JP4497468B2 - Sealing system - Google Patents

Sealing system Download PDF

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JP4497468B2
JP4497468B2 JP2004266274A JP2004266274A JP4497468B2 JP 4497468 B2 JP4497468 B2 JP 4497468B2 JP 2004266274 A JP2004266274 A JP 2004266274A JP 2004266274 A JP2004266274 A JP 2004266274A JP 4497468 B2 JP4497468 B2 JP 4497468B2
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sealant
control unit
robot
electronic control
seal
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JP2006081955A (en
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克俊 大野
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Nachi Fujikoshi Corp
Daihen Corp
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Nachi Fujikoshi Corp
Daihen Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
    • B05C5/022—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path the outlet being fixed during operation

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  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)
  • Coating Apparatus (AREA)

Description

本発明は、ワークにシール形成（以下、シーリング）を行うシーリング・システムに係り、特に、多関節ロボットなどを用いてワークおよびシールガンのうちの一方を他方に対して移動させるシーリング・システムに於けるシール剤の吐出量制御に関する。   The present invention relates to a sealing system for forming a seal on a workpiece (hereinafter referred to as sealing), and more particularly to a sealing system that moves one of a workpiece and a seal gun relative to the other using an articulated robot or the like. The present invention relates to discharge amount control of a sealing agent.

ロボットを用いるシーリング作業は、一般に、シール剤を塗布するためのシールガンをロボットのアーム先端に装着し、予め教示した経路に沿ってロボットアームを移動させながら、シールガンからのシール剤吐出を制御することにより、ワークに対して所定のシーリング作業を行うものである。
このシーリング作業においては、シール剤の塗布は、一定幅で均一なビードを形成することが要求される。 Sealing work using a robot generally involves mounting a seal gun for applying a sealant on the tip of a robot arm and controlling the discharge of the sealant from the seal gun while moving the robot arm along a previously taught path. Thus, a predetermined sealing operation is performed on the workpiece.
In this sealing operation, the application of the sealing agent is required to form a uniform bead with a constant width.

そこで、加減速制御されたロボット各軸の単位時間当たりの移動量に基づいてロボットアーム先端のシールガンのノズル実速度を求め、その速度に応じたアナログ出力信号を出力し、このアナログ出力信号に応じて吐出量を制御して塗布量を一定にするシール剤制御装置が提案されている（例えば、特許文献１を参照）。
しかし、係る制御方法は、シールガンを定置して、ロボットなどによりワークをシールガンに対して移動させてシール剤を塗布するシーリング・システムでは支障がある。
特開昭６２−２１３８６８号公報 Therefore, the actual speed of the nozzle of the seal gun at the tip of the robot arm is calculated based on the amount of movement per unit time of each axis of the acceleration / deceleration controlled, and an analog output signal corresponding to that speed is output. A sealing agent control device that controls the discharge amount to make the coating amount constant has been proposed (see, for example, Patent Document 1).
However, such a control method has a problem in a sealing system in which a seal gun is fixed and a workpiece is moved with respect to the seal gun by a robot or the like to apply a sealant.
JP-A-62-2213868

すなわち、シールガン定置式のシーリング・システムでは、図５に示すように、ワークＷを位置Ｐ１から位置Ｐ２に回転させながら、ワーク上の点Ａから点Ｂ間の直線上にシール剤を塗布する場合など、ロボットアームの軌跡とシールガンの塗布軌跡が一致しない時には、ロボットの速度と塗布速度が異なる。そのため、ロボットへの指令速度に基づいてシール剤の供給ポンプを制御しても一定幅で均一なビードが得られないという問題が生じる。   That is, in the seal gun stationary sealing system, as shown in FIG. 5, when the workpiece W is rotated from the position P1 to the position P2, the sealant is applied on the straight line between the points A and B on the workpiece. When the robot arm trajectory and the seal gun application trajectory do not match, the robot speed and the application speed are different. For this reason, there is a problem that even if the sealant supply pump is controlled based on the command speed to the robot, a uniform bead with a constant width cannot be obtained.

