JP6471258B2 - Liquid material application apparatus and liquid material application method - Google Patents

Description

  The present invention relates to a liquid material application apparatus and a liquid material application method for performing desired drawing application (drawing application) on a workpiece by relatively moving an ejection head and the workpiece.

A discharge device called a dispenser is often used to apply a liquid material in a predetermined pattern when manufacturing an electronic device. Dispensers are widely used from large equipment to small equipment manufacturing. For example, a process of linearly applying a phosphor or an adhesive to a flat panel display typified by liquid crystal or organic EL, or a smartphone cover Is used in the step of linearly applying an adhesive to fix the cover to the outer periphery of the cover.
The application operation using the dispenser is performed by discharging the liquid material from the dispenser while relatively moving the dispenser and the work table according to a predetermined application pattern. However, there is a problem that the relative movement speed between the dispenser and the work table is changed in the corner portion, and the line width of the drawn coating line is disturbed (for example, as shown in FIG. Even if it is desirable to apply a line having the same thickness as that of the straight part in the part, if a change occurs in the relative movement speed between the dispenser and the work table in the corner part, as shown in FIG. The corner lines may be thicker than the straight lines.)

  Therefore, the relative movement speed between the dispenser and the work table is reduced at the start point of the corner portion and the discharge pressure of the dispenser is reduced, and then the relative movement speed between the dispenser and the work table is reached before reaching the end point of the corner portion. A technique has been proposed in which an appropriate amount of liquid material is applied at the corner by accelerating and increasing the discharge pressure of the dispenser.

However, since the discharge pressure (discharge amount) is controlled based on the pattern data stored in the microcomputer, for example, in a coating apparatus including a robot (XYZ direction moving device) that relatively moves the dispenser and the work table. In order to realize a desired drawing application, the following programming is required.
That is, first, it is necessary to program a relative movement command for moving the dispenser and the work table relative to each other according to the application pattern. Next, it is necessary to program a discharge amount control command for controlling the discharge amount at each application position on the application pattern. The discharge amount control command, for example, weakens the air pressure for discharge, shortens the distance between the annular valve seat communicating with the discharge port and the valve body, or weakens the rotational speed of the screw that provides the discharge propulsion force. It is an instruction. In addition, for a place where the relative movement speed changes such as a corner portion, it is necessary to divide the trajectory of drawing at the corner portion into a plurality of parts and program the relative movement speed and the discharge pressure for each of the divided trajectories.

Thus, since it takes time to program the discharge amount at each application position, a technique for automatically controlling the discharge pressure (discharge amount) in accordance with the change in the relative movement speed between the dispenser and the work table has been proposed. Yes.
For example, Patent Document 1 discloses that when the linear movement speed of the liquid discharge apparatus body is high, the valve rod is opened to increase the discharge flow rate, and conversely, when the linear movement speed of the liquid discharge apparatus body is low, the valve rod It is disclosed that the discharge flow rate is reduced by closing the valve to control the application amount on the object to be constant.
Also, in Patent Document 2, the conversion unit has a relational expression or conversion table that represents the relationship between the movement speed of the dispense head and the control amount of the discharge amount control device, and the movement speed is applied to the relational expression or conversion table. And the point which calculates the control amount for implement | achieving the set line | wire width is disclosed.

JP-A-5-285434 International Publication No. 2015/083722

  However, in the prior art (the inventions described in Patent Documents 1 and 2), since the discharge amount per unit time discharged from the dispenser is determined based on the relative moving speed between the dispenser and the work table, In order to discharge a desired amount of liquid material, it is necessary to relatively move the dispenser and the work table at a relative movement speed corresponding to the desired amount of discharge. Therefore, for example, even if it is desired to perform throwing and trial strikes during the coating operation, the dispenser and the work table are moved at a relative movement speed in accordance with the discharge amount desired by the operator on the discard strike area or the trial strike area. It was necessary to keep moving.

Further, according to the prior art, the dispenser and the work table are arranged according to the line width desired by the operator so that a coating line having a constant line width is applied even when the relative movement speed between the dispenser and the work table changes. It is necessary to set the relationship between the relative movement speed of the ink and the discharge amount per unit time. Therefore, when applying a coating line with a different line width in a series of coating operations, it is necessary to set the relationship between the relative movement speed and the discharge amount per unit time for each line width desired by the operator. There was a problem that it took time and effort.
Furthermore, the conventional technique has a problem that the dispenser cannot be stopped to perform the point-shaped application.

  The present invention provides a liquid material coating apparatus and a liquid material coating method capable of ejecting a predetermined amount of liquid material per unit time regardless of the relative movement speed during a series of coating operations. With the goal.

The liquid material application apparatus of the present invention controls the relative movement between the discharge head and the workpiece based on a discharge head that discharges the liquid material, a robot that moves the discharge head relative to the workpiece, and an application program. A movement control unit; and a discharge control unit that controls a discharge operation of the liquid material from the discharge head. The movement control unit and the discharge control unit cooperate to apply the liquid material to a predetermined application pattern. In the liquid material application apparatus for applying the work to the workpiece, the movement control unit is disposed in the robot, and the discharge head includes a plurality of different discharge method discharge heads. wherein a detachable from the robot, the discharge control unit comprises a plurality of ejection control unit corresponding to the discharge head of the different discharge method, one ejection of the selected One ejection control unit that corresponds to the head is connected releasably connected to the robot, the movement control unit includes a PTP movement for performing the relative movement regardless of the route to the specified coordinates, pre determined route in is configured to be performed an interpolation movement for performing the relative movement, yet the movement control unit, while the interpolated movement, and outputs a speed signal corresponding to the relative moving velocity continuously to the ejection controller The discharge control unit is configured to continue , the discharge control unit calculates a discharge control amount corresponding to the selected one discharge head based on the speed signal received from the movement control unit, and includes the discharge control amount. A command is output to the discharge head .
In the liquid material application apparatus, the speed signal is a scalar quantity speed signal obtained by combining the speeds of a plurality of moving axes, and the period is a pulse signal indicating the magnitude of the speed. Also good.
In the liquid material application device, the robot and the discharge control unit may be connected by a cable, and a speed signal may be transmitted from the movement control unit to the discharge control unit via the cable.
In the liquid material application apparatus, the relative movement speed includes a relative movement speed input in advance to the application program to apply the liquid material in the application pattern, and a relative movement speed input in advance to the application program. In order to supplement the above, a relative movement speed automatically calculated based on a relative movement speed input in advance in the application program may be included.
In the liquid material application apparatus, the discharge control unit may be configured to execute a first mode of discharge control that changes a discharge amount per unit time of the discharge head based on the relative movement speed. Good.
In the liquid material coating apparatus, in the first mode, the discharge amount per unit time of the discharge head may be changed so that a coating line having a constant coating amount per unit length is drawn. Good.
In the liquid material application apparatus, the discharge control unit performs second-mode discharge control in the first mode in which the discharge head discharges at a predetermined discharge amount per unit time regardless of the relative movement speed. It may be configured to be executable by switching to discharge control.
In the liquid material application apparatus, the discharge control unit is configured to switch between the discharge control in the first mode and the discharge control in the second mode by receiving a signal from the movement control unit based on the application program. You may make it do.
In the liquid material application apparatus, the plurality of different discharge methods may include two or more discharge methods selected from a screw method, a jet method, a plunger method, and an air method.

The liquid material application method of the present invention controls the relative movement between the discharge head and the workpiece based on a discharge program that discharges the liquid material, a robot that moves the discharge head relative to the workpiece, and an application program. A movement control unit; and a discharge control unit that controls a discharge operation of the liquid material from the discharge head. The movement control unit and the discharge control unit cooperate to apply the liquid material to a predetermined application pattern. A liquid material application method using a liquid material application apparatus that performs an application operation on the workpiece in which the movement control unit is disposed in the robot, and the discharge head includes a plurality of different discharge method discharge heads. a removable one of the ejection head that is relative to the robot, the discharge control unit sounds from a plurality of discharge control unit corresponding to the discharge head of the different discharge method , The one ejection control unit corresponding to the selected one of the discharge head is connected releasably connected to the robot, PTP said movement control unit performs the relative movement regardless of the route to the specified coordinates moving and performs an interpolation movement for performing the relative movement path is predetermined selectively, further the movement control unit, while the interpolated moving continuously a speed signal corresponding to the relative movement speed The discharge control unit calculates a discharge control amount corresponding to the selected one discharge head based on the speed signal received from the movement control unit, and outputs the discharge control amount to the discharge control unit. A discharge control command including the amount is output to the discharge head .
In the liquid material application method , the speed signal is a scalar quantity speed signal obtained by combining the speeds of a plurality of moving axes, and its period is a pulse signal representing the magnitude of the speed. Also good.
In the liquid material application method , the robot and the discharge control unit may be connected by a cable, and a speed signal may be transmitted from the movement control unit to the discharge control unit via the cable.
In the liquid material application method , the relative movement speed is applied in addition to the relative movement speed input in advance to the application program in order to apply the liquid material in the application pattern. In order to supplement the movement speed, a relative movement speed automatically calculated based on a relative movement speed input in advance in the application program may be included.
In the liquid material application method , the discharge control unit may execute a first mode of discharge control in which a discharge amount per unit time of the discharge head is changed based on the relative movement speed.
In the liquid material application method , in the first mode, the discharge amount per unit time of the discharge head may be changed so that an application line having a constant application amount per unit length is drawn. Good.
In the liquid material application method , the discharge control unit performs second-mode discharge control in the first mode in which the discharge control unit discharges the discharge head at a predetermined discharge amount per unit time regardless of the relative movement speed. It may be executed by switching to the discharge control.
In the liquid material application method , the discharge control unit may switch between the discharge control in the first mode and the discharge control in the second mode by receiving a signal from the movement control unit based on the application program. Good.
In the liquid material application method, the plurality of different discharge methods may include two or more discharge methods selected from a screw method, a jet method, a plunger method, and an air method.

