JP7259260B2 - Robot system and application method - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a robotic system that applies fluid to an object.

Conventionally, there is a coating device that coats a target surface with a sealing liquid (Patent Document 1). In the technique of Patent Literature 1, the center axis of the dispenser is on the same plane as a straight line extending perpendicularly to the target surface of the structure, and is inclined at a predetermined inclination angle with respect to the straight line. A monocular camera, on the other hand, is mounted so that its lens points toward the structure along a direction perpendicular to the plane of interest. With such a configuration, the nozzle port of the dispenser can be brought close to the position where the sealing liquid is to be applied on the target surface without causing interference between the dispenser and the structure.

This coating device moves the nozzle port along the edge of the plate. Then, while the dispenser is moving, the sealing liquid is discharged from the nozzle port. As a result, the sealing liquid adheres along the wavy edges of the plate.

JP 2015-88794 A

However, in the technique of Patent Literature 1, no consideration is given to the influence of the relationship between the orientation of the dispenser and the movement direction of the dispenser on the quality of the coating result. In the technique of Patent Literature 1, the portion of the end surface of the nozzle opening of the dispenser that is closest to the target surface is located behind the center of the nozzle opening in the moving direction of the dispenser. For this reason, part of the sealing liquid discharged from the nozzle port and adhered to the target surface is removed from the initial adhered position by the portion of the end surface of the nozzle port that is closest to the target surface as the dispenser moves. put away. As a result, the quality of the seal liquid application result is not stable.

According to one aspect of the present disclosure, there is provided a robot system that ejects a material to be ejected onto a surface to be ejected. In this robot system, the ejection direction, which is the direction in which the ejection section ejects the ejection material, and the detection direction, which is the direction in which the distance detection section detects the distance from the ejected surface of the object, intersects. , a robot to which the discharge part and the distance detection part are attached and which has a movable part for moving the discharge part; and a control part for controlling the movable part based on the output of the distance detection part. . When ejecting the material onto the surface to be ejected while moving the ejection unit, the control unit determines the ejection direction of the material to be ejected when the surface to be ejected is viewed from the normal direction of the surface to be ejected. and the moving direction of the discharging portion are different from each other.

It is a figure which shows the hardware constitutions of the robot system 1 which concerns on this embodiment. 3 is a block diagram of a robot control device 25; FIG. 4 is a side view showing the relationship between the orientation De of the nozzle Ndp of the dispenser DP and the movement direction Dm of the dispenser DP; FIG. 4 is a plan view showing the relationship between the orientation De of the nozzle Ndp of the dispenser DP and the movement direction Dm of the dispenser DP; FIG. FIG. 9 is a side view showing the relationship between the orientation De of the nozzle Ndp of the dispenser DP, the orientation DeB of the nozzle NdpB of the dispenser DPB, and the moving direction Dm of the dispenser DP in the robot system 1B of the second embodiment. It is a figure which shows the hardware constitutions of 1 C of robot systems which concern on this embodiment. 1 is a conceptual diagram showing an example in which a robot control device is configured by a plurality of processors; FIG. FIG. 11 is a conceptual diagram showing another example in which a robot control device is configured by a plurality of processors;

A. First embodiment:
(1) Robot system configuration:
FIG. 1 is a diagram showing the hardware configuration of a robot system 1 according to this embodiment. The robot system 1 applies a fluid Ps as an adhesive to the surface Swk of the work WK. More specifically, on the surface Swk of the work WK, the adhesive is continuously applied to points inside the outer edge of the surface Swk by a certain distance. For example, an adhesive is applied to one joint end face of two parts of the case that are joined face to face. However, in FIG. 1, the work WK is shown as a rectangular parallelepiped in order to facilitate understanding of the technology.

The robot system 1 includes a robot 20 and a robot controller 25 . A robot controller 25 controls the robot 20 . The robot control device 25 is composed of a motion control device 30 and a teaching device 50 .

The robot 20 is a single-arm robot that includes an arm Am and a support base Bs that supports the arm Am. The arm Am is a 6-axis vertical articulated arm. Arm Am includes six arm members, namely links L1 to link L6, and six joints, namely joints J1 to J6. Joint J2, joint J3, and joint J5 are bending joints, and joint J1, joint J4, and joint J6 are torsion joints.

The support base Bs and the link L1 are connected via a joint J1. Link L1 and link L2 are connected via joint J2. Link L2 and link L3 are connected via joint J3. Link L3 and link L4 are connected via joint J4. Link L4 and link L5 are connected via joint J5. Link L5, link L6 and end effector EE are connected via joint J6. An end effector EE is attached to the tip of the arm Am. The arm Am and the end effector EE are communicably connected to the motion controller 30 of the robot controller 25 via cables.

Arm Am can move end effector EE in three-dimensional space. The position of the end effector EE is defined by TCP (Tool Center Point). In this embodiment, the TCP is on the axis of rotation of joint J6. The motion controller 30 controls the position of TCP as a control point in the robot coordinate system RC by driving the arm Am.

In the present embodiment, a coordinate system that defines the space in which the robot 20 is installed with reference to the position of the support base Bs is referred to as a robot coordinate system RC. The robot coordinate system RC is a three-dimensional orthogonal coordinate system defined by an X-axis and a Y-axis orthogonal to each other on a horizontal plane and a Z-axis whose positive direction is vertically upward. In this specification, simply referring to the "X-axis" means the X-axis in the robot coordinate system RC. When simply referred to as the "Y-axis", it represents the Y-axis in the robot coordinate system RC. When simply called "Z-axis", it represents the Z-axis in the robot coordinate system RC. An arbitrary position in the robot coordinate system RC can be identified by a position DX in the X-axis direction, a position DY in the Y-axis direction, and a position DZ in the Z-axis direction.

In this embodiment, the rotational position around the X-axis is represented by the angular position RX. A rotational position about the Y axis is represented by an angular position RY. A rotational position about the Z-axis is represented by an angular position RZ. An arbitrary posture in the robot coordinate system RC can be expressed by an angular position RX about the X-axis, an angular position RY about the Y-axis, and an angular position RZ about the Z-axis.

In this specification, the term “position” means posture in addition to position in a narrow sense. The term "force" can mean not only force in the narrow sense defined by its direction and magnitude in three-dimensional space, but also torque acting in directions of rotation about the X-axis, Y-axis, and Z-axis. .

The end effector EE functions as a work unit that works on the work WK. The end effector EE has a dispenser DP and a distance detector Sd.

