JPS6057912B2 - Automatic application device for viscous fluid - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic application device for a viscous fluid such as a sealant.

BACKGROUND ART Recently, apparatuses have been commonly used in which a viscous fluid is applied to a target part of a workpiece by attaching an auto gun to an automatic machine such as an industrial robot and operating the automatic machine in a programmed manner.

However, even if this type of automatic applicator is applied, it is difficult to accurately and automatically apply sealant to spot weld joints of automobile bodies, for example, on a mass production line.

In other words, even if the nozzle of the auto gun moves accurately along the programmed trajectory, the injection direction may be deflected due to factors such as fluctuations in injection pressure or viscous fluid adhering to the nozzle, and the sealant application line may not match the above alignment. This is due to the drawback that it can sometimes fall out of sight, making it difficult to efficiently detect these troubles. The present invention has been made in view of the above points, and its purpose is to solve the above-mentioned difficulties. In a coating device that automatically operates to inject a viscous fluid by moving it relative to an object, two reference areas are set surrounding the directional line of the nozzle, and the injected viscous fluid passes through the two reference areas. An automatic viscous fluid applicator is provided with a detection means that detects that both objects have passed and issues a signal, and is controlled to start or continue operation based on this signal. FIG. 1 is an overall explanatory diagram of the first embodiment of the present invention. In the figure, 1 is an airless type auto gun attached to the wrist 3 of an industrial mouth pot 2, and 4 is an airless type auto gun attached to the wrist 3 of an industrial mouth pot 2. This is a flexible pipe that is supplied from a pressure feeding device (not shown) to the auto gun, and is elastically locked to a movable part such as the wrist 3 of the robot 2. Reference numerals 6a, 6b, and 6c are the mechanical parts of the detection means, which will be described later, provided at the trial blowing position and the middle position of the sealing work, respectively, 8 is a unit housing a control circuit related to the means, and 10 is a unit housing the control circuit for the means. This is the control panel of the connected industrial robot 2.

The car body 12 whose spot weld seam is to be sealed is positioned on a jig trolley 14, and 16 and 18 are conveyance devices for moving the trolley 14 and the industrial robot to escape positions, respectively. Reference numeral 9 indicates electrical wiring extending from the control panel 10 to the trunk 11, but illustrations of hydraulic and pneumatic piping are omitted. Fig. 2 shows the mechanism of the detection means that detects that the cylindrical sealant injected from the nozzle 20 of the auto gun 1 positioned at the reference position by the industrial robot 2 has passed through the reference area and issues a detection signal. A first embodiment will be described with reference to FIG.

In the figure, 21 is a directional line of the nozzle 20 located at the reference position, and the substrate 22 is oriented with the directional line 21 as the center.
is fixed on the base 17 of the jig cart 14, and a substrate 24 is fixed in parallel to the substrate 22 via a column 26. Further, light beams 30, 30 projected from the light projectors 28 are placed on the substrate 24, and the light beams 30, 30 are projected from the light projectors 28, respectively, onto the directional line 21.
They are arranged so that they surround each other and are orthogonal to each other. and directional line 2
The intersecting area of both light beams 30, 30 surrounding 1 is defined as a first reference area 40, and the light beams 30, 30 have a diameter of 2 m, for example.
The projector 28,
Adjust 28. It is clear that the cross-sectional shape of the light beam 30 may be other than circular. 32 is a floodlight 28
Holders 35 and 36 hold the holders to the substrate 2.
These are T-bolts and nuts that are fastened to the T-groove 27 of No. 4.

38, 38 are light receivers provided on the substrate 24 via a holder 39 so as to face each of the light emitters 28, 28;
The light receiver 38 is set to 0F when the amount of light received falls below the set value.
It has a switching element of F.

