KR20190109023A - Sealer application system and method of applicating sealer - Google Patents

Abstract

The present invention relates to a sealer applying system and a method for applying a sealer, capable of rapidly obtaining initial quality of a sealer applied to a panel forming a vehicle body. According to an embodiment of the present invention, the sealer applying system includes: an applying device applying the sealer by spraying the sealer in a stream pattern onto the surface of the panel forming the vehicle body, wherein the applying device can control a spray rate of the sealer; a camera device capturing an image of the sealer applied to the surface of the panel when the applying device applies the sealer at the each spray rate controlled; and a control device controlling the camera device and the applying device. The control device controls the applying device to apply the sealer at a first spray rate corresponding to a predetermined aimed applying width onto the surface of the panel and also controls the camera device to capture a first image of the sealer applied onto the surface of the panel at the first spray rate. Also, the control device measures a first applying width of the sealer based on the first image of the sealer and controls the applying device for the sealer applied by the applying device at the first spray rate to be sprayed at a second spray rate to compensate for the different applying width when the measured first applying width of the sealer is different from the predetermined aimed applying width of the sealer after the measured first applying width of the sealer is compared with the predetermined aimed applying width of the sealer.

Description

Sealer coating system and sealer coating method {SEALER APPLICATION SYSTEM AND METHOD OF APPLICATING SEALER}

The present disclosure relates to a sealer application system and a sealer application method capable of applying a sealer to a panel constituting a vehicle body of an automobile.

The body of an automobile is assembled by welding or bonding various metallic panels, and liquid or paste-like materials (hereinafter referred to as sealers) that have characteristics such as adhesion, sealing, dust prevention, rust prevention, waterproofing, and strength reinforcement during the assembly process are assembled. It can be apply | coated to the panel of metal material by an application device.

In order to increase the completeness of assembly quality of automobiles, an inspection apparatus capable of confirming whether or not a sealer applied to a panel of a metal material is defective has been proposed. However, conventionally, the application apparatus and the inspection apparatus have been operated as separate single apparatuses which are individually operated by an operator. For this reason, even if the application failure of the sealer is confirmed through the inspection apparatus, it is difficult to solve the application failure of the sealer quickly because the operator must newly set the application conditions of the application apparatus in order to eliminate the application failure. Therefore, in the conventional coating apparatus and inspection apparatus, it took considerable time to ensure the initial quality of the sealer apply | coated to the panel which comprises a vehicle body.

Embodiments according to the present disclosure provide a sealer application system and a sealer application method capable of quickly securing the initial quality of the sealer applied to the panel constituting the vehicle body.

One aspect of the disclosure provides embodiments of a sealer application system. According to an exemplary embodiment, a sealer coating system is configured to spray and apply a sealer in a stream pattern to a surface of a panel constituting a vehicle body, and includes an coating apparatus capable of adjusting the spray rate of the sealer; A camera device configured to capture an image of the sealer applied to the surface of the panel when the application device applies the sealer at each controlled spray rate; And a control device configured to control the application device and the camera device. The control device controls the application device to apply the sealer at a first injection rate corresponding to a target application width set on the surface of the panel, and a first image of the sealer applied at the first injection rate to the surface of the panel. The camera device may be controlled to capture the image. Further, the control device measures the first coating width of the sealer based on the first image of the sealer, and if the measured first coating width of the sealer is different from the set target coating width of the sealer, the coating The applicator may be controlled such that the sealer sprayed at the first spray rate in the apparatus is sprayed at a second spray rate to compensate for different coat widths.

In one embodiment, the control device determines the first injection rate according to the set coating conditions, wherein the set coating conditions are the coating temperature of the sealer, the viscosity of the sealer, the coating thickness of the sealer, the coating of the sealer It may include a first coating condition including the speed, the injection distance of the sealer, and a second coating condition including the management temperature of the coating device.

In one embodiment, the control device calculates a first compensation value based on the set target application width of the sealer, the first injection rate and the measured first application width of the sealer, The second injection rate may be determined based on the first compensation value.

In one embodiment, the control device is a processing device for calculating a first calculation value by subtracting the measured first coating width of the sealer from the set target coating width of the sealer, the first coating conditions and the second And a storage device for storing information of the control table set based on the application conditions. The information in the control table includes information on a reference compensation value set in each of a plurality of operation value comparison sections, and the processing apparatus compares an operation value corresponding to the first operation value among the plurality of operation value comparison sections. The reference compensation value of the section may be calculated as the first compensation value, and the second injection rate may be determined by adding the first compensation value to the first injection rate.

In one embodiment, the control device may control the camera device to capture a second image of the sealer applied at the second injection rate on the surface of the panel. Further, the control device measures the second coating width of the sealer based on the second image of the sealer, and if the measured second coating width of the sealer is different from the set target coating width of the sealer, the coating The applicator may be controlled such that the sealer sprayed at the second spray rate in the apparatus is sprayed at a third spray rate to compensate for a different coat width.

In one embodiment, the control device calculates a second compensation value based on the set target application width of the sealer, the second injection rate and the measured second application width of the sealer, The third injection rate may be determined based on the second compensation value.

In one embodiment, the processing apparatus calculates a second operation value obtained by subtracting the measured second application width of the sealer from the set target application width of the sealer, and the second operation of the plurality of operation value comparison intervals. The third compensation rate may be determined by calculating a reference compensation value of an operation value comparison interval corresponding to a value as the second compensation value, and adding the second compensation value to the second injection rate.

In one embodiment, the control device, if the measured first coating width of the sealer is less than the set target coating width of the sealer, the difference between the set target coating width of the sealer and the measured first coating width of the sealer The applicator may be controlled in a first mode to increase the first injection rate in order to reduce. The control device may further include reducing the difference between the measured first coating width of the sealer and the set target coating width of the sealer when the measured first coating width of the sealer is larger than the set target coating width of the sealer. The application device can be controlled in a second mode that reduces the one injection rate.

In one embodiment, the applicator device comprises: a pump assembly connected to a sealer source and including a plurality of pumps installed in the sealer room; A filter assembly for filtering the sealer transferred from the pump assembly; A booster assembly for extruding the sealer filtered in the filter assembly to the surface of the panel; An spray gun assembly for spraying the sealer supplied from the booster assembly onto the surface of the panel; And a sealer transfer passage for transferring the sealer between the robot and the pump assembly, the filter assembly, the booster assembly, and the applicator gun, which move the panel relative to the applicator assembly. The sealer conveyance passage may include a high pressure pipe capable of heating and maintaining the sealer conveyed therein at a predetermined temperature.

