JP2002216621A - Device for coating liquid, method for coating the liquid, and device for assembling parts - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for coating a liquid inside various types of part which have different positions of specific portions without any adjustment of setting positions of the parts because the positions of the specific portions can be monitored precisely for feedbacks to a coating robot. SOLUTION: The device comprises, a base 1, a robot portion 2 installed on the base 1, a robot controller 3 controlling the robot portion 2, a conveyer 9 which conveys the parts, a structure 10 for setting the positions of the parts conveyed, a roller 4 which coats the liquid inside the parts, a camera carrier 5 installed on the base 1, a camera 6 attached to an end of the camera carrier 5 which monitors pictures of the parts set on the structure 10, and a picture processor 7 which processes the pictures and calculates position correcting data, wherein the robot controller 3 corrects coordinates of the robot portion 2 according to the position correcting data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a CRT (Cathod).
The present invention relates to a liquid application device and a liquid application method for applying a liquid to components of an e-Ray Tube, and a component assembling device for assembling the above components.

[0002]

2. Description of the Related Art For example, a graphite film is formed on the inner surface of a funnel glass of a CRT. This graphite film is formed by applying a graphite liquid using a liquid application device.

FIG. 8 is a configuration diagram of a conventional liquid coating apparatus. 8, 1 is a base, 2 is a robot unit attached to the base 1, 3 is a robot controller for controlling the robot unit 2, 4 is a liquid application roller attached to the robot unit 3, 8 is funnel glass, and 9 is a funnel glass. A conveyor 10 that conveys the funnel glass 8 is a positioning mechanism attached to the conveyor 9.

[0004] A conventional liquid applying process for applying a graphite liquid to the inner surface of the funnel glass 8 by the liquid applying apparatus shown in FIG. 8 will be described below. First, the funnel glass 8 is transported by the conveyor 9 and the funnel glass 8 is positioned at a predetermined position by the positioning mechanism 9.
Then, the robot unit 2 is operated according to a procedure programmed in advance by the robot controller 3, and the graphite coating liquid is applied to the inner surface of the funnel glass 8 by the liquid application roller 4.

FIG. 7A is a sectional structural view of the funnel glass 8, and FIG. 7B is an enlarged view of the anode button 12 provided on the inner surface of the funnel glass 8. On the inner surface of the funnel glass 8, the region to which graphite is applied is not the entire inner surface but the region excluding the partial region of the anode button 12, as shown in FIG. In the anode button 12, as shown in FIG. 7B, the inner periphery of the anode button 12 (the inner periphery of the anode button) 12a
Is an area where graphite is not to be applied.
The area between the outer circumferences 2 (anode button outer circumferences) 12b is
This is the area where graphite must be applied.

In the liquid applying apparatus shown in FIG. 8, if the liquid applying roller 4 is replaced with a part assembling hand, the apparatus becomes a part assembling apparatus for assembling the funnel glass 8. In the assembling process of the funnel glass 8 by the conventional component assembling apparatus, the funnel glass 8 is transported by the conveyor 9 and
Positioning is performed at a predetermined position by a positioning mechanism 9. Then, the robot unit 2 is controlled by the robot controller 3.
Then, the part assembling hand attached to (the arm of) the robot unit 2 is operated according to a previously programmed procedure, and the funnel glass 8 is assembled by the part assembling hand. Further, the liquid applying apparatus of FIG. 8 can be used in a step of applying a liquid to components of a CRT other than the funnel glass. The above-described component assembling apparatus can also be used in a process of assembling components of a CRT other than funnel glass.