Further, a light projector 28 and a light receiving sensor 38 are provided on the substrate 22 in the same manner as described above, and the light beam 30 of the light projector 28 surrounds the directional line 21. An intersecting area is formed by forming an intersecting area, and this intersecting area is used as a second reference area 50. Note that 42 and 44 are the substrate 2
Sealing agent through holes provided in 2 and 24, respectively;
3 is a receiving box for the injected sealant placed on the base 17 directly below the hole. Next is the mechanical part mentioned above. - The action is shown in Figures 4 to 6 together with the control circuit connected to the mechanism.
This will be explained with reference to the figures. Industrial robot 2 control panel 1
The industrial robot 2 is activated by the trial blow command signal A from 0.
After the arm and wrist 3 move and the nozzle 20 is located at the above-mentioned reference position, the needle valve of the auto gun 1 is opened, so that the sealing agent is discharged from the nozzle 20 to a diameter of, for example, 0.
．． Injected into a cylindrical shape with a circular cross section of 571r1n,
If the injection state is normal as shown in FIG. 6a,
The injected sealant 25 is applied to the two reference areas 40.
, 50, all the light beams 30 are attenuated in the reference regions 40, 50.

As a result, all the light receiving sensors 38a, 38a, 38a, 38a become 0FF in the circuit shown by A in FIG.
This case is determined to be 0K. ), so the light receiving sensor 38
output from the detection means 100a consisting of an 0R circuit 46a and an inverter 47a connected to this by a wiring 45a.
Signal 2 is at level 1 and connected to AND circuit 52 via wiring 48a.
When the test blow command signal A is input from the control panel 10, a pulse signal is output from the rise detection circuit 54a, and is outputted via the monostable multivibrator 56a as an output signal C to the AND circuit. 52a. Therefore, if the trial blow is determined to be 0K, the operation start signal E is sent from the AND circuit 52a to the control panel 10.
is input via the wiring 58a. In response to this operation start signal E, the automatic coating device starts applying sealant to the inspection joints of the vehicle body 12 according to a program input into the control panel 10 in advance. Next, a case where the detection process is intervened in the middle of the application and the 0K determination is made will be described with reference to the circuit shown by B in FIG. 4.

In this example, since it is necessary to remove the position of the board 22 of the detection means 100b from the sealing target part of the vehicle body 12, the position is, for example, a check position shown by reference numeral 6-2 in FIG. When a check command signal "A" is issued from the control panel 10, the gun 1 stops applying the sealant based on the program input to the control panel 10 in advance, moves to the check position, and after this movement, a trial blow is performed. It will be done.

If the result of this trial blow is 0K determination as above, the output signal 2'' from the detection means 100b is input at level 1 to the AND circuit 52b via the wiring 48b, and the check command is sent from the control panel 10. When the signal I'' is issued, the pulse signal port is output from the rising edge detection circuit 54b.
is outputted and inputted as an output signal H'' via the monostable multivibrator 56b. Therefore, the AND circuit 5
A level 1 signal from 2b is input to the AND circuit 62 via the wiring 58, and a signal indicating that the gun 1 is under program control is input from the control panel 10 to the AND circuit 62 via the wiring 63. Therefore, the operation continuation signal is inputted from the N1 circuit 62 to the control panel 10 via the wiring 64, and based on this signal, the gun 1 returns to the coating stop position again, and the automatic coating device starts applying the sealant. Continue. Next, even if the nozzle 20 is set at the standard position, if the sealant injection path 25 (Fig. 6a) is deflected due to nozzle clogging or other causes, and becomes the injection path 29 as shown in Fig. 6b. , or the nozzle 20 is not set at the reference position due to a malfunction of the industrial robot 2, etc., and the injection path 25 (a in FIG. 6) is deflected and becomes an injection path 29'' as shown in c in FIG. 6. In this case, all the light receiving sensors 38a, 38a, 38a, 38a become 0N or any one of the light receiving sensors 38a becomes 0N (
(These cases are determined to be NG) In FIGS. 4A and 5, the level 0 output signal from the detection means 100a is input to the AND circuit 52a, and the level 1 output signal is input as described above. is input.