  A liquid material coating apparatus according to a second aspect of the present invention includes a discharge head that discharges a liquid material, a robot that moves the discharge head relative to a workpiece, a discharge program, and the workpiece based on a coating program. A movement control unit that controls the relative movement of the liquid material, and a discharge control unit that controls a discharge operation of the liquid material from the discharge head, and the movement control unit and the discharge control unit cooperate, and the liquid A liquid material application apparatus for applying a material to a workpiece in a predetermined application pattern, wherein the discharge control unit is based on a relative movement speed between the discharge head and the workpiece based on the application program. The ejection control in the first mode for changing the ejection amount per unit time at which the ejection head ejects the liquid material and the ejection head are determined in advance regardless of the relative movement speed. Is switchable between discharge control of the second mode for discharging the discharge amount of liquid material per unit time that was.

In the liquid material coating apparatus according to the second aspect, in the first mode of discharge control, the drawing coating for coating a coating line having a constant coating amount per unit length is executed based on the coating program. It may be.
In the liquid material coating apparatus according to the second aspect, in the first mode of discharge control, drawing coating for coating a coating line having a constant line width may be executed based on the coating program.
In the liquid material coating apparatus according to the second aspect, in the second mode of discharge control, at least one of drawing application, throwing application, trial application, and point application is applied based on the application program. It may be possible to execute, and furthermore, it may be possible to execute at least two of the drawing application, the throwing application, the trial application, and the point application. .
In the liquid material coating apparatus according to the second aspect, the ejection control unit performs the first mode ejection control and the second mode ejection control by receiving a signal from the movement control unit based on the coating program. You may make it switch.
In the liquid material application device according to the second aspect, the discharge control unit is configured to perform a plurality of discharge controls in the first mode in which the relationship between the relative movement speed and the discharge amount per unit time is different from each other, or predetermined. It is possible to set a plurality of second mode discharge controls having different discharge amounts per unit time. Among the plurality of first mode discharge controls or the plurality of second mode discharge controls, 1 may be selected and executed.
In the liquid material application device according to the second aspect, the discharge control unit includes a first relative movement speed, a first discharge amount per unit time corresponding to the first relative movement speed, and a second relative movement. A function of automatically calculating a discharge amount per unit time corresponding to the third relative movement speed based on the speed and a discharge amount per second unit time corresponding to the second relative movement speed; In the discharge control in the first mode, a liquid material having a discharge amount per unit time corresponding to the relative movement speed while moving the discharge head at any one of the first to third relative movement speeds. You may make it discharge from.
In the liquid material application apparatus according to the second aspect, the relative movement speed is determined based on the application program in addition to the relative movement speed input in advance to the application program in order to apply the liquid material with the application pattern. In order to supplement the relative movement speed input in advance, a relative movement speed automatically calculated based on the relative movement speed input in advance in the coating program may be included.

  A liquid material application method according to a second aspect of the present invention includes a discharge head that discharges a liquid material, a robot that moves the discharge head relative to a work, a discharge program, and a work based on an application program. A movement control unit that controls the relative movement of the liquid material, and a discharge control unit that controls a discharge operation of the liquid material from the discharge head, and the movement control unit and the discharge control unit cooperate, and the liquid A liquid material application method using a liquid material application device that applies a material to a work in a predetermined application pattern, based on a relative movement speed between the discharge head and the work, based on the application program. Regardless of the relative movement speed and the discharge control in the first mode for changing the discharge amount per unit time at which the discharge head discharges the liquid material, the discharge head can To switch the discharge control of the second mode for discharging the liquid material in the discharge amount per unit time determined.

In the liquid material application method according to the second aspect, in the first mode of discharge control, a drawing application for applying an application line having a constant application amount per unit length is executed based on the application program. It may be.
In the liquid material coating method according to the second aspect, in the first mode ejection control, drawing coating for coating a coating line having a constant line width may be executed based on the coating program.
In the liquid material application method according to the second aspect, in the second mode of discharge control, at least one of drawing application, throwing application, trial application, and point application is applied based on the application program. Further, it may be executed, and furthermore, at least two of the drawing application, the throwing application, the trial application, and the point application may be executed.
In the liquid material application method according to the second aspect, the discharge control unit performs the discharge control in the first mode and the discharge control in the second mode by receiving a signal from the movement control unit based on the application program. You may make it switch.
In the liquid material application method according to the second aspect, the discharge control unit includes a plurality of first mode discharge controls in which the relationship between the relative movement speed and the discharge amount per unit time is different from each other, or predetermined. A plurality of second mode discharge controls having different discharge amounts per unit time are set, and one of the plurality of first mode discharge controls or the plurality of second mode discharge controls is selected. The discharge control may be selected and executed.
In the liquid material application method according to the second aspect, the discharge control unit includes a first relative movement speed, a first discharge amount per unit time corresponding to the first relative movement speed, and a second relative movement. A function of automatically calculating a discharge amount per unit time corresponding to the third relative movement speed based on the speed and a discharge amount per second unit time corresponding to the second relative movement speed; In the discharge control in the first mode, a liquid material having a discharge amount per unit time corresponding to the relative movement speed while moving the discharge head at any one of the first to third relative movement speeds. You may make it discharge from.
In the liquid material application method according to the second aspect, the relative movement speed is applied to the application program in addition to the relative movement speed input in advance to the application program in order to apply the liquid material with the application pattern. In order to supplement the relative movement speed input in advance, a relative movement speed automatically calculated based on the relative movement speed input in advance in the coating program may be included.
In the liquid material application method according to the second aspect, when the drawing application in which the relative movement speed changes according to the application pattern is performed, the discharge control in the first mode is performed, and the constant relative movement speed is set. When performing the drawing application, the discharge control in the second mode may be executed.
In the liquid material application method according to the second aspect, the workpiece includes one or more semiconductor chips, one or more substrates on which one semiconductor chip is mounted, or a plurality of semiconductor chips. One or a plurality of substrates mounted may be used.

  According to the present invention, based on the application program, the first mode of discharge control for changing the discharge amount per unit time at which the discharge head discharges the liquid material based on the relative movement speed of the discharge head and the workpiece; Since it is possible to switch and execute the second mode of discharge control for discharging a predetermined amount of liquid material per unit time to the discharge head regardless of the relative movement speed, the labor of programming by the operator is reduced. The application work can be appropriately performed while reducing the amount.

It is a perspective view which shows the external appearance of the coating device of this invention. It is a block diagram which shows a control part and a related element. It is a graph which shows the relationship between a speed signal and relative movement speed. It is a figure for demonstrating the example of control of discharge amount. It is a figure for demonstrating the discharge system of a dispenser. It is a figure for demonstrating the application | coating operation | movement in a series of application | coating operation | work which performs line drawing application | coating of a coating pattern which has a corner part, and discarding application | coating alternately. It is a figure for demonstrating the application | coating operation | movement of a series of application | coating operations which change the line | wire width of an application | coating line in the linear part of a predetermined application | coating pattern. It is a figure for demonstrating the application | coating operation | movement of a series of application | coating operations which perform line drawing application | coating of a predetermined application | coating pattern and dot application | coating alternately. A series in which a predetermined coating pattern drawing application and a coating pattern having a line width different from the coating pattern are discarded and the second coating pattern is applied alternately and repeatedly. It is a figure for demonstrating the application | coating operation | movement of an application | coating operation | work. It is a figure which shows an example of the drawing application | coating of the conventional coating device.

Embodiments of the present invention will be described below with reference to the drawings.
In the embodiment, as an example of a coating line in which the coating amount per unit length is constant, discharge control for realizing uniformity in line width when the coating line is viewed from above is disclosed. However, the technical idea of the present invention is not limited to application to the uniformity of line width. In order to realize the discharge control for making the coating amount per unit length constant, for example, the uniformity of the coating line height, the uniformity of both the line width and the height, or the cutting of the coating line The uniformity of the area may be the target of discharge control.

≪Applicator≫
FIG. 1 is a perspective view showing the appearance of the coating apparatus of the present invention. FIG. 2 is a block diagram showing the control unit and related elements. As shown in FIG. 1, the coating apparatus 1 according to the present invention includes a dispenser 10 and a robot 20 as main components. The dispenser 10 has a dispense head 50 and a dispense controller 40. As shown in FIG. 1, the robot 20 and the dispense controller 40 are electrically connected via cables A1 and A2, and the dispense head 50 and the dispense controller 40 are electrically connected via a cable B. Yes.

≪Robot≫
The robot 20 is a desktop device that includes an X-axis moving device 21, a Y-axis moving device 22, a robot head 23, a gantry 24, and a robot controller 30.
The X-axis moving device 21 is a device supported by two columns, and uses an X-axis drive source 61 as a drive source. A robot head 23 is disposed in the X-axis moving device 21, and the robot head 23 can move to arbitrary coordinates in the X direction.
The Y-axis moving device 22 is laid on a gantry 24 and uses a Y-axis drive source 62 as a drive source. The Y-axis moving device 22 is provided with a work table 25 as a work holding device, and the work table 25 can move to arbitrary coordinates in the Y direction. A work 26 is detachably held on the mounting surface on the work table 25.

The robot head 23 includes a moving member 28 and a Z-axis drive source 63, and constitutes a Z-axis moving device using the Z-axis drive source 63 as a drive source. That is, the robot head 23 can move the moving member 28 to an arbitrary coordinate in the Z direction by the Z-axis drive source 63. A dispensing head 50 is detachably fixed to a moving member 28 made of a plate, and the dispensing head 50 is also movable to arbitrary coordinates in the Z direction by a robot head 23 (Z-axis moving device).
Each drive source 61-63 is not specifically limited, For example, it can comprise by a stepping motor, a servomotor, or a linear motor.

