JP2004154733A - Device and method for applying functional fluid - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and method for applying a functional fluid that can greatly reduce an installation cost and a work manpower in an applying process of the functional fluid such as a sealant. <P>SOLUTION: The applying device 1 is equipped with an applying unit 2 comprising a discharge gun 4 to discharge the functional fluid and a feeder 5 to supply the discharge gun 4 with the functional fluid, and a charging unit 3 installed near an arm part 63 to charge a charging cylinder through a charge inlet. Therefore, there is no need to pump the functional fluid by piping to the distant discharge gun 4, enabling a substantial reduction in piping length, an inexpensive temperature controller 37 and liquid feed pump 32 to be used and reduction in the installation cost and the work manpower. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an application apparatus and an application method for applying a functional fluid material such as a sealing material, a caulking material, and an adhesive material along a joint of a plate material and the like, and particularly to a seam portion and a door turn-up in an automobile body. The present invention relates to an application device and an application method for applying a sealing material to a part.
[0002]
[Prior art]
The automobile body is composed of a plurality of panel components, and a sealing material is applied to joints and folded portions between the panel components for the purpose of waterproofing, rustproofing, dustproofing, soundproofing, and the like. The application of the sealant is generally performed by automatic control by holding a discharge gun for the sealant at the tip of the arm of the articulated robot in order to improve production efficiency.
[0003]
2. Description of the Related Art Conventionally, an improvement in a technique for applying a sealing material using an articulated robot in an automobile manufacturing process has been made from the viewpoint of eliminating misalignment and application unevenness on an application site such as a joint portion or a folded portion. For example, a method in which a discharge gun is provided with a plurality of discharge holes to discharge and apply multiple beads (for example, see Patent Document 1), or the discharge flow rate of the sealing material is changed in proportion to the moving speed of the discharge gun. (For example, see Patent Document 2), a device that corrects the application position by blowing air to the applied sealing material (for example, see Patent Document 3), or stabilize the position of the discharge nozzle using a spring or the like. For example, there is an apparatus (see, for example, Patent Document 4).
[0004]
[Patent Document 1]
JP-A-4-7056 (pages 3-5, FIG. 1-FIG. 3)
[Patent Document 2]
JP-A-5-231546 (pages 2-8, FIGS. 1 and 3)
[Patent Document 3]
JP-A-5-293412 (pages 2-4, FIG. 1)
[Patent Document 4]
JP-A-5-293415 (page 3-4, FIG. 1)
[0005]
[Problems to be solved by the invention]
In recent years, in order to reduce manufacturing costs, further reductions in the number of work steps and equipment costs have been promoted in each field.However, as described in the above-mentioned document, the coating process of a functional fluid such as a sealing material is performed by an articulated robot. Despite the introduction and the accumulation of the discharge stabilization technology, the work is extremely complicated and the equipment is expensive, which hinders a reduction in the number of work steps and a reduction in equipment cost.
[0006]
As shown in FIG. 2, a conventional coating apparatus 100 is configured to transfer a functional fluid from a storage tank 101 to a discharge gun 103 held at the tip of an arm of an articulated robot 102 by a liquid supply pump 104 through a pipe (hose) 105. It is pressure-fed and the flow rate is controlled by the constant flow rate device 106, and the bead is discharged from the discharge gun 103.
However, in the coating apparatus 100, a long-distance pipe 105 is required to send the functional fluid from the storage tank 101 to the discharge gun 103. In addition, since many functional fluids such as a sealing material generally have a high viscosity, a temperature control device 107 is required to adjust the viscosity according to the purpose. Further, in order to maintain the viscosity once adjusted, a heat retaining device (not shown) for retaining the temperature of the pipe 105 is also required.
[0007]
In addition, since a high-viscosity liquid must be sent over a long distance, the liquid-feeding pump 104 must be of a high-pressure and high-viscosity type, and the pipe 105 must be of a pressure-resistant type. Must.
On the other hand, in the case of maintenance, there are many complicated operations such as maintenance of the temperature control device 107 and the heat retaining device (not shown), treatment of residual liquid remaining inside the long-distance piping 105, removal and dismantling of the piping 105, and the like. .