Therefore, if the trial spraying is determined to be NG, the AND circuit 52a outputs a level 0 output signal to the control panel 10, and the automatic coating device does not start operating. Furthermore, even if a detection process is intervened in the middle of coating, the fourth
In the circuit of FIG. Level 1 indicates that it is under the control of 10
Even if the signal R is input from the control panel 10 to the AND circuit 62 via the wiring 63, the output signal K at level O is sent from the AND circuit 62 to the control panel 10 via the wiring 64 as an operation stop signal. , the automatic coating device stops continuing coating. FIG. 7 is a partially sectional explanatory diagram of a detection means mechanism according to a second embodiment of the present invention, and FIG. 8 is a control circuit diagram connected to the mechanism of FIG. 7. In the figure, 70 is a board fixed in parallel to the base 17 of the jig cart 14 via a support member 71, and each side of the board 70 has 4
A guide rod 72 is provided in the vertical direction, and the detection plates 74, 74 are slidably locked parallel to the substrate 70 by the guide rod 72 and a spring 73. The detection plates 74, 74 are provided with a detection hole 76 whose center is the directional line 21 of the nozzle 20 set at the reference position, and the detection hole is used as a reference area. will be established. The diameter of the detection hole 76 is, for example, the diameter of the plug-shaped sealant injected from the nozzle 20.
If 5T0fL, then 1.27177! It is preferable to set it to a certain degree. Reference numerals 77 and 78 are pressure sensors or displacement sensors that are provided on the front and back surfaces of the substrate 70 and have detection needles in contact with the detection plates 74 and 74, respectively.

Next, the operation of the mechanism section of the above-mentioned detection means will be explained with reference to FIGS. 8 to 10 together with the control circuit connected to the mechanism section.

After the nozzle 20 is positioned at the reference position by the trial blow command signal A from the control panel 10 of the industrial robot, the sealant is injected from the nozzle 20, and the injection state is 10a.
If the sealing agent 25 is normal as shown in FIG.

In this case, since the hole positions and hole diameters are set as described above, the sealant will not adhere to the inner wall of the detection hole 76 or the detection plate 74, and therefore each detection plate 74 will not move. As a result, in the circuit shown by Y in FIG. 8, the two displacement sensors 77a and 78a are in the 0FF state (this case is determined to be 0K), so the displacement sensor and the 0R circuit 82a connected to these by the wiring 80a and The output signal D from the detection means 200a consisting of the inverter 84a is input at level 1 to the AND circuit 86a via the wiring 85a, and the test blow command signal A from the control panel 10
When the pulse signal B is generated, a pulse signal B is outputted from the falling detection circuit 87a, and is inputted as the output signal C via the monostable multivibrator 88a for a predetermined period of time as the blowing ends. Therefore, if the trial blow is determined to be 0K, a level 1 operation start signal M is input from the AND circuit 86a to the control panel 10 via the wiring 89.
Upon receiving this operation start signal M, the automatic coating device operates on the control panel 10.
Application of the sealant to the spot weld joints of the vehicle body 12 (FIG. 1) is started according to a program that has been loaded in advance. Next, the sealant injection path 25 (Fig. 10a)
If the sealant is deflected and becomes the injection path 29 as shown in FIG. Since the amount of adhesion is considerable, the detection plate moves due to its weight, so either displacement sensor 77a or 78
Since a detects the movement and becomes 0N (this case is determined as NG), the detection means 200a inputs the output signal E of level 0 to the AND circuit 86a, and the output signal C of level 1 is input. Ru. Therefore, if the trial blow is determined to be NG, the level O is output from the AND circuit 86a.
Since the output signal N is outputted, the automatic coating device does not start operation. Furthermore, regarding an example in which a detection process is intervened in the middle of coating, the case of 0K determination will be explained using the circuit shown by z in FIG. 4.

Even in this example, since it is necessary to remove the position of the detection plate 74 of the detection means 200b from the part of the vehicle body 12 to be sealed, the position is, for example, the check position shown by reference numeral 6-2 in FIG.