本発明は、係る従来技術の問題に鑑みて、シールガンの設置形態の影響を受けることなく、一定幅で均一なビードを得ることのできるシーリング・システムの提供を目的とする。   SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems of the prior art, and an object thereof is to provide a sealing system that can obtain a uniform bead with a constant width without being affected by the installation form of the seal gun.

前述の通り、本発明者は、この種のシーリング・システムにおけるシール剤塗布量の制御が、ロボットなどの移動手段の速度指令だけに基づいて行うのでは不十分であることを見出していて、本発明では、シールガンとワークとの相対的な速度をシール剤塗布量の制御に採用する。
本発明による、シール剤を供給するシールガンを、シールを形成すべきワーク上の部分に沿って移動させるように、シールガンとワークのうちの少なくとも一方を他方に対して動かしてワークにシール剤を塗布するシーリング・システムは、このシステムの制御装置が、ワークとシールガンの相対速度を算出し、この相対速度に基づいて、ワークの単位塗布経路当たりのシール剤塗布量が一定となるようにシールガンからの吐出量を制御することを特徴とする。 As described above, the present inventor has found that it is insufficient to control the amount of sealant applied in this type of sealing system based only on the speed command of a moving means such as a robot. In the invention, the relative speed between the seal gun and the workpiece is employed for controlling the amount of the sealant applied.
According to the present invention, at least one of the seal gun and the workpiece is moved with respect to the other so that the seal gun for supplying the seal agent is moved along the part on the workpiece to form a seal, and the seal agent is applied to the workpiece. In this sealing system, the control device of this system calculates the relative speed of the workpiece and the seal gun, and based on this relative speed, the amount of sealant applied per unit application path of the workpiece is constant from the seal gun. The discharge amount is controlled.

上記システムは、ワークおよびシールガンのうちの一方を把持して動かす多関節ロボットを含んでいてもよい。
この場合、制御装置が、このロボットの予め教示された経路と、該経路に対するワークおよびシールガンのうちの他方の定置座標とから相対速度を算出することが好適である。
また、制御装置は、ロボットの動作を制御するロボット電子制御部と、シールガンの動作を制御するシール剤電子制御部とを含むことが好ましい。ロボット電子制御部は、算出したワークとシールガンの相対速度を共有メモリを介してシール剤電子制御部へ供給するように、或いはアナログ信号の形にしてシール剤電子制御部へ供給するように構成することができる。 The system may include an articulated robot that holds and moves one of the workpiece and the seal gun.
In this case, it is preferable that the control device calculates the relative speed from the previously taught route of the robot and the other stationary coordinates of the workpiece and the seal gun with respect to the route.
The control device preferably includes a robot electronic control unit that controls the operation of the robot and a sealant electronic control unit that controls the operation of the seal gun. The robot electronic control unit is configured to supply the calculated relative speed of the workpiece and the seal gun to the sealant electronic control unit via the shared memory, or to supply the sealant electronic control unit in the form of an analog signal. be able to.

本発明によれば、シール剤を供給するシールガンとシール剤を塗布するワークとの相対的な速度を制御に用いることにより、前述のようにシール剤の塗布経路がワークの移動軌跡と異なる場合であっても、一定幅で均一なシールビードを形成するに必要なシール剤塗布量を正しく確保することができる。
その為、シールガンの設置状況に影響を受けること無く、シール剤を所定のビードで塗布することが可能であり、ロボットなどを用いる自動シーリング・システムの汎用性や信頼性を高める効果がある。 According to the present invention, by using the relative speed between the seal gun for supplying the sealant and the workpiece to which the sealant is applied for control, as described above, the application route of the sealant is different from the movement trajectory of the workpiece. Even if it exists, it can ensure correctly the sealing agent application quantity required in order to form a uniform seal bead with a fixed width | variety.
Therefore, the sealant can be applied with a predetermined bead without being affected by the installation state of the seal gun, and there is an effect of improving the versatility and reliability of an automatic sealing system using a robot or the like.

続いて、図面に示す実施例に基づいて本発明を説明する。
図１は、本発明の実施例によるシーリング・システムの構成を概略的に示している。このシステムは、１台の多関節ロボット１と、１台の定置式シール剤供給装置７と、電子制御装置８とを含む。
多関節ロボット１には、ワーク掴みハンド２が設けられている。ロボット１は、このハンド２によりワーク３をつかんで動かすようになっている。一方、シール剤供給装置７は、シール剤供給ポンプ４と、このポンプにつながったシールガン５とを有する。装置７は、ポンプ４がシール剤をシールガン５へ供給し、シールガン５のノズル６からシール剤を塗布する。
電子制御装置８は、これら多関節ロボット１とシール剤供給装置７の作動を制御する。 Next, the present invention will be described based on the embodiments shown in the drawings.
FIG. 1 schematically shows the configuration of a sealing system according to an embodiment of the present invention. This system includes one articulated robot 1, one stationary sealant supply device 7, and an electronic control device 8.
The articulated robot 1 is provided with a workpiece gripping hand 2. The robot 1 grabs and moves the workpiece 3 with the hand 2. On the other hand, the sealant supply device 7 includes a sealant supply pump 4 and a seal gun 5 connected to the pump. In the device 7, the pump 4 supplies the sealant to the seal gun 5 and applies the sealant from the nozzle 6 of the seal gun 5.
The electronic control device 8 controls the operations of the articulated robot 1 and the sealant supply device 7.

このシステムの運転を説明すると、ロボット１に対して、シール剤をワーク３に塗布するための経路が予め教示されており、運転開始命令があると、制御装置８が教示されたプログラムを再生して、ロボットが教示された経路に沿って動作することになる。
同時に、教示プログラムに従ってシーリング開始指令が読込まれると、シール剤供給ポンプ４を動作させ、シール剤の吐出が行われる。シーリング終了指令が読込まれると、シール剤供給ポンプ４の動作を停止させる。 Explaining the operation of this system, the route for applying the sealant to the work 3 is taught in advance to the robot 1, and when there is an operation start command, the control device 8 reproduces the taught program. Thus, the robot moves along the taught path.
At the same time, when a sealing start command is read according to the teaching program, the sealant supply pump 4 is operated to discharge the sealant. When the sealing end command is read, the operation of the sealant supply pump 4 is stopped.

図２は、電子制御装置８の構成を詳細に示している。装置８は、ロボット制御部８１と、シール剤制御部８２とを含み、これら制御部はそれぞれ別個のＣＰＵにより動作するが、共有メモリを介して接続されている。
各制御部８１、８２には、ＲＯＭ、ＲＡＭ、軸制御回路、そしてＩ／Ｏインターフェースを設けている。ロボット本体１がロボット制御部８１の軸制御回路に接続され、シール剤供給ポンプ４がシール剤制御部８２の軸制御回路に接続される。 FIG. 2 shows the configuration of the electronic control device 8 in detail. The apparatus 8 includes a robot control unit 81 and a sealant control unit 82, which are operated by separate CPUs, but are connected via a shared memory.
Each of the control units 81 and 82 is provided with a ROM, a RAM, an axis control circuit, and an I / O interface. The robot body 1 is connected to the axis control circuit of the robot controller 81, and the sealant supply pump 4 is connected to the axis control circuit of the sealant controller 82.