  The gantry 24 includes a disposal area (adjustment application area) 27 for discarding the liquid material at a position where the dispensing head 50 on the upper surface can move. The gantry 24 includes a robot controller 30 that controls the operation of the robot 20. As shown in FIG. 2, the robot controller 30 includes a storage device 31 that stores the application program, and an arithmetic device 32 that executes the application program stored in the storage device 31. Further, as shown in FIG. 2, the robot controller 30 is electrically connected to the X-axis moving device 21, the Y-axis moving device 22, and the Z-axis drive moving device 23 via a cable 81.

  The application program stored in the robot controller 30 includes a command for linearly or curvilinearly moving the XYZ axis moving devices (21 to 23) to designated coordinates, and a relative relationship between the dispensing head 50 and the work table 25 (or the work 26). In addition to the relative movement command including the movement speed command, a discharge start command for causing the dispenser 10 to start discharging the liquid material, a discharge end command for causing the dispenser 10 to end the discharge of the liquid material, and the dispenser 10 A command for setting the discharge control mode is described. The robot controller 30 transmits a relative movement command to the X-axis moving device 21, the Y-axis moving device 22, and the Z-axis moving device 23 based on the application program, and can move the dispensing head 50 and the work table 25 relative to each other. it can. Commands relating to the discharge amount of the liquid material discharged from the dispense head 50 are not described in the application program, but are described in the discharge control program stored in the dispense controller 40. The application program describes a command for controlling the timing at which the ejection control program executes the first mode ejection control and the timing at which the second mode ejection control is executed.

  There are two types of movement methods in which the robot controller 30 moves the dispensing head 50 and the work table 25 relative to each other based on the application program: PTP movement and interpolation movement. The PTP movement is an operation of moving the dispensing head 50 relative to the designated coordinates on the workpiece 26 regardless of the route. For example, a liquid material such as a relative movement up to the application start point or a relative movement when returning to the origin is discharged. It is executed when not. The interpolated movement is an operation of relatively moving a predetermined movement path at a predetermined relative movement speed, and is used, for example, when applying a liquid material based on a predetermined application pattern.

  The robot controller 30 and the dispense controller 40 are electrically connected via cables A1 and A2, as shown in FIG. Then, the robot controller 30 outputs signals such as a discharge start command and a discharge end command to the dispense controller 40 via the cable A1. Further, the robot controller 30 outputs the relative moving speed V between the dispensing head 50 and the work table 25 to the dispensing controller 40 via the cable A2. The robot controller 30 continuously outputs the relative moving speed V between the dispensing head 50 and the work table 25 to the dispensing controller 40 via the cable A2 while the dispensing head 50 is performing the interpolation movement.

  FIG. 3 is a graph showing the relationship between (a) the relative movement speed V between the dispense head 50 and the work table 25 and (b) the speed signal output from the robot controller 30 to the dispense controller 40. As shown in FIG. 3, the speed signal is a pulse signal in which two large and small voltage values are alternately switched. In the present embodiment, as shown in FIG. 3, the period of the speed signal represents the speed of the relative movement speed V, and the shorter the period of the speed signal, the higher the relative movement speed V. The relationship between the speed signal and the relative movement speed V is not limited to the above-described relation. For example, the longer the speed signal cycle, the higher the relative movement speed V may be, and the magnitude (amplitude) of the voltage value may be increased. The relative moving speed V may be changed accordingly. In the present embodiment, such a speed signal is continuously output from the robot controller 30 to the dispense controller 40 during the interpolation movement.

  The “relative movement speed” described in the present embodiment is not the movement speed for each movement axis (X movement axis, Y movement axis, Z movement axis) of the robot 20, but the X movement axis, Y movement axis, Z The relative moving speed when the moving axes are combined (the same applies to the following). Here, a moving axis that does not significantly affect the formation of a coating line with a constant coating amount per unit length may be excluded as necessary.

  Further, the application program of the present embodiment can be processed by an interpreter method, but is not limited to this. Further, the operator sets a new coating program in the storage device 31 of the robot controller 30 using the computer provided in the coating device 1 or a computer outside the coating device 1 or causes the robot controller 30 to store the new coating program. The application program can be changed.

The robot 20 is not limited to the above-described configuration as long as the dispensing head 50 and the work table 25 (or the work 26) can be relatively moved in at least one-dimensional direction, more preferably in two-dimensional direction or more. The robot head 23 may be provided with an arm having one or more joints, or both the dispensing head 50 and the work table 25 are not movable, but only the dispensing head 50 is movable. It is also possible to adopt a configuration in which only the work table 25 (or the work 26) is movable. Further, in the present embodiment, the configuration in which the work 26 is placed on the work table 25 and applied is illustrated, but the present invention is not limited to this configuration. For example, the work 26 is held using a work holding device that holds the edges of the work 26. It can also be set as the structure which apply | coats. In addition, the workpiece may be applied to the moving or temporarily stopped workpiece by a workpiece holding device (for example, a belt conveyor) prepared separately from the robot 20. In this case, the robot 20 has no means for holding the workpiece, and the dispensing head 50 is moved relative to the workpiece held by the external workpiece holding device.
Further, in the present embodiment, the configuration in which the cables A1 and A2 are each one cable is illustrated, but the cables A1 and A2 may be combined into one cable, or divided into three or more cables. It may be configured.

≪Dispensing Head≫
As shown in FIG. 2, the dispensing head 50 includes a discharge unit 53, a nozzle 54, and a discharge driving device 64. In the discharge part 53, the liquid material for discharging from the nozzle 54 is stored. As will be described in detail later, the discharge drive device 64 is a drive device for discharging the liquid material stored in the discharge portion 53 (for example, an actuator for driving a screw or plunger provided in the discharge portion 53, a discharge device, or the like). An air supply device for adjusting the air pressure in the section 53, and the drive amount of the drive device can be controlled. As shown in FIG. 2, the discharge driving device 64 is connected to the dispense controller 40 via the cable B, and receives a discharge control amount D corresponding to the drive amount of the discharge driving device 64 from the dispense controller 40. The discharge control amount D can be programmed by the operator, and the discharge driving device 64 is driven according to the received discharge control amount D, whereby the liquid material having a discharge amount per unit time desired by the operator. Can be discharged from the discharge port 55 of the nozzle 54.

≪Dispense controller≫
The dispense controller 40 includes a storage device that stores a discharge control program that controls the discharge amount of the liquid material discharged from the dispense head 50, and an arithmetic device that executes the discharge control program. The dispense controller 40 is detachably connected to the dispense head 50 and the robot controller 30. Specifically, the dispense controller 40 is electrically connected to the robot controller 30 via the cables A1 and A2, and is electrically connected to the dispense head 50 via the cable B.

  The dispense controller 40 transmits a discharge operation command to the dispense head 50 via the cable B. The discharge operation command includes a discharge start command, a discharge end command, and a discharge amount control command. In this embodiment, the robot controller 30 transmits a discharge start command, a discharge end command, and a command for setting a discharge control mode to the dispense controller 40 based on the application program. The dispense controller 40 can start / stop the liquid material discharge operation by the dispense head 50 by outputting the discharge start command and the discharge end command received from the robot controller 30 to the dispense head 50. Although details will be described later, when the dispense controller 40 receives the discharge operation command and the discharge control mode from the robot controller 30, the dispense controller 40 determines the discharge control amount D based on the discharge control program, and discharges the determined discharge control amount D. Output to the drive unit 64. Accordingly, the dispense controller 40 can drive the discharge driving device 64 in accordance with the discharge control amount D, and discharge the liquid material of the discharge amount per unit time desired by the operator from the nozzle 54. it can.

  The dispense head 50 and the dispense controller 40 can be replaced for each liquid material ejection method. That is, the discharge mechanism of the dispense head 50 is different for each liquid material discharge method, and the discharge control amount D indicated by the dispense controller 40 also changes because the discharge mechanism is different. By mounting the dispense head 50 and the dispense controller 40 corresponding to the desired ejection method, the operator can cause the coating apparatus 1 to perform the ejection operation in the desired ejection method. Below, with reference to FIG. 5, as a discharge method of the liquid material by the dispenser 10, a screw method, a jet method, a plunger method, and an air method are illustrated. In addition, the discharge method of the liquid material by the dispenser 10 is not limited to the above method.

(A) Screw Method FIG. 5A is a cross-sectional view of a main part of a screw-type dispensing head 50. In the screw-type dispense head 50, a screw 56 is provided in the flow path of the discharge unit 53. By rotating the screw 56, the liquid material is sent to the nozzle 54, and the liquid material can be continuously discharged from the discharge port 55 of the nozzle 54. The screw-type dispense head 50 has a flow path including a screw 56 having two or more axes and a so-called mono-type or single-shaft eccentric screw pump in which a single-thread screw shaft rotates while being eccentric within a double-thread screw sleeve. The thing which gave special processing to the inner wall of a road and screw 56 is also included.

  The discharge amount of the liquid material discharged from the screw-type dispense head 50 per unit time is controlled by the number of rotations of the screw 56 per unit time. It is controlled by the rotational speed of the rotating actuator to be rotated. Therefore, the operator sets a discharge control amount D for directly or indirectly controlling the number of rotations of the rotary actuator per unit time in order to discharge the desired amount of liquid material per unit time from the dispense head 50. The described discharge control program is set in the screw-type dispense controller 40.

  Then, when causing the dispenser 10 to perform the screw-type discharge operation, the operator mounts the dispense head 50 and the dispense controller 40 corresponding to the screw type on the coating apparatus 1. Thereby, the dispense controller 40 transmits the discharge control amount D described in the discharge control program to the discharge drive device 64, and rotates the rotary actuator, which is the discharge drive device 64, according to the discharge control amount D. A liquid material of a discharge amount per unit time desired by a person can be discharged from the dispense head 50 by a screw method. In addition, although the mechanism using a motor is mainly used for a rotation actuator, it is not limited to this.