[0007]

However, the above-mentioned conventional liquid coating apparatus has the following problems. In the funnel glass 8, a region located around the inner region of the anode button inner periphery 12a where graphite must not be applied and between the anode button inner periphery 12a and anode button outer periphery 12b where graphite must be applied. Is very narrow, so the anode button 1
In order to accurately apply the graphite to the graphite application area in 2, the anode button 12 needs to be positioned with high accuracy. However, since the funnel glass 8 is formed of a curved surface, it is difficult to position the funnel glass 8 with high accuracy in the above-described conventional liquid coating apparatus, and a positioning error occurs. Also,
Although the material of the funnel glass 8 is glass, the manufacturing error of the funnel glass 8 is large, and the mounting error of the anode button 12 on the funnel glass 8 is wide, so that the mounting error of the anode button 12 is large. In a coating apparatus, it is difficult to eliminate these manufacturing errors and mounting errors. For this reason, in the above-described conventional liquid coating apparatus, it is difficult to accurately position the anode button 12 at a predetermined position, and the positioning error of the anode button 12 causes the graphite coating area on the inner surface of the funnel glass 8 to be accurately coated with graphite. It became difficult to apply the graphite, and graphite was sometimes applied to the inner region of the anode button inner periphery 12a, or graphite was not applied to the region between the anode button inner periphery 12a and the anode button outer periphery 12b.

[0008] As a liquid coating apparatus for improving the accuracy of the coating position, for example, there is a liquid coating apparatus described in JP-A-10-202161. The liquid coating apparatus described in this document detects the entire position of a component such as a printed circuit board with a laser sensor, and adjusts (corrects) the applied position according to the detected position. The liquid can be accurately applied to the entire printed circuit board even when the liquid crystal is generated. But,
The liquid application device described in the above-mentioned document uses a funnel glass 8
As in the case of the anode button 12 provided in the above, it is not possible to accurately apply the area around a specific area provided on the component, in which a non-application area and an application area are mixed. In the case of a part made of curved glass such as the funnel glass 8, the position detection by the laser sensor is not sufficient, and an error occurs in the adjusted coating position.

[0009] Further, the current mainstream of CRT production is a mixed production of multi-tube types. Therefore, it is required that the liquid coating apparatus can be applied as it is to various types of funnel glass having different anode button positions. However, in the above-described conventional liquid application apparatus, the application position must be adjusted for each type of funnel glass, and the application cannot be directly applied to a plurality of types of funnel glass without adjustment.

A conventional liquid application apparatus for applying a liquid to CRT components other than funnel glass and a conventional component assembling apparatus for assembling CRT components such as funnel glass are similar to the above. ,
There has been a problem that it is difficult to accurately position a specific part of the above-mentioned part, and there is a problem that it cannot be directly applied to a plurality of types of parts having different positions of the specific part.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and it is possible to accurately position a specific part of a component of a CRT, and a plurality of types of parts having different positions of the specific part. It is an object of the present invention to provide a liquid applying apparatus, a liquid applying method, and a component assembling apparatus which can be applied to the apparatus without any adjustment.

[0012]

According to a first aspect of the present invention, there is provided a liquid coating apparatus comprising: a CRT;
In a liquid application apparatus for applying liquid to the components, a base, a robot unit attached to the base, a robot controller for controlling the robot unit, a conveyor for transporting the parts, and a robot attached to the conveyor A positioning mechanism for positioning the conveyed component, a liquid application roller attached to the robot unit for applying liquid to the component, a camera for capturing an image of the positioned component, and the image And an image processing unit that calculates position correction data for the specific part of the component based on the processed image data.The robot controller corrects the coordinates of the robot unit according to the position correction data. It is characterized by the following.

[0013] The liquid application apparatus according to the second aspect is characterized in that:
In a liquid application apparatus for applying liquid to RT components, a base, a robot unit attached to the base, a robot controller for controlling the robot unit, a conveyor for transporting the parts, and a robot attached to the conveyor A positioning mechanism for positioning the conveyed component, a positioning control unit for controlling the positioning mechanism, a liquid application roller attached to the robot unit for applying liquid to the component, A camera that captures an image of the component, and an image processing unit that processes the image and calculates position correction data for a specific part of the component based on the processed image data, wherein the positioning control unit includes: The positioning coordinates are corrected according to the position correction data.