The dispenser DP ejects the fluid Ps to adhere to the work WK. Fluid Ps is an adhesive. The dispenser DP has a nozzle Ndp. The nozzle Ndp has a tubular structure for circulating the fluid Ps and ejecting the fluid Ps from an opening at the tip. The inner diameter of the nozzle Ndp is 0.33 mm in this embodiment. The fluid Ps is discharged from the tip of the nozzle Ndp along the central axis direction of the cylindrical nozzle Ndp. The dispenser DP is moved with respect to the work WK by the arm Am of the robot 20 .

In this embodiment, a coordinate system that defines a space based on TCP as a control point is referred to as a hand coordinate system HC. The end-of-hand coordinate system HC is defined by a Z-axis extending in the direction opposite to the link L6 of the arm Am with respect to the end effector EE in the rotation axis direction of the joint J6 with TCP as the origin, and an X-axis perpendicular to the Z-axis. , and a Y-axis orthogonal to the Z-axis and the X-axis.

The distance detection unit Sd can measure the distance between the distance detection unit Sd and an object located away from the TCP in the Z-axis positive direction of the hand coordinate system HC. In the end effector EE, the distance detector Sd is fixed with respect to the dispenser DP. Therefore, the distance between the object and the dispenser DP can be determined based on the output of the distance detector Sd. The distance detection unit Sd transmits an output representing the distance to the object to the motion control device 30 . The motion control device 30 receives the output from the distance detection section Sd, controls the motion of the arm Am, and as a result controls the position of the end effector EE attached to the tip of the arm Am.

Specifically, the distance detector Sd is a laser displacement meter. The distance detector Sd includes a semiconductor laser and a light receiving element. A semiconductor laser emits laser light. The distance detection unit Sd measures the distance to the object by receiving the reflected light of the laser beam from the object with the light receiving element. In the distance detection section Sd, the semiconductor laser and the light receiving element are provided close to each other. Therefore, in the drawings attached to this specification, the detection direction Dd, which is the direction in which the distance detection unit Sd detects the distance to the object, is indicated by a single line.

In the present embodiment, the end effector EE is positioned and oriented such that the detection direction Dd of the distance detection unit Sd matches the direction of the normal NL of the surface Swk of the work WK at the target point Tp for discharging the fluid Ps. controlled. Therefore, the distance Lwk to the surface Swk of the workpiece WK can be accurately detected by the distance detector Sd, and the arm Am can be controlled based on the output of the distance detector Sd.

The dispenser DP and the distance detection unit Sd are the direction in which the dispenser DP ejects the fluid Ps, and the direction in which the distance detection unit Sd detects the distance from the surface Swk of the workpiece WK as the ejection surface. It is mounted on the end effector EE so that the detection direction Dd and . An end effector EE having such a configuration is attached to the tip of the arm Am as described above.

In such a configuration, the intersection of the discharge direction De of the fluid Ps and the detection direction Dd of the distance detection unit Sd is set as the target point Tp for discharging the fluid Ps, so that the dispenser DP and the distance detection unit Sd The fluid Ps can be applied to the surface Swk of the work WK while accurately controlling the distance between the end effector EE including the end effector EE and the surface Swk of the work WK.

In addition, in FIG. 1 , the tip of the nozzle Ndp and the target point Tp are drawn separately in order to facilitate understanding of the technology. The same applies to FIGS. 3 to 5 as well. However, in reality, the target point Tp and the tip of the nozzle Ndp are almost at the same position. Specifically, the center position of the tip of the nozzle Ndp is located at a distance of 0.33 mm in this case from the target point Tp in the direction of the normal line NL, which is the dimension of the diameter of the channel inside the nozzle Ndp.

FIG. 2 is a block diagram of the robot controller 25. As shown in FIG. The robot control device 25 is composed of a motion control device 30 and a teaching device 50 . The motion control device 30 controls the arm Am of the robot 20 so that the TCP is positioned at the target position set by the teaching operation by the user. The operation control device 30 includes a CPU (Central Processing Unit) 30a, which is a processor, a RAM (Random Access Memory) 30b, and a ROM (Read-Only Memory) 30c. A control program for controlling the robot 20 is installed in the motion control device 30 . In the motion control device 30, these hardware resources and control programs cooperate.

The motion control device 30 can move the end effector EE by the arm Am based on the output from the distance detection section Sd when moving from one target position to the next target position. More specifically, the motion control device 30 can perform feedback control of the arm Am so that the distance between the object and the end effector EE is constant. The robot 20 can move the position of the end effector EE at, for example, 100 mm/s while performing such feedback control.

By performing control to keep the distance between the end effector EE and the work WK constant, even if the surface Swk of the work WK is not flat, the state of the fluid Ps of each part discharged onto the surface Swk of the work WK, for example, , the dimension of the fluid Ps in the direction perpendicular to the direction of movement Dm of the dispenser DP can be kept constant.

The teaching device 50 teaches the target position to the motion control device 30 . The teaching device 50 includes a CPU 50a, a RAM 50b, and a ROM 50c. A teaching program for teaching the target position to the motion control device 30 is installed in the teaching device 50 . In the teaching device 50, these hardware resources and the teaching program cooperate.

As shown in FIG. 1, teaching device 50 further includes an input device 57 and an output device 58 . The input device 57 is, for example, a mouse, keyboard, touch panel, etc., and receives instructions from the user. The output device 58 is, for example, a display, a speaker, etc., and outputs various information to the user.

(2) Action of the robot system:
FIG. 3 is a side view showing the relationship between the direction De of the nozzle Ndp of the dispenser DP and the moving direction Dm of the dispenser DP. FIG. 3 is an explanatory diagram for explaining the technical contents, and does not represent the dimensions of each part accurately.

When the dispenser DP is caused to discharge the fluid Ps onto the surface Swk of the work WK while keeping the distance from the surface Swk of the work WK constant and moving the dispenser DP, the operation control device 30 performs the following control. I do. That is, when viewed from the direction of the normal line NL of the surface Swk of the work WK at the target point Tp for discharging the fluid Ps, the operation control device 30 controls the direction De of the fluid Ps discharged by the dispenser DP and the movement of the dispenser DP. The direction Dm controls the arm Am differently.

