JPH0631226A - Viscous material coating apparatus - Google Patents

Abstract

PURPOSE:To prevent the damage to the nozzle brought into contact with a work by freely changing the emitting direction of the coating material of the nozzle. CONSTITUTION:The tip part of a nozzle 41 emitting a viscous material is positioned by driving robot arms 17, 19. Further, the tip part of the nozzle 41 can be positioned at the constricted part present in a floor part or wheel house part by shaking or swiveling the nozzle 41. Since the shock applied to the nozzle 41 is absorbed by the buffer member interposed between the nozzle 41 and an arm 21, the damage to the nozzle 41 due to the contact with a work is prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for applying a viscous material, and more particularly to a nozzle capable of freely changing the position of a nozzle discharge port.

[0002]

2. Description of the Related Art A widely used apparatus for applying a viscous material is an apparatus for ejecting a viscous material from a nozzle and applying it. This apparatus is suitable for applying a viscous material at a predetermined position with a constant width or for applying thickly. FIG. 7 shows a viscous material application device for applying a sealing material for sealing or sealing to a connecting portion between members forming a vehicle body. As shown in FIG.
A support member 11 that supports the viscous material coating device is attached to a pedestal 15 that is installed adjacent to an assembly line 13 of the vehicle body.
A robot arm 17 is attached. A second robot arm 19 is rotatably connected to the first robot arm 17. This second robot arm 19
As shown in FIG. 8, has a swingable mounting member 21 at the tip, and a coating unit 23 is mounted. As shown in FIG. 8, the coating unit 23 is fixed to the mounting member 21 at the gun 25 portion for feeding the coating material, and the nozzle 27 is fixed to the gun 25. Therefore, the robot arms 17, 19
When the tip of the nozzle 27 of the coating unit 23 is positioned at the starting point of the material coating position by rotating, the coating material delivered by the gun 23 is supplied to the nozzle 27, and the coating material is fed from the tip of the nozzle. Is ejected.

As described above, the coating unit 23 is fixed to the robot arm 21 and the nozzle 27 is fixed to the coating unit 23. Therefore, when the robot arms 17, 19 and 21 are positioned, the tip of the nozzle 27 is fixed. The parts are positioned.

[0004]

However, when the nozzle is fixed to the robot arm, the tip of the nozzle is narrowed on the floor, the wheel house, or the inner plate around the dash due to the restriction of the posture of the robot. May not be able to be positioned on the part. Moreover, since the nozzle is fixed to the robot, the nozzle is easily damaged by contact with the vehicle body. Therefore, in order to prevent breakage of the nozzle, a construction method in which the distance between the tip of the nozzle and the work is relatively large is adopted, and there is a limit to improvement of coating quality.

The present invention made in view of the above problems has an object to make it possible to freely change the discharge direction of the coating material of the nozzle and to prevent the nozzle in contact with the work from being damaged. To do.

[0006]

The present invention for achieving the above object provides a viscous material in which a gun for delivering a viscous material and a nozzle for ejecting the viscous material delivered by the gun are attached to a robot arm. A coating apparatus, wherein the nozzle is swingably attached to the arm or the gun, and is rotatably attached about a rotation axis extending in the longitudinal direction of the nozzle, and the nozzle is attached to the arm or the gun. The viscous material coating device is characterized in that the viscous material is attached so as to be able to approach and separate from the other side and is supported by the arm or the gun through a buffer member.

[0007]

When the tip of the nozzle for discharging the viscous material, which is the coating material, is positioned at the coating position, the robot arm is attitude-controlled and the nozzle is swung and rotated to perform positioning. By operating in this manner, the tip of the nozzle can be positioned at the narrow portion existing on the floor, the wheel house portion or the like. Also, when the nozzle contacts the workpiece,
Since the shock at the time of contact is absorbed by the cushioning member interposed between the nozzle and the robot arm, the nozzle is not damaged by the contact with the work.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. Note that the members already described are given the same reference numerals. FIG. 1 is an enlarged side sectional view showing a coating unit portion of an embodiment of the present invention. As shown in FIG. 1, the coating unit portion is attached to the attachment member 21 of the robot arm. Since the robot arm is the same as that already described, the description is omitted. As shown in FIG. 1, the coating unit 23 has a motor 31, and is driven and controlled by a motor driver (not shown) connected to a robot control panel (not shown). Since the tip end portion 33 of the rotary shaft of the motor 31 is screw-engaged with the piston member 35 of the cylinder, the piston member 35 can be freely moved up and down by rotating the motor 31. By positioning the rotational position of the motor 31, the vertical position of the piston 35 can be controlled.
Further, as shown in the drawing, the projecting portion 37 projectingly provided on the piston member 35 and the swinging member 39 pivotally supported so as to be swingable are connected by a sliding link mechanism. Therefore, as shown in FIG. 2, the swing member 39 can be swung by vertically moving the piston member 35.
Although the swing range of the nozzle may be arbitrarily determined, the nozzle swings in the range of 0 ° to 60 ° in this embodiment. Further, as shown in FIG. 1, a nozzle 41 for discharging a coating material is attached to the swing member 39, and as shown in FIG. 3, the nozzle 41 is rotatable about a longitudinal axis as a rotation axis. Has become. Figure 4
FIG. 4 is a cross-sectional plan view showing an AA cross section which is a connecting portion between the swinging member 39 and the nozzle 41 and a portion which is continuous with the cross section. As shown in the figure, the nozzle 41 is in slidable contact with the swinging member 39, and the nozzle 41 is rotated by supplying air to the space 43 surrounded by both members 39, 41. Air is sucked into each space 43 through the intake / exhaust ports 45 and 47 provided in the swing member 39, and is exhausted from each space 43. A hose 49 connected to an air supply source (not shown) is connected to each of the intake and exhaust ports 45, 47, and air is supplied from the air hose 49. As shown in the drawing, an intake / exhaust valve 51 is provided in the path of the air hose 49, and a solenoid 53 allows intake / exhaust. In this embodiment, the nozzle 4
1 can rotate 90 ° about the longitudinal direction. Therefore, even when a nozzle with a limited application direction is used, the application direction can be changed simply by rotating the nozzle, and it is not necessary to change the posture of the robot.

