downward.

Furthermore, a swing shaft 33 is provided on one side of the swing shaft holder 30.
One end is fitted and fixed with a swing shaft pin 34, and is supported by a swing bearing holder 36 fitted into the center of the lower part of the base plate 4 with a ball bearing 35 installed therein.

One end of a swing plate 37 is fitted onto the other end of the swing shaft 33 and fixed with a swing plate pier 38, and a connecting rod 39 is attached to the other end of the swing plate 37. is slidably passed through the connecting rod 39, and both ends of the connecting rod 39 are connected to the rods 41, 41 of the swinging cylinders 40, 40' as swinging devices.
41', intermediate plates 43 and 43' are fixed by screws 42 and 42'.

Further, a swing plate 37 is provided around the connecting rod 39.
A swing pressing spring 44, 44' is provided between the intermediate plates 43 and 43'. Note that the swing cylinders 40 and 40' are the swing cylinder racket 45.
A pair of proximity switches 46 and 46' are fixed to the base plate 4 through a pair of proximity switches 46 and 46'.
are attached by proximity switch lock nuts 47, 47'.

On the other hand, at approximately the center of the swing plate 37, a swing regulation cylinder 48 is fixed to the base plate 4 via a swing regulation cylinder bracket 49. A regulating flange 51 is screwed and fixed, and a rod 50 of the swing regulating cylinder 48 passes through a hole 52 formed in the swing brake 37.

Further, the swinging angle of the swinging plate 37 is regulated by stoppers 53 and 53' fixed to the base plate 4, and at the same time, the swinging angle of the swinging plate 37 is regulated by stoppers 53 and 53' fixed to the base plate 4.
An actuating blend 54 is mounted to operate the proximity switches 46, 46' in the hit position.

Further, as shown in Fig. 2.5.6, a longitudinal regulating cylinder 55 as a moving device is fixed to the base plate 4 by a longitudinal regulating cylinder bracket 56 having an angular cross section. An expansion/contraction regulating plate 58 is screwed to 57 via a nut 59, and is capable of coming into contact with and separating from a notch 60 on the side of the upper end of the gun body 5.

In addition, in order to ensure sealing performance between the sealer supply port 6 and the needle shaft 11, a ■ packing 61 and a V packing presser 62 are inserted into the gun body 5.

In addition, as shown in FIG. 7, K is a solenoid valve 6 for the front and rear regulating cylinders
3. The solenoid valve 64 for the rocking regulation cylinder, the solenoid valve 65 for the rocking cylinder, and the gun ON/OFF solenoid valve 66 operate on the gun control board 68 according to the signals sent from the robot control board 67.
By sending power through the control line bundle 69 and turning on and off a predetermined solenoid valve, right pressing, left pressing, longitudinal position regulation, rocking regulation, and gun ON can be freely selected. There is.

In addition, 70 is a discharge stop signal line, 71 is an automobile body, and 7 is a discharge stop signal line.
2 is the door, 73 is the hemming part of the door, 74 is the notch, 7
5 is the panel seam.

<Embodiment - Effect> In the above-described configuration, if we take as an example the case where a sealant (not shown) is applied to the hemming portion 73 of the door 12 of the automobile body 71 shown in FIG. As shown, the hemming portion 73 on the concave surface has a shape similar to a panel seam 75 with a shallow notch 74.

First, when coating is performed by bringing the panel seam 75K into contact with the nozzle tip of the coating device 1, the solenoid valve 63 for the front and rear regulating cylinders and the solenoid valve 64 for the swing regulating cylinder shown in FIG. 7 are turned OFF. The tip of the nozzle tip 14 is
The direction in which it is pressed toward the panel seam 75 shown in FIG.
The swing cylinders 40, 40 are tilted in the direction of arrow A).
', as shown in Figures 9 and 10, guide the tip of the nozzle tip 14 to the sealing starting point (3) of the panel seam 15, and apply the coating in the seam direction and the direction perpendicular to the panel surface at this starting point. Press the nozzle part of the device 1, and press it at least to the depth a of the notch 74 in the direction of the seam, and to the depth b of the concave surface in the direction perpendicular to the panel surface, until the sealing end point ■. The sealing path (for example, ■-■-〇) is taught.

After this, if the motion of the robot 2 is reproduced, the motion of the robot 2 will be as shown by the dotted line in Fig. 9.10.
Although it does not strictly follow the concave surface, the tip of the nozzle tip 14 is moved along the panel seam 75 by the swing spring 44 and the elastic spring 320, so that a predetermined sealing operation can be performed. ing.

On the other hand, if there are many members near this panel seam 75 and the nozzle tip 14 cannot be brought into contact with the panel seam 75, the tip of the nozzle tip 14 may be
It is also possible to perform sealing by spraying toward the panel seam 75 while keeping it separated from the panel seam 75.