[0008]
[Object of the invention]
An object of the present invention is to provide a coating apparatus and a coating method for a functional fluid, which can greatly reduce equipment costs and greatly reduce the number of work steps in a process of applying a functional fluid such as a sealing material. is there.
[0009]
[Means for Solving the Problems]
[Means of claim 1]
The invention described in claim 1 has a discharge gun that is held at the tip of a robot arm and applies a functional fluid to a predetermined part, and has a filling port and a filling chamber attached to the discharge gun. A filling unit that fills the filling chamber and supplies the filled functional fluid to the discharge gun, and a filling unit that is installed near the robot arm and fills the functional fluid into the filling chamber from the filling port. And a functional fluid application device.
[0010]
According to this, a long-distance pipe or hose for feeding the functional fluid from the storage tank to the discharge gun is not required, and a relatively short pipe or hose from the storage tank to the filling nozzle is sufficient. Further, since the piping or the hose can be shortened, the temperature control device and the liquid feed pump do not require the same capacity as the conventional one, and a simpler and cheaper mechanism can be adopted. As described above, the equipment cost can be significantly reduced as compared with the conventional coating apparatus.
Further, since a simple mechanism can be employed for the temperature control device and the liquid sending pump, maintenance becomes easy. Furthermore, since piping and hoses can be shortened, operations such as extraction, removal, disassembly, and cleaning of residual liquid from piping and hoses during maintenance are facilitated, and the number of operation steps can be reduced.
[0011]
[Means of Claim 2]
According to a second aspect of the present invention, the functional fluid material is held in the distal end of the robot arm, has a filling port and a filling chamber, and is filled with the functional fluid material, and the functional fluid material is applied to a predetermined portion. An application apparatus for a functional fluid material, comprising: a discharge gun; and a filling unit installed near the robot arm for filling the functional fluid into the filling chamber from a filling port.
According to this, it is only necessary to hold one device combining the function of the discharge gun and the function of the filling machine at the tip of the robot arm. In addition to the effect of claim 1, it is possible to reduce the weight of the device. And the burden on the robot can be reduced. Further, since there is no need to remove, replace, disassemble, and clean the feeder, the work load during maintenance is reduced.
[0012]
[Means according to claim 3]
According to the third aspect of the present invention, in the coating apparatus according to the first aspect, the temperature control device for the functional fluid material is provided in any one or two or all of the discharge gun, the supply device, and the filling unit. It is characterized by being worn.
According to this, in addition to the effect of claim 1, the viscosity of the functional fluid having extremely high viscosity can be adjusted to stabilize the fluidized state.
[0013]
[Means according to claim 4]
According to the fourth aspect of the present invention, in the application apparatus according to the second aspect, a temperature controller for a functional fluid is attached to one or two of the discharge gun and the filling unit. Features.
According to this, in addition to the effect of the second aspect, the viscosity of the functional fluid having extremely high viscosity can be adjusted to stabilize the fluidized state.
[0014]
[Means of claim 5]
According to the invention described in claim 5, a plurality of discharge guns are provided.
According to this, in addition to the effects of claims 1 to 4, two types of beads having different cross-sectional shapes can be discharged. In order to change the cross-sectional shape of the bead, the entire application device is stopped to stop the discharge gun. No need to replace nozzles.
[0015]
[Means of claim 6]
According to the invention described in claim 6, the functional fluid is a sealing material.
According to this, it is possible to achieve a reduction in equipment cost and a reduction in the number of work steps in a sealing material application step in a manufacturing process of an automobile body and the like.
[0016]
[Means of claim 7]
According to a seventh aspect of the present invention, there is provided an application method, wherein the functional fluid is applied using the application apparatus according to any one of the first to sixth aspects.
According to this, the functional fluid material can be applied using the application device having the effects of the first to sixth aspects.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
[Configuration of First Embodiment]
1 and 3 to 5 show a first embodiment of the present invention. As shown in FIG. 1, a coating device 1 according to a first embodiment includes a coating unit 2 that applies a filled sealing material to a coating site, and a sealing material that is installed near the coating unit 2 and sends the sealing material to the coating unit 2 for filling. And a filling unit 3 to be used.