[0014] The liquid application apparatus according to a third aspect of the present invention is characterized in that, in the first or second aspect, the apparatus further comprises a camera mount attached to the base, and the camera is attached to the camera mount. And

According to a fourth aspect of the present invention, in the liquid application apparatus according to the first or second aspect, the camera is attached to the robot unit.

According to a fifth aspect of the present invention, in the liquid applying method for applying a liquid to a component of a CRT, a step of positioning the conveyed part and an image of the positioned part are taken. Processing the image, calculating the position correction data for the specific part of the component based on the processed image data, and according to the position correction data, the robot unit that applies a liquid to the component. Correcting the coordinates.

Further, in the liquid coating method according to the sixth aspect of the present invention,
In a liquid application method for applying liquid to a component part of an RT, a step of positioning the conveyed part, a step of capturing an image of the positioned part, processing the image, and processing the processed image data. And a step of calculating position correction data for a specific part of the component, and correcting the positioning coordinates of the component according to the position correction data.

According to a seventh aspect of the present invention, there is provided a component assembling apparatus for assembling components of a CRT, comprising: a base; a robot unit mounted on the base; a robot controller for controlling the robot unit; A conveyor for transporting the components, a positioning mechanism attached to the conveyor and positioning the transported components, and a component assembly hand attached to the robot unit for assembling the components; A camera that captures an image of the component; and an image processing unit that processes the image and calculates position correction data for a specific part of the component based on the processed image data. The coordinates of the robot unit are corrected according to the correction data.

Further, in the component assembling apparatus according to claim 8, the C
In a component assembling apparatus for assembling the components of the RT, a base, a robot unit attached to the base, a robot controller for controlling the robot unit, a conveyor for transporting the components, and attached to the conveyor, A positioning mechanism for positioning the conveyed component, a positioning control unit for controlling the positioning mechanism, a component assembly hand attached to the robot unit for assembling the component, and capturing an image of the positioned component A camera that processes the image, and an image processing unit that calculates position correction data for a specific part of the component based on the processed image data, wherein the positioning control unit performs positioning according to the position correction data. It is characterized in that coordinates are corrected.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a configuration diagram of a liquid application apparatus according to Embodiment 1 of the present invention. In FIG. 1, the same components as those in FIG. 8 are denoted by the same reference numerals, 1 is a base, 2 is a robot unit mounted on the base 1, 4
Is a liquid application roller attached to the robot unit 2, 5 is a camera mount attached to the base 1, 6 is a camera attached to the camera mount 5, and 7 is an image processing unit for processing and calculating an image captured by the camera 6. , 8 is a funnel glass, 9 is a conveyor for transporting the funnel glass 8, 1
Reference numeral 0 denotes a positioning mechanism attached to the conveyor 9, and reference numeral 13 denotes a robot controller that controls the robot unit 2.

FIG. 2 is a flowchart for explaining a liquid applying step (graphite applying step) by the liquid applying apparatus according to the first embodiment of the present invention. First, in step S1, the funnel glass 8 is transported by the conveyor 9 to the positioning mechanism 10, and in step S2, the transported funnel glass 8 is positioned at a predetermined position by the positioning mechanism 10.

Next, in step S3, the camera 6
Captures (takes an image of) the positioned funnel glass 8 (the inner surface including the anode button 12 thereof), and transmits this image to the image processing unit 7. The above camera 6
It is attached to a camera mount 5 fixed to the base 1, and captures an image of the funnel glass 8 at a fixed position. In this way, the funnel glass 8 is always kept at the same position.
The accuracy of the position correction data described below can be improved by capturing the image of (1).

The image processing unit 7 determines in step S4
The captured image of the funnel glass 8 is processed, and in step S5, position correction data for the anode button 12 is calculated based on the current position of the anode button 12 in the processed image data, and the position correction is performed. The data is transmitted to the robot controller 3. In the calculation of the position correction data, for example, the current position of the anode button 12 is calculated from the processed image data, and the deviation from the predetermined position of the anode button 12 is calculated as the position correction data.

