JP2012240015A - Seal-application device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To a seal-application device and a seal-application method, easy in the uniform application of a sealant to a fastener.SOLUTION: A sealant-discharge device 11 included in the seal-application device 1 discharges the sealant to be applied on the fastener 25. The sealant discharge device 11 is provided with a discharge-punch drive device 113 that presses a discharge punch 111 into a seal cartridge 112 filled with the sealant. The discharge-punch drive device 113 varies the force for pressing the discharge punch 111 so that the discharge amount of the sealant is controlled to be constant.

Description

  The present invention relates to a technique for fastening an object to be fastened using a fastener (fastening part) such as a bolt or a rivet, and particularly to a technique for sealing a fastening portion.

  A technique for fastening an object to be fastened using a fastener (fastening part) such as a bolt or a rivet is used for assembling an aircraft or the like. When fastening parts of the main wing of an aircraft using fasteners, the fastening portion is sealed to prevent fuel leakage.

  With reference to FIGS. 1-6, the method of fastening manually the to-be-fastened object of composite materials like a fiber reinforced plastic is demonstrated.

  Referring to FIG. 1, a workpiece 100 as an object to be fastened includes a plurality of composite material parts 51 and 52 stacked. A countersunk hole 100a penetrating from the surface 100b on one side of the workpiece 100 to the surface 100c on the other side is formed. The countersink portion of the countersunk hole 100a is disposed on the surface 100b side. The workpiece 100 has a countersink wall surface 100d surrounding the countersink portion of the countersunk hole 100a. After the countersunk hole 100a is formed, the workpiece 100 is cleaned to remove burrs generated when the countersunk hole 100a is formed.

  FIG. 2 shows a fastener 25 as a fastening part for fastening the workpiece 100. The fastener 25 is a hack tight fastener, for example. The fastener 25 includes a countersunk bolt 20 and a sleeve 40. The countersunk bolt 20 includes a head portion 21, a cylindrical portion 22, and a screw portion 23. The head 21 has a head upper surface 21a and a head side surface 21b. The head side surface 21b is formed in a conical surface. The cylindrical portion 22 is disposed between the head portion 21 and the screw portion 23. A screw is not formed on the cylindrical portion 22. The screw portion 23 has an end surface 23a. The head upper surface 21 a and the end surface 23 a are disposed at both ends of the fastener 25 in the axial direction. The sleeve 40 covers the cylindrical portion 22. A portion close to the head portion 21 of the cylindrical portion 22 is exposed from the sleeve 40. The sleeve 40 includes a plate portion 41 disposed on the head portion 21 side and a cylindrical portion 42 disposed on the screw portion 23 side. The dish part 41 is formed in a conical shape.

  Referring to FIG. 3, fastener 25 is pushed into countersunk hole 100a until countersunk part 41 abuts countersink wall surface 100d. The head portion 21 protrudes from the surface 100b and the screw portion 23 protrudes from the surface 100c in a state where the plate portion 41 contacts the countersink wall surface 100d.

  Referring to FIG. 4, impact force is repeatedly applied to head upper surface 21 a using air hammer 101 to drive fastener 25.

  Referring to FIG. 5, until the fastener 25 is seated on the workpiece 100, that is, until the head 21 abuts against the countersink wall surface 100 d through the dish part 41, an impact force is applied to the head upper surface 21 a using the air hammer 101. Give repeatedly. Here, the operator judges that the fastener 25 is seated by sound, and stops applying the impact force by the air hammer 101.

  Referring to FIG. 6, nut 30 is attached to threaded portion 23 and composite parts 51 and 52 are fastened.

  Here, in order to seal the fastening portion, a sealant is manually brushed on the outer surface of the plate portion 41 and the cylindrical portion 42 and the head side surface 21b, and it is visually confirmed that the sealant is completely applied. Check. Since the sealant is applied manually, the operation takes time and the quality is difficult to stabilize.

  In relation to the present invention, Patent Document 1 discloses a seal application device that applies a sealant to a striking hole.

  In relation to the present invention, Patent Document 2 discloses a striking device that joins a plurality of members to be joined by rivets. With reference to FIG. 7, the chuck mechanism of this striking device will be described. The rivet insertion unit of the striking device includes a piston member 556 slidably provided and a rivet pressing rod 557 attached to the piston member 556. The rivet pressing rod 557 includes a mounting portion 557T. The piston member 556 is provided with a mounting hole 556T having substantially the same shape as the mounting portion 557T and capable of fitting the mounting portion 557T. A chuck mechanism 572 is provided at the tip of the rivet pressing rod 557. The chuck mechanism 572 can be opened and closed by the biasing force of the coil spring 571 and can grip the shaft portion of the rivet when in the closed state.

JP-A-11-70351 JP 2008-302399 A

  An object of the present invention is to provide a seal coating apparatus and a seal coating method that can easily apply a sealing agent to a fastener uniformly.

  The means for solving the problem will be described below using the numbers used in the (DETAILED DESCRIPTION). These numbers are added to clarify the correspondence between the description of (Claims) and (Mode for Carrying Out the Invention). However, these numbers should not be used to interpret the technical scope of the invention described in (Claims).

  The seal coating device (1) according to the present invention includes a sealing agent discharge device (11) for discharging a sealing agent to be applied to the fastener (25). The sealant discharging device includes a discharge punch feeding device (113) for pushing the discharge punch (111) into the seal cartridge (112) filled with the sealant. The discharge punch feeding device changes the pushing force of the discharge punch so that the discharge amount of the sealant is controlled to be constant.

  The seal applicator relatively moves the fastener rotating device (12) rotating the fastener around the central axis (S25) of the fastener, the fastener rotating device and the sealant discharging device in the axial direction of the fastener. And a fastener axial direction feeding device (13).

  The fastener rotating device changes the number of rotations (RS) of the fastener. The fastener axial direction feeding device increases the feed speed (Vy) at which the fastener rotating device and the sealant discharging device relatively move in the axial direction of the fastener when the rotational speed increases. Alternatively, the feed speed is changed so that the feed speed decreases when the rotational speed decreases.

  The sealant discharge device includes a nozzle (112a) for discharging the sealant. The seal applicator is configured so that, based on the fastener shape data (FSD), the fastener rotating device is configured such that the peripheral speed of the portion of the fastener where the axial position of the fastener coincides with the nozzle is constant. And controlling the fastener axial direction feeding device so that the distance that the fastener rotating device and the sealant discharging device relatively move in the axial direction of the fastener is constant while the fastener rotates once. A controller (14) is further provided.

  The seal coating apparatus further includes a scraper (15). The scraper includes inner side surfaces (151a, 152a) formed along the shape of the fastener. The scraper is arranged such that a gap is formed between the inner surface and the fastener with the inner surface facing the fastener.

  A plurality of grooves (152b) parallel to each other are formed on the inner surface.

  The seal applicator further includes a camera (161) for photographing the fastener in a state set in the fastener rotating device.

  The seal application device performs image processing on image data generated by photographing the fastener by the camera and applies the seal agent of the fastener and the seal agent of the fastener. An image processing device (162) for detecting the non-existing portion is further provided.

  In the fastener rotating device, torque is applied to at least one of the first gripping portion (123) and the second gripping portion (125) that grips the fastener in the axial direction, and the first gripping portion and the second gripping portion. A motor (122) connected in a communicable manner.

  The fastener rotating device includes an urging portion (126) for urging at least one of the first gripping portion and the second gripping portion so that the first gripping portion and the second gripping portion are close to each other, and the fastener And a centering mechanism (128) for centering the fastener so that the center axis of the fastener coincides with the rotation center axis (S12) of the fastener rotating device.

  At least one of the first grip portion and the second grip portion is formed in a tapered shape that becomes narrower toward the tip.

  The sealant discharge device includes a reaction force sensor (116) that detects a pressing reaction force acting on the discharge punch.

  The seal coating method according to the present invention includes a step of discharging a sealant at a constant discharge amount, and a step of applying the sealant to the fastener (25). In the step of discharging the sealant at a constant discharge amount, the step of pushing the discharge punch (111) into the seal cartridge (112) filled with the sealant and the discharge amount of the sealant are controlled to be constant. And changing the pushing force of the discharge punch.

  In the step of discharging the sealant at a constant discharge amount, the sealant is discharged from the nozzle (112a). In the step of applying the sealant, the fastener is rotated while rotating the fastener around the central axis (S25) of the fastener and relatively moving the nozzle and the fastener in the axial direction of the fastener. The sealing agent is applied to

  The step of applying the sealing agent includes a step of changing a rotation speed (RS) of the fastener and a relative movement of the nozzle and the fastener in the axial direction of the fastener when the rotation speed increases. Changing the feed rate so that the feed rate (Vy) is increased or the feed rate is lowered when the rotational speed is reduced.

  In the step of applying the sealant, based on the shape data (FSD) of the fastener, the peripheral speed of the portion of the fastener where the axial position of the fastener coincides with the nozzle is constant. The number of rotations is controlled, and the feed speed is controlled so that the distance that the fastener and the nozzle relatively move in the axial direction of the fastener is constant while the fastener is rotated once.

  The step of applying the sealant includes extending the sealant on the fastener using a scraper (15).

  The seal coating method further includes a step of photographing the fastener at a plurality of different rotational positions.

  In the step of photographing the fastener at a plurality of different rotational positions, image data of the fastener is generated. The seal coating method further includes a step of performing image processing on the image data to detect a portion of the fastener where the sealant is applied and a portion of the fastener where the sealant is not applied. To do.

  In the step of applying the sealant, the fastener is rotated with the fastener held in the axial direction.

  In the seal application method, the first axis (123) and the second axis (125) are used to hold the fastener so that the center axis of the fastener coincides with the rotation center axis (S12). The method further includes the step of centering the fastener. A motor (122) is connected to at least one of the first gripping portion and the second gripping portion so that torque can be transmitted. In the step of centering, the fastener is centered while urging at least one of the first gripping portion and the second gripping portion so that the first gripping portion and the second gripping portion are close to each other. Do.

  The seal coating method further includes a step of detecting a pressing reaction force acting on the discharge punch.

  ADVANTAGE OF THE INVENTION According to this invention, the seal | sticker application apparatus and seal | sticker application | coating method which are easy to apply | coat a sealing agent to a fastener uniformly are provided.

FIG. 1 is a cross-sectional view of a workpiece showing a state in which a countersunk hole is formed. FIG. 2 shows a fastener for fastening a workpiece. FIG. 3 is a cross-sectional view of the workpiece showing a state in which the fastener is pushed into the countersunk hole. FIG. 4 is a cross-sectional view of the workpiece showing a state in which a fastener is driven using an air hammer. FIG. 5 is a cross-sectional view of the workpiece showing a state where the fastener has been driven. FIG. 6 is a cross-sectional view of a workpiece showing a state where a nut is attached to a fastener. FIG. 7 is a perspective view of the chuck mechanism of the striking device. FIG. 8 is a schematic view of a seal coating apparatus according to the first embodiment of the present invention. FIG. 9 is a schematic view of a centering mechanism provided in the seal coating apparatus. FIG. 10 is a block diagram of a control system of the seal coating apparatus. FIG. 11A is a conceptual diagram for explaining a step of setting a fastener on a fastener rotating device provided in the seal coating apparatus. FIG. 11B is a conceptual diagram for explaining a step of setting a fastener in a fastener rotating device provided in the seal coating apparatus. FIG. 11C is a conceptual diagram for explaining a step of setting a fastener on a fastener rotating device provided in the seal coating apparatus. FIG. 11D is a conceptual diagram for explaining a step of setting a fastener in a fastener rotating device provided in the seal coating apparatus. FIG. 12 is a conceptual diagram for explaining a step of applying a sealing agent to the fastener. FIG. 13 is a graph showing the relationship between the outer diameter of the fastener and the number of rotations of the fastener, and the relationship between the outer diameter of the fastener and the feed rate in the fastener axial direction. FIG. 14 is a schematic diagram showing a positional relationship between a nozzle that discharges a sealing agent and a fastener. FIG. 15 is a schematic view showing a positional relationship between a scraper and a fastener provided in the seal coating apparatus according to the second embodiment of the present invention. FIG. 16 is a cross-sectional view of the scraper. FIG. 17 is a block diagram of a seal application state confirmation apparatus provided in a seal application apparatus according to the third embodiment of the present invention. FIG. 18 is a schematic view showing the positional relationship between the camera and the fastener of the seal application state confirmation device. FIG. 19 is a schematic view of a seal coating apparatus according to the fourth embodiment of the present invention.

  DESCRIPTION OF EMBODIMENTS Embodiments for carrying out a seal coating apparatus and a seal coating method according to the present invention will be described below with reference to the accompanying drawings.

(First embodiment)
With reference to FIG. 8, the seal | sticker coating apparatus 1 which concerns on the 1st Embodiment of this invention is demonstrated. The seal application device 1 automatically applies a sealant to the shaft portion of the fastener 25. Although the case where the fastener 25 is the above-described hack tight fastener will be described here, the fastener 25 may be a rivet or a bolt. An X axis, a Y axis, and a Z axis that are orthogonal to each other are defined for the seal coating apparatus 1. For example, the X axis and the Y axis form a horizontal plane. The seal application device 1 includes a base 10, a sealant discharge device 11, a fastener rotating device 12, and a fastener axial direction feeding device 13.

  The sealant discharge device 11 discharges the sealant to be applied to the fastener 25. The sealant discharge device 11 includes a discharge punch 111, a seal cartridge 112, a nozzle 112a, a discharge punch feeding device 113, a reaction force sensor 116, and a support structure 117. The support structure 117 supports the seal cartridge 112 and the discharge punch feeder 113 at a position above the base 10. The seal cartridge 112 is filled with a sealant to be applied to the fastener 25. The nozzle 112 a is connected to the seal cartridge 12. The axial direction of the nozzle 112a and the axial direction of the seal cartridge 12 are parallel to the Z axis. The discharge punch feeder 113 includes a servo motor 114 and a ball screw 115. The discharge punch feeder 113 moves the discharge punch 111 parallel to the Z axis and pushes it into the seal cartridge 112. When the discharge punch 111 is pushed into the seal cartridge 112, the sealant is discharged from the nozzle 112a. By executing feedback control so that the rotation speed of the servo motor 114 is constant, the discharge punch feeder 113 pushes the discharge punch 111 into the seal cartridge 112 at a constant speed. The reaction force sensor 116 is a load cell or a piezoelectric element that detects a pressing reaction force acting on the discharge punch 111. Alternatively, the pressure sensor 116 may be configured to detect the pushing reaction force based on the motor current value of the servo motor 114.

  The fastener rotating device 12 rotates the fastener 25 around the central axis of the fastener 25. The central axis of the fastener 25 is parallel to the axial direction of the fastener 25. The fastener 25 is set in the fastener rotating device 12 so that the center axis of the fastener 25 is parallel to the Y axis. The fastener rotating device 12 includes a rotating device base 121, a motor 122, a gripping portion 123, a core pushing stand 124, a gripping portion 125, a biasing portion 126, a linear motion guide 127, and a centering mechanism 128. Prepare. The motor 122 is fixed to the rotating device base 121. The shaft of the motor 122 is parallel to the Y axis. The grip portion 125 is connected to the shaft of the motor 122 so that torque can be transmitted. The linear motion guide 127 guides the core pushing table 124 in parallel to the Y axis with respect to the rotating device base 121. The core push stand 124 supports the grip portion 125 so that the grip portion 125 can rotate around a rotation axis parallel to the Y axis. The grip portions 123 and 125 are arranged on the same straight line parallel to the Y axis so as to face each other. The urging portion 126 urges the core push stand 124 so that the grip portion 125 approaches the grip portion 123, whereby the grip portions 123 and 125 grip the fastener 25 in the axial direction of the fastener 25. That is, the grip portions 123 and 125 grip the fastener 25 in a state where the grip portion 123 is in contact with the top surface 21a of the fastener 25 and the grip portion 125 is in contact with the end surface 23a. The grip part 123 and the grip part 125 are formed in a tapered shape that becomes narrower toward the tip. In addition, the front-end | tip of the holding part 123 and the holding part 125 is moderately chamfered for the flaw prevention of the fastener 25, and peeling prevention of the surface treatment of the fastener 25. FIG. The urging unit 126 includes an actuator or a spring that urges the core pushing table 124. The urging unit 126 urges the core pushing table 124 while allowing the movement of the core pushing table 124 and the holding unit 125 toward and away from the holding unit 123. The centering mechanism 128 centers the fastener 25 so that the center axis of the fastener 25 coincides with the rotation center axis of the fastener rotating device 12 (the rotation axis of the gripping portions 123 and 125). The motor 122 rotates the grip part 123. Thereby, the fastener 25 and the holding part 125 also rotate.

  Referring to FIG. 9, the centering mechanism 128 includes a plurality of abutting portions 128a. The contact portion 128a is also referred to as a centering finger. The plurality of contact portions 128a are movable in a plane perpendicular to the Y axis. The fasteners 25 are centered so that the plurality of contact portions 128 a come into contact with the head 21 of the fastener 25 and the center axis of the fastener 25 coincides with the rotation center axis of the fastener rotating device 12.

  Referring to FIG. 8, the fastener axial direction feeding device 13 moves the fastener rotating device 12 in parallel to the Y axis. The fastener axial direction feeding device 13 includes a cylinder 131 and a linear motion guide 132. The linear motion guide 132 guides the rotation device base 121 in parallel to the Y axis with respect to the base 10. The cylinder 131 moves the rotating device base 121 parallel to the Y axis with respect to the base 10.

  Referring to FIG. 10, the seal coating apparatus 1 includes a controller 14. The controller 14 inputs the fastener shape data FSD, the discharge punch feed speed set value V1 *, the fastener peripheral speed set value CS *, and the lead set value L *, and the discharge punch feed device 13, the fastener rotating device 12, and the fastener shaft. The direction feeder 13 is controlled. The fastener shape data FSD describes the relationship between the position in the axial direction of the fastener 25 and the outer diameter at the site (the sleeve 40 and the head side surface 21b) to which the sealant is to be applied. The discharge punch feed speed setting value V1 * is a constant for setting the feed speed of the discharge punch 111. The fastener peripheral speed setting value CS * is a constant that sets the peripheral speed of the part of the fastener 25 where the axial position of the fastener 25 coincides with the nozzle 112a. The lead set value L * is a constant that sets a distance that the fastener rotating device 12 and the sealant discharging device 11 move relatively in the axial direction of the fastener 25 while the fastener 25 makes one rotation.

  Hereinafter, a seal coating method using the seal coating apparatus 1 will be described. First, the fastener 25 is set on the fastener rotating device 12.

  Referring to FIG. 11A, the distance between the gripping portions 123 and 125 is longer than the axial length of the fastener 25. The plurality of contact portions 128a of the centering mechanism 128 are open. The rotation center axis of the fastener rotating device 12 is indicated by reference numeral S12, and the center axis of the fastener 25 is indicated by reference numeral S25. The conveying device 200 conveys the fastener 25 between the gripping portions 123 and 125, and the fastener 25 is delivered from the conveying device 200 to the fastener rotating device 12.

  Referring to FIG. 11B, the gripping portions 123 and 125 grip the fastener 25 in the axial direction in a state where the biasing portion 126 biases the core pushing table 124 and the gripping portion 125 so that the gripping portions 123 and 125 approach each other. To do. Here, the tip of the gripper 123 contacts the head upper surface 21a, and the tip of the gripper 125 contacts the end surface 23a. At this stage, the fastener center axis S25 does not coincide with the rotation center axis S12.

  Referring to FIG. 11C, the plurality of abutting portions 128a included in the centering mechanism 128 are closed to contact the head 21 of the fastener 25, and the center of the fastener 25 is aligned with the center axis S25 of the fastener. Take out. At this time, the core push table 124 and the gripping portion 125 are biased toward the gripping portion 123 but can advance and retreat in parallel with the Y axis. Therefore, the positions of the core push stand 124 and the gripping portion 125 are appropriate positions. Adjusted to.

  Referring to FIG. 11D, the plurality of contact portions 128 a included in the centering mechanism 128 are opened and separated from the fastener 25. When the fastener rotating device 12 rotates the fastener 25, the plurality of contact portions 128 a are kept away from the fastener 25.

  With reference to FIG. 12, the step of applying the sealing agent to the fastener 25 will be described. The seal coating device 1 discharges the sealing agent from the nozzle 112a at a fixed discharge amount, rotates the fastener 25 around the fastener central axis S25, and relatively moves the nozzle 112a and the fastener 25 in the axial direction of the fastener 25. A sealant is applied to the fastener 25 while being moved.

  More specifically, the controller 14 controls the discharge punch feeding device 13 so that the discharge punch 111 is pushed into the seal cartridge 112 at a constant discharge punch feed speed V1 that matches the discharge punch feed speed setting value V1 *. As a result, the sealing agent is discharged from the nozzle 112a at a constant discharge amount. At this time, the sealant 300 is discharged at a constant thickness W and at a constant discharge speed V2. The above-mentioned fastener peripheral speed set value CS * is determined in advance so as to correspond to the sealant discharge speed V2. The lead set value L * is determined in advance so as to correspond to the sealant thickness W. Based on the fastener shape data FSD, the controller 14 sets the fastener rotating device 12 so that the peripheral speed of the portion of the fastener 25 where the axial position of the fastener 25 coincides with the nozzle 112a is constant at the fastener peripheral speed setting value CS *. In the axial direction of the fastener so that the distance that the fastener rotating device 12 and the sealant discharging device 11 move relatively in the axial direction of the fastener 25 is constant at the lead set value L * while the fastener 25 rotates once. The feeding device 13 is controlled. Therefore, when the sealing agent is applied to the cylindrical portion 42 whose outer diameter is constant along the axial direction of the fastener 25, the fastener rotating device 12 keeps the rotational speed RS of the fastener 25 constant, and the fastener axial direction feeding device. 13 keeps the feed speed Vy in the axial direction of the fastener 25 of the fastener rotating device 12 constant. When the sealing agent is applied to the plate portion 41 and the head side surface 21b whose outer diameter changes along the axial direction of the fastener 25, the fastener rotating device 12 changes the fastener rotational speed RS, and the fastener axial direction feeding device 13 is applied. Changes the fastener axial feed speed Vy.

  FIG. 13 shows the relationship between the outer diameter of the portion of the fastener 25 where the axial position of the fastener 25 matches the nozzle 112a and the fastener rotation speed RS, and the fastener 25 where the axial position of the fastener 25 matches the nozzle 112a. The relationship between the outer diameter of this site | part and the fastener axial direction feed speed Vy is shown. That is, when the outer diameter of the part of the fastener 25 where the position of the fastener 25 in the axial direction coincides with the nozzle 112a increases along the axial direction of the fastener 25, the fastener rotational speed RS and the fastener axial feed speed Vy decrease. When the outer diameter of the portion of the fastener 25 where the axial position of the fastener 25 coincides with the nozzle 112a decreases along the axial direction of the fastener 25, the fastener rotation speed RS and the fastener axial feed speed Vy increase. The control for simultaneously decreasing the fastener rotational speed RS and the fastener axial feed speed Vy and the control for simultaneously increasing the fastener rotational speed RS and the fastener axial feed speed Vy are conical surfaces such as the plate portion 41 and the head side surface 21b. It is suitable when the sealing agent is uniformly applied to the surface.

  FIG. 14 shows a cross section perpendicular to the rotation center axis S12 (fastener center axis S25) at the position of the nozzle 112a. Here, the angle θ is a circumferential velocity vector 402 indicating the circumferential velocity of the fastener 25 at a point P closest to the nozzle 112a among the intersections between the central axis S112 of the nozzle 112a and the outer surface of the fastener 25, and a seal discharged from the nozzle 112a. This is an angle formed with a discharge direction vector 401 indicating the discharge direction of the agent. If the nozzle center axis S112 is deviated from the rotation center axis S12 (fastener center axis S25) so that the angle θ is an acute angle, the sealant is not disturbed when it hits the fastener 25, so the coating quality of the sealant is good. Become. The nozzle center axis S112 may be parallel to the Z axis as shown, or may be inclined with respect to the Z axis in a plane perpendicular to the rotation center axis S12 (fastener center axis S25). Although the coating quality of the sealant is relatively poor, the nozzle center axis S112 may pass through the rotation center axis S12 (fastener center axis S25).

  The sealant is generally a high-viscosity fluid, and cures with time (viscosity increases). When such a sealant is used, if the pressing force of the discharge punch 111 is controlled to be constant, the sealant cannot be quantitatively discharged. Therefore, it is difficult to apply the sealing agent to the fastener 25 uniformly. According to this embodiment, the discharge amount of the sealing agent is controlled to be constant because the discharge punch feeding device 113 changes the push force of the discharge punch 111 so that the push speed of the discharge punch 111 is constant. Therefore, it is easy to apply the sealing agent to the fastener 25 uniformly.

  Further, the quality of the sealing agent applied to the fastener 25 can be managed by detecting the pushing reaction force acting on the discharge punch 111 when the sealing agent is discharged by the reaction force sensor 116.

  In the present embodiment, the grip portions 123 and 125 grip the fastener 25 in the axial direction. More specifically, the gripping portions 123 and 125 grip the fastener 25 so that the tip of the gripping portion 123 contacts the head upper surface 21b and the tip of the gripping portion 125 contacts the end surface 23a. Therefore, in principle, it is possible to apply the sealing agent so that there is no unpainted area on the entire circumference of the shaft portion of the fastener 25. Therefore, the seal application device 1 and the seal application method according to the present embodiment are suitable for applications in which a sealant is applied to the shaft portion of the fastener 25. Furthermore, the centering mechanism 128 can ensure that the fastener center axis S25 coincides with the rotation center axis S12. Furthermore, when the sealing agent is applied to the fastener 25, the contact portion 128a used for centering the fastener 25 is in a state separated from the fastener 25. Therefore, the contact part 128a does not interfere with the application of the sealing agent. Further, since the gripping portions 123 and 125 are tapered, the sealing agent adheres to the gripping portions 123 and 125 even when the sealing agent is applied to the end portion (for example, the head side surface 21b) of the fastener 25. Is prevented.

  In the above description, the core push table 124 and the grip portion 125 are movable in parallel to the Y axis with respect to the rotating device base 121, and the motor 122 and the grip portion 123 are immovable in the Y axis direction with respect to the rotating device base 121. The urging unit 126 urges the core pushing table 124 and the gripping part 125 so that the gripping parts 123 and 125 come close to each other. The core push table 124 and the grip portion 125 are immovable in parallel with the Y axis with respect to the rotating device base 121, and the motor 122 and the grip portion 123 are movable with respect to the rotating device base 121 in the Y axis direction. The biasing part 126 may bias the motor 122 and the gripping part 123 so that the gripping parts 123 and 125 are close to each other.

  In the above description, the fastener rotating device 12 (more specifically, the rotating device base 121) is movable in parallel to the Y axis with respect to the base 10, and the sealant discharging device 11 is parallel to the Y axis with respect to the base 10. The cylinder 131 moves in the fastener rotating device 12 (more specifically, the rotating device base 121) parallel to the Y axis. The fastener rotating device 12 (more specifically, the rotating device base 121) is immovable in parallel to the Y axis with respect to the base 10, and the sealant discharging device 11 is movable in parallel to the Y axis with respect to the base 10. The cylinder 131 may move the sealant discharge device 11 parallel to the Y axis.

(Second Embodiment)
A seal coating apparatus 1 and a seal coating method according to the second embodiment of the present invention will be described. The seal coating apparatus 1 and the seal coating method according to the second embodiment are the same as those of the first embodiment except for the following description.

  Referring to FIG. 15, the seal coating device 1 includes a scraper 15. The scraper 15 is formed so as to correspond to the shape of the part to which the sealant of the fastener 25 is to be applied. For example, the scraper 15 is formed in a shape obtained by vertically dividing a cylindrical body with a conical portion along the shape of the sleeve 40. The scraper 15 includes a partial conical portion 151 corresponding to the dish portion 41 and a partial cylindrical portion 152 corresponding to the cylindrical portion 42.

  Referring to FIG. 16, inner side surface 151 a of partial conical portion 151 is formed so as to follow the shape of dish portion 41. The inner side surface 152 a of the partial cylindrical portion 152 is formed so as to follow the shape of the cylindrical portion 42. Moreover, it is preferable that a plurality of grooves 152b parallel to each other are formed on the inner surface 152a. For example, the plurality of grooves 152b are spiral groove portions formed on the inner surface of the cylindrical portion of the cylindrical body with the conical portion. The scraper 15 has gaps between the inner side surface 151a and the plate portion 41 and between the inner side surface 152a and the cylindrical portion 42, with the inner side surface 151a facing the plate portion 41 and the inner side surface 152a facing the cylindrical portion 42. It is attached to the rotating device base 121 so as to be formed.

  According to this embodiment, the sealant on the sleeve 40 is extended by the scraper 15. Therefore, the coating film of the sealing agent can be thinned. Further, even when air is mixed in the seal cartridge 112, it is possible to prevent a portion where the sealant is not applied on the surface of the sleeve 40 (a paint leakage portion). Further, the plurality of grooves 152b on the inner surface 152a have the following effects. If the plurality of grooves 152b are not provided, the sealing agent that should have protruded to the outside of the scraper 15 is filled in the plurality of grooves 152b and applied to the fasteners 25, so that many fasteners 25 can be applied with a small amount of sealing agents. A groove may be formed on the inner surface 151a.

  Furthermore, if the scraper 15 is formed of a flexible material such as rubber, the gap between the scraper 15 and the fastener 25 can be reduced to further reduce the coating film of the sealant. Alternatively, a corrugated scraper, brush, or spatula may be used in place of the scraper 15.

(Third embodiment)
A seal coating apparatus 1 and a seal coating method according to the third embodiment of the present invention will be described. The seal coating apparatus 1 and the seal coating method according to the third embodiment are the same as those in the first or second embodiment except for the following description.

  Referring to FIG. 17, the seal application device 1 according to the third embodiment includes a seal application state confirmation device 16. The seal application state confirmation device 16 includes a camera 161, an image processing device 162, an output device 163, and a storage device 164.

  Referring to FIG. 18, the camera 161 shoots the fastener 25 in a state of being set on the fastener rotating device 12 (state of being gripped by the gripping portions 123 and 125) and generates image data. Here, when the fastener rotating device 12 rotates the fastener 25, the fastener 25 can be photographed at a plurality of different rotational positions. Therefore, it is possible to confirm the application state of the sealant around the entire periphery of the fastener 25.

  The image processing apparatus 162 performs image processing on the image data generated by the camera 161, and a portion where the sealant of the fastener 25 is applied (application portion) and a portion where the sealant of the fastener 25 is not applied ( Detect smeared part). Here, when the countersunk bolt 20 and the sleeve 40 of the fastener 25 are made of metal and the sealant is black, it is easy to detect the application portion (black portion) and the paint leakage portion (metal color portion).

  The output device 163 outputs an error when a smeared portion is detected. In this case, a sealant is manually applied to the paint leakage portion. The output device 163 may output an image of the fastener 25 before image processing or an image of the fastener 25 after image processing.

  The storage device 164 records the image data before image processing, the image data after image processing, and the detection results of the application portion and the smeared portion in association with the identifier of the fastener 25. These are used for quality control and the like.

(Fourth embodiment)
A seal coating apparatus 1 and a seal coating method according to the fourth embodiment of the present invention will be described. The seal coating apparatus 1 and the seal coating method according to the fourth embodiment are the same as those of the first to third embodiments except for the following description.

  Referring to FIG. 19, the gripping portion 123 can be replaced with a three-jaw chuck 129 used for a lathe or the like, and the centering mechanism 128 is not provided. In the present embodiment, the three-jaw chuck 129 chucks the head 21 of the fastener 25 to center the fastener 25. In the present embodiment, it is difficult to apply the sealant to the entire circumference of the head side surface 21b so that the paint leakage portion does not occur. However, the sealant for the sleeve 40 is the same as in the first to third embodiments. Can be applied.

  As described above, the seal coating apparatus and the seal coating method according to the present invention have been described with reference to the embodiments. However, the present invention is not limited to the above-described embodiments, and various modifications are added to the above-described embodiments. It is.

  For example, another centering mechanism 128 that centers the fastener 25 so that the fastener central axis S25 matches the rotational center axis S12 of the fastener rotating device 12 by contacting the screw portion 23 or the cylindrical portion 42 of the fastener 25 is added. May be.

DESCRIPTION OF SYMBOLS 1 ... Seal coating device 10 ... Base 11 ... Sealing agent discharge device 111 ... Discharge punch 112 ... Seal cartridge 112a ... Nozzle 113 ... Discharge punch feeding device 114 ... Servo motor 115 ... Ball screw 116 ... Reaction force sensor 117 ... Support structure 12 ... Fastener Rotating device 121 ... Rotating device base 122 ... Motor 123 ... Gripping part 124 ... Core push stand 125 ... Gripping part 126 ... Biasing part 127 ... Linear motion guide 128 ... Centering mechanism 128a ... Contact part 129 ... Three claws Chuck 13 ... Fastener axial direction feeding device 131 ... Cylinder 132 ... Linear motion guide 14 ... Controller 15 ... Scraper 151 ... Partial cone 151a ... Inner side 152 ... Partial cylindrical part 152a ... Inner side 152b ... Groove 16 ... Seal application state confirmation device 161 ... Camera 162 ... Image processing device 163 ... Output device 1 4 ... storage device 25 ... fastening parts (fasteners)
20 ... Countersunk bolt 21 ... Head 21a ... Head upper surface 21b ... Head side (conical surface)
22 ... cylindrical portion 23 ... screw portion 23a ... end face 30 ... nut 40 ... sleeve 41 ... cone portion (conical portion)
42 ... Cylindrical parts 51, 52 ... Composite material part 100 ... Workpiece (fastened object)
100a ... Countersunk holes 100b, 100c ... Surface 100d ... Countersink wall surface 101 ... Air hammer 200 ... Conveying device 300 ... Sealing agent 401 ... Discharge direction vector 402 ... Peripheral speed vector 556 ... Piston member 556T ... Mounting hole 557 ... Rivet press Rod 557T ... Mounting portion 571 ... Coil spring 572 ... Chuck mechanism FSD ... Fastener shape data V1 * ... Discharge punch feed speed setting value CS * ... Fastener peripheral speed set value L * ... Lead set value V1 ... Discharge punch feed speed V2 ... Seal Agent discharge speed Vy ... Fastener axial feed speed RS ... Fastener rotation speed W ... Sealing agent thickness S12 ... Rotation center axis S25 ... Fastener center axis S112 ... Nozzle center axis θ ... Angle

Claims (22)