The application unit 2 is held at the tip of an arm 63 of the articulated robot 6 described later, and is provided with the discharge gun 4 for applying the seal material to the application site, and is attached to the discharge gun 4 so that the seal material is filled. And a multi-joint robot 6 for moving the discharge gun 4 and the supply device 5 to a target location.
[0018]
The articulated robot 6 has a fixed base 61 for positioning the articulated robot 6, a turning part 62 for turning the arm part 63 in a desired direction, and a joint part having a desired position by bending the joint part. And an arm 63 for moving the supply gun 5 and the feeder 5.
[0019]
The discharge gun 4 and the supply device 5 are integrally held at the distal end of the arm 63 as shown in FIG. The feeder 5 has a plunger 51 which moves forward (downward in FIG. 3) when driven by a servomotor (not shown), and a plunger 51 whose piston moves to increase or decrease the volume to temporarily store the sealing material. And a supply passage 53 through which the filling tube portion 52 communicates with the inside of the discharge gun 4, and through which the sealing material flows when the sealing material is supplied to the discharge gun 4. ing. A filling port 54 through which the sealing material flows when the sealing material is filled from the filling unit 3 and an opening when the sealing material is filled into the filling cylindrical portion 52 are provided at the tip of the supply device 5. A check valve 55 for communicating with the tubular portion 52 is provided.
[0020]
As shown in FIG. 4, the discharge gun 4 is provided with a nozzle 42 having a discharge passage 41 at the distal end. On the other hand, the main body includes a supply passage 43 communicating with the supply passage 53 of the supply device 5, a valve 44 that is opened when the seal material is discharged to connect the discharge passage 41 and the supply passage 43, and the regulated compressed air. A piston 45 that is pushed by the valve to move the valve 44 in the valve opening direction, a rod 46 that links the movement of the valve 44 and the piston 45, and an air passage 47 for introducing and discharging compressed air are provided. . A pinton spring 48 that urges the piston 45 in a direction to close the valve 44 is attached to the piston 45.
[0021]
As shown in FIG. 1, the filling unit 3 includes a storage tank 31 for adjusting and storing the seal material, a liquid feed pump 32 for feeding the seal material and filling the supply device 5 with the seal material, and a feed of the seal material. It has a closing valve 33 that is closed when stopping the liquid, and a filling nozzle 34 into which a filling port 54 is inserted when filling the supply device 5 with the sealing material. A liquid reservoir 34a is provided around the filling nozzle 34 to prevent the sealing material from flowing down to the floor. The liquid sending pump 32 and the closing valve 33 are connected by a first pipe 35, and the closing valve 33 and the filling nozzle 34 are connected by a second pipe 36. In the first pipe 35, a temperature controller 37 is mounted near the closing valve 33 in order to adjust the viscosity of the sealing material. The temperature control device 37 is a shell and tube type heat exchanger that flows cold and hot water to the shell side as a heat medium.
[0022]
[Operation of First Embodiment]
When filling the supply device 5 with the sealing material, the turning portion 62 and the joint portion of the arm portion 63 of the articulated robot 6 are moved as shown in FIGS. 1 and 3, and the filling port 54 is inserted into the filling nozzle 34. . In this state, when the liquid feed pump 32 is started and the closing valve 33 is opened, the sealing material is sent out from the storage tank 31 to the first pipe 35, and the temperature is adjusted by the temperature adjusting device 37 to adjust the viscosity. After that, the sealing material passes through the second pipe 36, the filling nozzle 34, and the filling port 54, pushes the check valve 55 open by dynamic pressure, flows into the filling cylinder 52, pushes up the plunger 51, and pushes the plunger 51 up. 52.
When a predetermined amount of the sealing material is filled in the filling cylinder portion 52, the closing valve 33 is closed and the liquid sending pump 32 is stopped. As a result, no dynamic pressure is applied to the check valve 55, the check valve 55 returns to the original position, and the space between the filling port 54 and the filling cylinder 52 is closed.