Next, in step S6, the robot controller 13 corrects the coordinates of the robot unit 2 according to the position correction data. The coordinates of the robot unit 2 may be corrected, for example, by correcting the initial position of the robot unit 2 according to the position correction data or by controlling the robot unit 2 in the control program of the robot unit 2 programmed in advance in the robot controller 13. 2
Is offset in accordance with the position correction data, or the position data of the anode button 12 on the coordinates of the robot unit 2 in the control program is corrected.

Before the above-described correction, the anode button 12 is positioned with a displacement corresponding to the above-described position correction data from a predetermined position on the coordinates of the base 1 and the coordinates of the robot unit 2, respectively. The correction of the coordinates of the robot unit 2 eliminates the positioning error and manufacturing error of the funnel glass 8 and the mounting error of the anode button 12 on the coordinates of the robot unit 2, and the anode button 12 is moved to a predetermined position. Positioned with precision.

The robot controller 13 determines in step S
After waiting for the correction of the coordinates of the robot unit 2 to be completed at 7, the robot unit 2 is operated in accordance with the control program of the robot unit 2 programmed in advance and attached to the (arm of) the robot unit 2 at step S8. Graphite is applied to the inner surface of the funnel glass 8 by the liquid application roller 4.

In the application of graphite in step S8, the anode button 12 provided on the inner surface of the funnel glass 8 is moved to the robot unit 2 in step S6.
The anode button inner periphery 12a, which must not be coated with graphite, is positioned at a predetermined position on the coordinates of the robot unit 2 with high accuracy by correcting the coordinates of
In the narrow area (see FIG. 7 (b)) between the anode button inner circumference 12a and the anode button outer circumference 12b where graphite must be applied without applying graphite to the internal area (see FIG. 7 (b)). The graphite can be applied accurately.

Further, by correcting the coordinates of the robot unit 2 in step S6, even when graphite is applied to the inner surfaces of a plurality of types of funnel glass 8 having different positions of the anode buttons 12, each type of funnel glass 8 can be coated. Since the coordinates of the robot unit 2 are corrected in accordance with the funnel glass 8 of each type,
The liquid application device of the first embodiment can be applied without adjustment.

As described above, according to the first embodiment, the image of the positioned funnel glass 8 is captured by the camera 6, and based on this image, the position correction data for the anode button 12 is generated by the image processing unit 7. By calculating and correcting the coordinates of the robot unit 2 by the robot controller 13 according to the position correction data, the anode button 12 can be accurately positioned, and a plurality of types of funnel glass 8 having different positions of the anode button 12 can be obtained. Since it can be applied without any adjustment, graphite can be accurately applied to the inner surface of the funnel glass 8 and the graphite application step can be simplified. Also, by attaching the camera 6 to the camera mount 5 fixed to the base 1,
Since the image of the funnel glass 8 can be captured at a fixed position, the accuracy of the position correction data can be improved.

Embodiment 2 FIG. FIG. 3 is a configuration diagram of a liquid application apparatus according to Embodiment 2 of the present invention. In FIG. 3, the same components as those in FIG. 1 or FIG.
Is a base, 2 is a robot part attached to the base 1,
3 is a robot controller for controlling the robot unit 2, 4
Is a liquid application roller attached to the robot unit 2, 5 is a camera mount attached to the base 1, 6 is a camera attached to the camera mount 5, and 7 is an image processing unit that processes and calculates an image captured by the camera 6. , 8 is a funnel glass, 9 is a conveyor for transporting the funnel glass 8, 1
Reference numeral 0 denotes a positioning mechanism attached to the conveyor 9, and reference numeral 11 denotes a positioning control unit that controls the positioning mechanism 10.

FIG. 4 is a flow chart for explaining a liquid applying step (graphite applying step) by the liquid applying apparatus according to the second embodiment of the present invention. 4, the same components as those in FIG. 2 are denoted by the same reference numerals. The liquid application process of FIG. 4 is obtained by changing step S6 to step S16 in the liquid application process of the first embodiment.

When the position correction data is transmitted from the image processing unit 7 to the positioning control unit 11 in step S5 of FIG. 4, the positioning control unit 11 controls the positioning mechanism 9 in step S16 according to the position correction data. , The positioning coordinates of the funnel glass 8 are corrected. The correction of the positioning coordinates is performed, for example, by correcting the position of the positioning mechanism 9 in accordance with the position correction data.
, The position of the anode button 12 on the coordinates of the base 1 is corrected.

Before the above-mentioned correction, the anode button 12 is positioned with a displacement corresponding to the above-mentioned position correction data from a predetermined position on the coordinates of the base 1 and on the coordinates of the robot unit 2, respectively. By correcting the positioning coordinates, the positioning error and manufacturing error of the funnel glass 8 and the mounting error of the anode button 12 are eliminated, and the anode button 12 is moved to a predetermined position on the coordinates of the base 1 and the coordinates of the robot unit 2. Is positioned with high accuracy.

In step S7 of FIG. 4, the robot controller 3 waits for the completion of the correction of the positioning coordinates, and in step S8, operates the robot unit 2 according to the control program of the robot unit 2 programmed in advance. Graphite is applied to the inner surface of the funnel glass 8 by the liquid application roller 4 attached to (the arm of) the section 2.

In the application of graphite in step S8, the anode button 12 provided on the inner surface of the funnel glass 8 is adjusted on the coordinates of the base 1 and the coordinates of the robot unit 2 by correcting the positioning coordinates in step S16. Since graphite is positioned at a predetermined position with high precision, graphite must not be applied to the inner region (see FIG. 7 (b)) of the inner periphery 12a of the anode button where graphite must not be applied. Graphite can be accurately applied to a narrow region (see FIG. 7 (b)) between the inner periphery 12a of the anode button and the outer periphery 12b of the anode button, which must be provided.

Further, by correcting the positioning coordinates in step S16, even when graphite is applied to the inner surface of a plurality of types of funnel glass 8 having different positions of the anode button 12, the position of the anode button 12 can be adjusted according to each type of funnel glass 8. Since the corrected positioning coordinates are corrected, the liquid application apparatus of the second embodiment can be applied to each type of funnel glass 8 without adjustment.

As described above, according to the second embodiment, an image of the positioned funnel glass 8 is captured by the camera 6, and based on this image, the position correction data for the anode button 12 is generated by the image processing unit 7. By calculating and correcting the positioning coordinates by the positioning control unit 11 according to the position correction data, the anode button 1
2 can be accurately positioned, and can be applied to a plurality of types of funnel glass 8 having different positions of the anode buttons 12 without adjustment, so that graphite can be accurately applied to the inner surface of the funnel glass 8. In addition, the graphite coating process can be simplified.

Embodiment 3 FIG. FIG. 5 is a configuration diagram of a liquid application apparatus according to Embodiment 3 of the present invention. 5, the same components as those in FIG. 1 are denoted by the same reference numerals, 1 is a base,
Reference numeral 2 denotes a robot unit attached to the base 1, 4 denotes a liquid application roller attached to the robot unit 2, 6 denotes a camera attached to the robot unit 2, and 7 denotes an image processing for processing and calculating an image captured by the camera 6. Part, 8 is a funnel glass, 9 is a conveyor for conveying the funnel glass 8,
10 is a positioning mechanism attached to the conveyor 9, 13
Is a robot controller for controlling the robot unit 2.

As shown in FIG. 5, the liquid application device according to the third embodiment is the same as the liquid application device according to the first embodiment (see FIG. 1) except that the camera 6 is attached to (the arm of) the robot unit 2. is there. Thus, it is not necessary to provide the camera mount 5, and the configuration of the liquid application apparatus can be simplified. When the image of the conveyed and positioned funnel glass 8 is captured by the camera 6, the (arm) of the robot unit 2 moves to a predetermined position. In addition,
The operation of the liquid application device according to the third embodiment is the same as the operation of the first embodiment.

As described above, according to the third embodiment, since the camera 6 is attached to the robot unit 2, there is no need to provide the camera mount 5, so that the configuration of the liquid application apparatus can be simplified.

Embodiment 4 FIG. FIG. 6 is a configuration diagram of a liquid application apparatus according to Embodiment 4 of the present invention. 6, the same components as those in FIG. 3 are denoted by the same reference numerals, 1 is a base,
2 is a robot unit attached to the base 1, 3 is a robot controller for controlling the robot unit 2, 4 is a liquid application roller attached to the robot unit 2, 6 is a camera attached to the robot unit 2, and 7 is a camera 6 Therefore, an image processing unit that processes and calculates the captured image, 8 is a funnel glass, 9 is a conveyor that conveys the funnel glass 8, 1
Reference numeral 0 denotes a positioning mechanism attached to the conveyor 9, and reference numeral 11 denotes a positioning control unit that controls the positioning mechanism 10.

As shown in FIG. 6, the liquid application apparatus according to the fourth embodiment is the same as the liquid application apparatus according to the second embodiment (see FIG. 3) except that the camera 6 is attached to (the arm of) the robot unit 2. is there. Thus, it is not necessary to provide the camera mount 5, and the configuration of the liquid application apparatus can be simplified. When the image of the conveyed and positioned funnel glass 8 is captured by the camera 6, the (arm) of the robot unit 2 moves to a predetermined position. In addition,
The operation of the liquid application device of the fourth embodiment is the same as the operation of the second embodiment.

As described above, according to the fourth embodiment, since the camera 6 is attached to the robot unit 2, it is not necessary to provide the camera mount 5, so that the configuration of the liquid application apparatus can be simplified.

In the first to fourth embodiments, the present invention has been described with respect to an example in which the present invention is applied to a liquid coating apparatus and a liquid coating process for coating graphite on the inner surface of a funnel glass of a CRT. It is also possible to apply the present invention to a liquid applying apparatus and a liquid applying step for applying a liquid to the components described in (1).

Embodiment 5 FIG. A component assembling apparatus described in a fifth embodiment of the present invention will be described in the first embodiment.
Alternatively, in the liquid applying apparatus of No. 3, the liquid applying roller 4 is replaced with a component assembling hand.

The component assembling procedure when assembling the anode button 12 of the funnel glass 8 by the component assembling apparatus of the fifth embodiment is based on the liquid application procedure of the first embodiment (see FIG. 2). It is. In the above-described parts assembling procedure, the funnel glass 8 is conveyed and positioned in the same manner as steps S1 to S7 in FIG.
The image of the positioned funnel glass 8 is captured by the camera 6, the image processing unit 7 calculates the position correction data of the anode button 12 based on the image, and the robot controller 13 corrects the coordinates of the robot unit 2. . Then, in a step corresponding to step S8 in FIG. 2, the anode button 12 whose position has been corrected is assembled by the above-described component assembling hand.

According to the fifth embodiment, the image of the positioned funnel glass 8 is captured by the camera 6, and the image processing unit calculates the position correction data for the anode button 12 based on the image. By correcting the coordinates of the robot unit 2 by the robot controller 13 according to the position correction data, the anode button 12 can be accurately positioned, and the position of the anode button 12 can be directly applied to a plurality of types of funnel glass 8 having different positions. Since it can be applied without adjustment, the anode button 12 of the funnel glass 8 can be accurately assembled, and the funnel glass 8
Can be simplified.

Embodiment 6 FIG. The component assembling apparatus described in the following Embodiment 6 of the present invention is similar to that of Embodiment 2 described above.
Alternatively, in the liquid applying apparatus of No. 4, the liquid applying roller 4 is replaced with a component assembling hand.

The component assembling procedure when assembling the anode button 12 of the funnel glass 8 by the component assembling apparatus according to the sixth embodiment conforms to the liquid application procedure according to the second embodiment (see FIG. 4). It is. In the above parts assembling procedure, steps S1 to S15 in FIG.
As in S16 and S7, the funnel glass 8 is conveyed and positioned, an image of the positioned funnel glass 8 is captured by the camera 6, and the position of the anode button 12 is determined by the image processing unit 7 based on the above image. The correction data is calculated, and the positioning control unit 11 corrects the positioning coordinates. Then, in a step corresponding to step S8 in FIG. 4, the anode button 12 whose position has been corrected is assembled by the above-described component assembling hand.

According to the sixth embodiment, the image of the positioned funnel glass 8 is captured by the camera 6, and the image processing unit 7 calculates the position correction data for the anode button 12 based on the image. Then, the positioning control unit 11 corrects the positioning coordinates according to the position correction data, so that the anode button 12
Can be accurately positioned, and can be directly applied to a plurality of types of funnel glass 8 having different positions of the anode button 12 without adjustment, so that the anode button 12 of the funnel glass 8 can be accurately assembled, and the funnel glass 8 can be accurately assembled. 8 can be simplified.

In the above-described fifth and sixth embodiments, an example has been described in which the present invention is applied to a component assembling apparatus for performing an assembling operation on a funnel glass anode button of a CRT. It is also possible to apply the present invention to a component assembling apparatus that performs assembling work.

[0052]

As described above, the first aspect of the present invention is as follows.
According to the liquid applying apparatus and the liquid applying method according to the fifth aspect, an image of a positioned component is captured, and position correction data for a specific portion of the component is calculated based on the image, and the position is calculated. By correcting the coordinates of the robot unit according to the correction data, the specific part can be accurately positioned, and the position of the specific part can be directly applied to a plurality of types of parts having different positions without adjustment. There is an effect that the liquid can be applied accurately and the liquid applying step can be simplified.

According to the liquid application apparatus and the liquid application method of the sixth aspect, an image of a positioned component is captured, and position correction data for a specific portion of the component is obtained based on the image. By calculating and correcting the positioning coordinates according to the position correction data, the specific part can be accurately positioned, and the specific part can be directly applied to a plurality of types of parts having different positions without adjustment. In addition, there is an effect that the liquid can be accurately applied to the parts and the liquid applying step can be simplified.

According to the liquid application apparatus of the third aspect, by mounting the camera on the camera mount fixed to the base, an image of the component can be taken at a fixed position, so that the accuracy of the position correction data can be improved. There is an effect that can be.

According to the liquid application apparatus of the fourth aspect, since the camera is not required to be provided by attaching the camera to the robot section, the structure of the liquid application apparatus can be simplified.

According to the component assembling apparatus of the present invention, an image of the positioned component is captured by the camera, and the image processing unit calculates position correction data for a specific portion of the component based on the image. By correcting the coordinates of the robot unit by the robot controller according to the position correction data, the specific part can be accurately positioned, and can be directly applied to a plurality of types of parts having different positions of the specific part without adjustment. Therefore, there is an effect that accurate assembly can be performed for the specific portion and the assembly process of the component can be simplified.

According to the eighth aspect of the present invention, an image of the positioned component is captured by the camera, and based on the image, the image processing unit calculates position correction data for the specific part of the component. By correcting the positioning coordinates by the positioning control unit according to the position correction data, the specific portion can be accurately positioned, and can be directly applied to a plurality of types of components having different positions of the specific portion without adjustment. Therefore, while being able to assemble the above specific parts accurately,
There is an effect that the assembly process of the above components can be simplified.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a liquid application device according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating a liquid applying step by the liquid applying apparatus according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram of a liquid application device according to a second embodiment of the present invention.

FIG. 4 is a flowchart illustrating a liquid applying step performed by the liquid applying apparatus according to the second embodiment of the present invention.

FIG. 5 is a configuration diagram of a liquid application device according to a third embodiment of the present invention.

