Method for applying liquids

Abstract

To provide an effective technique which easily coats a fluid substance with high viscosity on a coating surface of a workpiece.SOLUTION: A coating method coating a sealing compound S that is a fluid substance with high viscosity on a coating surface 3a of a base material 3 as a workpiece comprises: a shape retention part formation process in which the sealing compound S is discharged from a nozzle 11 arranged apart from the coating surface 3a by a gap G to adhere to the coating surface 3a so as to form a shape retention part Sa where the sealing compound S is extended from a discharge port 11a of the nozzle 11 to the coating surface 3a; and a shape retention part cutting process in which a wire 13 is slid into the shape retention part Sa formed by the shape retention part formation process in a first direction Y1 crossing the discharge port 11a of the nozzle 11 to cut the shape retention part Sa so as to remain on the coating surface 3a side in an adherence state.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a technique for applying a flowing material.

Background Art

[0002] Substrates such as automobile bodies are provided with various openings, such as openings for the purpose of excluding electrodeposition paint and openings used for positioning members during welding. In order to prevent rainwater, dust, and noise from entering through these openings, an elastically deformable sealing component made of a resin material, a rubber material, or the like is used. The opening is sealed by pressing and fitting this sealing component into the opening of the substrate. Such a sealing component is generally referred to as a "plug".

[0003] Further, Patent Document 1 below discloses a sealing method in which a sealant containing a foaming agent is embedded in an opening hole and the sealant is foamed to close it. Such a sealing method has the advantage that it is not necessary to prepare a plurality of types of plugs in advance according to the sizes of opening holes of different sizes, and the component cost of the plugs can be reduced.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, when the above sealing method is used, the worker must manually reach into each opening while holding the sealant and fill the opening with the sealant. This can lead to a significant burden on the worker during the sealing process. This problem is particularly pronounced when dealing with the numerous openings in car bodies and other similar structures, where the worker must repeatedly assume the same posture. Therefore, there is a need for a technology that can simplify this process. Furthermore, such a technology is required not only when sealing openings in a substrate with sealant, but also when applying highly viscous fluids like sealant to the coating surface of various workpieces.

[0006] This invention has been made in view of the above problems, and aims to provide an effective technology for easily applying a high-viscosity fluid to the coating surface of a workpiece. [Means for solving the problem]

[0007] One aspect of the present invention is, A method for applying a highly viscous fluid to the coating surface of a workpiece, A shape-retaining portion forming step, in which the fluid is discharged from a nozzle positioned with a gap between it and the coated surface and adheres to the coated surface, thereby forming a shape-retaining portion in which the fluid extends from the nozzle's discharge port to the coated surface, A shape-retaining portion cutting step is performed by sliding a wire in a transverse direction across the discharge port of the nozzle against the shape-retaining portion formed in the shape-retaining portion forming step above, thereby cutting the shape-retaining portion and leaving it attached to the coating surface side. to have death, In the above-described shape-retaining portion forming process, the fluid is discharged from the nozzle's discharge port so that the protruding portion of the fluid protrudes, then the fluid is sucked in so that the protruding portion flows in the retraction direction, and the tip surface of the protruding portion is pressed against the coating surface to adhere it. Methods for applying liquids, It is located there. Another aspect of the present invention is: A method for applying a highly viscous fluid to the coating surface of a workpiece, A shape-retaining portion forming step, in which the fluid is discharged from a nozzle positioned with a gap between it and the coated surface and adheres to the coated surface, thereby forming a shape-retaining portion in which the fluid extends from the nozzle's discharge port to the coated surface, A shape-retaining portion cutting step is performed by sliding a wire in a transverse direction across the discharge port of the nozzle against the shape-retaining portion formed in the shape-retaining portion forming step above, thereby cutting the shape-retaining portion and leaving it attached to the coating surface side. It has, A method for coating a fluid, wherein a guide member, which is a cylindrical member with a larger diameter than the nozzle, is provided around the nozzle concentrically with the nozzle and its tip protrudes beyond the discharge port of the nozzle, and in the shape-retaining part forming step, the tip of the guide member is brought into contact with the coating surface of the workpiece to position the nozzle relative to the workpiece. It is located there. [Effects of the Invention]

[0008] The coating method described above is a method for applying a highly viscous fluid to the coating surface of a workpiece. This coating method comprises at least a shape-retaining portion formation step and a shape-retaining portion cutting step. In the shape-retaining portion formation step, a highly viscous fluid is discharged from a nozzle positioned with a gap between it and the coating surface of the workpiece, causing it to adhere to the coating surface. This forms a shape-retaining portion in which the highly viscous fluid extends from the nozzle's discharge port to the coating surface of the workpiece. In the shape-retaining portion cutting step, a wire is slid in a transverse direction across the nozzle's discharge port relative to the shape-retaining portion formed in the shape-retaining portion formation step. This cuts the shape-retaining portion, leaving it attached to the coating surface of the workpiece. At this time, by changing the gap dimension between the coating surface of the workpiece and the nozzle according to the purpose, it becomes possible to arbitrarily adjust the coating thickness of the shape-retaining portion.

[0009] Because the fluid is highly viscous, in the shape-retaining section formation process, its adhesive properties allow it to adhere to the coating surface of the workpiece, forming a shape-retaining section that extends from the nozzle outlet to the coating surface, and maintaining the shape of that section. Furthermore, such a highly viscous fluid exhibits the characteristic that once the cut shape-retaining section adheres to the coating surface of the workpiece, it is less likely to drip off the coating surface. Therefore, even if the shape-retaining section is subjected to the effects of gravity and vibration over time, it is less likely to peel off or drip off the coating surface of the workpiece. As a result, the coating state of the fluid on the coating surface of the workpiece can be maintained.

[0010] According to the coating method described above, the fluid can be applied by cutting the shape-retaining portion extending from the nozzle outlet to the coating surface of the workpiece with a wire. This allows the operator to easily apply the fluid. Furthermore, since the fluid is applied with a gap between the coating surface of the workpiece and the nozzle, the application of the fluid is less affected by the shape of the coating surface of the workpiece, making it highly versatile.

[0011] As described above, according to the above-described aspect, it is possible to provide a technique effective for easily applying a high-viscosity fluid to the application surface of a workpiece.

Brief Description of the Drawings

[0012] [Figure 1] A diagram showing the overall configuration of the sealing equipment according to Embodiment 1. [Figure 2] A cross-sectional view showing the structure of the tip of the nozzle device of Embodiment 1. [Figure 3] A diagram showing the correlation between viscosity and shear rate regarding the characteristics of the sealant used in Embodiment 1. [Figure 4] A flowchart of the coating method of Embodiment 1. [Figure 5] A time chart showing the operation timing for each member regarding the coating method of Embodiment 1. [Figure 6] A cross-sectional view showing the state when the first step in FIG. 4 is executed for the nozzle device in FIG. 2. [Figure 7] A cross-sectional view showing the state when the second step in FIG. 4 is executed for the nozzle device in FIG. 2. [Figure 8] A cross-sectional view showing the state when the third step in FIG. 4 is executed for the nozzle device in FIG. 2. [Figure 9] A cross-sectional view showing the state when the fourth step in FIG. 4 is executed for the nozzle device in FIG. 2. [Figure 10] A cross-sectional view showing the state when the fifth step in FIG. 4 is executed for the nozzle device in FIG. 2. [Figure 11] A cross-sectional view showing the structure of the tip of the nozzle device of Embodiment 2. [Figure 12] A flowchart of the coating method of Embodiment 2. [Figure 13] A time chart showing the operation timing for each member regarding the coating method of Embodiment 2. [Figure 14] A cross-sectional view showing the state when the first step in FIG. 12 is executed for the nozzle device in FIG. 11. [Figure 15] A cross-sectional view showing the state when the second step in FIG. 12 is executed for the nozzle device in FIG. 11. [Figure 16] This is a cross-sectional view showing the nozzle device in Figure 11 during the execution of the third step in Figure 12. [Figure 17] This is a cross-sectional view showing the nozzle device in Figure 11 during the execution of steps 4 and 5 in Figure 12. [Figure 18] This is a cross-sectional view showing the nozzle device in Figure 11 during the execution of step 6 in Figure 12. [Figure 19] Flowchart of the coating method of Embodiment 3. [Figure 20] This is a cross-sectional view showing the nozzle device in Figure 2 during the execution of the second step in Figure 19. [Figure 21] This is a cross-sectional view showing the nozzle device in Figure 2 during the execution of step 2a in Figure 19. [Figure 22] This is a cross-sectional view showing the nozzle device in Figure 2 during the execution of the third step in Figure 19. [Figure 23] This is a cross-sectional view showing the nozzle device in Figure 2 during the execution of step 4 in Figure 19. [Figure 24] This is a cross-sectional view showing the nozzle device in Figure 2 during the execution of step 5 in Figure 19. [Modes for carrying out the invention]

[0013] Preferred embodiments of the above-described aspects are described below.

[0014] In the above-described embodiment of the method for applying a fluid, in the shape-retaining portion formation step, it is preferable to discharge the fluid so that the protruding portion of the fluid protrudes from the discharge port of the nozzle, then suck the fluid so that the protruding portion flows in the retraction direction, and press the tip surface of the protruding portion against the application surface to adhere it.

[0015] When a highly viscous fluid is discharged from a nozzle, a resistance to adhesion acts between the fluid and the inner surface of the nozzle. Therefore, the protruding portion of the fluid is formed so that the part closer to the center of the nozzle rises first in the direction of protrusion, and then slopes downward from that point towards the outer circumference of the nozzle. Subsequently, when this fluid is sucked up, a resistance to adhesion acts between the fluid and the inner surface of the nozzle. At this time, the part of the fluid's protruding portion closer to the center of the nozzle is retracted first in the direction of inward pull. Therefore, the degree of unevenness on the tip surface of the protruding portion can be kept small, and the adhesion performance of the fluid when the tip surface of the protruding portion is pressed against the coated surface of the workpiece can be improved.

[0016] In the above-described embodiment of the method for applying a fluid, in the shape-retaining portion forming step, it is preferable to suction the fluid until the tip surface of the protruding portion becomes flat.

[0017] This coating method allows the tip surface of the fluid's protrusion to be flattened and pressed against the coating surface when the fluid is applied to the workpiece's coating surface. This further improves the adhesion performance of the fluid to the workpiece's coating surface. Furthermore, by flattening the tip surface of the fluid's protrusion, the protrusion can be adjusted to the desired height without protruding too far from the nozzle's discharge port. This stabilizes the cutting performance of the shape-retaining section by the wire and prevents cutting defects in the shape-retaining section.

[0018] For example, when the coating surface of a workpiece is an open surface and the opening is sealed by blocking it with a fluid, by suctioning the fluid so that the tip surface of the protrusion becomes flat, it is not necessary to excessively press the tip surface of the protrusion against the opening surface to ensure the desired sealing performance. This prevents the fluid from excessively entering and becoming embedded in the opening of the workpiece. Furthermore, by suppressing the embedding of the protrusion into the opening of the workpiece, the shape-retaining portion that ultimately remains on the coating surface side of the workpiece after cutting can be made into an aesthetically pleasing shape with a certain thickness. As a result, the opening of the workpiece can be sealed with a minimum amount of fluid, the material cost of the fluid can be reduced, and the increase in the weight of the workpiece can be suppressed.

[0019] In the above-described embodiment of the method for applying a fluid, in the shape-retaining portion cutting step, it is preferable to perform in conjunction, after the shape-retaining portion is formed, a nozzle operation that moves the nozzle away from the application surface of the workpiece along the nozzle axis and a wire operation that slides the wire in the transverse direction.

[0020] In this coating method, the nozzle operation applies a tensile load to the shape-retaining portion by moving the nozzle away from the coating surface of the workpiece along the nozzle axis after the shape-retaining portion has been formed. On the other hand, the wire operation cuts the shape-retaining portion, which is under tensile load, with a wire. By performing these nozzle and wire operations in conjunction, it is possible to prevent the cut shape-retaining portion from rejoining the fluid on the nozzle side.

[0021] In the above-described embodiment of the method for applying a fluid, in the shape-retaining portion formation step, the nozzle is positioned at an angle to the application surface of the workpiece such that the gap is maximized on the side where the wire starts to slide, and the fluid is applied to the application surface to form the shape-retaining portion. In the shape-retaining portion cutting step, it is preferable to perform the nozzle operation and the wire operation in parallel.

[0022] In this coating method, during the shape-retaining portion formation step, the nozzle is tilted when discharging the fluid from the nozzle toward the coating surface of the workpiece. This tilted state is achieved by positioning the nozzle diagonally so that the gap between the nozzle and the coating surface of the workpiece is maximized on the wire's sliding start side. As a result, a shape-retaining portion is formed between the nozzle's discharge port in the tilted state and the coating surface of the workpiece. In the subsequent shape-retaining portion cutting step, a nozzle operation is performed to move the tilted nozzle away from the coating surface of the workpiece along the nozzle axis, while a wire operation is performed to cut the shape-retaining portion, which is under tensile load due to this nozzle operation, using the wire. In other words, the nozzle operation and wire operation are performed in parallel. This reduces the time required for the shape-retaining portion cutting step. When the nozzle operation and wire operation are performed in parallel, if the nozzle is positioned so that the nozzle axis is perpendicular to the coating surface of the workpiece, the thickness of the shape-retaining portion that adheres to and ultimately remains on the coating surface of the workpiece will be thicker on the wire's sliding end side than on the wire's sliding start side. In contrast, by performing nozzle operation with the nozzle in the inclined position described above, it is possible to form a shape-retaining section of a certain thickness even when the nozzle operation and wire operation are performed in parallel.

[0023] In the above-described method for applying a fluid, it is preferable that the application surface of the workpiece is an open surface.

[0024] According to this coating method, if the coating surface is an open surface having an opening, the opening can be sealed with a fluid.

[0025] The following describes specific embodiments of a technique for applying a sealant to a base material constituting the body of an automobile to seal its openings, with reference to the drawings.

[0026] In the drawings used to explain this embodiment, unless otherwise specified, the vertical direction is indicated by arrow X and the horizontal direction by arrow Y. Furthermore, the two directions in which the nozzle axis extends, which are opposite to each other, are designated as the first direction X1 and the second direction X2, and the two directions perpendicular to the nozzle axis, which are opposite to each other, are designated as the first direction Y1 and the second direction Y2.

[0027] As shown in Figure 1, the sealing equipment 1 according to this embodiment is for sealing an opening 4 formed in a base material 3 that constitutes the vehicle body 2. In this case, the coated surface 3a of the base material 3, which is the workpiece, is an open surface having the opening 4. Therefore, the opening 4 is sealed by applying the sealant S to the coated surface 3a in such a way that it closes the opening 4. Here, the base material 3 typically includes members or reinforcements that constitute the underbody of the vehicle body 2.

[0028] In the process of applying the sealant S to the coating surface 3a of the base material 3, the vehicle body 2 is pre-positioned so that the portion corresponding to the base material 3 extends roughly in the horizontal direction Y. Typical examples of openings 4 include open holes, through holes, and recesses. In this embodiment, a through hole with a circular cross-sectional shape and an opening diameter d1 is used as an example of opening 4. However, the cross-sectional shape of opening 4 is not limited to a circle, and the cross-sectional shape of opening 4 can be other than a circle as needed.

[0029] 1. Overall configuration of sealing equipment 1 As shown in Figure 1, the sealing equipment 1 according to Embodiment 1 is mainly composed of a nozzle device 10, a robot 20, and a control device 30.

[0030] The nozzle device 10 includes a nozzle 11, a pump 14, and a supply pipe 15 connecting the nozzle 11 and the pump 14. The pump 14 is for pressurizing and discharging a sealant S, which is a highly viscous fluid. The sealant S discharged by this pump 14 is pumped through the supply pipe 15 to the nozzle 11 and discharged to the outside so as to protrude from the discharge port 11a of the nozzle 11. As will be described in detail later, in this embodiment, the nozzle 11 is brought close to the opening 4 from below in the vertical direction X of the base material 3, and then the sealant S discharged from the discharge port 11a of the nozzle 11 is applied to the opening 4.

[0031] Furthermore, when the first direction X1 (see Figure 2) is defined as the "protruding direction" of the sealant S, and the second direction X2 (see Figure 2), which is the opposite direction to the protruding direction, is defined as the "retraction direction," the pump 14 in this embodiment is configured to switch between a first operation in which the sealant S is discharged such that a portion of the sealant S is pushed out from the discharge port 11a of the nozzle 11 in the protruding direction X1 to form a protruding portion, and a second operation in which the sealant S is sucked in such that the protruding portion of the sealant S flows in the retraction direction X2.

[0032] The nozzle device 10 is held at the arm tip 22 of the robot arm 21 of the robot 20. The robot 20 is configured as a multi-axis robot with multiple drive axes on the robot arm 21. Both the robot 20 and the pump 14 are electrically connected to the control device 30.

[0033] The control device 30 is composed of a known CPU, memory, input / output unit, etc. This control device 30 includes a robot control unit 31 and a pump control unit 32.

[0034] The robot control unit 31 has the function of controlling the robot 20. According to this robot control unit 31, the robot 20 is controlled so that the tip 22 of the robot arm 21 moves according to a pre-programmed movement trajectory. This allows the nozzle device 10 to be adjusted to a desired position. The pump control unit 32 has the function of controlling the pump 14. According to this pump control unit 32, the discharge flow rate of the sealant S discharged from the discharge port 11a of the nozzle 11 is controlled.

[0035] 2. Structure of the tip of the nozzle device 10 As shown in Figure 2, the nozzle device 10 of Embodiment 1 includes a guide member 12 and a wire 13 in addition to the nozzle 11.

[0036] The nozzle 11 is dimensionally set such that its inner diameter d2 is greater than or equal to the opening diameter d1 of the opening 4 (see Figure 1). Here, the relationship between the opening diameter d1 and the inner diameter d2 is preferably determined so as to ensure an overlap of 0.1 [mm] or more between the sealant S and the opening edge of the opening 4. For example, assuming that the nozzle 11 and the opening 4 are positioned with their centers aligned, the inner diameter d2 of the nozzle 11 can be set to be greater than or equal to the opening diameter d1 of the opening 4 plus 0.2 [mm]. This prevents the sealant S from penetrating the opening 4 and ensures that the sealant S is securely fixed to the coated surface 3a side of the substrate 3. The guide member 12 is a cylindrical member with a larger diameter than the nozzle 11 and is provided concentrically around the nozzle 11. Therefore, the axes of the nozzle 11 and the guide member 12 coincide. The flow path cross-sectional shape of the nozzle 11 is not particularly limited, and any flow path cross-sectional shape can be adopted as needed.

[0037] The guide member 12 has the function of determining the vertical positional relationship between the opening 4 of the base material 3 and the discharge port 11a of the nozzle 11. This function is achieved when the tip 12a of the guide member 12 is pressed against the coating surface 3a of the base material 3. At this time, the guide member 12 has a structure in which its tip 12a protrudes from the discharge port 11a of the nozzle 11 by a protrusion height A in the first direction X1. This protrusion height A is constant around the entire circumference of the nozzle 11. Furthermore, the guide member 12 is configured to support the nozzle 11 so that it can move relative to it in the first direction X1 and the second direction X2 in Figure 2.

[0038] The wire 13 is provided near the discharge port 11a of the nozzle 11. Typically, the wire 13 is a member such as a wire or fishing line with a uniform cross-sectional shape. The cross-sectional shape of the wire 13 is not particularly limited and can take any cross-sectional shape such as circular, elliptical, or polygonal. The wire 13 is configured to reciprocate in directions (first direction Y1 and second direction Y2) across the discharge port 11a by a wire drive mechanism (not shown). With this configuration, the sealant S protruding from the discharge port 11a of the nozzle 11 can be cut by the wire 13. At this time, it is preferable that the wire 13 slides along the discharge port 11a in a contact state, so-called "zero-touch" state, where no gap is formed between it and the discharge port 11a of the nozzle 11. This makes it possible to make the cut surface of the sealant S smooth.

[0039] 3. Characteristics of sealant S The sealant S used in this embodiment is a form of a highly viscous fluid. This sealant S is a resin-based sealant (for example, a resin such as polyvinyl chloride) that is fluid at room temperature and has a static viscosity that allows it to maintain its shape after application at room temperature. It is preferable that this sealant S is thixotropic to improve fluidity at room temperature. "Room temperature" here typically refers to a temperature in the range of about 5 to 40 [°C].

[0040] As shown in Figure 3, the "thixotropy" of the sealant S refers to the characteristic that its viscosity decreases with increasing shear rate and increases with decreasing shear rate or with the passage of time after the application of shear force is stopped. This sealant S, for example, at room temperature of 20°C, exhibits properties when the shear rate is 60 to 10000 s. -1The sealant S has thixotropy such that its viscosity is in the range of 30 to 2 [Pa·s] within the specified range. Due to such thixotropy, the viscosity of the sealant S decreases in the region where its shear rate is relatively high, and increases in the region where its shear rate is relatively low. When the sealant S is discharged from the nozzle 11, the discharge pressure from the pump 14 increases the shear rate of the sealant S flowing inside the nozzle 11. At this time, the viscosity of the sealant S temporarily decreases, so that a certain level of fluidity of the sealant S can be maintained. Therefore, the discharge performance of the sealant S at the nozzle 11 can be improved. On the other hand, since no external force acts on the sealant S discharged from the discharge port 11a of the nozzle 11 and adhering to the coated surface of the substrate 3, the shear rate of the sealant S becomes lower than at the time of discharge. At this time, the viscosity of the sealant S increases, so that the desired adhesion performance and shape retention performance of the sealant S can be ensured. Therefore, once the sealant S adheres to the coated surface 3a of the substrate 3, it is less likely to peel off or drip from the coated surface 3a of the substrate 3.

[0041] Next, the coating method of Embodiment 1 will be described with reference to Figures 1, 4 to 10. This coating method is a method of applying a sealant S to the coating surface 3a of the substrate 3 to seal the opening 4 using the sealing equipment 1 with the above configuration, and is broadly divided into a shape-retaining portion formation step, a shape-retaining portion cutting step, and a restoration step.

[0042] (Shape retention part formation process) The shape-retaining portion formation process is made possible by sequentially performing the steps from the first step S101 to the third step S103 in Figure 4 according to the time schedule in Figure 5.

[0043] The first step S101 is to move the nozzle 11 from its initial position (not shown) to the position P1 directly below the substrate opening in Figure 6. When using the sealing equipment 1 with the above configuration, this first step S101 can be executed by outputting a control signal from the robot control unit 31 of the control device 30 to the robot 20 to adjust the posture of the robot arm 21 (see Figure 1). In the following description, this control will simply be referred to as "robot control". According to this first step S101, the nozzle 11 moves to the position P1 directly below the substrate opening, so that its discharge port 11a is positioned facing upward so that it is separated from the opening 4 by a predetermined distance (see Figure 6).

[0044] The second step S102 is a sealant dispensing step in which the sealant S is ejected to a certain height from the discharge port 11a of the nozzle 11. When using the sealing equipment 1 with the above configuration, the second step S102 can be executed by outputting a control signal from the pump control unit 32 of the control device 30 to the pump 14 to discharge a certain amount of sealant S from the discharge port 11a of the nozzle 11. At this time, the pump 14 is performed in the first operation described above. According to this second step S102, the nozzle 11 is held at the position P1 directly below the substrate opening, and the sealant S is ejected upward from its discharge port 11a to an ejection height B (see Figure 7). Preferably, the ejection height B of the ejected portion Sb of the sealant S at this time is set to a dimension in which the sealant S ejects to a higher position than the tip portion 12a of the guide member 12. This ensures that the sealant S is reliably attached to the coated surface 3a of the substrate 3 in the subsequent third step S103.

[0045] Furthermore, as shown in the time chart of Figure 5, it is preferable to perform the second step S102 before the nozzle 11 reaches the position P1 directly below the substrate opening in the first step S101. In this embodiment, the first step S101 and the second step S102 are scheduled to be completed approximately simultaneously. This reduces the time required to complete the second step S102.

[0046] The third step S103 is a step that follows the second step S102, in which the nozzle 11 is raised in the first direction X1 from the position P1 directly below the substrate opening in Figure 7 to the sealant adhesion position P2 in Figure 8. This third step S103 can be executed by the robot control described above. As shown in Figure 8, according to this third step S103, the tip 12a of the guide member 12 comes into contact with the coating surface 3a of the substrate 3, thereby positioning the nozzle 11 relative to the opening 4 of the substrate 3 and setting the vertical height of the gap G to the planned height. At this time, the nozzle 11 is positioned such that its nozzle axis L is perpendicular to the coating surface 3a of the substrate 3. When the nozzle 11 reaches the sealant adhesion position P2, the sealant S enters the opening 4 by a protrusion height C from the tip 12a of the guide member 12 and adheres to the coating surface 3a of the substrate 3. Furthermore, the protruding portion Sb of the sealant S that extends from the discharge port 11a of the nozzle 11 forms a shape-retaining portion Sa that extends from the discharge port 11a to the coating surface 3a while maintaining a constant shape.

[0047] As described above, the shape-retaining portion formation step in this embodiment is a step in which a sealant S is discharged from a nozzle 11 positioned with a gap G on the coated surface 3a of the base material 3 and adhered to the coated surface 3a, thereby forming a shape-retaining portion Sa in which a protruding portion Sb of the sealant S extends from the discharge port 11a of the nozzle 11 to the coated surface 3a.

[0048] (Shape-retaining part cutting process) The shape-retaining section cutting process is a process that follows the shape-retaining section forming process, and is made possible by sequentially performing the steps from the 4th step S104 to the 7th step S107 in Figure 4 according to the time schedule in Figure 5.

[0049] The fourth step S104 is a step in which the nozzle 11 is lowered in the second direction X2 from the sealant application position P2 (position shown by the dashed line) in Figure 9 to the cutting position P3 (position shown by the solid line). At this time, the nozzle 11 is lowered in the second direction X2 along the nozzle axis L relative to the guide member 12 while maintaining contact between the tip 12a of the guide member 12 and the coated surface 3a of the base material 3. As shown in Figure 9, according to this fourth step S104, the shape-retaining portion Sa of the sealant S is subjected to a tensile load corresponding to the amount the nozzle 11 is lowered and stretches slightly.

[0050] The fifth step, S105, is a step in which the wire 13 is slid forward, following the fourth step, S104. As shown in Figure 10, in this fifth step, S105, the wire 13 slides forward in the first direction Y1 from the first position Q1 (see Figure 9) to the second position Q2, thereby cutting the shape-retaining portion Sa and separating it from the nozzle 11 side. At this time, since the shape-retaining portion Sa is cut while under tensile load, it is possible to prevent the cut shape-retaining portion Sa from recombining with the sealant S on the nozzle 11 side. Therefore, the shape-retaining portion Sa remains attached to the coated surface 3a of the base material 3 and remains on the base material 3 side. As a result, the opening 4 is sealed by the shape-retaining portion Sa remaining on the base material 3 side.

[0051] In the above explanation, as shown in Figures 8 to 10, an example is given in which a part of the shape-retaining part Sa enters the opening 4 during the shape-retaining part formation process (hereinafter referred to as the "entered state"), and the entered state of the shape-retaining part Sa is maintained thereafter. However, it is not essential that the entered state is formed and maintained. For example, the tip surface of the shape-retaining part Sa may be formed in the shape-retaining part formation process to be approximately flush with the coated surface 3a of the base material 3 (hereinafter referred to as the "non-entered state"), and the non-entered state of the shape-retaining part Sa may be maintained thereafter. Alternatively, after the entered state of the shape-retaining part Sa is formed in the shape-retaining part formation process, the state of the shape-retaining part Sa may change from the entered state to the non-entered state during the shape-retaining part cutting process. When the shape-retaining part Sa is ultimately in the entered state, the part of the shape-retaining part Sa that protrudes into the opening 4 adheres to the inner circumferential surface of the opening 4, which has the effect of making it difficult for the shape-retaining part Sa to peel off from the coated surface 3a of the base material 3. In contrast, if the shape-retaining portion Sa ultimately remains in the state described above, it is possible to prevent the shape-retaining portion Sa from becoming too thick and keep its mass low.

[0052] The sixth step, S106, following the fifth step, S105, is the step of lowering the nozzle 11 in the second direction X2 from the cutting position P3 in Figure 10 to a lower retracted position (not shown). This sixth step, S106, can be performed by the robot control described above. This sixth step, S106, further enhances the effect of preventing the shape-retaining portion Sa after cutting from recombining with the sealant S on the nozzle 11 side.

[0053] The seventh step, S107, is the step of sliding the wire 13 back in the second direction Y2 from the second position Q2 (see Figure 10) to the first position Q1 (see Figure 6). This seventh step, S107, allows the wire 13 to be set in a state ready for the next cut.

[0054] As described above, the shape-retaining portion cutting step in this embodiment is a step in which the shape-retaining portion Sa formed in the shape-retaining portion forming step is cut by sliding the wire 13 in a first direction Y1 that crosses the discharge port 11a of the nozzle 11, thereby leaving the shape-retaining portion Sa attached to the coating surface 3a side. Furthermore, the shape-retaining portion cutting step in this embodiment is characterized by the simultaneous performance of a nozzle operation that moves the nozzle 11 away from the coating surface 3a of the substrate 3, followed by a wire operation that slides the wire 13 forward in the first direction Y1. Here, "simultaneous" refers to a configuration in which the wire operation is performed immediately after the nozzle operation is completed, as in Embodiment 1.

[0055] (Recovery process) The restoration process is a process that follows the shape-retaining section cutting process, and is made possible by sequentially performing the 8th step S108 and the 9th step S109 in Figure 4 according to the time schedule in Figure 5.

[0056] Step 8, S108, is a step in which the coating process is determined based on a predetermined work schedule. If the coating process is to be terminated (if the answer to Step 8, S108 is "Yes"), the process proceeds to Step 9, S109; otherwise (if the answer to Step 8, S108 is "No"), the process returns to Step 1, S101. By returning to Step 1, S101, the nozzle 11 is moved to the position P1 directly below the substrate opening at the next scheduled location. Subsequently, the processes from Step 2, S102 to Step 7, S107 are performed on that location in the same manner.

[0057] Step 9, S109, is the step of returning the nozzle 11, which is in the retracted position, to its initial position by the robot control described above. According to this Step 9, S109, both the nozzle 11 and the wire 13 are set to a standby state in preparation for the next coating process.

[0058] According to Embodiment 1 described above, the following effects and advantages can be obtained.

[0059] In the coating method of Embodiment 1, in the shape-retaining portion formation step, a highly viscous sealant S is discharged from a nozzle 11 positioned with a gap G between it and the coating surface 3a of the base material 3, and adhered to the coating surface 3a. This forms a shape-retaining portion Sa in which the highly viscous sealant S extends from the discharge port 11a of the nozzle 11 to the coating surface 3a of the base material 3. In the shape-retaining portion cutting step, a wire 13 is slid forward in a first direction Y1 that crosses the discharge port 11a of the nozzle 11 relative to the shape-retaining portion Sa formed in the shape-retaining portion formation step. This cuts the shape-retaining portion Sa, leaving it attached to the coating surface 3a of the base material 3. At this time, by changing the gap dimension between the coating surface 3a of the base material 3 and the nozzle 11 according to the purpose, it becomes possible to arbitrarily adjust the coating thickness of the shape-retaining portion Sa.

[0060] Because the sealant S is a highly viscous fluid, in the shape-retaining portion formation process, its adhesive properties allow it to adhere to the coated surface 3a of the base material 3, forming a shape-retaining portion Sa that extends from the discharge port 11a of the nozzle 11 to the coated surface 3a, and maintaining the shape of this portion Sa. Furthermore, such a highly viscous sealant S exhibits the characteristic that once the cut portion Sa in the shape-retaining portion cutting process adheres to the coated surface 3a of the base material 3, this portion Sa is less likely to drip off the coated surface 3a. Therefore, even if the shape-retaining portion Sa is subjected to the effects of gravity and vibration over time, it is less likely to peel off or drip off the coated surface 3a of the base material 3. As a result, the coating state of the sealant S on the coated surface 3a of the base material 3 can be maintained.

[0061] According to the application method of Embodiment 1, the sealant S can be applied by cutting the shape-retaining portion Sa, which extends from the discharge port 11a of the nozzle 11 to the application surface 3a of the substrate 3, with the wire 13. This allows the operator to easily apply the sealant S. Furthermore, since the sealant S is applied with a gap G between the application surface 3a of the substrate 3 and the nozzle 11, the application of the sealant S is less affected by the shape of the application surface 3a of the substrate 3, making it highly versatile.

[0062] As described above, Embodiment 1 provides an effective technique for easily applying a high-viscosity sealant S to the coated surface 3a of the substrate 3.

[0063] Furthermore, according to Embodiment 1, since it is not necessary to prepare and use a sealing component such as a plug for each type of opening 4, a variety of sealing components are unnecessary, and the component cost of the sealing components can be reduced.

[0064] The following describes other embodiments related to Embodiment 1 with reference to the drawings. In the other embodiments, elements identical to those in Embodiment 1 are denoted by the same reference numerals, and the description of such identical elements is omitted.

[0065] (Embodiment 2) As shown in Figure 11, Embodiment 2 uses a nozzle device 10A that has a different structure from the nozzle device 10 of Embodiment 1. The other components of the sealing equipment 1, other than the nozzle device 10A, are the same as in Embodiment 1.

[0066] In the nozzle device 10A, the nozzle 11 is positioned at an inclination with respect to the guide member 12. That is, the nozzle axis L of the nozzle 11 and the guide axis M of the guide member 12 form an inclination angle θ. In this case, the protrusion height from the discharge port 11a of the nozzle 11 to the tip 12a of the guide member 12 is different in the circumferential direction of the nozzle 11. In Figure 11, the nozzle device 10A is configured such that this protrusion height is at its maximum protrusion height A1 on the sliding start side of the wire 13 and at its minimum protrusion height A2 on the sliding end side of the wire 13, and the protrusion height changes between the maximum protrusion height A1 and the minimum protrusion height A2 depending on the change in circumferential position.

[0067] Next, the coating method of Embodiment 2 will be described with reference to Figures 12 to 18. This coating method is broadly divided into a shape-retaining portion formation step, a shape-retaining portion cutting step, and a restoration step, similar to the case of Embodiment 1.

[0068] (Shape retention part formation process) The shape-retaining portion formation process is made possible by sequentially performing the steps from the first step S201 to the third step S203 in Figure 12 according to the time schedule in Figure 13.

[0069] The first step S201 is a step in which the nozzle 11 is moved from its initial position (not shown) to the position P1 directly below the substrate opening in Figure 14 by the robot control described above, similar to the first step S101 in Embodiment 1. According to this first step S201, the nozzle 11 is positioned such that its nozzle axis L is perpendicular to the coating surface 3a of the substrate 3 at the position P1 directly below the substrate opening. The second step S202 is a sealant dispensing step in which the sealant S is ejected from the discharge port 11a of the nozzle 11 to a certain height, similar to the first step S101 in Embodiment 1. As shown in the time chart in Figure 13, it is preferable to shorten the time required to complete the second step S202 by executing the second step S202 before the nozzle 11 reaches the position P1 directly below the substrate opening in the first step S201.

[0070] The third step S203, following the second step S202, is a step in which the nozzle 11 is raised in the first direction X1 from the position P1 directly below the substrate opening in Figure 15 to the sealant adhesion position P2 in Figure 16 by the robot control described above. As shown in Figure 16, in this third step S203, the nozzle 11 is positioned relative to the opening 4 of the substrate 3 by the tip 12a of the guide member 12 contacting the coating surface 3a of the substrate 3. At this time, the nozzle 11 is positioned with its nozzle axis L inclined at an inclination angle θ (see Figure 11) with respect to the coating surface 3a of the substrate 3, according to the inclined structure between the nozzle 11 and the guide member 12. When the nozzle 11 reaches the sealant adhesion position P2, the sealant S enters the opening 4 by a protrusion height C from the tip 12a of the guide member 12 and adheres to the coating surface 3a of the substrate 3, forming a shape-retaining portion Sa. Thus, according to the third step S203, the nozzle 11 is positioned at an angle with respect to the coating surface 3a of the substrate 3 such that the gap G is maximized on the side where the wire 13 starts to slide (first position Q1 side), and the sealant S is applied to the coating surface 3a to form a shape-retaining portion Sa.

[0071] (Shape-retaining part cutting process) The shape-retaining section cutting process is a process that follows the shape-retaining section forming process, and is made possible by sequentially performing the steps from the 4th step S204 to the 8th step S208 in Figure 12 according to the time schedule in Figure 13.

[0072] The fourth step S204 is a step in initiating a downward movement that lowers the nozzle 11 in the second direction X2 from the sealant application position P2 in Figure 16, through the intermediate position P2' in Figure 17, to the cutting position P3 in Figure 18. At this time, while maintaining contact between the tip 12a of the guide member 12 and the coating surface 3a of the substrate 3, the nozzle 11 is lowered in the second direction X2 along the nozzle axis L relative to the guide member 12.

[0073] The fifth step S205 is a step in which the forward sliding of the wire 13 is started after a predetermined time Δt (see Figure 13) has elapsed since the fourth step S204. According to the fourth step S204 and the fifth step S205, by performing the nozzle operation of the nozzle 11 and the wire operation of the wire 13 in parallel, the shape-retaining part Sa can be gradually cut while increasing the tensile load applied to the shape-retaining part Sa. At this time, since the shape-retaining part Sa is cut while receiving a tensile load, it is possible to prevent the cut shape-retaining part Sa from recombining with the sealant S on the nozzle 11 side.

[0074] The sixth step, S206, is a step in which both the nozzle movement in the fourth step, S204, and the wire movement in the fifth step, S205, are stopped at the timing when the nozzle 11 has descended to the cutting position P3 in Figure 18 and the wire 13 has reached the second position Q2 in Figure 18. As a result of the sixth step, S206, the shape-retaining portion Sa, which has been separated from the nozzle 11, remains attached to the coating surface 3a of the base material 3 and remains on the base material 3 side, as in the first embodiment. At this time, the shape-retaining portion Sa may be in a state of being entered into the opening 4 or not, as in the first embodiment.

[0075] The seventh step, S207, following the sixth step, S206, is the step of lowering the nozzle 11 in the second direction X2 from the cutting position P3 in Figure 18 to a lower retraction position (not shown) by the robot control described above. The eighth step, S208, is the same as the seventh step, S107, of Embodiment 1.

[0076] As described above, the shape-retaining portion cutting step in this embodiment is a step in which the shape-retaining portion Sa formed in the shape-retaining portion formation step is cut by sliding the wire 13 in a first direction Y1 that crosses the discharge port 11a of the nozzle 11, thereby leaving the shape-retaining portion Sa attached to the coating surface 3a, similar to the case of Embodiment 1. Furthermore, the shape-retaining portion cutting step in this embodiment is characterized by the simultaneous and coordinated operation of the nozzle operation, which moves the nozzle 11 away from the coating surface 3a of the substrate 3, and the wire operation, which slides the wire 13 forward in the first direction Y1. Here, "coordinated" means a configuration in which the nozzle operation and the wire operation are coordinated so that they are performed in parallel at the same timing.

[0077] (Recovery process) The restoration process is a process that follows the shape-retaining section cutting process, and is made possible by sequentially performing the 9th step S209 and the 10th step S210 in Figure 12 according to the time schedule in Figure 13. These 9th step S209 and the 10th step S210 are the same as the 8th step S108 and the 9th step S109 in Embodiment 1.

[0078] According to the above-described embodiment 2, the following effects and advantages can be obtained.

[0079] In the coating method of Embodiment 2, during the shape-retaining portion formation step, the nozzle 11 is tilted when discharging the sealant S from the nozzle 11 toward the coating surface 3a of the substrate 3. This tilted state is achieved by positioning the nozzle 11 at an angle such that the gap G between the nozzle 11 and the coating surface 3a of the substrate 3 is maximized on the side where the wire 13 begins to slide. As a result, a shape-retaining portion Sa is formed between the discharge port 11a of the tilted nozzle 11 and the coating surface 3a of the substrate 3. In the subsequent shape-retaining portion cutting step, a nozzle operation is performed to move the tilted nozzle 11 away from the coating surface 3a of the substrate 3 along the nozzle axis L, while a wire operation is performed to cut the shape-retaining portion Sa, which is under tensile load due to this nozzle operation, with the wire 13. In other words, the nozzle operation and the wire operation are performed in parallel. When nozzle operation and wire operation are performed in parallel, if the nozzle 11 is positioned so that the nozzle axis L is perpendicular to the coating surface 3a of the substrate 3, the thickness of the shape-retaining portion Sa that adheres to and ultimately remains on the coating surface 3a of the substrate 3 will be thicker on the end of the wire 13's slide than on the start of the wire 13's slide. In contrast, if the nozzle operation is performed with the nozzle 11 in the inclined state described above, a shape-retaining portion Sa of a constant thickness can be formed even when the nozzle operation and wire operation are performed in parallel.

[0080] Furthermore, it exhibits the same effects and advantages as in Embodiment 1.

[0081] (Embodiment 3) In Embodiment 3, the nozzle device 10 of Embodiment 1 (see Figure 2) is used. The coating method of Embodiment 3 is broadly divided into a shape-retaining section formation step, a shape-retaining section cutting step, and a restoration step, similar to the case of Embodiment 1. The coating method of Embodiment 3 will be described below with reference to Figures 19 to 24.

[0082] (Shape retention part formation process) The shape-retaining portion formation process is made possible by sequentially performing the steps from the first step S101 to the third step S103 in Figure 19.

[0083] The shape-retaining portion formation process in Embodiment 3 differs from that of Embodiment 1 in that a second step S102a is added between the second step S102 and the third step S103. Note that the first step 101 is the same as in Embodiment 1, so a detailed explanation of it is omitted.

[0084] The second step 102 is a sealant dispensing step in which the sealant S is made to protrude to a certain height from the discharge port 11a of the nozzle 11. As shown in Figure 20, in this second step 102, the protrusion height B is set based on the planned protrusion height D that is ultimately planned for the protruding portion Sb of the sealant S. At this time, the protrusion height B is set higher than the planned protrusion height D, and there is a height difference E between the two. Then, the aforementioned first operation of the pump 14 is performed to discharge the sealant S in the protrusion direction X1 so that the protruding portion Sb protrudes from the discharge port 11a of the nozzle 11 at the protrusion height B. It is preferable that the operating conditions of the pump 14 during this first operation (for example, the operating time of the pump 14, the discharge pressure, etc.) be set based on the results of a test operation conducted in advance while appropriately changing the operating conditions.

[0085] When the highly viscous sealant S is discharged in the protruding direction X1 in the second step 102, a resistance to adhesion acts between the sealant S and the inner surface 11b of the nozzle 11. At this time, the second portion Sd on the outer circumference of the nozzle is more susceptible to this resistance than the first portion Sc closer to the center of the nozzle.

[0086] Therefore, according to the second step 102, the protruding portion Sb of the sealing material S is formed such that the first portion Sc rises first in the protruding direction X1, and the second portion Sd flows later in the protruding direction X1. As a result, the protruding portion Sb is formed to have a downward slope from the first portion Sc to the second portion Sd. At this time, the tip surface Se of the protruding portion Sb becomes a curved surface with the protruding side convex.

[0087] Step 2a 102a is a step in which the sealing material S is sucked out. As shown in Figure 21, in this step 2a 102a, the pump 14 is operated in the second operation described above to suck out the sealing material S in the inlet direction X2 until the tip surface Se of the protruding portion Sb becomes flat. It is preferable that the timing of switching the pump 14 from the first operation to the second operation, and the operating conditions during the second operation (for example, the operating time of the pump 14, the discharge pressure, etc.) are set based on the results of a test operation conducted in advance while appropriately changing the operating conditions.

[0088] When the highly viscous sealant S is drawn in the inward direction X2 in step 2a 102a, the protruding portion Sb of the sealant S has a large degree of flow (amount of sinking) because the first portion Sc, which is less affected by the adhesion resistance, is drawn in the inward direction X2 first. In other words, within the protruding portion Sb, the first portion Sc moves back to the inward direction X2 quickly and sinks a great deal. In contrast, within the protruding portion Sb, the second portion Sd, which is more affected by the adhesion resistance, is drawn in the inward direction X2 with a delay, and therefore has a small degree of flow.

[0089] Therefore, according to step 2a 102a, by utilizing the adhesion resistance acting between the highly viscous sealant S and the inner surface 11b of the nozzle 11, the shape of the protruding portion Sb can be adjusted so that the protruding height of the protruding portion Sb becomes the planned protruding height D, and the tip surface Se of the protruding portion Sb changes from a curved state (shown by the dashed line in Figure 21) to a flat state (shown by the solid line in Figure 21).

[0090] In this context, "flat state" refers to a state in which the tip surface Se of the protruding portion Sb is generally flat. Therefore, a state in which the tip surface Se of the protruding portion Sb contains minute irregularities is also included in the definition of a flat state.

[0091] The third step 103 is the same as in Embodiment 1, which involves raising the nozzle 11 from the position P1 directly below the substrate opening in Figure 21 to the sealant adhesion position P2 in Figure 22. This third step 103 allows the tip surface Se of the protruding portion Sb of the sealant S to be pressed against and adhered to the coating surface 3a of the substrate 3. This forms a shape-retaining portion Sa in which the protruding portion Sb of the sealant S extends from the discharge port 11a of the nozzle 11 to the coating surface 3a.

[0092] However, in the third step 103 of Embodiment 3, as shown in Figure 22, the nozzle 11 is raised so that the protruding portion Sb enters the opening 4 by a small height difference F corresponding to the shoulder drop dimension of the second portion Sd. This ensures that the second portion Sd of the protruding portion Sb of the sealing material S adheres reliably to the coating surface 3a of the substrate 3. Note that the height difference F at this time is less than the height difference E (see Figure 20).

[0093] (Shape-retaining part cutting process) The shape-retaining portion cutting process is made possible by sequentially performing the steps from the 4th step S104 to the 7th step S107 in Figure 19.

[0094] As shown in Figure 23, the fourth step S104 is the step of lowering the nozzle 11 from the sealant application position P2 (position shown by the dashed line) to the cutting position P3 (position shown by the solid line), similar to the first embodiment. According to this third step 103, as the nozzle 11 lowers to the cutting position P3, the shape-retaining portion Sa of the sealant S receives a tensile load corresponding to the amount the nozzle 11 has lowered, and stretches slightly until it reaches the planned protrusion height D.

[0095] As shown in Figure 24, the fifth step S105 is the step of sliding the wire 13 forward from the first position Q1 (see Figure 23) to the second position Q2, similar to the first embodiment. In this fifth step S105, the shape-retaining portion Sa is cut and separated from the nozzle 11 side. In this embodiment, the shape-retaining portion Sa remains attached to the coated surface 3a of the base material 3 with a constant thickness and remains on the base material 3 side.

[0096] The other steps and processes are the same as in Embodiment 1, so a detailed explanation of them will be omitted.

[0097] According to the above-described embodiment 3, the following effects and advantages can be obtained.

[0098] In the coating method of Embodiment 3, when the highly viscous sealant S is discharged from the nozzle 11, adhesive resistance acts between the sealant S and the inner surface 11b of the nozzle 11. For this reason, the protruding portion Sb of the sealant S is formed such that the first portion Sc near the center of the nozzle rises first in the protruding direction X1, and then slopes downward from the first portion Sc towards the second portion Sd on the outer circumference of the nozzle. Subsequently, when the sealant S is sucked up, adhesive resistance also acts between the sealant S and the inner surface 11b of the nozzle 11. At this time, the first portion Sc within the protruding portion Sb of the sealant S is first retracted in the retraction direction X2. Therefore, the degree of unevenness of the tip surface Se of the protruding portion Sb can be kept small, and the adhesion performance of the sealant S when the tip surface Se of the protruding portion Sb is pressed against the coating surface 3a of the substrate 3 can be improved.

[0099] In particular, in this embodiment, the tip surface Se of the protruding portion Sb of the sealing material S is made flat and pressed against the coated surface 3a of the substrate 3. This further improves the adhesion performance of the sealing material S. Also, by making the tip surface Se of the protruding portion Sb of the sealing material S flat, it is possible to adjust the protruding portion Sb to the desired protrusion height D (see Figure 24) without making it protrude too far from the discharge port 11a of the nozzle 11. This stabilizes the cutting performance of the shape-retaining portion Sa by the wire 13 and prevents poor cutting of the shape-retaining portion Sa.

[0100] Furthermore, according to the application method of Embodiment 3, by suctioning the sealant S so that the tip surface Se of the protruding portion Sb becomes flat, it is not necessary to excessively press the tip surface Se of the protruding portion Sb against the opening surface to ensure the desired sealing performance. In other words, it is sufficient to press the protruding portion Sb against the opening surface by only a small difference in height F (see Figure 21), and it is not necessary to press an excessive difference in height E (see Figure 20) exceeding the difference in height F against the opening surface. This prevents the sealant S from excessively entering and embedding into the opening 4 of the base material 3. Moreover, by suppressing the embedding of the protruding portion Sb into the opening 4 of the base material 3, the shape-retaining portion Sa that ultimately remains on the coated surface 3a side of the base material 3 after cutting can be made into an aesthetically pleasing shape with a certain thickness. As a result, the opening 4 of the base material 3 can be sealed with a minimum amount of sealant S, the material cost of the sealant S can be reduced, and the weight increase of the base material 3 can be suppressed.

[0101] Furthermore, it exhibits the same effects and advantages as in Embodiment 1.

[0102] Furthermore, the characteristic features of the shape-retaining portion formation process in Embodiment 3 may be applied to the shape-retaining portion formation process in Embodiment 2.

[0103] The present invention is not limited to the typical embodiments described above, and various applications and modifications are conceivable as long as they do not depart from the purpose of the invention. For example, the following embodiments can be implemented by applying the embodiments described above.

[0104] In the above-described embodiment, the example was given of discharging the sealant S upward from the discharge port 11a of the nozzle 11. However, the discharge direction of the sealant S can be appropriately changed to downward, sideways, diagonally upward, diagonally downward, etc., depending on the shape and arrangement of the substrate 3.

[0105] In the above-described embodiment, the example shows the case where the nozzle 11 is moved using robot control, but instead of this, or in addition to this, the nozzle 11 may be moved using mechanical control, or the worker may directly grasp and move the nozzle 11 with their fingers.

[0106] In the above-described embodiment, an example was given of a technique for sealing an opening 4 in a base material 3 constituting the underbody of the vehicle body 2 with a sealant S. However, the sealing locations are not limited to this, and this technique can also be applied to a technique for sealing an opening in a component constituting elements other than the underbody of the vehicle body 2 with a sealant S, or to a technique for sealing an opening in a component constituting an object other than an automobile with a sealant S.

[0107] In the above-described embodiment, an example was given of an application method in which the sealant S is applied to the coated surface 3a, which is the opening surface of the substrate 3. However, this application method can of course be applied to techniques for applying the sealant S to flat surfaces or stepped surfaces. [Explanation of Symbols]

[0108] 3…Substrate (workpiece), 3a…Coating surface (opening surface), 11…Nozzle, 11a…Discharge port, 13…Wire, G…Gap, L…Nozzle axis, S…Sealant (high-viscosity fluid), Sa…Shape-retaining part, Sb…Protruding part, Se…Tip surface, S101,S102,S102a,S103,S201,S202,S203…Shape-retaining part formation process, S104,S105,S106,S107,S204,S205,S206,S207,S208…Shape-retaining part cutting process, X2…Indentation direction, Y1…First direction (transverse direction)

Claims

1. A method for applying a highly viscous fluid to the coating surface of a workpiece, A shape-retaining portion forming step, in which the fluid is discharged from a nozzle positioned with a gap between it and the coated surface and adheres to the coated surface, thereby forming a shape-retaining portion in which the fluid extends from the nozzle's discharge port to the coated surface, A shape-retaining portion cutting step is performed by sliding a wire in a transverse direction across the discharge port of the nozzle against the shape-retaining portion formed in the shape-retaining portion forming step above, thereby cutting the shape-retaining portion and leaving it attached to the coating surface side. It has, In the above-described shape-retaining portion forming step, the fluid is discharged from the discharge port of the nozzle so that a protruding portion of the fluid protrudes, then the fluid is sucked in so that the protruding portion flows in the retraction direction, and the tip surface of the protruding portion is pressed against the coating surface to adhere it, in a method for coating a fluid.

2. A method for coating a highly viscous fluid onto the coating surface of a workpiece, A shape-retaining portion forming step, in which the fluid is discharged from a nozzle positioned with a gap between it and the coated surface and adheres to the coated surface, thereby forming a shape-retaining portion in which the fluid extends from the nozzle's discharge port to the coated surface, A shape-retaining portion cutting step is performed by sliding a wire in a transverse direction across the discharge port of the nozzle against the shape-retaining portion formed in the shape-retaining portion forming step above, thereby cutting the shape-retaining portion and leaving it attached to the coating surface side. It has, A method for applying a fluid, comprising: providing a guide member, which is a cylindrical member with a larger diameter than the nozzle, around the nozzle concentrically with the nozzle and having its tip protruding beyond the discharge port of the nozzle; and positioning the nozzle relative to the workpiece by bringing the tip of the guide member into contact with the coating surface of the workpiece during the shape-retaining portion forming step.

3. The method for applying a fluid according to claim 1, wherein in the shape-retaining portion forming step, the fluid is sucked up until the tip surface of the protruding portion becomes flat.

4. The method for applying a fluid according to any one of claims 1 to 3, wherein, in the shape-retaining portion cutting step, after the shape-retaining portion is formed, a nozzle operation to move the nozzle away from the coating surface of the workpiece along the nozzle axis and a wire operation to slide the wire in the transverse direction are performed in conjunction.

5. In the above shape-retaining portion formation step, the nozzle is positioned at an angle to the coating surface of the workpiece such that the gap is maximized on the side where the wire starts to slide, and the fluid is applied to the coating surface to form the shape-retaining portion. The method for applying a fluid according to claim 4, wherein the nozzle operation and the wire operation are performed in parallel during the shape-retaining portion cutting step described above.

6. The method for coating a fluid according to any one of claims 1 to 3, wherein the coated surface of the workpiece is an open surface.

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