Further, as shown in FIG. 1, the tip portion 55 of the nozzle 41 is attached via a spring 57, which is a buffer member, and is slidably movable. Therefore, even if an object such as the work W collides with the tip portion 55 of the nozzle 41, the impact can be absorbed by the spring 57, and the damage of the nozzle 41 can be prevented. Further, since the coating work can be performed by bringing the nozzle 41 closer to the work W, the coating quality can be improved. As shown in FIG. 1, the coating unit 23 is provided with a gun 25 which is driven by a driving means 59 and sends out the coating material. The first supply hose 61 supplies the coating material supplied to the gun 25 part. , To the nozzle 41 via the second supply hose 63.

Next, the operation of applying the coating material according to this embodiment will be described. First, a robot arm (not shown) is driven to move the nozzle 41 tip portion 55 of the coating unit 23 to a position close to the material coating position. When this application position is a position such as a narrow portion existing on the floor, the wheel house, the inner plate around the dash, or the like, and the tip of the nozzle 41 cannot be positioned only by controlling the robot arm, the nozzle 41 is set to the motor 31. Is swung by driving, or is rotated by controlling the intake / exhaust valve 51, thereby positioning at a desired position. When the nozzle 41 is positioned in this way, the coating material supplied from the supply hose 61 to the gun 25 is sent out to the nozzle 41 by the gun 25 and discharged from the nozzle 41 to the coating position.

Next, another embodiment will be described. FIG. 5 is a side sectional view of another embodiment. As shown in the figure, in this embodiment, a slidable unit stay portion 71 supporting the coating unit 23 is provided with a spring 73 as a cushioning member. Therefore, the impact applied to the nozzle 41 can be absorbed by this spring 73, and the damage of the nozzle 41 can be prevented. In this embodiment, the rocking member 39 is rocked by the air cylinder 75, and the nozzle 41 is rotated by the servo motor 77. See also FIG.
[Fig. 6] is a side view showing a state in which a guide member 81 is attached to the nozzle 41 portion of both of the above embodiments. When the nozzle 41 having such a guide member 81 is used, as shown in the figure, when there is a guideable portion such as the edge portion 83 of the work W along the coating position, the coating position, the coating amount, etc. More accurate and improved coating quality. The guide member 81 may be movably attached to the nozzle 41 or may be detachable from the nozzle 41.

[0012]

As described above, according to the present invention, the degree of freedom of movement of the nozzle is improved, so that the coating material can be applied to the narrow portion existing on the floor, the wheel house, the inner plate around the dash or the like. Further, since the buffer member is interposed between the nozzle and the robot arm, it is possible to prevent the nozzle from being damaged due to the collision of the work or the like. Therefore, the coating operation can be performed by bringing the nozzle close to the work, and the coating quality is improved. Further, by providing the nozzle with the guide member, the coating quality is further improved.

[Brief description of drawings]

FIG. 1 is an enlarged side sectional view showing a coating unit portion of an embodiment of the present invention,

FIG. 2 is a conceptual diagram showing a swing motion,

FIG. 3 is a conceptual diagram showing a rotating operation,

FIG. 4 is a cross-sectional plan view of a connecting portion between a swing member and a nozzle,

FIG. 5 is a side sectional view of another embodiment,

FIG. 6 is a side view showing a state in which a guide member is attached to the nozzle portions of both the embodiments,

FIG. 7 is a side view showing a conventional viscous material coating device,

FIG. 8 is a side view showing the coating unit.

[Explanation of symbols]

17, 19 ... Robot arm 21
… Mounting member 23… Coating unit 25… Gun 27
… Nozzle 31… Motor 35… Piston 39
... rocking member 41 ... nozzle 51 ... intake and exhaust valve 81
… Guide member W… Work

Claims (1)

[Claims] 1. A viscous material coating device in which a gun for delivering a viscous material and a nozzle for ejecting the viscous material delivered by the gun are attached to a robot arm, wherein the nozzle is attached to the arm or the gun. Is swingably mounted, and is rotatable about a rotation axis extending in the longitudinal direction of the nozzle, the nozzle is mounted so as to approach and separate from the arm or the gun, and the arm is provided via a buffer member. Alternatively, the viscous material coating device is characterized by being supported by the gun.