FIG. 6 is a configuration diagram of a liquid application device according to a fourth embodiment of the present invention.

FIG. 7 is a sectional structural view of a funnel glass and an enlarged view of an anode button provided on the funnel glass.

FIG. 8 is a configuration diagram of a conventional liquid application device.

[Explanation of symbols]

1 base, 2 robot unit, 3,13 robot controller, 4 liquid application roller, 5 camera mount, 6 camera, 7 image processing unit, 8 funnel glass, 9 conveyor, 10 positioning mechanism, 1
1 positioning controller, 12 anode buttons.

 ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference) 4D075 AC73 AC74 AC88 AC93 CA22 CA47 DA19 DA23 DB13 DC24 EA07 4F040 AA12 AA14 AA32 AB05 AC01 BA17 CB13 CB19 DA02 DA13 DA14 DB30 4F042 AA06 AA10 AA28 BA08 BA27 DF16 A035A0

Claims (8)

[Claims] 1. A liquid application apparatus for applying liquid to a component of a CRT, a base, a robot unit attached to the base, a robot controller for controlling the robot unit, a conveyor for conveying the parts, A positioning mechanism attached to the conveyor for positioning the conveyed component; a liquid application roller attached to the robot unit for applying liquid to the component; and capturing an image of the positioned component A camera that processes the image, and an image processing unit that calculates position correction data for a specific part of the component based on the processed image data. The robot controller controls the robot in accordance with the position correction data. A liquid application device for correcting the coordinates of a part. 2. A liquid application apparatus for applying liquid to components of a CRT, a base, a robot unit attached to the base, a robot controller for controlling the robot unit, a conveyor for conveying the parts, A positioning mechanism attached to the conveyor for positioning the conveyed component; a positioning control unit for controlling the positioning mechanism; and a liquid application roller attached to the robot unit for applying liquid to the component. A camera that captures an image of the positioned component, and an image processing unit that processes the image and calculates position correction data for a specific part of the component based on the processed image data. A positioning control unit that corrects positioning coordinates according to the position correction data; . 3. The liquid application apparatus according to claim 1, further comprising a camera mount attached to the base, wherein the camera is attached to the camera mount. 4. The liquid application device according to claim 1, wherein the camera is attached to the robot unit. 5. A liquid applying method for applying a liquid to a component of a CRT, wherein the step of positioning the conveyed part, the step of capturing an image of the positioned part, and the step of processing the image Calculating position correction data for a specific part of the component based on the obtained image data; and correcting coordinates of a robot unit that applies a liquid to the component according to the position correction data. Liquid application method. 6. A liquid applying method for applying a liquid to a component of a CRT, the step of positioning the conveyed part, the step of capturing an image of the positioned part, and the processing of the image. A liquid application method, comprising: calculating position correction data for a specific part of the component based on the obtained image data; and correcting the positioning coordinates of the component according to the position correction data. 7. A component assembling apparatus for assembling components of a CRT, comprising: a base; a robot unit attached to the base; a robot controller for controlling the robot unit; a conveyor for transporting the components; A positioning mechanism that is mounted and positions the conveyed component; a component assembly hand that is mounted on the robot unit and assembles the component; a camera that captures an image of the positioned component; And an image processing unit that calculates position correction data for the specific part of the component based on the processed image data.The robot controller corrects the coordinates of the robot unit according to the position correction data. A parts assembling apparatus characterized by the above-mentioned. 8. A component assembling apparatus for assembling components of a CRT, comprising: a base; a robot unit attached to the base; a robot controller for controlling the robot unit; a conveyor for transporting the components; A positioning mechanism that is mounted and positions the transported component; a positioning control unit that controls the positioning mechanism; a component assembly hand that is mounted on the robot unit and assembles the component; A camera that captures an image of the component; and an image processing unit that processes the image and calculates position correction data for a specific part of the component based on the processed image data. A component assembling apparatus for correcting positioning coordinates according to position correction data.