[0023]
Next, in order to apply the filled sealing material to the application site, the turning portion 62 of the articulated robot 6 and the joint of the arm portion 63 are moved to move the tip of the nozzle 42 of the discharge gun 4 to the application site. After the position of the discharge gun 4 is determined, the compressed air adjusted in pressure from the air passage 47 is introduced into the discharge gun 4. As a result, the piston 45 is pushed up, and in conjunction with this, the rod 46 is displaced to open the valve 44, and the supply passage 53 of the supply device 5 and the supply passage 43 of the discharge gun 4 communicate with the discharge passage 41 of the nozzle 42. . In this state, the servomotor of the plunger 51 is started to push down the plunger 51, and the sealing material in the filling tube portion 52 is passed through the supply passage 53, the supply passage 43, and the discharge passage 41 in this order. From the bead.
[0024]
The cross-sectional shape of the bead can be formed into various shapes such as a substantially rectangular shape, a substantially elliptical shape, a substantially concave shape, and a substantially convex shape according to the shape of the discharge port of the nozzle 42. Can be replaced to change the cross-sectional shape of the bead.
When the application is completed, the compressed air is exhausted from the air passage 47, the valve 44 is closed, and the servomotor of the plunger 51 is stopped. Thereafter, the joint between the turning part 62 and the arm part 63 of the articulated robot 6 is moved to move the discharge gun 4 and the supply device 5 to the filling nozzle 34 of the filling unit 3, and the sealing material is again placed in the filling cylinder part 52. Fill. Thereafter, the same operation is repeated.
Note that all operations of the coating apparatus 1 can be performed by automatic control by a well-known computer (not shown), and the automatic control by the computer can be released as necessary.
[0025]
[Effects of First Embodiment]
By employing the coating device 1, a long distance pipe (hose) for feeding the sealing material from the storage tank 31 to the discharge gun 4 is not required, and a relatively short pipe from the storage tank 31 to the filling nozzle 34 is sufficient. It becomes. Further, since the piping can be shortened, the temperature control device and the liquid sending pump do not require the same capacity as the conventional one, and a simpler and cheaper mechanism can be adopted. As described above, the equipment cost can be significantly reduced as compared with the conventional coating apparatus.
Further, since a simple mechanism can be employed for the temperature control device and the liquid sending pump, maintenance becomes easy. Further, since the piping can be shortened, operations such as extraction, removal, disassembly, and cleaning of the residual liquid from the piping during maintenance are facilitated, and the number of operation steps can be reduced.
[0026]
[Configuration of Second Embodiment]
FIG. 6 shows a second embodiment of the present invention. In the second embodiment, the supply device 5 is provided with two supply passages 53, each of which communicates with the supply passages 43 of the discharge guns 4, 4 attached to the supply device 5. The nozzles 42 of the discharge guns 4 have discharge ports of different shapes.
[0027]
[Effect of Second Embodiment]
Thus, in addition to the effect of the first embodiment, two types of beads having different cross-sectional shapes can be discharged. In order to change the cross-sectional shape of the bead, the entire coating apparatus 1 is stopped and the nozzle 42 of the discharge gun 4 is stopped. No need to replace.
[0028]
[Other embodiments]
In the present embodiment, an apparatus for applying a sealing material to a joint portion or a folded portion between automobile body panel components in an automobile manufacturing process is described. However, the present invention is not limited thereto. It can also be applied to the application of adhesives and sealants in the manufacturing process of electronic equipment and other precision machines, and to the application of adhesives, sealants and caulks in building materials and civil engineering materials.
[0029]
In this embodiment, the discharge gun 4 and the supply device 5 are separate devices, but may be a single device having both functions of the discharge gun 4 and the supply device 5. For example, the nozzle 42 of the discharge gun 4 may be modified so that it can be used not only as a discharge port of the functional fluid material but also as a filling port. Alternatively, the nozzle 42 may be attached to the supply device 5, and a supply passage leading to the nozzle 42 may be separately provided inside the supply device 5.
[0030]
The plunger 51 of the feeder 5 is pushed down by a servomotor, but may be of a hydraulic type. Further, as a method of filling the functional fluid into the supply device 5, a pressure feeding method using the liquid feed pump 32 is used, but the suction may be performed by pulling up a plunger by a hydraulic pressure or a servomotor. Further, a decompression passage may be provided in the supply device 5 and suction may be performed with an aspirator or a vacuum pump.
[0031]
In the present embodiment, the temperature control device 37 is mounted near the closing valve 33 of the first pipe. However, the temperature control and the heat retention state may be changed according to the use conditions, the type of the functional fluid, and the like. For example, a temperature control device may be attached to one or more of the discharge gun 4, the supply device 5, the closing valve 33, the filling nozzle 34, the first pipe 35 or the second pipe 36. Alternatively, it is not necessary to attach a temperature control device at all.
In addition, a shell-and-tube type heat exchanger in which cold and hot water flows to the shell side as a heat medium is used as the temperature control device 37. As the heat exchanger, a double tube type in which the heat medium flows outward, A tying type in which a pipe for flowing a heat medium is brought into contact with a main pipe for flowing a body and wound therearound may be used. When a heat medium having a higher temperature is required, steam or the like may be used, and the temperature may be controlled by an electric heater or the like without using the heat medium.
[0032]
In the present embodiment, the coating apparatus 1 having one or two discharge guns 4 is used. However, three or four or more discharge guns 4 are used, and the cross-sectional shape of more beads can be obtained without replacing the nozzle 42. May be selectable. Further, if a plurality of sets of the supply device 5 and the discharge gun 4 are held at the tip of the arm portion 63 and the same number of the filling units 3 are provided, different functions can be performed without replacing the discharge gun 4 and the supply device 5. It becomes possible to apply the fluidity material.
When a plurality of ejection guns 4 are held at the tip of the arm 63, the ejection guns 4 are moved so that the movement of the nozzle 42 that is performing application at the application site is not interfered by the presence of the nozzle 42 that is not performing application. A certain angle may be provided between them.
In the present embodiment, the articulated robot 6 that performs positioning by the fixed base 61 is used, but it may be movable together with the filling unit 3 by attaching wheels or the like.
[Brief description of the drawings]
FIG. 1 is an overall view of a coating apparatus according to a first embodiment.
FIG. 2 is an overall view of a coating apparatus according to the related art.
FIG. 3 is an explanatory diagram showing a positional relationship between a supply device and a filling nozzle at the time of filling a functional fluid in the first embodiment.
FIG. 4 is a cross-sectional view of the discharge gun according to the first embodiment.
FIG. 5 is a cross-sectional view of the supply device according to the first embodiment.
FIG. 6 is a sectional view of a discharge gun and a supply device according to a second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Coating device 2 Coating unit 3 Filling unit 34 Filling nozzle 37 Temperature control device 4 Discharge gun 5 Feeder 52 Filling cylinder (filling chamber)
54 Filling port 6 Articulated robot (robot arm)

Claims (7)

A discharge gun that is held at the tip of the robot arm and applies a functional fluid to a predetermined site;
A feeder attached to the discharge gun, having a filling port and a filling chamber, wherein the functional fluid is filled in the filling chamber, and a supply device for supplying the filled functional fluid to the discharge gun,
A filling unit installed near the robot arm for filling the functional fluid into the filling chamber from the filling port. A discharge gun that is held at the tip of the robot arm, has a filling port and a filling chamber, and the functional fluid is filled in the filling chamber, and the functional fluid is applied to a predetermined portion,
A filling unit installed near the robot arm for filling the functional fluid into the filling chamber from the filling port. 2. The coating apparatus according to claim 1, wherein one or two or all of the discharge gun, the supply device, and the filling unit are provided with a temperature controller for the functional fluid material. 3. Functional fluid application device. 3. The functional fluid material according to claim 2, wherein a temperature controller for the functional fluid material is mounted on one or two of the discharge gun and the filling unit. 4. Coating device. The coating device according to any one of claims 1 to 4, further comprising a plurality of the discharge guns. The coating device according to any one of claims 1 to 5, wherein the functional fluid is a sealing material. A coating method, wherein the functional fluid is applied using the coating apparatus according to any one of claims 1 to 6.

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