In one embodiment, the booster assembly includes a servo motor to adjust the injection rate of the sealer.

Another aspect of the disclosure provides embodiments of a sealer application method that may be performed by the sealer application system described above. According to an exemplary embodiment, a sealer applying method includes spraying a sealer at a spray rate corresponding to a target coating width set on a surface of a panel constituting a vehicle body to apply the sealer in a stream pattern; Capturing a first image of the sealer applied to a surface of the panel; Measuring a first coating width of the sealer based on the first image of the sealer and comparing the measured first coating width of the sealer with a set target coating width of the sealer; And when the measured first coating width of the sealer is different from the set target coating width of the sealer, calculating a compensation value for compensating a different coating width, and applying the sealer to the surface of the panel based on the compensation value. Adjusting the injection rate of the substrate.

According to one embodiment, after the injection rate of the sealer is adjusted, capturing a second image of the sealer that is sprayed and applied to the surface of the panel at the adjusted injection rate; Measuring a second coating width of the sealer based on the second image of the sealer and comparing the second coating width of the sealer with a set target coating width of the sealer; And if the second coating width of the sealer is different from the set target coating width of the sealer, calculating a compensation value for compensating a different coating width again, and applying it to the surface of the panel based on the calculated compensation value again. Re-adjusting the injection rate of the sealer may be performed.

In one embodiment, spraying and applying the sealer at a spray rate corresponding to a target coating width set on the surface of the panel may include determining a spray rate corresponding to the set target coating width according to a set coating condition. Wherein said set coating conditions include first coating conditions including a coating temperature of said sealer, a viscosity of said sealer, a coating thickness of said sealer, a coating speed of said sealer, a spraying distance of said sealer, and management of said coating device. And a second application condition comprising the temperature.

In one embodiment, calculating the compensation value, and adjusting the injection rate of the sealer applied to the surface of the panel based on the compensation value, the measured value of the sealer at the set target coating width of the sealer Calculating an operation value obtained by subtracting the coating width; Obtaining the compensation value corresponding to the calculated value from the information of the control table set by the first coating condition and the second coating condition; And adjusting the injection rate of the sealer by adding the compensation value to the injection rate of the sealer.

The calculating of the compensation value may include: storing information of the control table including information about a reference compensation value set in each of a plurality of calculation value comparison intervals, and storing the stored control table. Based on the information, the reference compensation value of the calculation value comparison section corresponding to the calculation value corresponding to the calculation value calculated by subtracting the measured coating width of the sealer from the set target coating width of the sealer among the plurality of calculation value comparison sections is used as the compensation value. Obtaining may include.

In one embodiment, in the step of adjusting the spraying rate of the sealer, if the spraying rate of the sealer is less than the measured target coating width of the sealer is less than the set target coating width of the sealer and The measured application width of the sealer is greater than the set target application width of the sealer if the measured application width of the sealer is larger than the set target application width of the sealer. It can be adjusted to reduce to reduce the difference in the application width.

According to embodiments of the present disclosure, the application device and the camera device are connected to the control device so as to share information related to the sealer application and to cooperate based on the information. Accordingly, during the application process of the sealer, it is possible to check in real time whether the application of the sealer is poor, and if the application of the sealer is confirmed, the application of the renewed application device to solve the application of the sealer without resetting the application of the sealer by the operator. Can be operated according to the conditions. That is, the coating failure of the sealer can be solved simply and quickly. Therefore, it is possible to significantly shorten the work time required to secure the initial quality of the sealer applied to the panel constituting the vehicle body of the automobile, thereby greatly improving the manufacturing productivity of the automobile.

1 is a block diagram schematically illustrating a sealer application system according to an embodiment of the present disclosure.
2 is a perspective view illustrating a sealer applying system according to an exemplary embodiment of the present disclosure.
3 is a perspective view showing a sealer application system including an application device according to another embodiment of the present disclosure.
4 illustrates an example of a panel to which a sealer is applied by an application device according to an embodiment of the present disclosure.
5 illustrates an example of a control table set in a control device according to an embodiment of the present disclosure.
6 is a block diagram illustrating a sealer applying method according to an exemplary embodiment of the present disclosure.
7 is a block diagram illustrating a method of controlling a spray rate of a sealer in the sealer applying method according to an exemplary embodiment of the present disclosure.
8 is a block diagram illustrating an injection rate adjusting step of the sealer in the sealer applying method according to the exemplary embodiment of the present disclosure.

Embodiments of the present disclosure are illustrated for the purpose of describing the technical spirit of the present disclosure. The scope of the present disclosure is not limited to the embodiments set forth below or the detailed description of these embodiments.

All technical and scientific terms used in this disclosure have the meaning commonly understood to one of ordinary skill in the art to which this disclosure belongs unless otherwise defined. All terms used in the present disclosure are selected for the purpose of more clearly describing the present disclosure, and are not selected to limit the scope of the rights according to the present disclosure.

As used in this disclosure, expressions such as "comprising", "including", "having", "having", and the like, include the possibility of including other embodiments unless otherwise stated in the phrase or sentence in which the expression is included. It should be understood as open-ended terms.

As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Expressions such as “first”, “second”, and the like used in the present disclosure are used to distinguish a plurality of components from each other, and do not limit the order or importance of the components.

In the present disclosure, when a component is referred to as being "connected" or "connected" to another component, that component can be directly connected to or connected to another component, or a new different configuration It is to be understood that the connection may be or may be connected via an element.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding components are given the same reference numerals. In addition, in the following description of the embodiments, it may be omitted to duplicate the same or corresponding components. However, even if the description of the component is omitted, it is not intended that such component is not included in any embodiment.

The embodiments disclosed below and the embodiments shown in the accompanying drawings are systems in which a sealer is applied to a panel constituting a vehicle body of an automobile and the quality of the applied sealer can be confirmed (hereinafter, simply referred to as a "sealer coating system"). Is related to). The sealer coating system according to an embodiment may be installed adjacent to an assembly line of a vehicle in which a panel of the metal constituting the vehicle body is conveyed, but the installation place of the sealer coating system is not limited thereto.