In this case, when both the front and rear regulating cylinder solenoid valve 63 and the swing regulating cylinder solenoid valve 64 are turned ON, the swing plate 37 hits the stopper 53, 53', and the direction of the nozzle tip 14 is regulated. When the gun body 5 hits the swing shaft holder 30, the position of the tip of the nozzle tip 14 is regulated, so that accurate spraying can be performed.

Furthermore, when coating is performed by bringing the tip of the nozzle tip 14 into contact with the second spring seam 75, even if the relative position between the panel seam 75 and the wrist portion 2a of the robot 2 deviates for some reason, the rocking spring 44 and telescopic spring 3
2, the tip of the nozzle tip 14 moves along the panel seam 75, and a predetermined sealing operation is performed.

In the unlikely event that the tip of the nozzle tip 14 comes off the panel joint 75 for some reason, as described above, the operating plate 54 fixed to the gun body 5 should be prevented from approaching by the proximity switches 46, 46' on the left and right sides of the base plate 4. detects this, sends a discharge prohibition signal to the robot control panel 67 through the discharge stop signal line 70, and stops the gun body 5 at a predetermined timing.
The robot 2 can freely stop discharging the sealant and stop the operation of the robot 2.

Further, as shown in FIG. 11, when the gun body 5 swings in the direction of arrow B and comes to the position shown in the figure, the gun body 5 is pressed by the expansion/contraction regulating plate 58 via the front/rear regulating cylinder 55. As shown in FIG. 12, even if the gun body 5 slides toward the mounting flange 3 of the base plate 4 during a predetermined telescopic stroke as shown in the figure, The gun body 5 can be moved and positioned in the direction of arrow C by a telescopic regulating plate 58 via a regulating cylinder 55.

<Other Embodiments> It goes without saying that the embodiments of the present invention are not limited to the first embodiment described above. For example, depending on the application of the coating device, the shape of the panel, etc. The mounting position of the mounting flange 3 is as shown in Figures 2 and 3.
Numerous aspects can be adopted, such as making the upper surface or side surface of the base plate 4 easily replaceable.

<Effects of the Invention> As described above, according to the present invention, the gun body having the nozzle communicating with the high viscosity material supply port at the tip can be freely attached to the sealing device via the mounting base. In the applicator, the gun body is attached to a rocking device attached to the base, and the gun body is attached to a moving device attached to the mounting base, so that the sealing operation is performed by following the nozzle of the gun body. Therefore, sealing can be performed not only from one direction as in the conventional method, but also from the opposite direction, and the degree of freedom in the application direction is increased.

In addition, by making it possible to position the gun body by regulating the movement of the gun body separately in the two directions using the rocking device and the moving device, the accuracy of the position regulation of the positional deviation absorbing mechanism of the gun body is improved. This has the advantage of significantly improving

Further, there is no restriction on the sealing device such as a robot to which the coating device is attached, and the coating device can be attached to any Blaino type sealing device via the mounting base.

In addition, for example, since there is little movement of the sealer hose for supplying sealant material to the gun body and other hoses connected to the gun body, these various hoses are combined into a compact K, and the hose reaction Another advantage is that the force is less likely to adversely affect the copying operation.

[Brief explanation of drawings]

Figures 1 to F are explanatory diagrams of one embodiment of the present invention, in which Figure 1 is a plan view showing the sealing work status of an automobile podium, Figure 2 is a front view of the coating device, and Figure 3 is a , FIG. 4 is a front view of the swinging device, FIG. 5 is a front view of the moving device, FIG. 6 is a side view of the moving device, and FIG. 7 is a side view of the coating device.
Schematic diagram of control system of robot and coating device, Part 8,
Figures 9 and 1.0 are a perspective view, side view, and front view of the seam of the workpiece, Figure 11 is a front view when the gun body is rocking, and Figure 12 is a side view when the gun body is moving. It is. 6... High viscosity material supply port, 14... Nozzle, 5...
・Gun body, 4... Mounting base, 2... Sealing device, 1... High viscosity material applicator, 40, 40'... Rocking device, 55... Moving device Applicant: Toyota Motor Corporation Company Figure 1 Figure 8 Figure 1 Figure 2 Figure 3 Figure 11 Figure 12

Claims (1)

[Claims] In a high viscosity material applicator, a gun body having a nozzle communicating with a high viscosity material supply port at its tip can be freely attached to a sealing device via a mounting base, wherein the gun body is attached to the mounting base. The gun body is connected to a rocking device and a moving device, and the gun body is attached to the base so that it can swing freely on one plane, and the rocking movement of the gun body by the rocking device and the moving device is controlled by a freely regulated pressure. A high viscosity material coating device characterized by: