JPH0138542B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The disclosed technology belongs to the technical field of uniformly and automatically applying an adhesive or the like to the edge of an automobile windshield glass.

Therefore, in this invention, a workpiece such as the windshield glass is set on a workpiece setting table whose position is fixed via a jig, and a nozzle actuating device which is also placed on the side of the setting table and which is also fixed in position, A viscous machine that operates by clamping the material discharge nozzle to continuously cover the set part of the workpiece, and automatically and uniformly applies a fixed amount of viscous material such as adhesive from the viscous material supply device. This invention relates to a material coating device,
In particular, it is a commercially available robot whose nozzle operating device has a high degree of freedom, a three-dimensional continuous trajectory replay function, and a sequence motion memory function, and whose arm operates a nozzle for discharging viscous material. On the other hand, the viscous material supply device has a discharge cylinder connected to a viscous material pressure pump that is operated by a servo motor via a forward/reverse switching valve, and the viscous material supply device operates the discharge cylinder connected to the viscous material pressure pump by a servo motor through a forward/reverse switching valve. The amount of viscous material fed to the discharge nozzle is changed depending on the position and relative speed conditions, so that the amount of applied material is made uniform with no excess or deficiency.
Accordingly, the control device changes the rotational speed of the servo motor and switches the forward/reverse switching valve according to the operation signal transmitted from the robot, and the supply of the viscous material is controlled by the robot's program. This invention relates to a coating device.

<Prior art> As is well known, there are many products in which a viscous material such as an adhesive is applied.For example, when attaching and fixing an automobile windshield glass to a wind frame panel, it is necessary to apply a viscous material such as an adhesive to the edge of the windshield glass. A technique of applying it in a relatively circular manner is used.

As an example in FIGS. 1 and 2, adhesive 2 has already been applied to the entire circumferential edge of a predetermined portion of the windshield glass 1.
After bonding the dam 3 through the dam 3, an adhesive 4 for attachment to the wind frame panel is applied to the outside of the dam 3. In this case, the applied state of the adhesive 4 does not protrude beyond the edge of the windshield glass 1. In addition, it is necessary to supply the adhesive 4 at a constant level so that the set height is slightly higher than the dam 3. Otherwise, the sealing function against water leakage may not be complete or the wind frame may be damaged. There are problems such as protruding from the panel.

<Problems to be Solved by the Invention> By the way, the technique for applying the adhesive 4 to the windshield glass 1 has so far been fixed in position, and the windshield glass 1 is placed on a rotating work set table via a jig. In general, the adhesive material 4 is applied by placing the adhesive 4 on the table and setting it, and then holding the discharge nozzle so that it follows the edge of the rotating windshield glass. However, the disadvantages are that the work is extremely primitive and requires the skill of the operator, that it is not suitable for mass production, and that there is variation in coating accuracy, which leads to high costs due to increased consumption of adhesive material. It was also an advantage.

To deal with this, we developed an automatic mechanical coating device that uses a presser spring to press the discharge nozzle against the rotatable windshield glass that is set on a rotating work set table that is fixed in position, and automatically traces and coats the windshield glass. However, since the general and corner parts of the windshield glass have different relative speeds with respect to the discharge nozzle, it is not possible to maintain a uniform discharge amount of adhesive, that is, uniform application, and the above-mentioned problem arises. There was a problem that the problem was not solved in the corner part.

By the way, for example, as in the invention disclosed in JP-A No. 55-67358, there are devices that automatically paint workpieces such as automobiles using playback type robots. Since the robot automatically paints the workpieces that are moved and transported by the robot, the teaching and playback operations are extremely complicated, and the control management is complicated.

In order to move the workpiece, the moving speed of the workpiece or conveyance device is detected and used, so even if a coating amount switching signal is issued at the same time as the speed of the workpiece changes, the adhesive, etc. from the nozzle tip will be removed. In order for discharge to occur, there is a delay of several hundred milliseconds due to the response speed of each mechanical part and the expansion and contraction of piping, etc., and the length of the adhesive on the workpiece is over 100 mm, resulting in The disadvantage is that quality may deteriorate.

In particular, there is a slight difference in speed between the general area and the corner area, making it impossible to compensate for unevenness in the amount of coating.

Therefore, there was also a drawback that speed changes could not be confirmed in advance, and it was not possible to prevent a delay in the application of the adhesive.