The sealer coating system can apply a liquid or paste-like material, that is, a sealer, to the surface of a panel of a metal material, which exhibits functions such as adhesion, sealing, dust removal, rust prevention, and rigid reinforcement. The sealer of one embodiment includes an epoxy resin as a main component, and includes a one-component paste-like product in which a latent curing agent and other additives are mixed. For example, the sealer may be formed of epoxy resin rubber.

1 is a block diagram schematically illustrating a sealer application system 1000 according to an embodiment of the present disclosure, and FIG. 2 is a perspective view illustrating the sealer application system 1000 according to an embodiment of the present disclosure.

1 and 2, the sealer coating system 1000 of one embodiment is used for reinforcing and damping steel sheets, etc. in the strength weakness of the panel 20 of the metal constituting the vehicle body, in particular, the panel surrounding the vehicle body. Reference may be made to a Body Panel Reinforcement (BPR) sealer application system capable of applying the sealer 10. The panels that surround the bodywork (sometimes referred to simply as "outer shells") include roof panels, hood panels, door panels, side outer panels, trunk lids, and tails. A tail gate, a fender, and the like. The sealer applied to the strength weak part of the outer shell may be thermally cured (curingly adhered to the outer shell) upon passing through the coating oven (drying furnace) of the outer shell to function as a reinforcing material, a sealing material, or the like.

1 and 2, the sealer application system 1000 according to an embodiment may include an application device 100 and an application device 100 configured to spray the sealer 10 on the surface of the panel 20 constituting the vehicle body. A camera device 200 configured to capture an image of the sealer 10 applied to the surface of the panel 20 and a control device 300 configured to control the application device 100 and the camera device 200. It includes. The coating apparatus 100 may adjust the spray rate of the sealer 10, and the sealer 10 may be used as a stream pattern or a flat stream pattern on a portion of the surface of the panel 20 having low strength. Can be applied by spraying).

In the sealer coating system 1000 of one embodiment, information such as a pattern for determining the coating quality of the sealer 10 is shared between the coating device 100 and the camera device 200 through the control device 300. The control device 300 may detect an application failure by reading an image of the sealer 10 which may be obtained in real time through the camera device 200 when the sealer 10 is applied, and detect the application of the sealer 10. In the case where the defect is confirmed, the operation of the application apparatus 100 may be controlled to quickly solve the application failure. The control device 300 may numerically confirm the coating failure of the sealer 10 by comparing the data obtained by reading an image of the sealer 10 with preset data, and based on the operation of the application device 100. Can be controlled. Therefore, when the application failure of the sealer 10 is confirmed during the application process of the sealer 10, the operator does not need to newly set the application conditions of the application device 100, so that the application failure of the sealer 10 can be promptly corrected. I can solve it.

Each of the application apparatus 100 and the camera apparatus 200 may be connected to the control apparatus 300 so that various information related to the application of the sealer may be shared between the application apparatus 100, the camera apparatus 200, and the control apparatus 300. Transmission and reception of signals (data) are possible. The coating device 100 includes vehicle model information including information of the panel 20 to which the sealer 10 is applied (information related to the type of panel, strength weakness in the panel, etc.), and the sealer coating process associated with application start and application completion. Information and the like may be transmitted to the control device 300, and an operation for applying the sealer 10 to the surface of the panel 20 is controlled according to a command signal received from the control device 300. The camera device 200 is operatively controlled to capture an image of the sealer 10 applied to the surface of the panel 20 according to the command signal received from the control device 300, and the sealer captured by the camera device 200 ( Image information of 10) is transmitted to the control device 300 so that it can be used to determine whether the application of the sealer 10 is poor.

Each of the coating device 100 and the camera device 200 may be connected to the control device 300 by at least one of a wired communication method and a wireless communication method to enable signal transmission and reception with the control device 300. For example, each of the coating apparatus 100 and the camera apparatus 200 may be connected to the control apparatus 300 using Ethernet, which is a local area network, and PROFINET (abbreviation of Process Field Net), which is an industrial Ethernet. In addition, each of the coating apparatus 100 and the camera apparatus 200 may be connected to the control apparatus 300 through a wired cable connected to an input / output card (I / O card).

The applicator 100 of one embodiment includes a high pressure hose 151 and a high pressure that form a pump assembly 110, a filter assembly 120, a booster assembly 130, an applicator gun 140, a sealer conveying flow path 150. A robot 160 capable of moving the panel 20 relative to the pipes 152 and 153 and the application apparatus 100 may be included.

The pump assembly 110 is connected with the sealer source and is configured to include at least one sealer pump to pump the sealer supplied from the sealer source. The pump assembly 110 of one embodiment includes two pump sets to smoothly supply the sealer 10, and has a structure in which two pumps 111 per pump set are connected in parallel. Under the structure of the pump assembly 110, any one of the two pumps 111 connected in parallel can be used as a preliminary pump, so that the discharge amount of the sealer 10 applied to the surface of the panel 20 for a predetermined time. It can be kept constant, and the sealer 10 can be quickly applied to the panels 20 conveyed through the assembly line of the vehicle. In addition, the sealer 10 may be stably supplied to the coating gun assembly 140 through two transfer lines, and the discharge amount of the sealer 10 may be finely adjusted based on the stable supply of the sealer 10. The sealer 10 pumped by the pump 111 is transferred to the confluence portion 102 through the high pressure hose 151. The pump 111 may be connected to the control device 300 and may be operated by the control device 300 (control of pump start, pump end, etc.).

In one embodiment, the pump assembly 110 may be maintained at a set management temperature (equipment maintenance temperature) to prevent the sealer in the pump 111 and the high pressure hose 151 from curing and to be smoothly transferred to other devices. It is installed in the sealer room 101 which can be. In one example, the sealer room 101 may be maintained at 30 ° C. or less to prevent sealer hardening. For example, the sealer room 101 may be maintained at a management temperature of 22 ° C to 27 ° C. The sealer room 101 may be provided with a temperature control device controlled by the control device 300. In addition, the sealer room 101 is provided with a temperature detection sensor, a pressure gauge, and the like, and the temperature detection sensor and the pressure gauge may transmit the sensed temperature and pressure in the sealer 101 to the control device 300. ) Can be connected.