When viewed from the direction of the normal line NL of the surface Swk, the dispenser DP is moved leftward in FIG. Discharging the body Ps onto the surface Swk of the work WK may cause the following problems due to the structure of the dispenser DP. That is, part of the fluid Ps adhering to the surface Swk is removed from the original adhered position by the portion closest to the surface Swk of the end face of the opening at the tip of the nozzle Ndp. As a result, the quality of the result of applying the fluid Ps is not stable.

However, the arm Am By controlling , it is possible to reduce the possibility that the structure of the dispenser DP will adversely affect the quality of the ejection result of the fluid Ps.

Further, when the fluid Ps is discharged onto the surface Swk of the workpiece WK while moving the dispenser DP, the operation control device 30 causes the discharge direction De of the fluid Ps to be aligned with the normal line NL when viewed from the movement direction Dm. Control the arm Am so that it is tilted with respect to the direction. The inclination angle of the ejection direction De of the fluid Ps with respect to the normal line NL is indicated by θ in FIG.

By performing such control, the distance detection unit Sd is arranged at a position closer to the direction of the normal line NL of the surface Swk of the work WK at the target point Tp at which the fluid Ps is discharged than the dispenser DP. The arm Am can be controlled based on the output of the distance detector Sd. As a result, the distance Lwk to the surface Swk of the work WK can be accurately detected by the distance detector Sd, and the arm Am can be controlled based on the output of the distance detector Sd.

A mode is also considered in which the nozzle Ndp of the dispenser DP is arranged at a position close to the direction of the normal NL of the surface Swk of the work WK, and the semiconductor laser and the light receiving element of the distance detection section are arranged on both sides of the nozzle Ndp. be done. However, such an arrangement in which another configuration is sandwiched between the semiconductor laser and the light receiving element is not common for a laser displacement meter, so the cost of the dispenser DP and the distance detection section increases. However, if it is set as an aspect like this embodiment, since general distance detection part Sd should just be fixed with respect to dispenser DP, the cost of dispenser DP and distance detection part Sd can be made low.

In addition, in a mode in which another structure is sandwiched between the semiconductor laser and the light receiving element, the distance between the semiconductor laser and the light receiving element increases, so the measurable range of the object narrows. Here, the "measurable range" refers to the range of distances between the distance detection unit and an object that can exist in various positions, for which distance measurement accuracy is guaranteed according to the specifications of the distance detection unit. be. However, in a mode in which no nozzle is arranged between the semiconductor laser and the light receiving element as in the present embodiment, the distance between the semiconductor laser and the light receiving element is small, so the measurable range of the object is wide.

FIG. 4 is a plan view showing the relationship between the orientation De of the nozzle Ndp of the dispenser DP and the movement direction Dm of the dispenser DP. FIG. 4 is a plan view of the nozzle Ndp of the dispenser DP and the applied fluid Ps when viewed from the direction of the normal NL of the surface Swk of the work WK. FIG. 4 is an explanatory diagram for explaining the technical content, and does not represent the dimensions of each part accurately.

When discharging the fluid Ps onto the surface Swk of the workpiece WK while moving the dispenser DP, the operation control device 30 determines that the discharge direction De of the fluid Ps is aligned with the movement of the dispenser DP when viewed from the direction of the normal line NL. Arm Am is controlled so as to be perpendicular to direction Dm. As a result, when viewed from the direction of the normal line NL, the ejection direction De of the fluid Ps does not include the component of the moving direction Dm of the dispenser DP.

In this specification, "the direction A does not include a component of the direction B" means that when the vector along the direction A is decomposed along two different directions, the direction B and the other direction C, It means that the positive component for direction B is not included. If the direction A is perpendicular to the direction B (see the nozzle Ndp and the ejection direction De in FIG. 4), it corresponds to "the direction A does not include the direction B component". Further, when the vector along the direction A is decomposed along two different directions, the direction B and the other direction C, a negative component is included in the direction B (in FIG. 4, the nozzle (see positions Ndp2 to Ndp4 and ejection directions De2 to De4) correspond to "the direction A does not include the component of the direction B".

By performing such control, for example, in FIG. is moved in the moving direction Dm, the possibility that the structure of the dispenser DP adversely affects the quality of the ejection result can be further reduced.

In addition, in the present embodiment, the arm Am is controlled so that the ejection direction De of the fluid Ps is perpendicular to the moving direction Dm of the dispenser DP when viewed from the direction of the normal line NL (see FIG. 4). See De and Dm). For this reason, while moving the dispenser DP in the direction Dm, the fluid Ps is discharged onto the surface Swk of the work WK, and then, without changing the direction of the dispenser DP, while moving the dispenser DP in the direction opposite to the direction Dm When the fluid Ps is discharged onto the surface Swk of the workpiece WK, it is possible to reduce the possibility that the quality of the fluid Ps discharged during the two movements will be significantly different.

The fluid Ps of this embodiment is also referred to as a "discharge". The work WK is also called an "object". The surface Swk of the work WK is also called a "discharged surface". The arm Am is also called a "movable part". The dispenser DP is also called a "discharge part". The operation control device 30 is also called a "control section".

B. Second embodiment:
In addition to the dispenser DP, another dispenser DPB for discharging another fluid PsB is attached to the end effector of the robot 20B of the robot system 1B of the second embodiment. Other points of the robot system 1B of the second embodiment are the same as those of the robot system 1 of the first embodiment.

FIG. 5 is a side view showing the relationship between the direction De of the nozzle Ndp of the dispenser DP, the direction DeB of the nozzle NdpB of the dispenser DPB, and the movement direction Dm of the dispenser DP in the robot system 1B of the second embodiment. FIG. 5 is an explanatory diagram for explaining the technical content, and does not represent the dimensions of each part accurately.

In the end effector EEB fixed to the tip of the arm Am of the robot system 1B of the second embodiment, two dispensers DP, DPB is fixed. In this embodiment, the optical axis of the laser beam of the distance detection section Sd coincides with the detection direction Dd of the distance detection section Sd. The configuration of dispenser DPB is the same as that of dispenser DP. The dispenser DPB ejects a fluid PsB different from the fluid Ps. The dispenser DPB is attached to the arm Am so that the ejection direction DeB of the fluid PsB and the detection direction Dd of the distance Lwk of the distance detection section Sd intersect.

By adopting such a configuration, it is possible to selectively or simultaneously discharge two types of discharge materials onto the surface Swk of the work WK without exchanging or cleaning the dispenser. Further, as will be described later, the distance Lwk from the surface Swk of the workpiece WK is accurately detected by the distance detection unit Sd, and the arm Am to which the dispensers DP and DPB are attached is controlled based on the output of the distance detection unit Sd. can do.