また、シールガン５には、電磁弁により制御されるシール剤吐出口がある。この電磁弁は、ロボット制御部８１がＩ／Ｏインターフェースを介して制御するようになっている。
前述のシーリング開始指令があると、制御装置８は、シール剤供給ポンプ４の作動に先立って、ロボット制御部８１を介して電磁弁を作動させ、シールガン５のシール剤吐出口を開く。次いで、シーリング作業が終了し、シーリング終了指令が読込まれると、電磁弁を戻して、シールガン５のシール剤吐出口を閉じ、シール剤供給ポンプ４の作動を停止させる。 Further, the seal gun 5 has a sealant discharge port controlled by an electromagnetic valve. This electromagnetic valve is controlled by the robot controller 81 via the I / O interface.
When the sealing start command is given, the controller 8 operates the electromagnetic valve via the robot controller 81 prior to the operation of the sealant supply pump 4 to open the sealant discharge port of the seal gun 5. Next, when the sealing operation is completed and a sealing end command is read, the solenoid valve is returned, the sealant discharge port of the seal gun 5 is closed, and the operation of the sealant supply pump 4 is stopped.

シーリング作業時、ロボット制御部８１では、指令位置計算部が予め教示されたポイントの間を一定周期毎に補間してロボット１の指令位置を求め、軸制御部にその位置を指令している。この指令位置はまた、塗布速度計算部に入力される。塗布速度計算部は、この指令位置と、ロボット制御部８１に予め入力されたシールガン・ノズル６の定置座標とに基づいてワーク３およびノズル６の相対速度を算出し、これを塗布速度とする。
なお、これら指令位置計算部、軸制御部、そして塗布速度計算部は、ロボット制御部８１のＣＰＵやＲＯＭ、ＲＡＭによる演算部の処理として構成されるものである。 At the time of sealing work, in the robot control unit 81, the command position calculation unit interpolates between the points taught in advance at regular intervals to obtain the command position of the robot 1, and commands the position to the axis control unit. This command position is also input to the coating speed calculation unit. The coating speed calculation unit calculates the relative speed of the workpiece 3 and the nozzle 6 based on the command position and the fixed coordinates of the seal gun / nozzle 6 input in advance to the robot control unit 81, and sets this as the coating speed.
The command position calculation unit, the axis control unit, and the coating speed calculation unit are configured as processing of the calculation unit by the CPU, ROM, and RAM of the robot control unit 81.

上述した塗布速度計算部に於ける処理フローを、図３に示す。
処理を開始すると、先ずステップ１で、シールガン５が定置式か否かの判断を行う。この判断は、定置式か否かに応じた設定値を予めロボット制御部８１に入力しておき、この設定値に基づいて行う。
次いで、ステップ２にて、シールガン５が定置式ならば、シールガン・ノズル６の定置がロボットアーム先端座標系上のどの位置かを計算して求める。一方、シールガンが定置式でなければ、ロボットに取付けられたシールガン・ノズルが地面基準の座標系上のどの位置にあるかを算出する。 FIG. 3 shows a processing flow in the coating speed calculation unit described above.
When the process is started, it is first determined in step 1 whether or not the seal gun 5 is stationary. This determination is performed based on the set value that is input in advance to the robot control unit 81 according to whether or not it is a stationary type.
Next, in step 2, if the seal gun 5 is a stationary type, the position of the seal gun / nozzle 6 on the robot arm tip coordinate system is calculated and obtained. On the other hand, if the seal gun is not a stationary type, the position of the seal gun / nozzle attached to the robot on the ground-based coordinate system is calculated.

ステップ２で求まった現在の位置と前回の処理周期にて求めた位置との距離を、ステップ３で算出する。ステップ４では、ステップ３で算出した距離を指令値計算周期で除算することによって、ワーク３とシールガン・ノズル１の相対速度、すなわち塗布速度を求める。
最後のステップ５では、ステップ４で求めた塗布速度を、ロボット制御部８１とシール剤制御部８２のどちらからでも参照できる共有メモリに保管する。
なお、上述のステップ１と２は、制御装置８をシールガン定置式あるいは非定置式のシステムいずれにも対応可能な構成とするための処理である。 A distance between the current position obtained in step 2 and the position obtained in the previous processing cycle is calculated in step 3. In step 4, the relative speed between the workpiece 3 and the seal gun / nozzle 1, that is, the coating speed is obtained by dividing the distance calculated in step 3 by the command value calculation cycle.
In the final step 5, the coating speed obtained in step 4 is stored in a shared memory that can be referred to by either the robot controller 81 or the sealant controller 82.
Steps 1 and 2 described above are processes for configuring the control device 8 to be compatible with either a seal gun stationary system or a non-stationary system.