The sealer 10 transferred to the confluence 102 is transferred to the filter assembly 120 through the high pressure pipe 152. The filter assembly 120 is configured to filter the sealer 10 transferred through the high pressure pipe 152.

The booster assembly 130 is configured to depressurize or pressurize the sealer 10 filtered through the filter assembly 120 and to be extruded through the applicator gun 140. The booster assembly 130 includes a booster housing 131 in which the filtered sealer is stored, and a servo motor 133 which rotates to elevate the booster rod 132 and the booster rod 132 installed in the booster housing 131. It may include. The booster assembly 130 may supply the applicator gun 140 with the sealer 10 corresponding to the changed volume in the booster housing 131 through volume control in the booster housing 131 by the servo motor 133. The booster assembly 130 of one embodiment may easily control the discharge amount of the sealer 10 by employing a servo motor 133 capable of precisely controlling the rotation speed and the rotation speed. The servo motor 133 of the booster assembly 130 may be connected to the control device 300 and may be operated and controlled by receiving a signal from the control device 300. In one embodiment, the injection rate of the sealer 10 injected toward the panel 20 may be determined by the rotational speed (rpm) of the servo motor 133 which is proportional to the discharge amount of the sealer 10 per unit time. That is, the injection rate of the sealer 10 may be adjusted by controlling the rotational speed of the servo motor 133. In addition, the injection rate of the sealer 10 may be determined by the intensity of the voltage or current applied to the servo motor 133. That is, the rotation speed of the servo motor 133 may be adjusted by adjusting the intensity of the voltage or current applied to the servo motor 133, and thus the injection rate of the sealer 10 may be adjusted.

The sealer 10 supplied from the booster assembly 130 is transferred to the applicator gun 140 through the high pressure pipe 153. The applicator assembly 140 includes a discharge valve 141 and an applicator gun 142. The discharge valve 141 may be connected to the control device 300 and may be opened and closed by receiving an operation signal from the control device 300. The coating gun 142 may include any one of a flat stream gun used for applying a general BPR sealer and a shovel gun used for applying a double BPR sealer. As an application gun 142 of one embodiment, a shovel gun is employed. According to the opening and closing of the discharge valve 141, the sealer 10 transferred from the booster assembly 130 through the high pressure pipe 153 may be sprayed or stopped on the surface of the panel 20 through the spray gun 142. have.

In one embodiment, the high pressure pipes 152 and 153 are heating pipes, and may heat and maintain the sealer 10 transferred therein to a set temperature. The high pressure pipe 153 connected to the spray gun assembly 140 among the high pressure pipes 152 and 153 lowers the viscosity of the sealer 10 supplied to the spray gun 142 to be sprayed at a high pressure on the surface of the panel 20. The sealer 10 may be maintained at an appropriate temperature, for example, in the range of 45 ° C to 60 ° C. When the sealer 10 is maintained at an appropriate temperature, the sealer 10 discharged from the application gun 142 and applied to the surface of the panel 20 has a viscosity in the range of, for example, 2,000 ps to 3,000 ps. In one embodiment, the sealer 10 is heated to a working temperature to lower the viscosity, pumping, coating amount control, application site applied, then returned to its original viscosity state and heat cured in a paint drying furnace.

In the sealer application system 1000 of one embodiment, high pressure pipes 152, 153, which are heating pipes, have been used to maintain the sealer 10 at an appropriate temperature, but in other embodiments the sealer temperature control device on the transfer flow path of the sealer. It may be arranged to adjust the temperature of the sealer 10 to a proper temperature.

The robot 160 includes an arm 161 capable of three-axis driving, and the panel 20 may be seated or gripped at the free end of the arm 161. The robot 160 may be positioned such that the panel 20 faces the applicator 142 and move the panel 20 relative to the applicator 142. As in one embodiment, when the panel 20 to which the sealer 10 is applied is moved relative to the applicator 142 by the robot 160, the applicator gun 140 is moved by the stand 103. It may be maintained to be located above the panel 20. The robot 160 maintains a constant distance between the spray gun 142 (in detail, the nozzle of the spray gun 142) and the surface of the panel 20, that is, the spray distance of the sealer 10 during the spraying of the sealer 10. You can keep it. For example, the robot 160 may maintain the injection distance of the sealer 10 at a constant value within the range of 5.0 mm to 10.0 mm. The injection distance of the sealer 10, that is, the distance between the applicator 142 and the panel 20 may vary in proportion to the application width of the sealer 10 applied to the surface of the panel 20. That is, when the coating width of the sealer 10 becomes large, the interval between the coating gun 142 and the panel 20 becomes large, and when the coating width of the sealer 10 becomes small, the coating gun 142 and the panel 20 become smaller. The gap between them can be made smaller.

The application speed of the sealer 10 applied to the panel 20 may be controlled by the robot 160. In one embodiment, the robot 160 is less than 1 m / s, specifically 400 mm / s to 600 mm so that the sealer 10 can be applied to the surface of the panel 20 to a thickness within 1.0 mm to 1.5 mm. The panel 20 can be moved relative to the applicator 142 at a speed in the / s range. When the sealer 10 is under-coated on the surface of the panel 20 because the application speed of the sealer 10 is faster than the set range, poor strength may occur. In addition, when the application speed of the sealer 10 is slower than the set range, and the sealer 10 is excessively applied to the surface of the panel 20, dents may occur in the sealer 10.

The coating device 100 of one embodiment may further include a robot controller 170 for controlling the robot 160. The robot controller 170 may be connected to the control device 300 to receive a signal for controlling the robot 160 from the control device 300. However, in another embodiment, the robot 160 may be directly connected to the control device 300 and receive a signal from the control device 300 to be operated and controlled without including the robot controller 170.

The camera device 200 includes a PC-based vision device including an image sensor 210 and an illumination device 220 capable of detecting subject information (image information of a sealer) and converting the object information into an electrical image signal. do. The camera device 200 may further include at least one lens and a body on which the lens is mounted to enable magnification adjustment. In addition, the camera device 200 may further include a processor capable of image editing.

The control device 300 may be installed on the assembly line of the vehicle. The control device 300 includes an output device 310, which can display information related to the operation of the application device 100, the camera device 200, and the control device 300 to the worker through the output device 310. Can be. For example, the output device 310 may include a touch panel, in which case the control device 300 may be configured to operate the sealer coating system 1000 in response to an operator's operation performed on the surface of the output device 310. Receive orders. Alternatively, the output device 310 may have only a function of displaying information, and in this case, the control device 300 may include an input device 320 configured to receive a command of an operator. The control device 300 may include a processing device 330 and a memory device 340 for adjusting the flow rate of the sealer. In addition, the control device 300 may include a communication device 350 for transmitting and receiving signals with each of the coating device 100 and the camera device 200.

3 is a perspective view illustrating a sealer application system 1000A including an application device 100A according to another embodiment of the present disclosure. In the description of FIG. 3, the description of the same components as those described in FIG. 2 will be omitted.

The sealer application system 1000A shown in FIG. 3 is installed at the free end of the arm 161A provided with the spray gun assembly 140 and the camera device 200 in the robot 160A, and is conveyed through the assembly line of the vehicle. The panel includes a seating table 104 that can be seated or mounted. That is, the robot 160A in the sealer application system 1000A is positioned so that the applicator 142 faces with respect to the panel positioned on the seating table 104 and moves the applicator 142 relative to the panel. You can.

4 illustrates an example of a panel 20 to which the sealer 10 is applied by the coating apparatus 100 according to an embodiment of the present disclosure.

When the double BPR sealer application is performed by the application gun 142, a rubber may be applied to the lower layer and an epoxy may be applied to the upper layer so as to alleviate the condensability of the sealer 10.

Referring to FIG. 4, the camera device 200 of one embodiment may be attached to one side of the spray gun assembly 140. The camera apparatus 200 may acquire an image of the sealer 10 applied to the panel 20 in real time. The image of the sealer 10 acquired by the camera apparatus 200 is used to determine the poor application of the sealer, the presence or absence of a short circuit of the sealer, and the like. The camera device 200 may include a plurality of image sensors to capture an image of the sealer 10 at a wide angle.

The camera device 200 according to an embodiment may capture an image of the sealer 10 acquired in real time as a color image. The sealer color information and the inspection area information of the reference image may be input to the control device 300, and the control device 300 registers within the inspection area of the color image of the sealer 10 acquired through the camera device 200. The width of the applied sealer can be measured by finding a point (pixel) that matches the color information.

The control device 300 may control the coating device 100 to apply the sealer 10 at a first injection rate corresponding to the target coating width W ₀ set on the surface of the panel 20. In addition, the camera apparatus 200 may be controlled to capture the first image of the sealer 10 applied to the surface of the panel 20 at the first injection rate.

The control device 300 sets a control table through learning (teaching) based on the target coating width W ₀ of the sealer 10 and the actual measured width of the sealer 10, and uses the set control table. Prediction control can be performed for the next operation (an operation for width inspection and width adjustment of the sealer with the injection rate adjusted) at which an additional image of the sealer 10 is acquired. That is, the controller 300 includes a first coating width measured a first coating width (W ₁₎ of the sealer (10) based on a first image of a sealer 10, and the measurement of the sealer 10 (W ₁ ) Is different from the set target coating width W _{0 of} the sealer 10, the sealer 10 sprayed at the first spraying rate in the coating apparatus 100 at the second spraying rate to compensate for the different coating width. The coating device 100 is controlled to be sprayed.

The control device 300 may determine the first injection rate according to the set coating conditions, and the set coating conditions may include the coating temperature of the sealer 10, the viscosity of the sealer 10, the coating thickness of the sealer 10, and the sealer 10. The first application | coating conditions including the application | coating speed of (), the injection distance of the sealer 10, and the 2nd application | coating conditions containing the management temperature of the coating device 100 are included.

Control device 300 is set target coating width of the sealer (10) (W _0), the set target coating width (W ₀₎ to fit setting first injection rate and the measured first coating width of the sealer 10, which is (W The first compensation value may be calculated based on ₁ ). In addition, the control device 300 may determine the second injection rate of the sealer 10 based on the first injection rate and the first compensation value. The control device 300 of one embodiment may include a processing device 330 and a memory device 340 to calculate a first compensation value (see FIG. 1). The processing apparatus 330 may calculate the first calculated value by subtracting the measured first coating width W ₁ of the sealer 10 from the set target coating width W ₀ of the sealer 10. In addition, the memory device 340 may store information of a control table set based on the first application condition and the second application condition.

5 illustrates an example of the control table 30 set in the control device 300 according to an embodiment of the present disclosure.

Referring to FIG. 5, the control table 30 includes the number of operations 31 of the camera apparatus 200 capturing an image of the sealer 10 applied to the panel 20, and the set target coating width of the sealer 10 ( W ₀ ) (target value) 32, the coating width (measurement value) 33 of the sealer 10 measured at each time of the operation of the camera device 200, and the target coating width W ₀ of the sealer 10. And information about the calculated value 34 which is a difference value of the coating width of the measured sealer 10. In addition, the control table 30 includes information on the reference compensation value 36 set in each of the plurality of calculation value comparison sections 35.

The processing device 330 of the control device 300 calculates, as a first compensation value, the reference compensation value 36 of the calculation value comparison section to which the first calculation value corresponds among the plurality of calculation value comparison sections 36. The second injection rate may be determined by adding the first compensation value to the first injection rate.

For example, when the number of operations is one time, the first calculated value is the target coating width W ₀ of the sealer 10 is applied to the surface of the panel 20 by spraying the surface of the panel 20 at a first injection rate at 200 mm ( It is calculated as 50 mm which subtracted 150 mm of the measured 1st application | coating width W1 of ₁₀ ). The processing apparatus 330 determines the second injection rate by reflecting the first compensation value 50 rpm of the section corresponding to the first calculation value of 50 mm among the plurality of calculation value comparison periods in the first injection rate. When the first injection rate is 100 rpm, the second injection rate is determined to be 150 rpm to which the first compensation value is added.

The control device 300 is a sealer applied at the second injection rate when the injection rate of the sealer 10 is adjusted, that is, when the sealer 10 is applied to the surface of the panel 20 at the second injection rate ( The camera apparatus 200 is controlled to capture the second image of 10). Here, the second image of the sealer 10 may be an image of a portion adjacent to the portion where the first image is captured on the stream pattern or the flat stream pattern. In addition, the second image of the sealer 10 may be an image of the sealer applied at a second spray rate to another portion of the same panel or an image of the sealer applied at a second spray rate to another panel.