When the motion control device 30 causes the fluids Ps and PsB to be discharged onto the surface Swk of the work WK while moving the dispensers DP and DPB while maintaining a constant distance from the surface Swk of the work WK, the motion control device 30: Arm Am is controlled as follows. That is, the motion control device 30 determines the discharge direction De of the fluid Ps by the dispenser DP when viewed from the direction of the normal line NL of the surface Swk of the work WK at the same target point Tp to which the fluids Ps and PsB are to be discharged. , the arm Am is controlled such that the direction DeB in which the fluid PsB is discharged by the dispenser DPB is different from the moving direction Dm of the dispensers DP and DPB. More specifically, the nozzle Ndp of the dispenser DP is arranged in the direction shown in FIG. 4 with respect to the movement direction Dm, and ejects the fluid Ps along the ejection direction De. The nozzle NdpB of the dispenser DPB is arranged in the direction of Ndp1 in FIG. 4 with respect to the movement direction Dm, and ejects the fluid Ps along the ejection direction De1.

By performing the control as described above, it is possible to reduce the possibility of adversely affecting the quality of the discharge result for both structures of the dispensers DP and DPB.

Further, when the motion control device 30 moves the dispensers DP and DPB while maintaining a constant distance from the surface Swk of the work WK and ejects the fluid Ps onto the surface Swk of the work WK, the operation control device 30 operates the arm Am as follows. to control. That is, when viewed from the moving direction Dm, the motion control device 30 is configured so that the discharge direction De of the fluid Ps from the dispenser DP is inclined with respect to the direction of the normal line NL, and the fluid from the dispenser DPB The arm Am is controlled such that the ejection direction DeB of PsB is inclined with respect to the direction of the normal line NL. The inclination angle of the ejection direction De of the fluid Ps with respect to the normal line NL and the inclination angle of the ejection direction DeB of the fluid PsB with respect to the normal line NL are indicated by θ in FIG.

By performing such control, the distance detection unit Sd is arranged at a position closer to the direction of the normal line NL of the surface Swk of the work WK at the target point Tp at which the fluid Ps is discharged than the dispensers DP and DPB. , the arm Am can be controlled based on the output of the distance detector Sd. As a result, the distance Lwk to the surface Swk of the work WK can be accurately detected by the distance detector Sd, and the arm Am can be controlled based on the output of the distance detector Sd.

The fluid PsB of this embodiment is also called a "discharge". The dispenser DPB is also called a "dispenser".

C. Third embodiment:
In the first embodiment, the dispenser DP for discharging the fluid Ps and the distance detector Sd are attached to the tip of the arm Am via the end effector EE (see FIG. 1). The motion control device 30 controls the motion of the arm Am and, as a result, controls the position of the dispenser DP attached to the tip of the arm Am. However, in the third embodiment, the end effector EEC attached to the tip of the arm Am holds the work WK. The dispenser DPC and the distance detector SdC are arranged at fixed positions in the robot coordinate system RC. The motion control device 30 controls the motion of the arm Am to control the position of the work WK held by the end effector EEC with respect to the dispenser DPC.

FIG. 6 is a diagram showing the hardware configuration of the robot system 1C according to this embodiment. The robot system 1C includes a robot 20C and a robot controller 25. As shown in FIG. The arm Am of the robot 20C holds the work WK to be worked by the dispenser DPC and moves the work WK. In order to facilitate understanding of the technology, in FIG. 6, the configuration FX to which the dispenser DPC and the distance detection unit SdC are fixed is indicated by a cylinder. A configuration FX is a configuration other than the robot 20C. The dispenser DPC and the distance detector SdC can be fixed as a configuration FX, for example, to the ceiling or wall of the room where the robot 20C is installed.

The dispenser DPC ejects a fluid PsC as an adhesive to adhere to the work WK. The configuration of the dispenser DPC is the same as the configuration of the dispenser DP of the first embodiment. The dispenser DPC is controlled by the motion control device 30 .

The distance detection unit SdC can measure the distance between the distance detection unit SdC and an object located away from the distance detection unit SdC in the detection direction DdC. The configuration of the distance detector SdC is the same as the distance detector Sd of the first embodiment. The distance detector SdC is fixed with respect to the dispenser DPC.

The dispenser DPC and the dispenser DPC are arranged so that the discharge direction DeC, which is the direction in which the dispenser DPC discharges the fluid PsC, and the detection direction DdC, which is the direction in which the distance detection unit SdC detects the distance from the surface Swk of the work WK, intersect. The distance detector SdC is attached to the configuration FX. Since the distance detector SdC is fixed with respect to the dispenser DPC, the distance between the object and the dispenser DPC can be determined based on the output of the distance detector SdC.

The distance detector SdC sends an output representing the distance between the object and the dispenser DPC to the motion control device 30 . The motion control device 30 receives the output from the distance detection unit SdC, controls the motion of the arm Am, and as a result controls the position of the end effector EEC attached to the tip of the arm Am.

In such a configuration, by setting the intersection of the discharge direction DeC of the fluid PsC and the detection direction DdC of the distance detection unit SdC as the target point Tp for discharging the fluid PsC, the tip of the nozzle NdpC of the dispenser DPC and the , the fluid PsC can be applied to the surface Swk of the work WK while accurately controlling the distance from the surface Swk of the work WK.

In addition, in FIG. 6, the tip of the nozzle NdpC and the target point Tp are drawn separately in order to facilitate understanding of the technology. However, in reality, the target point Tp and the tip of the nozzle NdpC are almost at the same position. Specifically, the center position of the tip of the nozzle NdpC is located at a distance of 0.33 mm in this case from the target point Tp in the direction of the normal line NL, which is the dimension of the diameter of the channel inside the nozzle NdpC.

In the third embodiment, the position and orientation of the end effector EEC are such that the detection direction DdC of the distance detection unit SdC coincides with the direction of the normal NL of the surface Swk of the work WK at the target point Tp for discharging the fluid PsC. is controlled. Therefore, the distance Lwk to the surface Swk of the work WK can be accurately detected by the distance detector SdC, and the arm Am can be controlled based on the output of the distance detector SdC.