シール剤制御部８２は、こうして共有メモリ上に保管された塗布速度を一定周期で読み込み、この塗布速度に基づいて、ワーク上の単位塗布経路当たりのシール剤塗布量を一定とするように、シール剤供給ポンプ４からのシール剤の吐出量を制御する。
塗布速度の読み込み周期は、ロボット制御部８１が共有メモリ上の塗布速度を更新する周期と同じであることが好ましい。 The sealant control unit 82 reads the application speed stored in the shared memory in this manner at a constant cycle, and based on this application speed, the sealant application amount per unit application path on the workpiece is made constant. The discharge amount of the sealing agent from the agent supply pump 4 is controlled.
The application rate reading cycle is preferably the same as the cycle in which the robot controller 81 updates the application rate on the shared memory.

図４は、制御装置８の変更例を示している。この変更例の制御装置１８は、図２の装置と同様に、ロボット制御部１８１とシール剤制御部１８２から成るが、これら制御部を接続する共有メモリを設けていない点が、図２の装置と異なっている。
各制御部１８１、１８２は、共有メモリに代えて、それぞれアナログＩ／Ｏインターフェースを備え、これらのアナログＩ／Ｏインターフェース同士を電気接続している。また、ロボット制御部１８１は、算出した塗布速度に比例するアナログ信号を生成し、アナログＩ／Ｏインターフェースを通して出力する。シール剤制御部１８２は、このアナログ信号を一定周期毎に取り込んで、シール供給ポンプ４の吐出流量を制御する。 FIG. 4 shows a modification example of the control device 8. The control device 18 of this modified example includes a robot control unit 181 and a sealant control unit 182 as in the device of FIG. 2, but the shared memory for connecting these control units is not provided. Is different.
Each of the control units 181 and 182 includes an analog I / O interface instead of the shared memory, and electrically connects these analog I / O interfaces. Further, the robot control unit 181 generates an analog signal proportional to the calculated application speed and outputs it through an analog I / O interface. The sealant control unit 182 takes in this analog signal at regular intervals and controls the discharge flow rate of the seal supply pump 4.

制御装置１８のその外の構成部品や制御機能は、装置８と同様であり、説明を省略する。
この変更例の構成は、ロボット制御部１８１とシール剤制御部１８２を別々に設けるのに好適である。これは、例えば、既存のロボット制御装置とシール剤制御装置を改修して本発明に適用する場合などに有用である。 The other components and control functions of the control device 18 are the same as those of the device 8 and will not be described.
The configuration of this modified example is suitable for providing the robot control unit 181 and the sealant control unit 182 separately. This is useful, for example, when the existing robot controller and the sealant controller are modified and applied to the present invention.

以上、本発明を実施例に基づいて説明したが、本発明はこの特定な形態のみに限定されず、添付の特許請求の範囲による定義内で、説明した形態を様々に変更することができ、或いは本発明は別の形態をとり得るものである。
例えば、図示例は、多関節ロボット１を用いているが、ワーク３の移動には別の機構を用いてもよい。 As described above, the present invention has been described based on the embodiments. However, the present invention is not limited to this specific form, and the described form can be variously modified within the definition of the appended claims. Alternatively, the present invention can take other forms.
For example, although the articulated robot 1 is used in the illustrated example, another mechanism may be used to move the workpiece 3.

本発明の実施例によるシーリング・システム全体を示す概略図。1 is a schematic diagram illustrating an entire sealing system according to an embodiment of the present invention. 図１システムの制御装置の構成を示すブロック図。1 is a block diagram showing a configuration of a control device of the system in FIG. 図２の制御装置における塗布速度計算部の処理を示すフローチャート。The flowchart which shows the process of the application | coating speed calculation part in the control apparatus of FIG. 図２の制御装置の変更例を示すブロック図。The block diagram which shows the example of a change of the control apparatus of FIG. シールガンを定置したロボット式シーリング・システムにおけるロボット軌跡と塗布軌跡の違いを示す説明図。Explanatory drawing which shows the difference of the robot locus | trajectory and application | coating locus | trajectory in the robot-type sealing system which fixed the seal gun.