The control device 300 measures the second coating width W ₂ of the sealer 10 based on the second image of the sealer 10 captured by the camera device 200. In addition, the control device 300 determines that the measured second coating width W ₂ of the sealer 10 is different from the set target coating width W ₁ of the sealer 10 when the second coating width W ₂ is different from the second coating device 100. The applicator 100 may be controlled such that the sealer 10 sprayed at the spray rate is sprayed at a third spray rate to compensate for different coat widths.

That is, the control device 300 adjusts the second compensation value based on the set target coating width W _{1 of the} sealer 10, the second injection rate, and the measured second coating width W ₂ of the sealer 10. The third injection rate may be calculated and based on the second injection rate and the second compensation value.

In the control device 300, the processing device 330 determines the third injection rate based on the information of the control table 30 stored in the storage device 340. That is, the processing apparatus 330 calculates the second calculated value obtained by subtracting the measured second coating width W ₂ of the sealer 10 from the set target coating width W ₀ of the sealer 10. In addition, the processing apparatus 330 calculates the reference compensation value 36 of the comparison section to which the second calculation value corresponds among the plurality of calculation value comparison sections 35 in the control table 30 as the second compensation value. The third injection rate may be determined by adding a second compensation value to the second injection rate. Here, the control table 30 reflects the information on the application width of the sealer 10 applied at the first and second injection rates as information that can be used for subsequent injection rate adjustment.

For example, in two operations, the second calculation value is that the target coating width W ₀ of the sealer 10 is sprayed onto the surface of the panel 20 at a second spray rate at 200 mm and applied to the sealer 10. of the measured second coating width (W ₂₎ is calculated by subtracting the 20㎜ 180㎜. The processing apparatus 330 determines the third injection rate by reflecting the second compensation value 20 rpm of the section corresponding to the second operation value of 20 mm among the plurality of calculation value comparison periods in the second injection rate. For example, since the second injection rate is 150 rpm, the third injection rate is determined to be 170 rpm to which the second compensation value is added. The reference compensation values (N ₁ , N ₂ , N ₃ , N ₄ , N ₅ , N ₆ ,...) Set in each of the calculation value comparison section and the calculation value comparison section are learned using the sealer coating system 1000 ( It can be determined based on the information obtained by the teaching).

The control device 300 is configured such that the measured coating width of the sealer 10 is the target coating width such that the sealer 10 is adjusted to the first injection rate, the second injection rate, and the third injection rate. Injection rate adjustment of the sealer 10 may be repeatedly performed until (W ₀ ) is reached. In addition, the control device 300 adjusts the injection rate of the sealer 10 when the measured coating width of the sealer 10 is the same as the target coating width W ₀ of the sealer 10 at least once or a plurality of predetermined times. You can stop it.

The sealer application system 1000 of one embodiment is an intelligent sealer application device that can be used to automatically control the width of the next sealer using information obtained by learning (teaching). In the sealer coating system 1000, when the coating failure of the sealer 10 is generated through the camera device 200, the control device 300 may apply the coating device (either the first mode or the second mode) to one of the first and second modes. 100). That is, if the measured coating width of the sealer (e.g., the first coating width) is smaller than the set target coating width of the sealer, the spray rate of the sealer may be reduced to reduce the difference between the set target coating width of the sealer and the measured coating width of the sealer. For example, the application apparatus 100 is controlled in a first mode that increases the first injection rate. Further, if the measured coating width of the sealer (eg, the first coating width) is greater than the set target coating width of the sealer, the spray rate of the sealer (eg, to reduce the difference between the measured coating width of the sealer and the set target coating width of the sealer) Control the coating device 100 in a second mode to reduce the first injection rate.

Hereinafter, a sealer coating method using the sealer coating system 1000 described above will be described with reference to the accompanying drawings.

6 is a block diagram illustrating a sealer applying method according to an exemplary embodiment of the present disclosure. Referring to FIG. 6, the method of applying a sealer in one embodiment may include applying a sealer to the surface of the panel (S110), capturing an image of the sealer applied to the surface of the panel (S120), and inspecting an application width of the sealer ( Comparison step (S130) and adjusting the injection rate of the sealer according to the inspection result of the coating width of the sealer (S140).

In step S110 of applying the sealer, the sealer is sprayed at an injection rate (hereinafter referred to as "first injection rate") corresponding to the target application width set on the surface of the panel constituting the vehicle body by the application device, and the panel On the surface of the sealer is applied in a stream pattern. The sealer applied to the surface of the panel and then heat cured can reinforce the strength weakness of the panel.

Spraying and applying the sealer at a first spray rate corresponding to the target coating width set on the surface of the panel (S110) may include determining a first spray rate corresponding to the target coating width set according to the set coating conditions. can do. Here, the set coating conditions are the first coating conditions including the coating temperature of the sealer, the viscosity of the sealer, the coating thickness of the sealer, the coating speed of the sealer, the spraying distance of the sealer, and the management temperature of the coating apparatus (eg, equipment of the sealer room). And a second application condition including a holding temperature).

In step S120 of capturing an image of the sealer applied to the surface of the panel, the image of the sealer applied at the first injection rate (hereinafter referred to as "first image") is continuously captured by the camera apparatus or predetermined Can be captured intermittently over time. In one embodiment, a camera device may be attached to one side of the applicator to move the camera device along with the movement of the applicator, and the camera device may capture the first image of the sealer immediately after the sealer is ejected from the applicator. The camera device may non-contactly check whether the sealer is defective or not, and capture a color image of the sealer to confirm the application state of the sealer through color comparison.

In step S130 of comparing the application width of the sealer, the control device measures the application width of the sealer (hereinafter referred to as "first application width") based on the first image of the sealer acquired through the camera apparatus, The measured first application width of the sealer is compared with the set target application width of the sealer. The camera device is operatively controlled to capture the first image of the sealer under the control of the control device, and the first image of the sealer captured by the camera device may be converted into data and transmitted to the control device.

In step S140 of adjusting the injection rate of the sealer according to the result of comparing the application width of the sealer, if the measured first application width of the sealer is different from the set target application width of the sealer, a compensation value for compensating for the different application width is provided. It is calculated by the control device. The control device also controls the operation of the application device to adjust the injection rate of the sealer applied to the surface of the panel based on the calculated compensation value. If the measured first application width of the sealer is not different from the set target application width of the sealer, the control device can control the operation of the application device to maintain the spray rate of the sealer. In addition, the control device can control the camera device so that it is possible to inspect whether the width of the sealer applied at intervals of a predetermined time does not differ from the set target application width of the sealer while the injection rate of the sealer is maintained. have.

In one embodiment, if the injection rate of the sealer (eg, the first injection rate) is less than the measured target application width of the sealer (eg, the first application width), the sealer's set target width and sealer Is adjusted to increase to reduce the difference in the measured application width. Further, if the injection rate of the sealer (eg, the first injection rate) is greater than the measured target application width of the sealer (eg, the first application width), the measured application width of the sealer and the set target of the sealer Adjusted to reduce to reduce the difference in application width.

7 is a block diagram illustrating a method of controlling a spray rate of a sealer in the sealer applying method according to an exemplary embodiment of the present disclosure. FIG. 7 shows that after the step S140 of adjusting the spray rate of the sealer according to the inspection result of the coating width of the sealer shown in FIG. 6, the coating width of the sealer applied by the adjusted spray rate is determined by the target coating width of the sealer. If the application width of the applied sealer is different from the target application width of the sealer, even if it is different and compared with the adjusted injection rate, the injection rate of the sealer so that the application width of the sealer applied to the surface of the panel reaches the target application width of the sealer. Re-adjust the steps.

Referring to FIG. 7, in the sealer coating method of one embodiment, after the injection rate of the sealer is adjusted, the sealer is sprayed and applied to the surface of the panel at a controlled injection rate (hereinafter referred to as a “second injection rate”). Capturing the renewed image (hereinafter referred to as "second image") (S210), and measuring the renewed application width of the sealer (hereinafter referred to as "second application width") based on the second image of the sealer. In step S220, comparing the second coating width of the sealer with the set target coating width of the sealer (S230), determining whether the second coating width of the sealer is different from the set target coating width of the sealer (S240), If the second coating width of the sealer is different from the set target coating width of the sealer, the compensation value for compensating for the different coating width is again calculated (S250), and the sealer applied to the surface of the panel based on the calculated compensation value again. Adjusting the injection rate again (S260) It can be carried out. Steps S210 to S260 for controlling the injection rate of the sealer may be repeatedly performed until the application width of the sealer applied and measured on the surface of the panel is equal to the set target application width of the sealer. Further, the steps S210 to S260 for controlling the injection rate of the sealer may be stopped when the measured application width of the sealer becomes equal to the target application width of the sealer. The steps for obtaining the applied image of the sealer may be performed by the camera apparatus, and the steps of measuring the application width of the sealer based on the applied image of the sealer may be performed by the control device. Further, steps may be performed in which the application width of the sealer is compared with the set target application width of the sealer by the control device, and a compensation value for compensating for these widths is calculated if the comparison results in different widths. The control device can control the application device such that the sealer can be applied to the surface of the panel at a controlled spray rate of the sealer.

8 is a block diagram illustrating an injection rate adjusting step of the sealer in the sealer applying method according to the exemplary embodiment of the present disclosure. FIG. 8 shows the steps included in adjusting the injection rate of the sealer according to the inspection result of the application width of the sealer shown in FIG. 6.

Referring to FIG. 8, in operation S140, a compensation value is calculated according to a comparison result of an application width of the sealer, and the injection rate of the sealer applied to the surface of the panel is adjusted based on the compensation value. Calculating a calculated value obtained by subtracting the measured coating width of the sealer (S141), and calculating a compensation value corresponding to the calculated value calculated from the information of the control table set based on the first coating condition and the second coating condition. Step S142 and adjusting the injection rate of the sealer by adding a compensation value to the injection rate of the sealer (injection rate before adjustment) (S143). In an embodiment, in operation S142 of obtaining a compensation value, a sealer of the plurality of calculation value comparison intervals is based on information in a control table including information about a reference compensation value set in each of the plurality of calculation value comparison intervals. The reference compensation value of the calculation value comparison section corresponding to the calculation value calculated by subtracting the measured coating width of the sealer from the set target coating width of is obtained as the compensation value. In the control table, the reference compensation value (or compensation value) may be represented by the intensity of the voltage applied to the servo motor included in the booster assembly of the application apparatus. As the intensity of the voltage applied to the servo motor is adjusted, the rotational speed of the servo motor is increased or decreased to adjust the discharge amount of the sealer.

According to the above-described embodiments, the information related to the sealer applied to the panel is shared between the application device, the camera device and the control device, and used to identify and eliminate the defect of the sealer applied to the surface of the panel. . Therefore, the poor application of the sealer can be solved quickly without the operator's intervention during the application process of the sealer, and the work time required to secure the initial quality of the sealer can be shortened. That is, the manufacturing productivity of an automobile can be improved.

The present disclosure described above is not limited to the above-described embodiment and the accompanying drawings. It will be apparent to those skilled in the art that various substitutions, modifications, and changes can be made without departing from the technical details of the present disclosure.

10: sealer 20: panel
100, 100A: coating device 110: pump assembly
120 filter assembly 130 booster assembly
140: spray gun assembly 151: high pressure hose
152: high pressure pipe 160, 160A: robot
200: camera device 300: control device
330: processing unit 340: storage unit
1000, 1000A: Sealer Coating System

Claims (16)

An applicator configured to spray and apply a sealer in a stream pattern on the surface of the panel constituting the vehicle body, the coating apparatus being capable of adjusting the spray rate of the sealer;
A camera device configured to capture an image of the sealer applied to the surface of the panel when the application device applies the sealer at each controlled spray rate; And
A control device configured to control the application device and the camera device,
The control device
Control the application device to apply the sealer at a first injection rate corresponding to a target application width set on the surface of the panel,
Control the camera device to capture a first image of a sealer applied at the first injection rate on the surface of the panel,
Measure the first coating width of the sealer based on the first image of the sealer, and if the measured first coating width of the sealer is different from the set target coating width of the sealer, the first spraying device in the coating device Controlling the applicator so that the sealer sprayed at a rate is sprayed at a second spray rate to compensate for a different coating width
Sealer coating system. The method of claim 1,
The control device determines the first injection rate according to the set application conditions,
The application conditions set above
First coating conditions including the coating temperature of the sealer, the viscosity of the sealer, the coating thickness of the sealer, the coating speed of the sealer, the spraying distance of the sealer, and the second coating conditions including the management temperature of the coating device.
Comprising a sealer application system. The method of claim 2,
The control device
Calculate a first compensation value based on the set target coating width of the sealer, the first injection rate and the measured first coating width of the sealer,
Determining the second injection rate based on the first injection rate and the first compensation value.
Sealer coating system. The method of claim 3,
The control device
A processing device for calculating a first calculation value obtained by subtracting the measured first coating width of the sealer from the set target coating width of the sealer;
A storage device for storing information of a control table set on the basis of the first application condition and the second application condition,
The information of the control table includes information on the reference compensation value set in each of the plurality of operation value comparison intervals,
The processing apparatus calculates a reference compensation value of an operation value comparison interval corresponding to the first operation value among the plurality of operation value comparison intervals as the first compensation value, and converts the first compensation value to the first injection rate. To determine the second injection rate
Sealer coating system. The method of claim 4, wherein
The control device
Control the camera device to capture a second image of a sealer applied at the second spray rate on the surface of the panel,
The second coating width of the sealer is measured based on the second image of the sealer, and if the measured second coating width of the sealer is different from the set target coating width of the sealer, the second injection in the coating device. Controlling the applicator such that the sealer sprayed at a rate is sprayed at a third spray rate to compensate for a different application width
Sealer coating system. The method of claim 5,
The control device
Calculate a second compensation value based on the set target application width of the sealer, the second injection rate and the measured second application width of the sealer,
Determining the third injection rate based on the second injection rate and the second compensation value.
Sealer coating system. The method of claim 6,
The processing device
A second calculated value obtained by subtracting the measured second coating width of the sealer from the set target coating width of the sealer,
The reference compensation value of the operation value comparison section corresponding to the second operation value among the plurality of operation value comparison sections is calculated as the second compensation value, and the second compensation value is added to the second injection rate to add the second compensation value. 3 to determine the injection rate
Sealer coating system. The method of claim 1,
The control device
If the measured first coating width of the sealer is less than the set target coating width of the sealer, the first injection rate is increased to reduce the difference between the set target coating width of the sealer and the measured first coating width of the sealer. Control the application device in a first mode
If the measured first coating width of the sealer is greater than the set target coating width of the sealer, reducing the first injection rate to reduce the difference between the measured first coating width of the sealer and the set target coating width of the sealer. To control the application device in a second mode
Sealer coating system. The method of claim 1,
The applicator is
A pump assembly connected to the sealer source and including a plurality of pumps installed in the sealer room;
A filter assembly for filtering the sealer transferred from the pump assembly;
A booster assembly for extruding the sealer filtered in the filter assembly to the surface of the panel;
An spray gun assembly for spraying the sealer supplied from the booster assembly onto the surface of the panel;
A robot for moving the panel relative to the applicator assembly;
A sealer conveying flow path for transferring the sealer between the pump assembly, the filter assembly, the booster assembly, and the applicator gun assembly,
And the sealer conveying passage includes a high pressure pipe capable of heating and maintaining the sealer conveyed therein at a predetermined temperature. The method of claim 9,
And the booster assembly comprises a servo motor for adjusting the injection rate of the sealer. Spraying a sealer at an injection rate corresponding to a target application width set on a surface of a panel constituting the vehicle body and applying the streamer in a stream pattern;
Capturing a first image of the sealer applied to a surface of the panel;
Measuring a first coating width of the sealer based on the first image of the sealer and comparing the measured first coating width of the sealer with a set target coating width of the sealer; And
If the measured first coating width of the sealer is different from the set target coating width of the sealer, a compensation value for compensating for a different coating width is calculated, and based on the compensation value, Adjusting the injection rate
Sealer coating method comprising a. The method of claim 11,
After the injection rate of the sealer is adjusted,
Capturing a second image of a sealer sprayed and applied to the surface of the panel at the controlled spray rate;
Measuring a second coating width of the sealer based on the second image of the sealer and comparing the second coating width of the sealer with a set target coating width of the sealer; And
If the second coating width of the sealer is different from the set target coating width of the sealer, the compensation value for compensating for the different coating width is recalculated, and the coating is applied to the surface of the panel based on the calculated compensation value again. To adjust the injection rate of the sealer again
Sealer application method. The method of claim 11,
Spraying and applying the sealer at an injection rate corresponding to a target application width set on the surface of the panel,
Determining a spray rate corresponding to the set target coating width according to the set coating conditions,
The set coating conditions include a coating temperature of the sealer, a viscosity of the sealer, a coating thickness of the sealer, a coating speed of the sealer, a spraying distance of the sealer, and a management temperature of the coating device. Second coating condition to include
Sealer application method. The method of claim 13,
Calculating the compensation value, and adjusting the injection rate of the sealer applied to the surface of the panel based on the compensation value,
Calculating a calculated value obtained by subtracting the measured coating width of the sealer from the set target coating width of the sealer;
Obtaining the compensation value corresponding to the calculated value from the information of the control table set by the first coating condition and the second coating condition; And
Adjusting the injection rate of the sealer by adding the compensation value to the injection rate of the sealer;
Sealer application method The method of claim 14,
Obtaining the compensation value,
Storing information of the control table including information on a reference compensation value set in each of a plurality of operation value comparison intervals;
Based on the stored information of the control table, the reference compensation value of the operation value comparison section corresponding to the operation value calculated by subtracting the measured application width of the sealer from the set target coating width of the sealer among the plurality of operation value comparison sections Obtaining as the compensation value
Sealer application method. The method of claim 11,
Adjusting the spray rate of the sealer,
The injection rate of the sealer
If the measured coating width of the sealer is smaller than the set target coating width of the sealer, it is adjusted to increase to reduce the difference between the set target coating width of the sealer and the measured coating width of the sealer,
If the measured coating width of the sealer is greater than the set target coating width of the sealer, the measured coating width of the sealer is adjusted to reduce the difference between the measured coating width of the sealer and the set target coating width of the sealer.
Sealer application method.

Images