In the third embodiment, the motion control device 30 discharges the fluid PsC onto the surface Swk of the work WK while moving the work WK while maintaining a constant distance from the surface Swk of the work WK. control. That is, when viewed from the direction of the normal line NL of the surface Swk of the work WK at the target point Tp for discharging the fluid PsC, the operation control device 30 controls the discharge direction DeC of the fluid PsC by the dispenser DPC and the work of the dispenser DPC. The arm Am is controlled so that the relative movement direction DmR with respect to WK is different.

More specifically, the motion control device 30 controls the arm Am so that the discharge direction DeC of the fluid PsC does not include the component of the relative movement direction DmR of the dispenser DPC when viewed from the direction of the normal line NL. do. The nozzle NdpC of the dispenser DPC is arranged in the direction of Ndp in FIG. 4 with respect to the movement direction DmC of the work WK, and ejects the fluid PsC along the ejection direction De.

The robot system 1C of the third embodiment is the same as the robot system 1 of the first embodiment except for the points described above.

When viewed from the direction of the normal NL of the surface Swk at the target point Tp, the work WK is moved so that the discharge direction of the fluid PsC and the relative movement direction DmR of the dispenser DPC coincide with each other. If the fluid PsC is discharged onto the surface Swk of the workpiece WK, the quality of the result of discharging the fluid PsC onto the surface Swk of the work WK may not be stable due to the structure of the dispenser DPC. However, according to the third embodiment, it is possible to reduce the possibility that the structure of the dispenser DPC will adversely affect the quality of the dispensing result.

Further, according to the present embodiment, the nozzles NdpC are arranged in the directions of Ndp5 and Ndp6 indicated by broken lines in FIG. Compared to the mode of moving in the direction DmC, the possibility that the structure of the dispenser DPC adversely affects the quality of the ejection results can be further reduced.

In the third embodiment, the arm Am is controlled so that the discharge direction DeC of the fluid PsC is perpendicular to the movement direction DmC of the work WK when viewed from the direction of the normal line NL (see FIG. 4). (see De and Dm in ). For this reason, the fluid PsC is discharged onto the surface Swk of the work WK while moving the work WK in the direction DmC, and then the work WK is moved in the direction opposite to the direction DmC without changing the relative orientation of the dispenser DPC and the work. When the fluid PsC is discharged onto the surface Swk of the work WK while moving in the direction of , the possibility that the quality of the discharged fluid PsC differs greatly between the two movements can be reduced.

The fluid PsC of this embodiment is also called a "discharge". The dispenser DPC is also called a "dispenser".

D. Fourth embodiment:
(1) FIG. 7 is a conceptual diagram showing an example of a robot control device configured by a plurality of processors. In this example, in addition to the robot 20 and its motion control device 30, personal computers 400 and 410 and a cloud service 500 provided via a network environment such as a LAN are depicted. Personal computers 400 and 410 each include a processor and memory. The processor and memory are also available for the cloud service 500 . The processor executes computer-executable instructions. It is possible to realize the robot control device 25 including the motion control device 30 and the teaching device 50 using some or all of these multiple processors. Also, a storage unit that stores various types of information can be realized using part or all of these memories.

(2) FIG. 8 is a conceptual diagram showing another example in which a robot control device is configured by a plurality of processors. This example differs from FIG. 7 in that the motion control device 30 of the robot 20 is stored in the robot 20 . Also in this example, it is possible to realize the robot control device 25 including the motion control device 30 and the teaching device 50 by using some or all of the plurality of processors. Also, a storage unit that stores various types of information can be implemented using part or all of a plurality of memories.

E. Other embodiments:
E1. Alternative Embodiment 1:
(1) In the above embodiment, the distance detector Sd is a laser displacement meter. However, the distance detection unit can be in another aspect other than the laser displacement meter, such as an ultrasonic sensor. However, it is preferable that the distance detection unit can measure the distance to the object in a non-contact manner.

(2) In the above embodiment, the fluid Ps adhered to the workpiece WK by the dispenser DP as the discharge section is an adhesive. However, the substance discharged by the discharge portion may be other than the adhesive. For example, it may be a sealing member for airtightly or liquid-tightly closing a predetermined area, or the like, which changes to an elastic body having no fluidity after ejection.

(3) In the above embodiment, when discharging the fluid Ps onto the surface Swk of the work WK while moving the dispenser DP, the motion control device 30 controls the flow when viewed from the direction of the normal line NL of the surface Swk. The arm Am is controlled so that the ejection direction De of the body Ps is perpendicular to the movement direction Dm of the dispenser DP (see Ndp in FIG. 4). However, motion controller 30 can also control arm Am in other manners. When viewed from the direction of the normal NL of the surface Swk of the workpiece WK at the target point Tp for discharging the fluid Ps, the motion control device 30 determines the direction De of the fluid Ps discharged by the dispenser DP and the movement direction Dm of the dispenser DP. and control the arm Am differently (see Ndp1 to Ndp6 in FIG. 4).

(4) In the above embodiment, the distance from the side on which the fluid Ps is discharged to the surface Swk of the work WK is measured (see FIGS. 3 and 5). However, when the thickness of the object is known, the position of the object is measured by the distance detection unit from the side opposite to the side where the object is ejected, and the output of the distance detection unit is It is also possible to adopt a mode in which the movable portion is controlled based on.

(5) In the above embodiment, the intersection of the ejection direction De of the fluid Ps and the detection direction Dd of the distance detection section Sd is set as the target point Tp for ejecting the fluid Ps (see FIG. 3). However, the target point Tp for discharging the fluid Ps, that is, the intersection of the discharge direction De of the fluid Ps and the surface Swk of the work WK, and the intersection of the detection direction Dd of the distance detection unit Sd and the surface Swk of the work WK may be spaced apart. For example, the intersection of the detection direction Dd of the distance detection unit Sd and the surface Swk of the work WK is closer to the movement direction Dm of the dispenser DP than the intersection of the discharge direction De of the fluid Ps and the surface Swk of the work WK. Such control can also be performed by the operation control device 30 .

Feedback control of the arm Am based on the output from the distance detector Sd includes time delay. As described above, the intersection of the detection direction Dd of the distance detection unit Sd and the surface Swk of the work WK is closer to the movement direction Dm of the dispenser DP than the intersection of the ejection direction De of the fluid Ps and the surface Swk of the work WK. With this aspect, the distance detection unit Sd can acquire information on the position of a point preceding the target point Tp for discharging the fluid Ps. Therefore, the fluid Ps can be discharged by arranging the TCP as a control point at an appropriate distance from the target point Tp for discharging the fluid Ps.