When the check command signal A'' is issued from the control panel 10,
The gun 1 stops applying the sealant based on a program input into the control panel 10 in advance, moves to the check position, and after this movement, a trial blow is performed. If the result of this trial blow is a 0K determination, the detection means 2
From 00b, the output signal D'' is input to the AND circuit 86b via the wiring 85b at level 1 in the same manner as described above, and when the check command signal A'' is issued, the pulse signal B is output from the falling detection circuit 87b. ” is output,
Output signal C via monostable multivibrator 88b
'', the processing time is input as the trial blow ends at level 1. Therefore, if the trial blow is determined to be 0K, a level 1 signal M'' is sent from the AND circuit 86b to the AND circuit via the wiring 91. 92 and a signal R indicating that the gun 1 is under the control of the control panel 10 is connected to the wire 9.
Since it is input at level 1 via .4, it is input at level 1.
The coating continuation signal K is input from the AND circuit 92 to the control panel 10 via the wiring 96. Based on this coating continuation signal K, the gun 1 returns to the coating stop position again, and the automatic coating device continues coating the sealant. Next, Figure 10 B, c
When the injection path 29 is deflected as shown in (that is, in the case of NG judgment), the output signal E'' of level 0 is input from the detection means 200b to the AND circuit 86b, and the output signal of level 1 is input to the AND circuit 86b. A signal C'' is input.
Therefore, if the trial blow is determined to be NG, the output signal N' at level 0 is output from the AND circuit 86b to the AND circuit 92 via the wiring 91, and the signal R at level 1 is also input to the AND circuit 92. AND circuit 9
2, a coating stop signal L of level 0 is transmitted to the control panel 10. Based on this stop signal, the automatic coating device stops continuing coating. Note that the detection hole 76 in this embodiment is the nozzle 2.
Although the circular hole has a diameter larger than the diameter of the sealant to be injected from the hole, the hole may have a square shape or the like that encloses the cross section of the sealant.

Furthermore, in FIG. 8, a monostable multivibrator 88
An alarm circuit H is constituted by a wiring 103 branched from the output side wiring 89 of a and an alarm device 107 connected via a wiring 106 to an AND circuit 105 which is branched from the wiring 85a and has an inverter 104 connected to the input side. Detection means 200
In response to the signal E indicating the NG judgment from a, the alarm 10
As explained in detail above, in the present invention, the nozzle of the auto gun is directed according to a predetermined pattern, and the nozzle is directed relative to the object to be coated. In a coating device that automatically operates to move and inject a viscous fluid, two reference areas surrounding the nozzle direction line are set, and the ejected viscous fluid passes through both of the two reference areas. We have provided a detection means that detects and issues a signal, and based on this signal we control the operation to start or continue operation, so that, for example, the nozzle of an auto gun can be used in the sealing process of an automobile painting line. Even if the sealant moves accurately along the programmed trajectory, the injection direction of the sealant may be deflected due to factors such as fluctuations in injection pressure or viscous fluid adhering to the nozzle, causing the sealant application line to deviate from the area to be sealed. This solves the problem of the product coming off, and overall it greatly contributes to the automation of the process of applying viscous fluids such as sealants and adhesives.

[Brief explanation of the drawing]

FIG. 1 is an overall explanatory diagram of the first embodiment of the present invention, and FIG. 2 shows the detection means 6, 6a, 6b, 6c (7) in FIG.
3 is a partial cross-sectional view taken along the arrow ■-■ in FIG. 2, FIG. 4 is a control circuit diagram for the detection means 6 in FIG. 1, and FIG. Such signal explanatory diagram, FIG. 6A,
b and c are state diagrams of the injected sealant as explanatory diagrams related to FIGS. 1 to 5, respectively, and FIG. 7 is a partially cross-sectional explanatory diagram of the detection means mechanism according to the second embodiment of the present invention. , FIG. 8 is a control circuit diagram of the mechanism shown in FIG. 7, in detail, the detection means connected to the displacement sensor, FIG. 9 is an explanatory diagram of the signals shown in FIG. 8, and FIGS. FIG. 9 is a state diagram of the injected sealant as an explanatory diagram related to FIGS. 7 to 9; 1...Auto gun, 2...Industrial robot, 3...Wrist, 6a, 6b, 6c...Detection means, 8...Detection means 6 A unit housing such a control circuit, 10... Control panel of industrial robot 2, 20... Nozzle of auto gun, 21...
... Nozzle directional line, 28 ... Floodlight, 30.
...Light beam, 38... Light receiver, 40.
...First reference area, 50...Second reference area, 76...Detection hole as reference area, 1
00a, 100b...Detection means, 200"A, 2
OOb...Detection means.

Claims (1)

[Claims] 1. In a coating device that automatically operates to direct the nozzle of an autogun according to a predetermined pattern and move it relative to the object to be coated to inject a viscous fluid, there are two criteria surrounding the nozzle orientation line. In addition to setting the area, a detection means is provided that detects that the injected viscous fluid has passed both of the two reference areas and issues a signal, and controls the operation to start or continue based on this signal. An automatic application device for viscous fluid characterized by: