Adhesive applying device

• US 8,978,581 B2
• Filed: 08/02/2012
• Issued: 03/17/2015
• Est. Priority Date: 08/02/2011
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Yano, Koji
• Primary Examiner(s): TADESSE, YEWEBDAR T
• Application Number:
  US13/564,717
• Publication Number:
  US 20130032090A1
• Time in Patent Office: 957 Days
• Field of Search: 118/321, 118/323, 118/692, 118/666, 118/667, 118/665, 118/684, 118/679, 118/681, 118/500, 901/43, 156/578, 239302-305
• US Class Current: 118/684
• CPC Class Codes: B05B 13/0242 the objects being individually presented to the spray heads by a rotating element, e.g. turntable
• CPC Class Codes: B05C 17/00516 Shape or geometry of the outlet orifice or the outlet element
• CPC Class Codes: B05C 17/015 with pneumatically or hydraulically actuated piston or the like B05C17/00543 takes precedence
• CPC Class Codes: B05C 5/001 incorporating means for heating or cooling the liquid or other fluent material B05C11/1042 takes precedence
• CPC Class Codes: B05C 5/0212 only at particular parts of the articles at particular part of web, band, strip, belt or ribbon B05C5/025
• CPC Class Codes: B05C 5/0225 characterised by flow controlling means, e.g. valves, located proximate the outlet B05C5/0258, B05C5/0275 take precedence; supply valves upstream the coating head B05C11/1036
• CPC Class Codes: B05C 7/06 by devices moving in contact with the work
• CPC Class Codes: B05C 9/12 the auxiliary operation being performed after the application B05C9/14 takes precedence
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: G05B 2219/45065 Sealing, painting robot
• CPC Class Codes: G05B 2219/45238 Tape, fiber, glue, material dispensing in layers, beads, filling, sealing
• CPC Class Codes: H02K 15/03 having permanent magnets
• CPC Class Codes: Y10S 901/43 Spray painting or coating

Abstract

An adhesive applying device includes a robot including a robot arm; a rotor set jig for setting thereat a rotor; a gun including a holder to which a cartridge containing the adhesive is mountable, the gun discharging the adhesive in the cartridge mounted to the holder and being mountable to an end of the robot arm; an electromagnetic valve that performs on/off switching control of supply of compressed air at a predetermined pressure into the cartridge mounted to the holder of the gun; a robot controller that controls an operation of the robot; and an upper-order controller that coordinates and controls the on/off switching control performed by the electromagnetic valve and the control of the operation of the robot performed by the robot controller.

Claims

1. An adhesive applying device that applies an adhesive to an object surface of an object, the adhesive applying device comprising:

a robot including a robot arm;

an object jig for setting thereat the object having the object surface;

an adhesive filling unit including a holder to which a cartridge containing the adhesive is mountable, the adhesive filling unit discharging the adhesive in the cartridge mounted to the holder, the adhesive filling unit being mountable to an end of the robot arm of the robot;

a first temperature maintaining unit that maintains in a desired range a temperature of the adhesive that is discharged from the adhesive filling unit;

a second temperature maintaining unit that maintains in a desired range a temperature of the adhesive applied to the object surface of the object placed at the object jig;

a supply controlling unit that performs on/off switching control of supply of fluid into the cartridge mounted to the holder of the adhesive filling unit, the fluid being supplied from a fluid supplying unit that supplies the fluid at a predetermined pressure;

a robot controlling unit that controls an operation of the robot; and

an integrated controlling unit that coordinates and controls the on/off switching control performed by the supply controlling unit and the control of the operation of the robot performed by the robot controlling unit,

wherein the integrated controlling unit coordinates and controls the supply controlling unit and the robot controlling unit so that an applying operation in which the adhesive is applied to the object surface of the object that is set at the object jig is performed by discharging the adhesive from the adhesive filling unit mounted to the end of the robot arm while the robot operates the robot arm,

wherein the adhesive applying device further comprises;

a tool mountable to the end of the robot arm of the robot;

a robot connecting member that is set at the end of the robot arm of the robot;

a first connecting member that is set at the adhesive filling unit, the first connecting member being connectable to the robot connecting member; and

a second connecting member that is set at the tool, the second connecting member being connectable to the robot connecting member,

wherein the integrated controlling unit coordinates and controls the supply controlling unit and the robot controlling unit so that the applying operation is performed by discharging the adhesive from the adhesive filling unit while the robot operates the robot arm, the adhesive filling unit being mounted to the end of the robot arm by connecting the first connecting member to the robot connecting member, and

wherein the robot controlling unit controls the robot so that, when the applying operation performed as a result of the coordination control performed by the integrated controlling unit ends, the adhesive filling unit is removed from the end of the robot arm by disconnecting the robot connecting member and the first connecting member from each other, and, then, the tool is mounted to the end of the robot arm by connecting the second connecting member to the robot connecting member, to perform a predetermined operation with respect to the object surface of the object to which the adhesive has been applied in the applying operation.

2. The adhesive applying device according to claim 1, further comprising:

a placement table for placing the adhesive filling unit thereon; and

a detecting unit that detects a weight of a detection object including the adhesive filling unit placed on the placement table.

3. The adhesive applying device according to claim 2, further comprising an informing unit, wherein, when a difference between the weight detected by the detecting unit before starting the applying operation and the weight detected by the detecting unit after completion of the applying operation falls outside a desired range, the informing unit informs that the difference falls outside the desired range.

4. The adhesive applying device according to claim 1,

wherein the object jig allows the object to be set,

wherein the object surface is provided at an inner side of a recessed portion,

wherein the tool is a robot hand including two gripping members that are movable towards and away from each other, the robot hand being capable of gripping an adhesion object using the two gripping members, and

wherein the robot controlling unit controls the robot so that, when the applying operation performed as a result of the coordination control of the integrated controlling unit ends, the adhesive filling unit is removed from the end of the robot arm, and, then, the second connecting member is connected to the robot connecting member to mount the robot hand to the end of the robot arm, so that, as the predetermined operation, an inserting operation is performed in which the two gripping members grip the adhesion object and insert the adhesion object into the recessed portion where the object surface of the object to which the adhesive has been applied in the applying operation is provided.

5. The adhesive applying device according to claim 4, further comprising an adjusting unit that adjusts a gripping position of the adhesion object gripped by the two gripping members of the robot hand mounted to the end of the robot arm of the robot to a center position along a direction orthogonal to a direction of movement of the gripping members,

wherein the robot controlling unit controls the robot so that, in the inserting operation, the two gripping members of the robot hand mounted to the end of the robot arm grip and move the adhesion object, ungrip the adhesion object in a predetermined area, to set the adhesion object, and, then, when the adjusting unit has adjusted the gripping position of the adhesion object to the center position, the two gripping members grip and move again the adhesion object to insert the adhesion object into the recessed portion where the object surface of the object to which the adhesive has been applied in the applying operation is provided.

6. The adhesive applying device according to claim 4, wherein the robot controlling unit controls the robot so that, after the inserting operation ends, the robot hand mounted to the end of the robot arm performs a pushing operation for pushing down an opposite surface of the adhesion object inserted in the recessed portion of the object, the opposite surface being situated at a side opposite a front end side of the adhesion object in an insertion direction.

7. The adhesive applying device according to claim 1,

wherein the object jig allows the object to be set,

wherein the object surface is provided in an inner side of a recessed portion, and

wherein the integrated controlling unit coordinates and controls the supply controlling unit and the robot controlling unit so that, in the applying operation, the robot inserts an end of the adhesive filling unit mounted to the end of the robot arm up to a vicinity of a bottom portion of the recessed portion of the object, after which, while the end of the adhesive filling unit is moved towards an opening from the vicinity of the bottom portion of the recessed portion, the adhesive is discharged from the adhesive filling unit, so that the adhesive is applied to the object surface provided in the inner side of the recessed portion.

8. The adhesive applying device according to claim 1, wherein the adhesive filling unit includes a nozzle including a discharge opening that discharges the adhesive in the cartridge mounted to the holder, the discharge opening being provided at a central portion of the nozzle in a radial direction, the nozzle being mountable to an end of the cartridge, the nozzle including at an end thereof a groove that guides the adhesive discharged from the discharge opening towards an outer periphery in the radial direction.

9. The adhesive applying device according to claim 1, wherein, using a correction coefficient that is previously set in correspondence with an amount of the adhesive in the cartridge mounted to the holder of the adhesive filling unit, the integrated controlling unit corrects an on switching time of the supply of the fluid from the fluid supplying unit realized by the supply controlling unit.

10. An adhesive applying device that applies an adhesive to an object surface of an object, the adhesive applying device comprising:

a robot including a robot arm;

an object jig for setting thereat the object having the object surface;

adhesive filling means including a holder to which a cartridge containing the adhesive is mountable, the adhesive filling means discharging the adhesive in the cartridge mounted to the holder, the adhesive filling means being mountable to an end of the robot arm of the robot;

first temperature maintaining means for maintaining in a desired range a temperature of the adhesive that is discharged from the adhesive filling means;

second temperature maintaining means for maintaining in a desired range a temperature of the adhesive applied to the object surface of the object placed at the object jig;

supply controlling means for performing on/off switching control of supply of fluid into the cartridge mounted to the holder of the adhesive filling means, the fluid being supplied from fluid supplying means that supplies the fluid at a predetermined pressure;

robot controlling means for controlling an operation of the robot; and

integrated controlling means for coordinating and controlling the on/off switching control performed by the supply controlling means and the control of the operation of the robot performed by the robot controlling means,

wherein the integrated controlling means coordinates and controls the supply controlling means and the robot controlling means so that an applying operation in which the adhesive is applied to the object surface of the object that is set at the object jig is performed by discharging the adhesive from the adhesive filling means mounted to the end of the robot arm while the robot operates the robot arm,

wherein the adhesive applying device further comprises;

a tool mountable to the end of the robot arm of the robot;

a robot connecting member that is set at the end of the robot arm of the robot;

a first connecting member that is set at the adhesive filling means, the first connecting member being connectable to the robot connecting member; and

a second connecting member that is set at the tool, the second connecting member being connectable to the robot connecting member,

wherein the integrated controlling means coordinates and controls the supply controlling means and the robot controlling means so that the applying operation is performed by discharging the adhesive from the adhesive filling means while the robot operates the robot arm, the adhesive filling means being mounted to the end of the robot arm by connecting the first connecting member to the robot connecting member, and

wherein the robot controlling means controls the robot so that, when the applying operation performed as a result of the coordination control performed by the integrated controlling means ends, the adhesive filling means is removed from the end of the robot arm by disconnecting the robot connecting member and the first connecting member from each other, and, then, the tool is mounted to the end of the robot arm by connecting the second connecting member to the robot connecting member, to perform a predetermined operation with respect to the object surface of the object to which the adhesive has been applied in the applying operation.