Sealer applicator and robot

Abstract

To provide a buffer mechanism formed by a simple structure in a sealer applicator in which a sealer application member is attached to a tip of a robot arm through the buffer mechanism.SOLUTION: A sealer applicator 14 includes: a base end part 16 to which a sealer is supplied; a tip part 18 provided with a nozzle 24 for applying the sealer to an application object; a tube 20 which is connected to the tip part and the base end part, has flexibility, and supplies the sealer supplied to the base end part to the tip part; and an elastic member 22 which encloses the tube and is held between the base end part and the tip part.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a sealer application device and a robot. [Background technology]

[0002] The following Patent Document 1 discloses a sealer applicator in which a sealer applicator is attached to the tip of a robot arm via a buffer mechanism. The buffer mechanism absorbs external forces acting on the sealer applicator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-203245 A Summary of the Invention [Problem to be solved by the invention]

[0004] The cushioning mechanism of the sealer applicator disclosed in the above Patent Document 1 has a problem in that it has a complex structure.

[0005] The present invention aims to solve the above-mentioned problems. [Means for solving the problem]

[0006] A first aspect of the present invention is a sealer application device comprising a base end to which sealer is supplied, a tip end equipped with a nozzle for applying the sealer to an object to be applied, a flexible tube connected to the tip end and the base end and supplies the sealer supplied to the base end to the tip end, and an elastic member surrounding the tube and held between the base end and the tip end.

[0007] A second aspect of the present invention is a robot, the robot comprising the sealer applicator of the first aspect and a working arm to which the sealer applicator is attached. Effect of the Invention

[0008] According to the present invention, the shock absorbing mechanism of the sealer applicator can be simplified in structure. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram of the robot. [Diagram 2] FIG. 2 is a side view of the sealer application device. [Diagram 3] FIG. 3 is a cross-sectional view of the sealer applicator. [Figure 4] FIG. 4 is an exploded view of the sealer application device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] [Robot configuration] 1 is a schematic diagram of a robot 10. The robot 10 has a working arm 12. A sealer applicator 14 is attached to the working arm 12. In spot welding, steel plates are welded together at spots, so gaps may occur between the steel plates at the welded points. A sealer is applied between the steel plates by the sealer applicator 14, and the gaps between the steel plates are filled by the sealer.

[0011] [Configuration of sealer application device] Fig. 2 is a side view of the sealer applicator 14. Fig. 3 is a cross-sectional view of the sealer applicator 14. Fig. 4 is an exploded view of the sealer applicator 14. The sealer applicator 14 includes a base end 16, a tip end 18, a tube 20, and an elastic member 22. Hereinafter, the direction from the base end 16 toward the tip end 18 may be referred to as the tip direction. Also, the direction from the tip end 18 toward the base end 16 may be referred to as the base direction.

[0012] A sealer is supplied to the base end 16. The tip end 18 includes a nozzle 24. The nozzle 24 applies the sealer to an application target. The tube 20 is connected to the tip end 18 and the base end 16, and supplies the sealer supplied to the base end 16 to the tip end 18. The tube 20 has flexibility and is formed of, for example, soft nylon. The tube 20 has flexibility. The elastic member 22 includes at least a spiral coil spring 26. The tube 20 is inserted inside the coil spring 26. As a result, the coil spring 26 surrounds the tube 20. The coil spring 26 is held by the base end 16 and the tip end 18. The elastic member 22 may have another elastic body together with the coil spring 26. The elastic member 22 may have another elastic body instead of the coil spring 26. For example, the elastic member 22 may have a second tube having flexibility.

[0013] The base end 16 includes a first tube fitting 28 and a first holding member 30. The first tube fitting 28 and the first holding member 30 are formed, for example, from a stainless steel material. The first tube fitting 28 connects a sealer supply source 32 and the tube 20. The first holding member 30 has a first hole 34 (FIG. 3). The first tube fitting 28 is attached to the first hole 34. The first holding member 30 holds the coil spring 26.

[0014] The first holding member 30 includes a first holding wall portion 36 and a first surrounding wall 38. The first holding wall portion 36 is located in the base end direction with respect to the coil spring 26, and holds the end portion of the coil spring 26 in the base end direction. The first hole 34 described above is formed in the first holding wall portion 36. The first surrounding wall 38 protrudes in the distal direction from the first holding wall portion 36. The first surrounding wall 38 surrounds the outside of the end portion of the coil spring 26 in the base end direction. This makes it possible to prevent the coil spring 26 from coming off the first holding member 30.

[0015] The first tube fitting 28 includes a first sleeve 40 and a first body 42. The first sleeve 40 is located distally relative to the first bore 34. The first sleeve 40 has a ring retaining portion 44 and a nut portion 46. The ring retaining portion 44 retains a ring 48 (FIG. 3). The nut portion 46 is internally threaded on its inner periphery. The proximal end of the tube 20 is inserted into the ring retaining portion 44 with the ring 48 attached.

[0016] The first body 42 has a nipple portion 50, a main body portion 52, a first flange portion 54, and a cylinder portion 56. The nipple portion 50 is inserted into the end portion of the tube 20 in the proximal direction. A male thread is cut on the outer periphery of the main body portion 52. When the nut portion 46 of the first sleeve 40 is tightened onto the main body portion 52 of the first body 42, the ring 48 presses the tube 20 against the nipple portion 50. This establishes a liquid-tight connection between the tube 20 and the nipple portion 50.

[0017] The first flange portion 54 is located in the distal direction relative to the first holding wall portion 36 of the first holding member 30. The first holding member 30 abuts against the first flange portion 54. The cylinder portion 56 extends in the proximal direction through the first hole 34 of the first holding member 30. A male thread is cut on the outer periphery of the cylinder portion 56. Two fastening members 58 are attached to the cylinder portion 56. The two fastening members 58 are nuts. That is, the double nuts prevent each of the two fastening members 58 from loosening. Note that one fastening member 58 may be attached to the cylinder portion 56. In this case, the fastening member 58 may be prevented from loosening by another method. The first holding member 30 pressed by the elastic member 22 (coil spring 26) is supported by the two fastening members 58.

[0018] The sealer supply source 32 is connected to the cylinder portion 56 via an on / off valve 57 (FIG. 2). Sealer is supplied from the sealer supply source 32 to the cylinder portion 56. The on / off valve 57 switches between a state in which sealer is supplied from the sealer supply source 32 to the cylinder portion 56 and a state in which the supply of sealer from the sealer supply source 32 to the cylinder portion 56 is stopped. A flange member 60 is attached to the end of the cylinder portion 56 in the base end direction. The flange member 60 is fixed to the working arm 12 of the robot 10, whereby the sealer applicator 14 is attached to the working arm 12.

[0019] The tip portion 18 includes a second tube fitting 62 and a second holding member 64. The second tube fitting 62 and the second holding member 64 are formed of, for example, a stainless steel material. The second tube fitting 62 connects the nozzle 24 and the tube 20. The second holding member 64 has a second hole 66 (FIG. 3). The second tube fitting 62 is attached to the second hole 66. The second holding member 64 holds the coil spring 26. In a state in which the coil spring 26 is held by the first holding member 30 and the second holding member 64, the coil spring 26 is pushed in a contracting direction by the first holding member 30 and the second holding member 64, and the coil spring 26 becomes shorter than its natural length.

[0020] The second holding member 64 includes a second holding wall portion 68 and a second surrounding wall 70. The second holding wall portion 68 is located in the distal direction relative to the coil spring 26 and holds the distal end of the coil spring 26. The second hole 66 described above is formed in the second holding wall portion 68. The second surrounding wall 70 protrudes in the proximal direction from the second holding wall portion 68. The second surrounding wall 70 surrounds the outside of the distal end of the coil spring 26. This makes it possible to prevent the coil spring 26 from coming off the second holding member 64.

[0021] The second tube fitting 62 includes a second sleeve 72 and a second body 74. The second sleeve 72 is located proximally relative to the second bore 66. The second sleeve 72 has a ring retaining portion 76 and a nut portion 78. The ring retaining portion 76 retains a ring 80 (FIG. 3). The nut portion 78 is internally threaded on its inner periphery. The distal end of the tube 20 is inserted into the ring retaining portion 76 with the ring 80 attached.

[0022] The second body 74 has a nipple portion 82, a main body portion 84, a second flange portion 86, and a nozzle attachment portion 88. The nipple portion 82 is inserted into the end portion of the tube 20 in the distal direction. A male thread is cut on the outer periphery of the main body portion 84. When the nut portion 78 of the second sleeve 72 is tightened onto the main body portion 84 of the second body 74, the ring 80 presses the tube 20 against the nipple portion 82. This establishes a liquid-tight connection between the tube 20 and the nipple portion 82.

[0023] The second flange portion 86 is located in the distal direction relative to the second holding wall portion 68 of the second holding member 64. The second holding member 64 is pushed in the distal direction by the coil spring 26 and abuts against the second flange portion 86. An internal thread is cut on the inner periphery of the nozzle attachment portion 88. An external thread is cut on the end portion of the nozzle 24 in the proximal direction, and the nozzle 24 and the nozzle attachment portion 88 are screwed together to attach the nozzle 24 to the second body 74. This allows the nozzle 24 to be easily replaced.

[0024] [Effects] The sealer applicator 14 of this embodiment is a contact type sealer applicator. A contact type sealer applicator applies sealer while moving the nozzle 24 relative to the steel plate with the tip of the nozzle 24 in contact with the welded steel plate. Therefore, the sealer applicator 14 of this embodiment needs a buffer mechanism to release the force acting on the nozzle 24 from the steel plate.

[0025] The sealer applicator 14 of this embodiment has a flexible tube 20 and an elastic member 22 (coil spring 26) surrounding the tube 20 between the base end 16 and the tip end 18. Therefore, when a force acts from the steel plate to the nozzle 24 in the longitudinal direction of the sealer applicator 14, the elastic member 22 contracts to absorb the force. Also, when a force acts from the steel plate to the nozzle 24 in a direction to tilt the sealer applicator 14, the tube 20 and the elastic member 22 bend to absorb the force. When the tube 20 and the elastic member 22 bend, the tube 20 and the elastic member 22 try to return to their original state. Therefore, a force acts on the steel plate from the tube 20 and the elastic member 22 via the nozzle 24 in the opposite direction to the input direction of the force acting on the nozzle 24 from the steel plate. This allows the tip of the nozzle 24 to move following the unevenness of the steel plate. That is, the tube 20 and the elastic member 22 can form a buffer mechanism. In the sealer applicator 14 of this embodiment, the buffer mechanism can be made to have a simple structure.

[0026] The buffer mechanism may be provided on the working arm 12 of the robot 10. However, in a non-contact type sealer applicator in which the tip of the nozzle 24 does not come into contact with the steel plate, the buffer mechanism is not necessary. Therefore, when the buffer mechanism is provided on the working arm 12, the buffer mechanism needs to be attached to or detached from the working arm 12 when replacing the contact type sealer applicator with the non-contact type sealer applicator.

[0027] In contrast, since the sealer applicator 14 of the present embodiment has a buffer mechanism, it is not necessary to provide a buffer mechanism on the working arm 12. Therefore, when replacing a contact-type sealer applicator with a non-contact-type sealer applicator, it is not necessary to attach or detach a buffer mechanism to or from the working arm 12.

[0028] In the sealer applicator 14 of this embodiment, the elastic force of the tube 20 when the tube 20 is bent can be adjusted by the material, hardness, length, and thickness of the tube 20. In addition, the elastic force of the elastic member 22 (coil spring 26) when the tube 20 is bent can be adjusted by the linear shape, length, size, and material of the elastic member 22 (coil spring 26). Furthermore, the elastic force of the elastic member 22 (coil spring 26) when the elastic member 22 is bent can be adjusted by the positions at which the two fastening members 58 are fastened to the first body 42. This makes it possible to adjust the force with which the nozzle 24 tries to return to its original position when the nozzle 24 is displaced.

[0029] In addition to the above disclosure, the following notes are also disclosed.

[0030] (Appendix 1) The sealer applicator (14) comprises a base end (16) to which sealer is supplied, a tip end (18) equipped with a nozzle (24) for applying the sealer to an object to be applied, a flexible tube (20) connected to the tip end and the base end and for supplying the sealer supplied to the base end to the tip end, and an elastic member (22) surrounding the tube and held between the base end and the tip end. With this configuration, the buffer mechanism can be made of a simple structure.

[0031] (Appendix 2) In the sealer applicator according to appendix 1, the elastic member may include a spiral coil spring (26), and the tube may be inserted inside the coil spring. With this configuration, the sealer applicator can be made compact.

[0032] (Appendix 3) In the sealer applicator described in Appendix 2, the base end may include a sealer supply source (32) that supplies the sealer to the base end, a first tube fitting (28) that connects the tube, and a first holding member (30) that has a first hole (34) to which the first tube fitting is attached and that holds the coil spring, and the tip end may include a second tube fitting (62) that connects the nozzle and the tube, and a second holding member (64) that has a second hole (66) to which the second tube fitting is attached and that holds the coil spring. With this configuration, the sealer applicator can be made compact.

[0033] (Appendix 4) In the sealer applicator described in Appendix 3, the first holding member may include a first holding wall portion (36) located in the base end direction with respect to the coil spring, holding the base end of the coil spring and having the first hole formed therein, and a first surrounding wall (38) protruding in the tip direction from the first holding wall portion and surrounding the base end of the coil spring, and the second holding member may include a second holding wall portion (68) located in the tip direction with respect to the coil spring, holding the tip of the coil spring and having the second hole formed therein, and a second surrounding wall (70) protruding in the base end direction from the second holding wall portion and surrounding the tip of the coil spring. With this configuration, it is possible to prevent the coil spring from coming off the first holding member and the second holding member.

[0034] (Appendix 5) In the sealer applicator described in Appendix 3, the first tube fitting includes a first sleeve (40) located in the distal direction with respect to the first hole and into which the base end of the tube is inserted, and a first body (42) inserted into the tube inserted into the first sleeve and clamping the tube together with the first sleeve, the first body includes a first flange portion (54) located in the distal direction with respect to the first holding member and abutting against the first holding member, and a cylinder portion (56) extending in the proximal direction through the first hole and connected to the sealer supply source, and the first holding member may be clamped by the first flange portion and a tightening member (58) attached to the cylinder portion. With this configuration, the first holding member can be fixed to the first body.

[0035] (Appendix 6) In the sealer applicator described in Appendix 3, the second tube fitting may include a second sleeve (72) located in a proximal direction with respect to the second hole and into which the tube is inserted, and a second body (74) to which the nozzle is attached and which is inserted into the tube through the second hole and which holds the tube together with the second sleeve, and the second body may have a second flange portion (86) located in a distal direction with respect to the second holding member and which abuts against the second holding member. According to this configuration, the second holding member is pressed toward the second flange portion by a coil spring, so that the second holding member can be fixed to the second body.

[0036] (Appendix 7) The robot (10) includes a sealer applicator according to any one of claims 1 to 6, and a working arm (12) to which the sealer applicator is attached. With this configuration, the force acting on the nozzle can be absorbed by the tube and the elastic member.

[0037] The present invention is not limited to the above disclosure, and various configurations can be adopted without departing from the gist of the present invention. [Explanation of symbols]

[0038] 10...Robot 12...Working arm 14...Sealer application device 16...Base end portion 18: Tip 20: Tube 22... Elastic member 24... Nozzle 26... Coil spring 28... First tube fitting 30...first holding member 36...first holding wall portion 38...first surrounding wall 40...first sleeve 42: First body 54: First flange portion 56: Cylinder portion; 62: Second tube joint 64... second holding member 68... second holding wall portion 70...second surrounding wall 72...second sleeve 74: second body; 86: second flange portion

Claims

1. a proximal end where the sealer is provided; a tip portion provided with a nozzle for applying the sealer to an application target; a flexible tube connected to the distal end portion and the proximal end portion, the tube supplying the sealer supplied to the proximal end portion to the distal end portion; an elastic member surrounding the tube and held between the proximal end and the distal end; A sealer application device comprising:

2. The sealer application device according to claim 1, The elastic member includes a spiral coil spring, The tube is inserted inside the coil spring.

3. The sealer application device according to claim 2, The base end portion is a first tube joint for connecting a sealer supply source that supplies the sealer to the base end portion and the tube; a first holding member having a first hole to which the first tube fitting is attached and holding the coil spring; Equipped with The tip portion is a second tube joint connecting the nozzle and the tube; a second holding member having a second hole to which the second tube fitting is attached and holding the coil spring; A sealer application device comprising:

4. The sealer application device according to claim 3, The first holding member includes: a first retaining wall portion located in a base end direction with respect to the coil spring, retaining a base end of the coil spring and having the first hole formed therein; a first surrounding wall protruding from the first holding wall portion in a distal direction and surrounding the base end of the coil spring; Equipped with The second holding member includes: a second holding wall portion located in the distal direction with respect to the coil spring, holding a distal end of the coil spring, and having the second hole formed therein; a second surrounding wall that protrudes from the second holding wall portion in the base end direction and surrounds the tip end of the coil spring; A sealer application device comprising:

5. The sealer application device according to claim 3, The first tube fitting comprises: a first sleeve located distally relative to the first hole and into which a proximal end of the tube is inserted; a first body that is inserted into the tube that is inserted into the first sleeve and that holds the tube together with the first sleeve; Equipped with The first body includes: a first flange portion located in the distal direction relative to the first holding member and abutting against the first holding member; a cylinder portion extending in a proximal direction through the first hole and connected to the sealer supply source; having the first holding member is clamped between the first flange portion and a fastening member attached to the cylinder portion.

6. The sealer application device according to claim 3, The second tube fitting comprises: a second sleeve located proximally relative to the second hole and into which the tube is inserted; a second body to which the nozzle is attached and which is inserted into the tube through the second hole and which holds the tube together with the second sleeve; Equipped with The second body includes: a second flange portion that is located in a distal direction relative to the second holding member and abuts against the second holding member;

7. A sealer application device according to any one of claims 1 to 6, a working arm to which the sealer application device is attached; A robot equipped with the above.

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