(B) Jet Method FIG. 5B is a cross-sectional view of a main part of a jet-type dispense head 50. In the jet-type dispense head 50, a plunger 57 is provided in the liquid chamber communicating with the discharge port 55 of the nozzle 54. The plunger 57 does not interfere with the side wall of the liquid chamber or does not interfere with the flow of the liquid material. . By moving the plunger 57 back and forth at high speed, an inertial force is applied to the liquid material, and the liquid material can be ejected in the form of droplets from the ejection port 55 of the nozzle 54. The jet type dispensing head 50 includes a type (sitting type) in which the tip of the plunger 57 moving forward contacts the valve seat to form a droplet, and the tip of the plunger 57 moving forward to the valve seat. There is a method of forming a droplet without contact (non-sitting method).

  The discharge amount per unit time of the jet-type dispense head 50 is controlled by the number of advance / retreat times of the plunger per unit time, and the number of advance / retreat times of the plunger 57 per unit time is controlled by the number of advance / retreat times of the advance / retreat actuator per unit time. The Therefore, the operator sets the discharge control amount D for directly / indirectly controlling the number of advance / retreat times of the advance / retreat actuator per unit time in order to eject the desired amount of liquid material per unit time from the dispense head 50. The described discharge control program is set in the dispense controller 40 for the jet method.

  Then, when causing the dispenser 10 to perform the ejection operation of the jet method, the worker mounts the dispense head 50 and the dispense controller 40 corresponding to the jet method on the coating apparatus 1. Thereby, the dispense controller 40 transmits the discharge control amount D described in the discharge control program to the discharge drive device 64, and moves the advance / retreat actuator which is the discharge drive device 64 in accordance with the discharge control amount D, thereby operating the work. A liquid material of a discharge amount per unit time desired by a person can be discharged from the dispense head 50 by a jet method. The forward / backward actuator is not particularly limited, and may be configured such that a piston provided behind the plunger 57 is driven by air or a spring, or may be configured to advance or retract the plunger 57 using an electromagnet.

(C) Plunger Type FIG. 5 (c) is a cross-sectional view of the main part of a plunger type dispensing head 50. FIG. In the plunger-type dispense head 50, a plunger 58 that slides on the side wall of the liquid chamber is provided in a measuring portion that communicates with the nozzle 54. The liquid material can be discharged from the discharge port 55 of the nozzle 54 by moving the plunger 58 forward. Further, a valve 59 for switching the measuring portion having the plunger 58 between the liquid chamber and the discharge port 55 can be provided as necessary. The valve 59 can be switched by a valve actuator (not shown).

  The discharge amount per unit time of the plunger-type dispense head 50 is controlled by the advance amount per unit time of the plunger 58, and the advance amount per unit time of the plunger 58 is reciprocated within the measuring tube. It is controlled by the number of revolutions per unit time of the discharging motor. Therefore, the operator controls the number of revolutions per unit time of the ejection motor directly or indirectly in order to eject a desired amount of liquid material per unit time from the dispense head 50. Is set in the plunger-type dispense controller 40.

  Then, when the operator causes the dispenser 10 to perform the plunger-type discharge operation, the operator mounts the dispense head 50 and the dispense controller 40 corresponding to the plunger method on the coating apparatus 1. Accordingly, the dispense controller 40 transmits the discharge control amount D described in the discharge control program to the discharge drive device 64, and rotates the discharge motor, which is the discharge drive device 64, according to the discharge control amount D to move the plunger. By advancing 58, the liquid material of the discharge amount per unit time desired by the operator can be discharged from the dispense head 50 by the plunger method. The configuration for converting the rotation of the discharge motor into the forward / backward movement of the plunger 58 includes a configuration in which the ball screw is rotated by the motor and the nut screwed into the ball screw is moved forward / backward, but is not limited thereto. . The advance amount per unit time of the plunger 58 may be controlled by controlling the advance amount per unit time of the advance / retreat actuator using an advance / retreat actuator other than the discharge motor.

(D) Air Method FIG. 5D is a cross-sectional view of the main part of an air-type dispense head 50. The air-type dispense head 50 can discharge the liquid material from the discharge port 55 by supplying pressurized air to the liquid material in the liquid chamber communicating with the nozzle 54. A mediating member (float) called a plunger can be interposed between the liquid material and air. The discharge amount per unit time of the air-type dispense head 50 can be controlled by the air supply pressure of the air supply device. For this reason, the operator has described a discharge control amount D for directly or indirectly controlling the air supply pressure of the air supply device in order to discharge a desired amount of liquid material per unit time from the dispense head 50. The discharge control program is set in the air-type dispense controller 40.

  Then, when causing the dispenser 10 to perform an air-type discharge operation, the operator mounts the dispense head 50 and the dispense controller 40 corresponding to the air method on the coating apparatus 1. Accordingly, the dispense controller 40 transmits the discharge control amount D described in the discharge control program to the discharge drive device 64, and increases or decreases the air supply pressure of the air supply device that is the discharge drive device 64 according to the discharge control amount D. By doing so, the liquid material of the discharge amount per unit time desired by the operator can be discharged from the dispense head 50 by the air method. The air supply device is not particularly limited, and an air supply device using a pressure reducing valve can be used.

  The dispenser 10 is not limited to the above-described discharge method, and is a discharge method that discharges a liquid material from the discharge port 55 of the nozzle 54, as long as it is a discharge method that can control the discharge amount per unit time. By using the dispenser 10 corresponding to the discharge method, the liquid material can be discharged by the discharge method. Further, depending on the configuration of the dispensing head 50, the nozzle 54 having the discharge port 55 and the discharge driving device 64 that discharges the liquid material may be separated from each other. In this case, the dispense head 50 only needs to include the nozzle 54 including at least the discharge port 55. That is, the “ejection head” defined in this specification is preferably provided with a drive unit such as an actuator, but may be provided with only a member including the nozzle 54. Further, the timing at which the relative movement speed signal transmitted from the robot controller 30 may differ depending on the difference in the ejection method between the dispense head 50 and the dispense controller 40, but as described above, the interpolation movement is executed. During this time, the relative movement speed signal output from the robot controller 30 is set as a signal that is continuously output, so that the relative movement speed signal can be obtained without delay when necessary regardless of the discharge method of the dispense controller 40. Can be acquired.

  Also, the dispense controller 40 can perform discharge control in two different discharge modes, ie, first mode discharge control and second mode discharge control, even in the same discharge method. The discharge control in the first mode is a discharge control mode in the case of performing the drawing coating, and in particular, the coating is performed by changing the relative moving speed between the dispense head 50 and the work table 25 at the corner portion of a predetermined coating pattern. A discharge control mode in which the discharge amount of the liquid material per unit time is changed in accordance with the relative moving speed V between the dispense head 50 and the work table 25 in order to suppress disturbance of the coating amount per unit length of the line. It is. Further, the second mode of the discharge control is a discharge control mode for performing throwing, trial driving, dot application, or the like, and is dispensed regardless of the relative moving speed V between the dispensing head 50 and the work table 25. This is a discharge control mode in which the head 50 discharges a predetermined amount of liquid material per unit time.

≪First mode discharge control≫
In order to perform discharge control in the first mode, the dispense controller 40 has a relational expression or conversion table that represents the relationship between the relative movement speed V and the discharge control amount D of the discharge driving device 64. The relational expression or conversion table showing the relationship between the relative movement speed V and the discharge control amount D of the discharge driving device 64 is such that the relative movement speed V and the discharge can be applied so that an application line having a desired line width can be drawn and applied. The relationship with the discharge control amount D of the drive device 64 is set in advance. When performing the discharge control in the first mode, the dispense controller 40 receives a speed signal corresponding to the relative movement speed V between the dispense head 50 and the work table 25 from the robot controller 30 via the cable A2. Then, the dispense controller 40 calculates the relative movement speed V based on the received speed signal, and applies the calculated relative movement speed V to the relational expression or the conversion table, thereby applying the coating line having the line width desired by the operator. A discharge control amount D for applying the liquid is calculated. Further, the dispense controller 40 outputs a discharge amount control command including the calculated discharge control amount D to the discharge drive device 64 to drive the discharge drive device 64 by an amount corresponding to the discharge control amount D. An application amount of liquid material per unit time desired by the operator can be ejected from the dispense head 50. The relative movement speed V is a scalar amount of the relative movement speed between the dispensing head 50 and the work table 25.

Here, with reference to FIG. 4, the relative moving speed V between the dispensing head 50 and the work table 25 in the discharge control in the first mode will be described. The upper part of FIG. 4 is an image diagram of a conversion table showing the discharge control amounts D _{1 to} D _n of the discharge driving device 64 corresponding to the relative movement speeds V _{1 to} V _n of the dispense head 50. Further, since the relative movement speeds V _{1 to} V _n are described as scalar amounts (absolute values), the same conversion table can be used for acceleration and deceleration. The lower part of FIG. 4 is a graph indicating a discharge control amount D when the moving speed of the dispensing head 50 is decelerated from V ₁ to V _n. In the following, as an example, the dispense head 50 and the dispense controller 40 correspond to a plunger system, and the discharge drive device 64 is a discharge motor that moves the plunger back and forth, and the discharge control amount of the discharge drive device 64 D is the rotation speed per unit time of the discharge motor, and the discharge amount of the liquid material from the dispense head 50 is controlled by controlling the rotation speed (discharge control amount D) of the discharge motor per unit time. It will be explained as a thing.

In the initial state of FIG. 4 (until time t ₁ ), the dispensing head 50 moves at the relative movement speed V ₁ , and the discharge motor that is the discharge drive device 64 is controlled at the number of revolutions of D ₁ per unit time. . The relative moving speed V of the dispensing head 50 is sent from the robot controller 30 to the dispensing controller 40 every Δt. When a change occurs in the relative movement speed V, the dispense controller 40 converts the received relative movement speed V into a corresponding discharge control amount D based on the conversion table.