Furthermore, since the cost of the entire device is high, there is also the practical disadvantage of having to set the workpiece on a rotating workpiece set table that is fixed in position, as mentioned above. Ta.

Coating operations involving relative movement between the workpiece and the robot expand and contract the operating range of the robot's arm, which requires a wide range of contact with surrounding equipment to avoid interference, and limits freedom in line arrangement. It had the disadvantage of losing its temperament.

Moreover, the speed difference caused by the expansion and contraction of the arm has the disadvantage that the amount of adhesive material cannot be supplied uniformly during the coating operation.

The object of the present invention is to solve the technical problem of applying a viscous material based on the above-mentioned prior art, and to set a workpiece on a set table in a fixed position and set it in an operating area that can cover the workpiece. The gun for dispensing viscous material can be used to perform playback coating on a set trajectory using a robot, and the memory function for the contents of the sequence operation allows the dispensing to the nozzle even if the location of the nozzle relative to the workpiece, speed, etc. changes. Cylinder operation is controlled via a control device according to a robot program, and the viscous material is applied uniformly over the entire area, with a constant set cross-sectional shape at the fixed part. It is an object of the present invention to provide an excellent viscous material coating device that is useful in the field of application of bonding technology in industry.

<Means and operations for solving the problems> In order to solve the above-mentioned problems, the structure of the present invention, which is based on the above-mentioned claims, is to set a workpiece on a set table fixed in position. The robot, which is also fixed in position, moves the nozzle three-dimensionally along the set locus with the arm clamping the nozzle, and at the same time, the pressure pump, which is fixed in position, moves the viscous material. The switching operation of the servo motor that feeds the discharge cylinder at a fixed position and operates the discharge cylinder and the forward/reverse switching valve of the discharge cylinder is controlled by the robot's program according to the nozzle position and relative speed by the sequence memorization operation of the robot. The amount of viscous material discharged from the nozzle varies depending on the relative position of the peripheral edge of the workpiece and the discharge nozzle, and is always uniformly supplied with no excess or deficiency.As a result, all Technical measures have been taken to ensure that the applied viscous material is in a uniform bead, in the same posture, and in the same cross section at each location.

<Example> Next, an example of the present invention will be described below based on the drawings from FIG. 3 onwards. Note that the same parts as in FIGS. 1 and 2 will be described using the same reference numerals.

Reference numeral 5 denotes a viscous material application device which constitutes the gist of the present invention, and in this embodiment, an automobile windshield glass 1 is used as a workpiece, and an adhesive 4 for a wind frame panel (not shown) is applied as a viscous material to the peripheral edge of the workpiece. It is shown as an embodiment.

6 is a commercially available robot used as a nozzle actuating device, and is a playback-type articulated robot that has five degrees of freedom and is capable of three-dimensional movement, and has a continuous trajectory regeneration function that is a so-called CP control function. It has a program function for storing sequence operation contents and is set at a fixed position.

The clamp 8 at the tip of the arm of the robot 6 allows a discharge nozzle 15 provided on the stand 9 with a mixer 10, swivel joints 11 and 12, and a flexible hose 14 via a fixture 13 to be three-dimensionally movable. I'm holding it.

Reference numeral 16 denotes a work setting table, which is fixed in position, and the windshield glass 1 to which a dam 3 as a work is bonded in advance to the peripheral edge is mounted on a positioning jig 1.
7, and the proximity switch 18 detects the size and determines the type of work 1.

Reference numeral 19 denotes a viscous material supply device, which is also fixed in position, and a pressure pump 20 for the main agent forming the adhesive 4 and a pressure pump 20' for the curing agent are connected to a discharge cylinder 22 via piping 21, 21'. , 22', and from the discharge cylinders 22, 22', discharge pipes 23, 23' cut off the adhesive at the time of setting,
It is connected to the mixer 10 through a shutoff valve 24 that prevents dripping.

Four-way valves 25, 25' are fixedly connected to the discharge cylinders 22, 22' by rods 26, as shown in FIG.

Further, a rod 28 for fixing the pistons 27, 27' is loosely inserted into the discharge cylinders 22, 22', and limit switches 29, 2 are installed at the tips of the rods 28, which fix the pistons 27, 27'.
Dogs 30, 30' for 9' are provided, the rear ends of which are connected to the output shaft of a ball screw jack 32 connected to a servo motor 31.