A sealant discharge device for discharging the sealant to be applied to the fastener;
The sealant discharge device includes a discharge punch feeding device that pushes a discharge punch into a seal cartridge filled with the sealant,
The discharge punch feeding device changes a pushing force of the discharge punch so that a discharge amount of the sealant is controlled to be constant. The seal coating apparatus according to claim 1,
A fastener rotating device that rotates the fastener around a central axis of the fastener;
A seal coating apparatus, further comprising: a fastener axial direction feeding device that relatively moves the fastener rotating device and the sealant discharging device in the axial direction of the fastener. The seal coating apparatus according to claim 2,
The fastener rotating device changes the number of rotations of the fastener,
The fastener axial direction feeding device is configured such that when the rotational speed increases, the feeding speed at which the fastener rotating device and the sealant discharging device move relatively in the axial direction of the fastener increases, or A seal applicator that changes the feed rate so that the feed rate decreases when the rotational speed decreases. The seal coating apparatus according to claim 2 or 3,
The sealant discharge device includes a nozzle that discharges the sealant,
Based on the shape data of the fastener, the fastener rotating device is controlled so that the peripheral speed of the portion of the fastener where the axial position of the fastener coincides with the nozzle is constant, and the fastener rotates once. A seal coating apparatus further comprising a controller for controlling the fastener axial direction feeding device so that a distance in which the fastener rotating device and the sealant discharging device move relative to each other in the axial direction of the fastener is constant. The seal coating apparatus according to any one of claims 2 to 4,
A scraper,
The scraper includes an inner surface formed so as to follow the shape of the fastener,
The scraper is disposed so that a gap is formed between the inner surface and the fastener in a state where the inner surface faces the fastener. The seal coating apparatus according to claim 5,
A seal coating apparatus in which a plurality of grooves parallel to each other are formed on the inner surface. The seal coating apparatus according to any one of claims 2 to 6,
A seal coating apparatus, further comprising a camera for photographing the fastener set in the fastener rotating device. The seal coating apparatus according to claim 7,
The camera performs image processing on image data generated by photographing the fastener to detect a portion of the fastener where the sealant is applied and a portion of the fastener where the sealant is not applied. A seal coating apparatus further comprising an image processing apparatus. A seal coating apparatus according to any one of claims 2 to 8,
The fastener rotating device is
A first grip portion and a second grip portion for gripping the fastener in the axial direction;
And a motor connected to transmit torque to at least one of the first gripping portion and the second gripping portion. The seal coating apparatus according to claim 9,
The fastener rotating device is
A biasing portion that biases at least one of the first gripping portion and the second gripping portion so that the first gripping portion and the second gripping portion approach each other;
A seal coating apparatus, comprising: a centering mechanism for centering the fastener so that the center axis of the fastener coincides with the rotation center axis of the fastener rotating device. The seal coating apparatus according to claim 9 or 10,
At least one of the first gripping portion and the second gripping portion is formed in a tapered shape that becomes narrower toward the tip end. A seal coating apparatus according to any one of claims 1 to 11,
The sealant discharge device includes a reaction force sensor that detects a pressing reaction force acting on the discharge punch. A step of discharging the sealing agent at a constant discharge amount;
Applying the sealant to a fastener,
The step of discharging the sealing agent at a constant discharge amount includes:
Pushing the discharge punch into the seal cartridge filled with the sealant;
Changing the pushing force of the discharge punch so that the discharge amount of the sealant is controlled to be constant. The seal coating method according to claim 13,
In the step of discharging the sealant at a constant discharge amount, the sealant is discharged from a nozzle,
In the step of applying the sealant, the seal is attached to the fastener while rotating the fastener around a central axis of the fastener and relatively moving the nozzle and the fastener in the axial direction of the fastener. Applying agent Seal coating method. The seal coating method according to claim 14,
The step of applying the sealant comprises:
Changing the number of rotations of the fastener;
When the rotational speed increases, the feed speed for moving the nozzle and the fastener relative to the axial direction of the fastener increases, or when the rotational speed decreases, the feed speed decreases. And a step of changing the feed rate. The seal coating method according to claim 14 or 15,
In the step of applying the sealant, based on the shape data of the fastener, the rotational speed is set so that the peripheral speed of the portion of the fastener where the axial position of the fastener coincides with the nozzle is constant. A seal coating method in which the feed speed is controlled so that the distance that the fastener and the nozzle relatively move in the axial direction of the fastener is constant while the fastener is rotated once. A seal application method according to any one of claims 14 to 16,
The step of applying the sealant includes a step of extending the sealant on the fastener using a scraper. A seal coating method according to any one of claims 14 to 17,
A seal coating method, further comprising the step of photographing the fastener at a plurality of different rotational positions. The seal coating method according to claim 18,
In the step of photographing the fastener at a plurality of different rotational positions, image data of the fastener is generated,
A seal coating method further comprising a step of performing image processing on the image data to detect a portion of the fastener to which the sealant is applied and a portion of the fastener to which the sealant is not applied. A seal coating method according to any one of claims 14 to 19,
In the step of applying the sealant, the fastener is rotated while the fastener is held in the axial direction. The seal coating method according to claim 20,
Further comprising the step of centering the fastener so that the center axis of the fastener coincides with the rotation center axis in a state in which the fastener is gripped using the first grip portion and the second grip portion;
A motor is connected to at least one of the first gripping part and the second gripping part so that torque can be transmitted,
In the step of centering, the fastener is centered while urging at least one of the first gripping portion and the second gripping portion so that the first gripping portion and the second gripping portion are close to each other. Perform seal application method. The seal coating method according to any one of claims 13 to 21,
A seal coating method further comprising a step of detecting an indentation reaction force acting on the discharge punch.

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