If the relative movement speed V of the dispensing head 50 drops to V _2, a deceleration instruction from dispense controller 40 is issued, the rotational speed per unit of ejection driving device 64 time decreases to D _2. Similarly, when the relative movement speed V decreases in order of V ₃ , V ₄ ,... V _n , a deceleration command is sequentially issued from the dispense controller 40 in response to this, and the discharge driving device 64 is allowed to move per unit time. Is reduced to D ₃ , D ₄ ,... D _n . Further, when the relative moving speed V of the dispensing head 50 is maintained reached V _n, the speed change command from dispense controller 40 is not issued, the discharge driving device 64 maintains the rotation speed per unit time D _n.

  In the lower part of FIG. 4, the case where the relative moving speed V of the dispensing head 50 decreases linearly is illustrated, but the discharge driving device 64 can be controlled by the same method as described above even when changing nonlinearly. is there. That is, the discharge control amount D corresponding to the relative moving speed V of the dispense head 50 may be selected from the conversion table, and the discharge drive device 64 may be controlled by the discharge control amount D.

  Further, it is also possible to use a relational expression and a conversion table together, for example, use a conversion table for a certain speed range, and use a relational expression when deviating from the certain speed range. Note that the relational expression or the conversion table needs to be created in advance based on theoretical values or experimental values. The relational expression or the conversion table preferably defines five or more different discharge amounts in stages. The relative moving speed V of the dispensing head 50 is continuously dispensed from the robot controller 30 during the interpolated movement, at the timing when the change of the relative moving speed V is commanded in the coating program, or at predetermined time intervals. It is transmitted to the controller 40. Acquisition of the relative movement speed V by the dispense controller 40 can also be performed by a polling method in which a transmission request is sent from the dispense controller 40 to the robot controller 30.

≪Discharge control in the second mode≫
The ejection control in the second mode is an ejection control mode in which the dispensing head 50 ejects a predetermined amount of liquid material per unit time regardless of the relative moving speed V between the dispensing head 50 and the work table 25. It is. The operator can obtain in advance a discharge control amount D corresponding to the discharge amount per unit time desired in the discharge control in the second mode by an experiment or the like, and set it in the discharge control program. When the second mode discharge control is set, the dispense controller 40 drives the discharge driving device 64 by the discharge control amount D in the second mode discharge control based on the discharge control program. The liquid material can be discharged at a discharge amount per unit time desired by the person in the discharge control in the second mode.

≪Application work≫
The application apparatus 1 executes a series of application operations automatically and continuously by executing a preset application program. Hereinafter, as an example of a series of coating operations performed by the coating apparatus 1, a series of coating operations in which a predetermined coating pattern having a corner portion as shown in FIG. explain. In this coating operation, first, a throwing application is performed in which a predetermined amount of liquid material is thrown into the discarding area 27, and then a line drawing coating is performed in accordance with a predetermined coating pattern. The drawing discharge based on the coating pattern is continuously repeated. In the example application program, a series of application operations including a combination of throwing away application and drawing application is described. In addition, FIG. 6 is a figure for demonstrating the application | coating operation | movement in a series of application | coating operation | work which performs line drawing application | coating of the application pattern which has a corner part, and discarding application | coating alternately.

  When executing this application work, the robot controller 30 first outputs a switching signal to the second mode of discharge control to the dispense controller 40 based on the application program. Thereby, the dispense controller 40 switches the discharge operation from the discharge control in the first mode to the discharge control in the second mode. Next, the robot controller 30 moves the dispensing head 50 to the throwing-out area 27 relative to the application program. In the discharge control in the second mode, the discharge amount per unit time is determined in advance regardless of the relative moving speed V between the dispense head 50 and the work table 25. Even when the disposal application is performed while stopped, the predetermined amount of liquid material desired by the operator can be ejected in the disposal area 27.

  In this way, by performing the discard coating, the liquid material adhering to the outer surface of the nozzle 54 and the liquid material solidified in the vicinity of the discharge port 55 can be discarded. Thereby, the state and discharge amount of the liquid material discharged from the nozzle 54 can be made constant, and the occurrence of defective coating can be reduced in the drawing application performed after the throwing application.

  When the disposal application is completed, the robot controller 30 outputs a switching signal from the second mode discharge control to the first mode discharge control to the dispense controller 40 based on the application program. Thereby, the dispense controller 40 can determine the discharge amount per unit time according to the relative moving speed V of the dispense head 50. Then, the robot controller 30 relatively moves the dispense head 50 along the locus of a predetermined application pattern based on the application program, and transmits a speed signal corresponding to the relative movement speed V of the dispense head 50 to the dispense controller 40. The dispense controller 40 calculates a relative movement speed V based on the received speed signal, and calculates a discharge control amount D for driving the discharge driving device 64 based on the calculated relative movement speed V. Then, a discharge control amount D is output from the dispense controller 40 to the discharge drive device 64, and the discharge drive device 64 discharges the liquid material in the discharge portion 53 from the nozzle 54 based on the discharge control amount D. As described above, the dispense controller 40 performs the coating operation in the drawing coating by the discharge control in the first mode, so that there is a corner portion in the predetermined coating pattern, and the relative moving speed V of the dispensing head 50 changes in the corner portion. Even in this case, it is possible to perform the drawing coating so that the line width of the coating line is constant.

  Below, with reference to FIGS. 6-8, a series of coating operation | work of the coating device 1 which concerns on this embodiment is demonstrated. In addition, the coating apparatus 1 according to the present embodiment starts the coating work when the coating work start button is pressed by the operator, and the coating work is terminated by the command of the coating program, or the coating work end button is the worker. The liquid material can be applied to a plurality of workpieces 26 by automatically and continuously repeating a certain application operation until the pressure is pushed by the step. Here, “a series of coating operations” means a coating operation described in the coating program, and when the coating operation is intended for one workpiece, a line set for one workpiece. When the coating operation is intended for a plurality of workpieces, it means drawing coating and discard coating set for a plurality of workpieces. The workpiece 26 that is an object to be coated is not particularly limited. For example, one or a plurality of semiconductor chips, one or a plurality of substrates on which one semiconductor chip is mounted, and a plurality of semiconductor chips are mounted. One or a plurality of substrates is a workpiece.

Example 1
First, a series of coating operations shown in FIG. 6 will be described. In the series of application operations shown in FIG. 6, the drawing application of a predetermined application pattern to the workpiece 26 and the application of the disposal to the disposal area 27 are alternately performed. Before starting the main application operation, the operator first calculates the discharge amount per unit time in the rectangular application pattern shown in FIG. 6 and the discharge amount per unit time in the disposal area 27 by the dispense controller 40. Set (program) to.

  The drawing application of the rectangular application pattern is performed by the discharge control in the first mode. The operator can set the discharge control in the first mode as follows, for example. The operator repeatedly adjusts the discharge control amount D so that the line width of the application line becomes the desired line width Wa at the relative movement speed Va of the dispensing head 50 desired in the drawing application, and the line width of the application line is The discharge control amount Da to be Wa is determined. Next, the operator repeatedly adjusts the discharge control amount D so that the line width of the application line becomes the desired line width Wa at a relative movement speed Vb different from the relative movement speed Va, and the line width of the application line is A discharge control amount Db to be Wa is determined. Then, the operator inputs the obtained relative movement speeds Va and Vb and the discharge control amounts Da and Db to the dispense controller 40. As a result, the dispense controller 40 calculates a linear function indicating the relationship between the relative movement speed V and the discharge control amount D, where the line width of the coating line is Wa. The dispense controller 40 stores the calculated linear function in the storage device 31.

  In the above-described embodiment, the operator inputs the relative movement speeds Va and Vb and the discharge control amounts Da and Db to the dispense controller 40, so that the dispense controller 40 has the desired application line of the application line. Although the configuration for calculating the linear function indicating the relationship between the relative movement speed V and the discharge control amount D according to the line width Wa is illustrated, the configuration is not limited to this configuration. For example, a linear function indicating the relationship between the relative movement speed V and the discharge control amount D corresponding to the desired line width Wa of the coating line is obtained by the operator, and the relative movement speeds Va and Vb and the discharge control amounts Da and Db The linear function may be calculated and stored in the dispense controller 40.

  Further, when the relationship between the relative movement speed V and the discharge control amount D in the discharge control in the first mode is set in the dispense controller 40, one of the relative movement speeds Va and Vb is set in the drawing application of the coating pattern. It is preferable that the value is equal to or higher than the actual maximum speed, and the other value is equal to or lower than the actual minimum speed. As a result, an error hardly occurs between the line width W of the application line desired by the operator and the line width of the application line actually applied. In addition, the application operation is actually performed by obtaining the relationship between the relative movement speed V and the discharge control amount D in the discharge control in the first mode outside the range of the relative movement speed V at which the application pattern is actually drawn and applied. In this case, it is possible to effectively prevent the relative movement speed and the discharge control amount obtained from the above relationship from being out of the operating range of the dispenser 10 or the robot 20 in order to apply the application line with the desired line width. can do.

Furthermore, when it is known in advance that the discharge control amount D becomes zero (D ₀ ) when the relative movement speed V is zero (V ₀ ), the relative application speed can be applied with a desired line width. Only one combination of the movement speed Va and the discharge control amount Da is obtained, and the above relationship can be calculated from the combination of the relative movement speeds V ₀ and Va and the discharge control amounts D ₀ and Da. Also in this case, as described above, the relative movement speed Va is preferably set to a value equal to or higher than the actual maximum speed when the coating pattern is drawn by drawing. In addition, the relationship between the relative movement speed V and the discharge control amount D in the discharge control in the first mode can be defined by a function other than the linear function, and can also be obtained by a method other than the method described above.

  The discharge operation in the discarding area 27 is performed by the second mode discharge control in which discharge is performed regardless of the relative movement speed V. The discharge control amount D in the discharge control in the second mode can be set to the discharge control amount Dc per unit time according to the discharge amount desired by the operator in the throwing application.

  Next, the worker sets the robot controller 30. Specifically, an application program stored by the robot controller 30 is set. The application program mainly includes commands such as PTP movement, interpolation movement, discharge on / off switching, switching between first mode discharge control and second mode discharge control, and the desired series of application operations. Describe so that it can be implemented. In the interpolation movement, the relative movement speed V is also set. Note that either the setting of the dispense controller 40 or the setting of the robot controller 30 may be performed first or at the same time.

  Next, the operation of the coating apparatus 1 in the series of coating operations shown in FIG. 6 will be described. The robot controller 30 transmits a signal for switching to the second mode to the dispense controller 40 in order to perform the dispensation coating. Thereby, the discharge control of the dispense controller 40 is set to the discharge control in the second mode in which a predetermined discharge amount of the liquid material is discharged regardless of the relative movement speed V. Next, the robot controller 30 moves the dispensing head 50 relative to the throwing-out area 27 by PTP movement. When the dispensing head 50 moves to the disposal area 27, the robot controller 30 transmits a discharge start command to the dispensing controller 40. Thereby, the dispense controller 40 drives the discharge driving device 64 based on the discharge control amount Dc set in advance in the discharge control in the second mode, and the discharge per unit time required for the dispensing head 50 to be thrown away is applied. An amount of liquid material is discharged.

  When the disposal application is completed, as shown in FIG. 6, the robot controller 30 performs the second mode discharge control to the first mode discharge based on the application program in order to perform the drawing application of the rectangular application pattern. A switching signal for switching to control is transmitted to the dispense controller 40. Thereby, the discharge control of the dispense controller 40 is set to the first mode of discharge control in which the discharge control amount D is determined based on the relative movement speed V received from the robot controller 30.

  Based on the application program, the robot controller 30 moves the dispense head 50 relative to the application pattern start point A shown in FIG. 6 by PTP movement. Then, the robot controller 30 moves the dispense head 50 and the work table 25 relative to each other at a preset relative movement speed V based on the application program, and sends a speed signal corresponding to the relative movement speed V to the dispense controller 40. Send.

The dispense controller 40 converts the speed signal received from the robot controller 30 into a relative movement speed V. The dispense controller 40 then sets the current relative movement speed V _cur between the dispense head 50 and the work table 25 based on the relationship between the relative movement speed V and the discharge control amount D stored in advance for the discharge control in the first mode. Based on this, a discharge control amount _Dcur for applying the line width W of the application line desired by the operator is calculated. Then, dispense controller 40, calculated ejection control amount by driving the ejection driving device 64 based on the D _cur, to eject the liquid material in the discharge amount per unit time required to line引塗cloth dispense head 50.

  Further, in the coating pattern shown in FIG. 6, the drawing coating is performed in the order of A-B-C-D-E-F-G-H-I-A. The robot controller 30 interpolates and moves the dispense head 50 in the order of A-B-C-D-E-F-G-H-I-A. In this case, the robot controller 30 controls the relative moving speed V between the dispensing head 50 and the work table 25 so that the line width W of the coating line is not disturbed at the corner portion of the coating pattern.

Specifically, the robot controller 30, the dispensing head 50, toward the coating start point A to point B, the relative movement speed is accelerated at the acceleration VA ₁ until V _1, the relative moving speed reaches the V ₁ Then, by relatively moving between the rest of the line AB at a relative moving speed V _1, performs line引塗cloth. Further, when the dispense head 50 reaches the point B, the robot controller 30 decelerates the dispense head 50 at the corner portion BC at the deceleration VA ₂ until the relative movement speed becomes V ₂ , and the relative movement speed V ₂ is reached. Upon reaching, by relatively moving the remaining corner portion BC at a relative moving speed V _2, performs line引塗cloth. Further, the robot controller 30, the dispensing head 50 reaches point C, and the straight line CD, the dispensing head 50, the relative movement speed is accelerated at the acceleration VA ₁ so that V _1, the relative movement speed V ₁ Upon reaching, by relatively moving the remaining linear CD at a relative moving speed V _1, performs line引塗cloth. Further, the coating operation is similarly performed in the corner portions DE, FG, HI and the straight portions EF, GH, IA.

Further, during the interpolation movement (at least during the application of the drawing pattern), a speed signal (pulse signal) corresponding to the current relative movement speed V _cur is continuously output from the robot controller 30 to the dispense controller 40. . Therefore, for example, in the example shown in FIG. 6, the robot controller 30 continuously outputs a speed signal corresponding to the current relative movement speed V _cur while the application pattern is being drawn. When the relative moving speed _Vcur of the dispensing head 50 changes in the vicinity, a speed signal corresponding to the actual relative moving speed _Vcur in the vicinity of the corner portion can be output to the dispense controller 40. Then, the dispense controller 40 calculates the relative movement speed V and the discharge control amount D in the discharge control of the first mode stored in the dispense controller 40 based on the received speed signal at a timing appropriate for the dispense controller 40. from the relationship, and it calculates the discharge control amount _{D cur} corresponding to the current relative speed _{V cur.} Thereby, even when the relative movement speed _Vcur of the dispense head 50 changes near the corner portion, the dispense controller 40 can output the discharge control amount _Dcur corresponding to the actual relative movement speed _Vcur near the corner portion. The liquid material of the discharge amount corresponding to the actual relative moving speed _Vcur near the corner portion is immediately discharged to the dispenser controller 40 at the appropriate timing. Can be made. As a result, it is possible to cause the dispenser 10 to discharge a liquid material having a discharge amount that achieves a desired line width W, whether the dispensing head 50 is moving at a constant speed or is accelerated or decelerated.

  When the dispensing head 50 reaches the application end point A, the dispensing head 50 stops and the ejection operation by the ejection control in the first mode is terminated. Thereafter, the robot controller 30 transmits a signal for switching to the second mode to the dispense controller 40 and moves the dispense head 50 to the throwing-out area 27 by PTP movement. Thereafter, similarly, the throwing-out application and the drawing application are repeated.

The robot controller 30 does not move the dispense head 50 relative to the relative movement speed V set by the operator in the application program, but sets the operator on the application program in terms of safety and work efficiency. The dispense head 50 can be relatively moved at an optimized relative movement speed V different from the relative movement speed V. Specifically, the robot controller 30 can automatically add an acceleration at the start of the application work and a deceleration at the end of the application work in addition to the relative movement speed set by the operator in the application program. In addition to the relative movement speed set by the operator in the application program, the robot controller 30 operates the acceleration VA ₁ and the deceleration VA ₂ between the linear part and the corner part of the application pattern before and after the corner part. It is also possible to automatically calculate and add from the difference of the relative movement speed V set by the person. Further, the robot controller 30 can optimize (correct) the relative movement speed V set by the operator so that the dispensing head 50 moves smoothly along the path of the application pattern. Thus, when the robot controller 30 automatically corrects or adds to the relative movement speed V or acceleration VA described in the application program by the operator, the operator sets the application program in the robot controller 30. Instead of outputting a speed signal corresponding to the relative movement speed, it is preferable that the robot controller 30 outputs a speed signal corresponding to the relative movement speed V at which the dispense head 50 is actually moved relative to each other.

  In the series of coating operations shown in FIG. 6, since the first mode discharge control and the second mode discharge control can be switched during the series of coating operations, the dispensing head 50 is stopped during the series of coating operations. In this state, the liquid material can be discharged, and even when the space of the discarding area 27 is narrow, the discarding application can be performed during the discharging operation. In addition, since it is possible to shift from the throwing-off coating to the drawing coating continuously, the drawing 54 can be performed while the nozzle 54 after the throwing-out coating is in a good state, and the defect occurrence rate is reduced. You can also

The acceleration VA ₁ and the deceleration VA ₂ may be the same speed (scalar amount) or different speeds. In addition, since the situation is different between the start of application and the end of application, and the corner portion, acceleration and deceleration can be made different in both cases. In addition, instead of throwing away application, a measuring device such as a weigher is disposed in the throwing away area 27 to measure the discharged discharge amount to give a warning or give feedback. You may perform trial strike application.

<< Example 2 >>
Next, the operation of the coating apparatus 1 in the series of coating operations shown in FIG. 7 will be described. In the series of application operations shown in FIG. 7, the line width of the straight line portion JK is applied thicker than the other portions in the rectangular application pattern shown in FIG. 7. Further, in the series of application operations shown in FIG. 7, the throwing-out application is not performed, and the application operation of the application pattern on the square shown in FIG. 7 is continuously repeated. In the following, the series of coating operations shown in FIG. 7 will be described focusing on differences from the series of coating operations shown in FIG.

In the series of coating operations shown in FIG. 7, the straight line portion JK does not have a corner portion, so that the dispensing head 50 can be relatively moved at a constant relative moving speed V. Therefore, the operator sets the application program of the robot controller 30 so as to perform the discharge control in the second mode in which the liquid material is discharged at a predetermined discharge amount regardless of the relative movement speed V in the straight line portion JK. In addition, the operator can apply a coating line having a desired line width W _{JK at} the expected relative movement speed V _JK of the dispensing head 50 in the straight line portion JK, and the discharge control amount D corresponding to the discharge amount per unit time. _JK is determined in advance by experiment or the like, and is set in the dispense controller 40 as the discharge control amount D _JK per unit in the discharge control in the second mode. For portions other than the straight line portion JK of the application pattern, the robot controller 30 and the dispense controller 40 can be set similarly to the application operation of the application pattern shown in FIG.

  Next, a series of coating operations shown in FIG. 7 will be described. Also in the series of coating operations shown in FIG. 7, from the coating start point A to the point J, the dispensing head 50 is relatively moved and the relative movement speed V of the dispensing head 50 is set as in the coating pattern shown in FIG. Accordingly, discharge control in the first mode in which the discharge control amount D per unit time is determined is performed.

When the dispensing head 50 reaches the point J, the robot controller 30 outputs a switching signal to the second mode ejection control to the dispensing controller 40 based on the application program. Thus, the dispense controller 40 is set to the second mode of discharge control for discharging the discharge control amount _DJK corresponding to the discharge amount per unit time regardless of the relative movement speed V of the dispense head 50. In addition, the robot controller 30 relatively moves the dispense head 50 at the relative movement speed V _JK in the straight line portion JK based on the application program. As described above, the discharge control amount D _JK is equal to the line width W _JK of the straight line portion JK desired by the operator when the dispensing head 50 is moved at the relative movement speed V _JK. Because of the controlled amount, the coating apparatus 1 can apply the straight line portion JK with the line width _WJK desired by the operator.

  Thereafter, when the dispensing head 50 reaches the point K, the robot controller 30 outputs a switching signal to the discharge control in the first mode to the dispensing controller 40 based on the application program. Accordingly, the dispense controller 40 is set to the first mode of discharge control that determines the discharge control amount D based on the relative movement speed V of the dispense head 50. As a result, in portions other than the straight line portion JK in the application pattern, the dispense controller 40 can control the ejection control amount D according to the relative movement speed V of the dispense head 50, and the relative movement speed V of the dispense head 50. Even when the change occurs, it is possible to discharge the liquid material with the discharge amount that achieves the line width W desired by the operator.

  As shown in FIG. 7, in a series of coating operations, when the line width is changed in a part of the straight line portion, the first mode ejection control and the second mode ejection control are performed between the series of coating operations. By switching, straight lines having different line widths can be applied continuously to the previous application operation. Further, as shown in FIG. 7, by performing the second mode discharge control in the portion where the relative movement speed V does not change, it is not necessary to obtain the relationship between the relative movement speed V and the discharge control amount D for the portion. Therefore, it is possible to reduce the labor of the operator who sets the discharge control program. Furthermore, since the discharge control in the first mode and the discharge control in the second mode are automatically switched based on the application program, the straight line portion EJ and the straight line portion JK, and the straight line portion JK and the straight line portion KF having different line widths, It is possible to apply continuously without interruption.

  In the example shown in FIG. 7, the relative moving speed V of the dispensing head 50 may be changed between the case where the first mode discharge control is performed and the case where the second mode discharge control is performed. May be. In addition, the line width of the coating line of the straight line portion JK is not limited to a configuration that is thicker than other portions, but may be configured to be thinner than other portions, or may be configured to have the same line width as other portions. Good.

Example 3
Next, a series of coating operations shown in FIG. 8 will be described. In the series of application operations shown in FIG. 8, the throwing-out application is not performed, and the drawing application of the rectangular application pattern and the point application of the point shape consisting of three points are alternately performed.

  In the series of application operations shown in FIG. 8, the discharge control in the drawing application of the rectangular application pattern is performed by the first mode discharge control, and the discharge control in the point application is performed by the second mode discharge control. . The operator sets the application program of the robot controller 30 so that the discharge control in the drawing application of the rectangular application pattern is performed by the discharge control in the first mode and the discharge control in the point application is performed by the discharge control in the second mode. Can be set. Here, since the rectangular application pattern is the same as the application pattern shown in FIG. 6, the operator sets the robot controller 30 and the dispense controller 40 as in the first embodiment for the discharge control in the first mode. can do. In addition, regarding the discharge control in the second mode, the operator can obtain the discharge control amount D in advance by experiment or the like and set it in the dispense controller 40 so that the liquid material of the discharge amount necessary for point application is discharged. it can.

  In the series of application operations shown in FIG. 8, the robot controller 30 and the dispense controller 40 perform the first-mode ejection control in the same manner as the application of the application pattern shown in FIG. To do. When the drawing application of the square application pattern is completed, the robot controller 30 outputs a switching signal to the second mode ejection control to the dispense controller 40 based on the application program. Thereby, the discharge control by the dispense controller 40 is changed to the discharge control in the second mode. Next, the robot controller 30 relatively moves the dispense head 50 to the point J by the PTP movement, stops the dispense head 50 on the point J, and transmits a discharge start command to the dispense controller 40. As a result, the dispense controller 40 drives the discharge drive device 64 at a predetermined discharge control amount D in the discharge control in the second mode while the dispense head 50 is stopped on the point J. It is possible to cause the head 50 to discharge a liquid material having a discharge amount per unit time desired by the operator. Similarly, the robot controller 30 and the dispense controller 40 also perform point application for the points K and L. When the point application for points K and L is completed, the robot controller 30 moves the dispense head to the point A by PTP movement and transmits a signal for switching to the first mode of discharge control to the dispense controller 40. Thus, the discharge control by the dispense controller 40 is switched to the discharge control in the first mode. Thereafter, the drawing application and the point application of a predetermined application pattern are repeatedly executed continuously.

  As shown in FIG. 8, in a series of coating operations in which a predetermined coating pattern including a corner portion is drawn and dot coating is alternately performed, the drawing coating is performed by the discharge control in the first mode, and the point coating is performed. As shown in FIG. 8, by automatically switching the discharge control mode so as to be performed by the discharge control in the second mode, a series of performing the drawing application of the predetermined application pattern including the corner portion and the point application alternately. The coating operation can be performed automatically and continuously.

Example 4
Next, the coating operation of the coating apparatus 1 in the series of coating operations shown in FIG. 9 will be described. In the series of coating operations shown in FIG. 9, the discard coating, the drawing application of the first coating pattern P1, the discard coating, and the drawing application of the second coating pattern P2 are sequentially repeated. As shown in FIG. 9, both of the application patterns P1 and P2 are application patterns having corner portions, but the line width of the application line of the second application pattern P2 is the line width of the application line of the first application pattern P1. Thicker than

Here, the coating apparatus 1 which concerns on this embodiment can set multiple discharge control of a different discharge aspect as discharge control of 1st mode. Similarly, the coating apparatus 1 can set a plurality of discharge controls with different discharge modes as the discharge control in the second mode. For example, in the example shown in FIG. 9, the operator, to dispense controller 40, the line width of the coating line is W1 in line引塗fabric, the relationship between the relative moving velocity V and the discharge control amount D is represented by R _W1 and ejection control X1 of the first mode, the line width of the coating line is W2 on line引塗fabric, the relationship between the relative moving velocity V and the discharge control amount D is a discharge control X2 of the first mode represented by R _W2 Can be set.

  Further, in the coating apparatus 1 according to the present embodiment, when a plurality of first mode discharge controls and second mode discharge controls are set in different discharge modes, any one of the first mode discharge control and the second mode is controlled. A combination of these discharge controls can be set as a channel. For example, when X1 and X2 are set as the first mode discharge control and Y1 and Y2 are set as the second mode discharge control, the first mode discharge control X1 and the second mode discharge control Y1 are set as channels. The first mode discharge control X2 and the second mode discharge control Y2 can be set as the channel C2. Accordingly, by setting a coating program that repeatedly executes the channel C1 and the channel C2, the coating apparatus 1 can perform the first mode ejection control X1, the second mode ejection control Y1, and the first mode ejection control X2. The second mode ejection control Y2 can be repeated in sequence. In the coating apparatus 1, only one of the first mode ejection control and the second mode ejection control can be set. The channel setting is also not particularly limited. For example, the first mode discharge control X1 and the second mode discharge control Y1 are set as the channel C1, and the first mode discharge control X2 and the second mode discharge control Y1 are set. May be set to a plurality of channels, or a plurality of discharge controls of the same mode may be set to the same channel.

  In the series of coating operations shown in FIG. 9, the first application pattern P1 with the stroke width coating, the first coating pattern P1 having the coating line width W1, the first stroke pattern coating, the first stroke with the coating line width W2 (W2> W1). The drawing application of the two application pattern P2 is repeatedly performed in order. In this case, the operator sets, in the dispense controller 40, the second mode discharge control Y1 for performing the non-stick coating and the first mode discharge control X1 in which the line width of the coating line is W1, as the channel C1, The discharge control Y1 in the second mode for performing the non-stick coating and the discharge control X2 in the first mode in which the line width of the coating line is W2 are set as the channel C2. Further, the operator sets the application program stored in the robot controller 30 to perform the discharge control of the channel C1 with respect to the first application pattern P1, and to perform the discharge control of the channel C2 with respect to the second application pattern P2. To do.

In this case, the robot controller 30 first transmits an instruction to the dispense controller 40 to perform the discharge control of the channel C1 based on the application program. Then, the robot controller 30 moves the dispense head 50 relative to the discarding area 27 based on the application program, and causes the dispense controller 40 to perform the discarding application by the discharge control Y1 in the second mode. Next, the robot controller 30 relatively moves the dispense head 50 to the application start point of the first application pattern P1, and causes the dispense controller 40 to perform the drawing application of the first application pattern P1 by the discharge control X1 in the first mode. In the discharge control X1 in the first mode, since the relationship _RW1 between the relative movement speed V of the dispense head 50 and the discharge control amount D is determined so that the line width of the coating line is W1, the coating apparatus 1 In the first application pattern P1, an application line having a line width W1 can be drawn.

When the application of the first application pattern P1 is completed, the robot controller 30 transmits an instruction to the dispense controller 40 to perform the discharge control of the channel C2 based on the application program. Then, the robot controller 30 moves the dispensing head 50 relative to the discarding area 27 based on the application program, and causes the dispense controller 40 to perform the discarding application by the discharge control Y1 in the second mode. Also, the robot controller 30 moves the dispense head 50 relative to the application start point of the second application pattern P2, and causes the dispense controller 40 to perform the drawing application of the second application pattern P2 by the discharge control X2 in the first mode. In the discharge control X2 in the first mode, since the relationship _RW2 between the relative moving speed V of the dispense head 50 and the discharge control amount D is determined so that the line width of the coating line becomes W2, the coating apparatus 1 In the second application pattern P2, an application line having a line width W2 can be drawn.

  The relative moving speed V of the dispensing head 50 may be the same or different between the first application pattern P1 and the second application pattern P2. Further, in the example shown in FIG. 9, the second mode discharge control Y1 in the discard coating is described only in one of the channels C1 and C2, and the second mode discharge control Y1 is described in the other channel. It is also possible to adopt a configuration in which discharge control Y1 in the second mode is performed with the aid of a channel.