E2. Alternative Embodiment 2:
In the first and second embodiments, when viewed from the direction of the normal line NL, the ejection direction De of the fluid Ps does not include the component of the moving direction Dm of the dispenser DP (see FIG. 4). However, when the surface to be ejected is viewed from the normal direction, the ejection direction of the ejected matter may include a component in the movement direction of the ejection section. For example, in FIG. 4, the nozzles Ndp may be arranged at positions Ndp5 and Ndp6, and the material may be ejected in the directions of arrows De5 and De6. In such a mode as well, the quality of the ejection result can be improved compared to the mode in which the nozzles are arranged in the direction opposite to the direction of Ndp4 and the ejected matter is ejected along the direction Dm.

However, it is more preferable that the nozzles are arranged at the positions Ndp and Ndp1 to Ndp4, and the material is ejected in the directions of the arrows De and De1 to De4. In such a mode, the nozzles Ndp are arranged at the positions of Ndp5 and Ndp6, and the structure of the ejection section adversely affects the quality of the ejection result compared to the mode in which the ejection material is ejected in the directions of the arrows De5 and De6. can be further reduced.

E3. Alternative Embodiment 3:
In the first embodiment described above, when the fluid Ps is ejected onto the surface Swk of the workpiece WK while moving the dispenser DP, the operation control device 30 is configured such that the fluid Ps is ejected in the ejection direction De when viewed from the moving direction Dm. is tilted with respect to the direction of the normal line NL (see θ in FIG. 3). Further, in the above-described second embodiment, the arm Am is further controlled such that the ejection direction DeB of the fluid PsB from the dispenser DPB is inclined with respect to the direction of the normal line NL (θ reference).

However, it is also possible to adopt a mode in which the ejection direction of the ejection material is not inclined with respect to the normal direction of the ejection receiving surface. For example, in a posture in which the ejection direction De or DeB of the dispenser DP or the dispenser DPB is aligned with the direction of the normal line NL of the ejection receiving surface Swk, and the detection direction Dd of the distance detection unit Sd is inclined with respect to them, It is also possible to adopt a mode in which ejection is performed. Alternatively, the ejection may be performed in a posture in which the ejection direction of the ejection portion and the detection direction of the distance detection portion are arranged on both sides of the direction of the normal line of the ejection target surface.

E4. Alternative Embodiment 4:
In the above-described embodiment, when the fluid Ps is discharged onto the surface Swk of the work WK while the dispenser DP is being moved, the motion control device 30 controls the flow of the fluid Ps when viewed from the direction of the normal line NL of the surface Swk. The arm Am is controlled so that the ejection direction De is perpendicular to the movement direction Dm of the dispenser DP (see FIG. 4).

However, when ejecting the material onto the surface to be ejected while moving the ejection part, the control part detects that the ejection direction of the material to be ejected is different from the moving direction of the ejection part when the surface to be ejected is viewed from the normal direction. It is also possible to control the movable portion so as to form angles of 60°, 45°, 30°, etc. (see, for example, Ndp2 to Ndp4 in FIG. 4).

However, the motion control device 30 can control the arm Am so that the ejection direction De of the fluid Ps is perpendicular to the moving direction Dm of the dispenser DP when viewed from the direction of the normal NL of the surface Swk. Preferred (see Figure 4). In this specification, "perpendicular" means an angle of 85° to 95°.

E5. Alternative Embodiment 5:
In the above embodiment, the motion control device 30 performs feedback control of the arm Am so that the distance between the object and the end effector EE is constant. However, when the discharge material is discharged onto the surface to be discharged while moving the discharge unit, the control unit controls the movable unit based on the output of the distance detection unit so that the distance to the surface to be discharged is constant. It can be set as the mode which does not do it. For example, when ejecting material onto the surface to be ejected while moving the ejection section, the control section may move the control point linearly toward the next target point.

E6. Alternative Embodiment 6:
In addition to the dispenser DP, the end effector of the robot 20B of the robot system 1B of the second embodiment is attached with a second dispenser DPB for discharging another fluid PsB. However, the number of dispensers attached to the robot as a discharge unit is not limited to two, and may be one as in the first embodiment, or may be three or more.

Further, in the second embodiment, the fluid Ps discharged from the dispenser DP and the fluid PsB discharged from the dispenser DPB have a common target point Tp. However, the target point of each ejected substance ejected from each ejecting portion may be different. Furthermore, the compositions of the ejected substances ejected by the plurality of ejecting portions may be the same or different.

However, when each discharge material is discharged onto the surface to be discharged while moving the plurality of discharge units, the control unit moves the surface to be discharged from the normal direction of the surface to be discharged at the point where each discharge material is to be discharged. It is preferable to control the movable portion such that, when viewed, the direction of discharge of each discharge material differs from the direction of movement of each discharge portion.

E7. Alternative Embodiment 7:
In the third embodiment, the arm Am is controlled so that the discharge direction DeC of the fluid PsC is perpendicular to the movement direction DmC of the work WK when viewed from the direction of the normal line NL (see FIG. 4). See De and Dm). However, the target object may be moved in other directions, as in the case of the moving direction of the discharge section in the second and fourth embodiments.

However, when the ejection material is ejected onto the ejection receiving surface while the object is being moved, the controller controls the ejection target surface when viewed from the normal direction of the ejection receiving surface at the point where the ejection material is to be ejected. and the direction of relative movement of the ejection portion with respect to the object.

F. Yet another form:
The present disclosure is not limited to the embodiments described above, and can be implemented in various forms without departing from the scope of the present disclosure. For example, the present disclosure can also be implemented in the following forms. The technical features in the above embodiments corresponding to the technical features in each form described below are used to solve some or all of the problems of the present disclosure, or to achieve some or all of the effects of the present disclosure. In order to achieve the above, it is possible to appropriately replace or combine them. Also, if the technical features are not described as essential in this specification, they can be deleted as appropriate.