Reference numeral 33 designates a control panel for the operator, which is installed in a fixed position at a location that is easy to work with, and is equipped with a start button, an abnormality point indicator lamp, a work selection lamp, etc. to make it easier for the operator to use the system. be.

Reference numeral 34 denotes a control device, which is also installed in a fixed position, and among these, a control panel 35 of the supply device receives an input signal caused by the actuation of the limit switches 29, 29' of the dowels 30, 30' as the rod 28 advances and retreats, and controls the servo motor. The four-way valve 2 is adapted to switch the rotation of 31 between forward and reverse directions, and also serves as a forward and reverse switching valve.
5 and 25' at the same time, and
The rotation speed of the servo motor 31 is inputted and displayed digitally, and the rotation speed of the servo motor 31 can be changed using a dial 36. Furthermore, the shaft off valve 24 can also be controlled. ing.

Reference numeral 37 denotes a robot control panel, which has a function of controlling during teaching and input/output signals for each position of the discharge nozzle 15, and is electrically connected to a control panel 38.
8, when the type of workpiece is determined by the proximity switch 18, the determination signal selects and commands the correspondingly set continuous locus and sequence operation contents from memory, and selects a part of the workpiece 1, for example, a straight section,
The rotational speed of the servo motor 31 is controlled programmatically in response to operation signals from the robot 6 at curved sections and corner sections, and the amount of adhesive discharged can be selectively changed to ensure uniform supply without excess or deficiency. Furthermore, the signals of each control panel 35, 37 are supervised,
The moving speed of the nozzle 15 with respect to the workpiece 1 is controlled.

Therefore, except for the discharge nozzle 15, all the mechanical parts have fixed relative positions so as not to interfere with peripheral equipment.

In the above-mentioned configuration, the operation of the viscous material coating device 5 will be explained with reference to the flowchart of the work procedure shown in FIGS. 5a and 5b. After each preparation and check are completed,
A windshield glass workpiece 1 to which a dam 3 has been attached in advance is set on the setting table 16 via the positioning jig 17, and after checking by the proximity switch 18 whether it is the set type of workpiece, the workpiece is set via the operation panel 33. When the viscous material coating device 5 is started, the robot 6 paints the circumferential edge of the windshield glass workpiece 1 three-dimensionally at a predetermined position outside the dam 3 based on a trajectory stored according to the type of the corresponding workpiece 1. Originally, the nozzle 15 operates to rotate.

In this case, the nozzle 15 is caused to relatively move at a constant speed in all of the straight portions, curved portions, and corner portions in accordance with the stored sequence operation.

On the other hand, as the robot 6 operates, the pressure pump 2
From 0,20', the main resin and curing agent are discharged from cylinder 2.
2 and 22', and the servo motor 31 can change the rotation speed and the discharge amount according to the operation signal of the robot 6 via the supply device control panel 35, that is, depending on the position of the nozzle 15.

During this time, the main resin and curing agent discharged from the discharge cylinders 22, 22' by the pistons 27, 27' pass through the shut-off valve 24, are mixed in the mixer 10, and are discharged from the nozzle 15 to the outside of the dam 3.
It is applied to the peripheral surface of the windshield glass 1 according to the settings.

During this time, purging of the nozzle 15, wiping, and countermeasures against the discovery of an abnormality are as shown in the flowcharts of FIGS. 5a and 5b.

When the nozzle 15 returns to the initial position after completing one rotation around the workpiece 1, the feeder control panel 35 immediately closes the shutoff valve 24 in response to an operation signal from the robot 6 to prevent dripping.

Also, during this time, when the rod 28 is at the end of its stroke, its dogs 30, 30' are connected to the limit switches 29, 30'.
By operating 29', the servo motor 31 is reversely rotated via the supply device control panel 35, and the four-way valves 25, 25' are switched, and the main agent and curing agent are discharged from the pressure pumps 20, 20'. The return movement from the cylinders 22, 22' ensures a continuous and stable discharge of adhesive.

When applying the adhesive, since the mechanical parts other than the discharge nozzle 15 are fixed in position, the operating range of the robot 6 is determined, there is no interference with peripheral equipment, and the workpiece position can be adjusted. Since the position is fixed, accurate application work can be performed.

When visually checking the applied state of the adhesive 4 during work, if it is unexpectedly found that the amount is excessive or insufficient, the discharge amount can be increased or decreased by operating the dial 36 of the supply device control panel 35. .