  As described above, in the coating apparatus 1 according to the fourth embodiment, a plurality of first mode ejection controls and second mode ejection controls having different ejection modes can be set. A series of coating operations can be performed by combining a plurality of disposal coatings with different discharge amounts.

  As described above, in the embodiment according to the present invention, the dispense head 50 is liquidated based on the relative moving speed V between the dispense head 50 and the work table 25 while performing a series of coating operations based on the coating program. The first mode of discharge control for changing the discharge amount per unit time for discharging the material and the discharge amount of the predetermined amount of liquid material per unit time are discharged to the dispense head 50 regardless of the relative movement speed V. Switching between two-mode discharge control is possible. As a result, a coating operation that could not be performed conventionally, for example, as shown in FIGS. 6 to 8, a series of coating operations and a corner portion in which a predetermined coating pattern having a corner portion is repeatedly drawn and discarded is applied. A series of coating operations in which the line width is changed in a part of the straight line portion of the predetermined coating pattern, and a series of coating operations in which a predetermined coating pattern having a corner portion is drawn and point-coated is repeated. A series of coating operations and the like for performing drawing coating of a plurality of coating patterns having different line widths can be performed automatically and continuously.

  The preferred embodiments of the present invention have been described above, but the technical scope of the present invention is not limited to the description of the above embodiments. Various modifications and improvements can be added to the above-described embodiment, and forms with such modifications or improvements are also included in the technical scope of the present invention.

  For example, in the first embodiment shown in FIG. 6 described above, a series of coating operations for alternately performing the drawing coating with a predetermined coating pattern and the discard coating is described. However, the present invention is not limited to this. After a predetermined number of times of drawing application of a predetermined coating pattern is applied to the workpiece 26, the application is discarded, and thereafter, after the predetermined application pattern is applied to the workpiece 26 for a predetermined number of times, it is discarded. It is good also as a structure which performs performing application | coating by turns. For example, in Example 4 shown in FIG. 9, the discard coating, the first coating pattern P1 drawing application, the discard coating, and the second coating pattern P2 are sequentially repeated. It is good also as a structure which repeats drawing application of the pattern P1, and drawing application of the 2nd application pattern P2 in order. Furthermore, it is good also as a structure which interrupts application in the middle of performing the drawing application | coating of a predetermined application pattern, and throws away application | coating. Furthermore, it is good also as a structure which performs throwing-out application | coating every fixed time. The frequency and timing of disposal application can be appropriately set by the operator in the application program according to the liquid material to be applied.

  The timing at which the robot controller 30 outputs the switching signal for the discharge control mode and the timing at which the dispense controller 40 that receives the switching signal switches the discharge control mode are not limited to the timing described above, but after the change in the discharge control mode. If there is no hindrance to the discharge / application, the timing may be different from that of the above-described embodiment.

  Furthermore, in the above-described embodiment, the configuration in which the first mode of discharge control is performed to change the discharge control amount D according to the change of the relative movement speed V for the drawing application of the application pattern having the corner portion, When the relative movement speed changes in a portion other than the corner portion, the first mode discharge control may be performed in that portion. For example, when it is necessary to change the relative movement speed in the straight line portion, the first mode of discharge control can be performed even in such a coating pattern.

  In addition, in the embodiment described above, the PTP movement and the interpolation movement are selectively used from the viewpoint of efficiency. However, the interpolation movement may be performed in part or all of the PTP movement described above. In Examples 1 to 4, with respect to the application in the second mode, an example is given in which any one of throwing application, trial application, drawing application, and point application is applied. It is also possible to apply a plurality of types of coating as the two-mode coating. Moreover, it is also possible to apply applications other than those described above as the second mode application as required.

1: coating device 10: dispenser 20: robot 21: X-axis moving device 22: Y-axis moving device 23: head (Z-axis moving device)
24: Stand 25: Work holding device (work table)
26: Work 27: Abandoned area (adjustment application area)
28: Moving member 30: Robot controller 31: Storage device 32: Arithmetic device 40: Dispense controller 50: Dispense head 53: Discharge unit 54: Nozzle 55: Discharge port 56: Screw 57: Plunger 58: Plunger 59: Valve 61 : X-axis drive source 62: Y-axis drive source 63: Z-axis drive source 64: Discharge drive device 81, A 1, A 2, B: Cable

Claims (18)

An ejection head for ejecting a liquid material;
A robot for moving the discharge head relative to the workpiece;
Based on a coating program, a movement control unit that controls relative movement between the discharge head and the workpiece;
A discharge control unit that controls the discharge operation of the liquid material from the discharge head,
The movement control unit and the discharge control unit cooperate, and is a liquid material application device that applies the liquid material to the workpiece in a predetermined application pattern,
The movement control unit is disposed in the robot,
The discharge head is composed of a plurality of discharge heads of different discharge methods, and the selected one discharge head can be attached to and detached from the robot.
The discharge control unit includes a plurality of discharge control units corresponding to the discharge heads of the different discharge methods, and one discharge control unit corresponding to the selected one discharge head is connected to the robot so as to be disconnected,
The movement control unit is configured to be able to execute a PTP movement that performs the relative movement regardless of a route to a designated coordinate and an interpolation movement that performs the relative movement along a predetermined route.
Further, the movement control unit, while the interpolated movement, the relative velocity signal corresponding to the moving speed continuously the discharge control unit that configured to continue to output,
The discharge control unit calculates a discharge control amount corresponding to the selected one discharge head based on the speed signal received from the movement control unit, and outputs a discharge control command including the discharge control amount to the discharge head. A liquid material applicator for outputting. 2. The liquid material coating apparatus according to claim 1, wherein the speed signal is a scalar amount speed signal obtained by combining speeds of a plurality of moving axes, and a period of the speed signal is a pulse signal representing a magnitude of the speed. .   The liquid material application according to claim 1, wherein the robot and the discharge control unit are connected by a cable, and a speed signal is transmitted from the movement control unit to the discharge control unit via the cable. apparatus.   The relative movement speed includes the relative movement speed preliminarily input to the application program for applying the liquid material in the application pattern and the application of the relative movement speed preliminarily input to the application program. The liquid material coating apparatus according to claim 1, comprising a relative movement speed automatically calculated based on a relative movement speed input in advance in the program.   5. The discharge control unit according to claim 1, wherein the discharge control unit is configured to be able to execute discharge control in a first mode in which a discharge amount per unit time of the discharge head is changed based on the relative movement speed. Liquid material applicator.   The liquid material coating apparatus according to claim 5, wherein in the first mode, the ejection amount per unit time of the ejection head is changed so that a coating line having a constant coating amount per unit length is drawn.   The discharge control unit can execute discharge control in the second mode for causing the discharge head to discharge at a predetermined discharge amount per unit time, regardless of the relative movement speed, by switching to discharge control in the first mode. The liquid material application device according to claim 5 or 6, which is configured as follows.   8. The discharge control unit according to claim 7, wherein the discharge control unit is configured to switch between the discharge control in the first mode and the discharge control in the second mode by receiving a signal from a movement control unit based on the application program. Liquid material applicator. The liquid material coating apparatus according to claim 1, wherein the plurality of different discharge methods include two or more discharge methods selected from a screw method, a jet method, a plunger method, and an air method. An ejection head for ejecting a liquid material;
A robot for moving the discharge head relative to the workpiece;
Based on a coating program, a movement control unit that controls relative movement between the discharge head and the workpiece;
A discharge control unit that controls the discharge operation of the liquid material from the discharge head,
A liquid material application method using a liquid material application device in which the movement control unit and the discharge control unit cooperate to apply the liquid material to the workpiece in a predetermined application pattern,
The movement control unit is disposed in the robot,
The discharge head is composed of a plurality of discharge heads of different discharge methods, and the selected one discharge head can be attached to and detached from the robot.
The discharge control unit includes a plurality of discharge control units corresponding to the discharge heads of the different discharge methods, and one discharge control unit corresponding to the selected one discharge head is connected to the robot so as to be disconnected,
The movement control unit selectively executes a PTP movement that performs the relative movement regardless of a route at a designated coordinate, and an interpolation movement that performs the relative movement along a predetermined route, and further performs the movement control. it part is, during the interpolation moving, continues to output a speed signal corresponding to the relative moving velocity continuously to the discharge controller,
The discharge control unit calculates a discharge control amount corresponding to the selected one discharge head based on the speed signal received from the movement control unit, and sends a discharge control command including the discharge control amount to the discharge head. A liquid material coating method , characterized in that output is performed . The liquid material coating method according to claim 10 , wherein the speed signal is a scalar amount speed signal obtained by combining speeds of a plurality of moving axes, and a period of the speed signal is a pulse signal representing the magnitude of the speed. . The liquid material application method according to claim 10 or 11 , wherein the robot and the discharge control unit are connected by a cable, and a speed signal is transmitted from the movement control unit to the discharge control unit via the cable. The relative movement speed is for supplementing the relative movement speed previously input to the application program in addition to the relative movement speed previously input to the application program in order to apply the liquid material in the application pattern. , the liquid material application method according to any one of claims 10 to 12 including the relative movement speed calculated automatically based on the relative moving speed is input in advance to the coating program. The ejection control unit, the liquid material application method according to any one of claims 10 to 13 executes the discharge control of the first mode for changing the discharge amount per unit time of the ejection head based on the relative moving speed . The liquid material application method according to claim 14 , wherein in the first mode, the ejection amount per unit time of the ejection head is changed so that an application line having a constant application amount per unit length is drawn and applied. The discharge control unit switches the discharge control in the second mode, which causes the discharge head to discharge at a predetermined discharge amount per unit time regardless of the relative movement speed, and switches to the discharge control in the first mode. The liquid material application method according to claim 14 or 15 . The liquid material application method according to claim 16 , wherein the discharge control unit switches between the discharge control in the first mode and the discharge control in the second mode by receiving a signal from a movement control unit based on the application program. 18. The liquid material application method according to claim 10, wherein the plurality of different discharge methods include two or more discharge methods selected from a screw method, a jet method, a plunger method, and an air method.