符号の説明Explanation of symbols

１ 多関節ロボット
３ ワーク
５ シールガン
６ ノズル
８、１８ 制御装置
８１、１８１ ロボット制御部
８２、１８２ シール剤制御部
DESCRIPTION OF SYMBOLS 1 Articulated robot 3 Workpiece 5 Seal gun 6 Nozzle 8, 18 Controller 81,181 Robot control part 82,182 Sealing agent control part

Claims (3)

ワークを担持する多関節ロボットと、
シール剤を供給するための、定置されたシールガンと、
前記ワーク上のシールを形成すべき部分に沿って該ワークが前記シールガンに対して移動するように前記多関節ロボットを駆動制御するロボット電子制御部と、
前記シール剤の吐出量を制御するシール剤電子制御部と
を有するシーリング・システムにおいて、
前記ロボット電子制御部は、少なくとも前記多関節ロボットのロボットアーム先端の軌跡と前記シールガンの塗布軌跡が一致しない場合に、
前記シール剤の塗布軌跡に沿って予め教示されたポイントの間を一定周期毎に補間して前記ロボットアーム先端の指令位置を求め、
前記指令位置を計算周期毎に指令して前記多関節ロボットを駆動し、
前記指令位置に基づいて、前記シールガンのノズルの、前記ロボットアーム先端座標系上の位置を計算し、
前記計算周期毎に求めた前記ノズル位置から前記計算周期毎の前記ノズルの移動距離を求め、これを該計算周期で除算して前記ノズルと前記ワークとの相対速度を求め、
前記シール剤電子制御部は、前記相対速度に基づいて、前記ワークの単位塗布経路当たりのシール剤塗布量が一定となるように前記シールガンからの吐出量を制御する
ことを特徴とするシーリング・システム。 An articulated robot carrying workpieces;
A stationary seal gun for supplying sealant;
A robot electronic control unit that drives and controls the articulated robot such that the workpiece moves relative to the seal gun along a portion on which the seal is to be formed;
A sealant electronic control unit for controlling the discharge amount of the sealant;
In a sealing system having
The robot electronic control unit, at least when the locus of the robot arm tip of the articulated robot and the application locus of the seal gun do not match,
Interpolating the points taught in advance along the application path of the sealant at regular intervals to determine the command position of the robot arm tip,
Command the commanded position for each calculation cycle to drive the articulated robot;
Based on the command position, calculate the position of the nozzle of the seal gun on the robot arm tip coordinate system,
Obtain the movement distance of the nozzle for each calculation cycle from the nozzle position obtained for each calculation cycle, and divide this by the calculation cycle to obtain the relative speed between the nozzle and the workpiece,
The sealant electronic control unit controls the discharge amount from the seal gun based on the relative speed so that the sealant application amount per unit application path of the workpiece is constant.
A sealing system characterized by that . 請求項１に記載のシステムであって、前記ロボット電子制御部と前記シール剤電子制御部とは共有メモリを介して接続され、前記相対速度は、前記共有メモリを通して前記ロボット電子制御部から前記シール剤電子制御部へ供給される、シーリング・システム。 A system according to claim 1, before the kilo bot electronic control unit and the sealant electronic control unit is connected via a shared memory, the relative velocity, the through the shared memory robot electronic control unit Ru is supplied into the sealant electronic control unit from the ceiling system. 請求項１に記載のシステムであって、前記ロボット電子制御部は、前記相対速度に比例したアナログ信号を前記シール剤電子制御部へ供給する、シーリング・システム。 The system of claim 1, prior km Bot electronic control unit supplies an analog signal proportional to the relative velocity to the sealant electronic control unit, the sealing system.
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