(1) According to one aspect of the present disclosure, there is provided a robot system that ejects a material to be ejected onto a surface to be ejected. In this robot system, the ejection direction, which is the direction in which the ejection section ejects the ejection material, and the detection direction, which is the direction in which the distance detection section detects the distance from the ejected surface of the object, intersects. , a robot to which the discharge part and the distance detection part are attached and which has a movable part for moving the discharge part; and a control part for controlling the movable part based on the output of the distance detection part. . When ejecting the material onto the surface to be ejected while moving the ejection unit, the control unit determines the ejection direction of the material to be ejected when the surface to be ejected is viewed from the normal direction of the surface to be ejected. and the moving direction of the discharging portion are different from each other.
When viewed from the normal direction of the surface to be ejected at the point where the material is to be ejected, the ejecting part is moved so that the ejection direction of the ejecting material coincides with the moving direction of the ejecting part. , the quality of the ejection result of the ejected material onto the ejected surface may not be stable due to the structure of the ejecting part. However, with the above aspect, it is possible to reduce the possibility that the structure of the ejection section will adversely affect the quality of the ejection results.

(2) In the robot system of the above aspect, when the ejection part is moved to eject the ejection material onto the ejection target surface, the control unit, when the ejection target surface is viewed from the normal line direction, It is also possible to adopt a mode in which the movable portion is controlled so that the ejection direction of the ejection material does not include the component of the movement direction of the ejection portion.
With such an aspect, it is possible to further reduce the possibility that the structure of the ejection section will adversely affect the quality of the ejection results.

(3) In the robot system of the above aspect, when the discharge material is discharged onto the discharge target surface while moving the discharge section, the control section controls the discharge area when the discharge section is viewed from the moving direction. It is also possible to adopt a mode in which the movable part is controlled so that the discharge direction of the object is inclined with respect to the normal direction.
With such an aspect, the distance detection section is arranged at a position closer to the normal direction of the surface to be discharged at the point where the discharge material is to be discharged than the discharge section, and the distance detection section is movable based on the output of the distance detection section. part can be controlled. As a result, it is possible to control the movable portion based on the output of the distance detection section while accurately detecting the distance to the ejection receiving surface by the distance detection section.

(4) In the robot system of the above aspect, when the discharge material is discharged onto the surface to be discharged while moving the discharge unit, the control unit controls, when the surface to be discharged is viewed from the normal direction, The movable portion may be controlled such that the ejection direction of the ejection material is substantially perpendicular to the movement direction of the ejection portion.
With such a mode, the ejecting part is moved in a certain direction to eject the ejected material onto the surface to be ejected, and then the ejecting part is moved in the direction opposite to the certain direction without changing the attitude of the ejecting part. In the case of ejecting the ejected material onto the ejected surface while moving, it is possible to reduce the possibility that the quality of the ejected material differs greatly between the two movements.

(5) In the robot system of the above aspect, when the discharge material is discharged onto the surface to be discharged while moving the discharge unit, the control unit controls the surface to be discharged based on the output of the distance detection unit. It is also possible to control the movable portion so that the distance from the .
With such a mode, the state of the ejected material ejected onto the ejected surface can be kept constant.

In the robot system of the above aspect, the movable part is further provided with another discharge part for discharging another discharge material, and the other discharge part is the discharge material by the other discharge part. is attached to the movable part so that the ejection direction of and the detection direction intersect, and when ejecting the other ejection material onto the ejection receiving surface while moving the other ejection part, When the surface to be discharged is viewed from the normal direction of the surface to be discharged at the point where the other substance to be discharged is to be discharged, the control unit controls the direction of discharge of the other substance to be discharged and the direction of discharge of the other substance to be discharged. It is also possible to adopt a mode in which the movable portion is controlled so that the direction of movement of is different from that of .
With such a mode, two types of ejected substances can be ejected onto the ejected surface without exchanging or cleaning the ejecting portion. In addition, it is possible to reduce the possibility that the structure of the ejection part adversely affects the quality of the ejection result for any of the ejection parts.

(6) According to another aspect of the present disclosure, there is provided a robot system that moves an object onto which a substance is to be discharged. This robot system includes a robot including a movable part that moves the object having a discharge receiving surface, and a control part that controls the movable part based on the output of a distance detection unit that detects the distance from the discharge receiving surface. , provided. The ejection unit and the distance are arranged such that the ejection direction, in which the ejection unit ejects the ejection material, and the detection direction, in which the distance detection unit detects the distance to the ejected surface, intersect. A detection section is attached to a structure other than the movable section. When ejecting the ejection material onto the ejection target surface while moving the target object, the control unit determines the ejection direction of the ejection target surface when the ejection target surface is viewed from the normal line direction of the ejection target surface. and the direction of relative movement of the ejection section with respect to the object.
When viewed from the normal direction of the surface to be ejected at the point where the material is to be ejected, the object is moved so that the ejection direction of the ejection material and the relative movement direction of the ejection part match. When the ink is ejected onto the surface, the quality of the ejected material may not be stable due to the structure of the ejecting portion. However, with the above aspect, it is possible to reduce the possibility that the structure of the ejection section will adversely affect the quality of the ejection results.

(7) In the robot system of the above aspect, when the discharge material is discharged onto the discharge receiving surface while moving the target object, the control unit, when the discharge receiving surface is viewed from the normal line direction, The movable portion may be controlled so that the ejection direction of the ejected material does not include the component of the relative movement direction of the ejection portion.
With such an aspect, it is possible to further reduce the possibility that the structure of the ejection section will adversely affect the quality of the ejection result.

(8) According to another aspect of the present disclosure, the ejection direction is the direction in which the ejection section ejects the ejection material, and the detection direction is the direction in which the distance detection section detects the distance from the ejected surface of the object. a robot having a movable part for moving the discharge part and a robot for controlling the movable part based on the output of the distance detection part. A coating method for ejecting the ejected material onto the ejected surface by a control unit is provided. In this coating method, when the ejection material is ejected onto the ejection target surface while the ejection unit is moved, when the ejection target surface is viewed from the normal line direction of the ejection target surface, the ejection direction of the ejection target is and a coating step of controlling the movable portion by the control portion such that the direction of movement of the discharge portion is different from that of the discharge portion.

(9) In the coating method according to the above aspect, when the coating step ejects the ejected substance onto the ejected surface while moving the ejector, when the ejected surface is viewed from the normal direction, A mode may include controlling the movable portion by the control portion so that the ejection direction of the ejection material does not include a component of the movement direction of the ejection portion.

(10) In the coating method according to the aspect described above, when the coating step moves the ejection section and ejects the ejection material onto the ejection target surface, based on the output of the distance detection section, the ejection target surface It is also possible to include a step of controlling the movable part by the control part so that the distance from the .

(11) According to another aspect of the present disclosure, a robot having a movable part that moves an object having a surface to be ejected and a distance detection unit that detects the distance between the object to be ejected and the surface to be ejected based on the output of the movable part. A coating method is provided in which a substance to be ejected is ejected onto the surface to be ejected. The ejection unit and the distance are arranged such that the ejection direction, in which the ejection unit ejects the ejection material, and the detection direction, in which the distance detection unit detects the distance to the ejected surface, intersect. A detection section is attached to a structure other than the movable section. In this coating method, when the object is moved and the object is ejected onto the surface to be ejected, when the surface to be ejected is viewed from the normal direction of the surface to be ejected, the direction of ejection of the object to be ejected is and a coating step of controlling the movable part by the control part so that the direction of relative movement of the ejection part with respect to the object is different.

The present disclosure can also be implemented in various forms other than a robot system. For example, it can be realized in the form of a robot or robot system control method, a computer program for realizing the control method, a non-temporary recording medium recording the computer program, or the like.

Not all of the plurality of components of each form of the present disclosure described above are essential, and in order to solve some or all of the above problems, or some or all of the effects described in this specification In order to achieve the above, it is possible to appropriately change, delete, replace with new other components, and partially delete the limited content for some of the plurality of components. In addition, in order to solve part or all of the above-described problems or achieve part or all of the effects described in this specification, the technical features included in the above-described one mode of the present disclosure It is also possible to combine some or all of the technical features included in other forms of the present disclosure described above to form an independent form of the present disclosure.

1, 1B, 1C...Robot system 20,20B, 20C...Robot 25...Robot control device 30...Motion control device 30a...CPU 30b...RAM 30c...ROM 50...Teaching device 50a...CPU, 50b... RAM, 50c... ROM, 57... Input device, 58... Output device, 400, 410... Personal computer, 500... Cloud service, Am... Arm, Bs... Support base, DP, DPB, DPC... Dispenser, Dd, DdC Detection direction De, DeB, DeC Discharge direction De1 to De6 Discharge direction Dm Moving direction of end effector DmC Moving direction of work DmR Relative moving direction of end effector to work EE, EEB, EEC... end effector, FX... configuration in which dispenser DPC and distance detection unit SdC are fixed, HC... hand coordinate system, J1 to J6... joints, L1 to L6... link, Lwk... distance to surface Swk of work WK, NL ...Normal line of surface Swk of workpiece WK, Ndp, NdpB, NdpC... Nozzle, Ndp1 to Ndp6... Nozzle position, Ps, PsB... Fluid, RC... Robot coordinate system, RX... Angular position, RY... Angular position, RZ Angular position Sd, SdC Distance detector Swk Surface of work WK Tp Target point WK Work θ Inclination angle of discharge direction De of fluid Ps with respect to normal NL

Claims (6)

A robot system for ejecting a substance to be ejected onto a surface to be ejected,
The ejecting unit and the ejecting unit are arranged such that an ejecting direction, in which the ejecting unit ejects the ejected material, and a detection direction, in which the distance detecting unit detects the distance from the ejected surface of the object, intersect with each other. a robot equipped with the distance detection unit and including a movable unit for moving the discharge unit;
a control unit that controls the movable unit based on the output of the distance detection unit;
When the ejection material is ejected onto the ejection target surface while moving the ejection section, the control section is configured to:
When the surface to be ejected is viewed from the normal direction of the surface to be ejected, the ejection direction of the ejected substance is different from the moving direction of the ejection part,
When the surface to be ejected is viewed from the normal direction, the ejection direction of the ejected material does not include a component in the moving direction of the ejecting section;
A robot system that controls the movable section such that the discharge direction of the discharge material is inclined with respect to the normal line direction when the discharge section is viewed from the moving direction. The robot system according to claim 1,
When the discharge material is discharged onto the surface to be discharged while moving the discharge unit, the control unit determines that the direction of discharge of the material to be discharged is the same as the direction of discharge when the surface to be discharged is viewed from the normal direction. A robot system that controls the movable part so as to be perpendicular to the moving direction of the discharge part. The robot system according to any one of claims 1 and 2,
When the ejecting material is ejected onto the ejected surface while moving the ejection unit, the control unit adjusts the distance from the ejected surface to be constant based on the output of the distance detection unit. , a robot system that controls the movable part. A robot system for moving an object to be ejected,
a robot comprising a movable part that moves the object having a surface to be ejected;
a control unit that controls the movable unit based on the output of a distance detection unit that detects the distance from the ejection receiving surface;
The ejection unit and the distance are arranged such that the ejection direction, in which the ejection unit ejects the ejection material, and the detection direction, in which the distance detection unit detects the distance to the ejected surface, intersect. and a detection unit attached to a structure other than the movable unit,
When ejecting the ejection onto the ejection target surface while moving the target, the control unit may:
When the surface to be ejected is viewed from the normal direction of the surface to be ejected, the ejection direction of the ejected material is different from the relative movement direction of the ejection unit with respect to the object,
When the surface to be ejected is viewed from the normal direction, the ejection direction of the ejected material does not include a component in the relative movement direction of the ejecting section;
A robot system that controls the movable section such that the discharge direction of the discharge material is inclined with respect to the normal line direction when the discharge section is viewed from the relative movement direction. The ejection unit and the distance are arranged so that the ejection direction, in which the ejection unit ejects the ejection material, and the detection direction, in which the distance detection unit detects the distance from the ejected surface of the object, intersect with each other. a detection unit attached thereto, a robot provided with a movable unit that moves the discharge unit, and a control unit that controls the movable unit based on the output of the distance detection unit, and the discharge object is detected as the object to be discharged. A coating method for discharging onto a surface,
When the object to be ejected is ejected onto the surface to be ejected while moving the ejection unit, when the surface to be ejected is viewed from the normal direction of the surface to be ejected, the ejection direction of the object to be ejected and the ejection unit A coating step of controlling the movable part by the control part so that the moving direction of the
In the coating step, when the ejecting material is ejected onto the ejected surface while moving the ejecting part, the ejecting direction of the ejected material when viewed from the normal direction is the same as the above-mentioned. A coating method, comprising: controlling the movable part by the control part so as to be inclined with respect to the normal direction without including the component of the movement direction of the discharge part. The coating method according to claim 5 ,
In the coating step, when the ejecting material is ejected onto the surface to be ejected while moving the ejection unit, the distance from the surface to be ejected is kept constant based on the output of the distance detection unit. , a coating method including a step of controlling the movable part by the control part.

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