It goes without saying that the embodiments of this invention are not limited to the above-mentioned embodiments; for example, the viscous material is not limited to an adhesive, but may also be a filler, the workpiece may be a workpiece other than windshield glass, and the supply system Various embodiments can be adopted, such as three or more liquids or one liquid, and the design of the device can be changed freely in such cases.

<Effects of the Invention> As described above, according to the present invention, in a device for applying a viscous material to a predetermined part of a workpiece, a robot having a continuous trajectory reproducing function and a sequence motion memory function is positioned with respect to a fixed workpiece set table. By clamping the nozzle for discharging viscous material to the arm that is fixedly installed on the side and can move in three dimensions, basically the application of viscous materials such as adhesives to the three-dimensional surface of the workpiece is automatically performed. Moreover, since it can be done accurately and reproducibly, the operator does not need to be skilled, and the coating work can be repeated efficiently with the same precision, making it possible to mass-produce products. be done.

Since each mechanical part other than the discharge nozzle is relatively fixed in position, the operating range of the robot is constant, and therefore the interaction with peripheral equipment can be set in advance. As a result, flexibility in line design can be maintained, robot operation can be easily controlled, and as a result, the application of the viscous material to the workpiece can be performed accurately as designed, which is an excellent effect.

In addition, since the present invention can adopt a robot program, a selection signal for the discharge amount of viscous material such as adhesive can be output from the robot controller and used as a discharge amount control input signal to the nozzle. The control signal can be outputted earlier than a change in the relative speed with the nozzle occurs, and the excellent effect of being able to compensate for the lag in the start of the viscous material is achieved.

Compared to conventional systems where the lag time takes as much as 1 second due to the viscosity of the viscous material, this can be dealt with more smoothly and the reliability of the product can be improved.

Therefore, there is no waste in the amount of viscous material used, which has an excellent effect of reducing costs.

Since the robot has a sequence operation memorization function, it is possible to move the clamp nozzle at a constant speed along a predetermined trajectory, so the amount of viscous material discharged can be made uniform over the entire area. , the above-mentioned same accuracy is maintained.

Furthermore, by providing a pressure pump to the discharge cylinder connected to the discharge nozzle, the discharge cylinder is always kept in a full state, and its driving servo motor is electrically connected to the robot via a control device. As a result, the robot unexpectedly
In other words, if the movement of the nozzle is not at a constant speed, for example, if the movement speed changes at a curved section or corner section compared to a straight section, the movement of the robot will be detected by the control device and the amount of correction will be applied. The servo motor is controlled to control the discharge amount, and from this point of view as well, an excellent effect is achieved in that the viscous material is reliably applied uniformly over the entire area in a constant cross section and in a constant posture.

[Brief explanation of drawings]

Fig. 1 is a sectional view of a state in which the viscous material is applied to a workpiece, Fig. 2 is a perspective view of the same part, Fig. 3 and the following are explanatory views of one embodiment of the present invention, and Fig. 3 is a perspective view of the entire display. Figures 4 and 4 are partially sectional side views of the mechanism of the viscous material supply device, and Figures 5a and 5b are flowcharts of the working procedure. 16...Work setting table, 6...Nozzle operating device (robot), 19...Viscous material supply device, 5...
...Viscous material applicator, 15...Nozzle, 7...Arm, 20, 20'...Pressure pump, 31...Servo motor, 22, 22'...Discharge cylinder, 3
5, 37, 38...control device.

Claims (1)

[Claims] 1 Consists of a work setting table, a nozzle actuating device installed on the side of the work setting table, a viscous material supply device for the discharge nozzle, and a control device for the nozzle actuating device and the viscous material feeding device; In a viscous material applicator in which a nozzle actuating device, a viscous material supply device, and a control device are fixed in position with respect to each other, the nozzle actuating device has a continuous trajectory reproducing function and a sequence, in which the nozzle actuating device has an arm that clamps a nozzle for discharging the viscous material. The robot has an operation memory function, and the viscous material supply device is connected to a discharge nozzle and a viscous material pressure pump, and is further driven by a servo motor and has a forward/reverse switching valve. The control device is electrically connected to the servo motor, the forward/reverse switching valve, and the robot, and controls the supply amount of the viscous material supply device according to the program of the robot. A viscous material coating device characterized by: