JPH06269719A - Coating apparatus for viscous material - Google Patents

Abstract

PURPOSE:To provide an apparatus capable of a quantitative coating by using a fixed quantity feeding device for viscous material. CONSTITUTION:The apparatus is equipped with a horizontal articulated robot 5, a viscous material feeding device 6, an acceleration/deceleration control part 3 for controlling the travel speed of the hands of the robot, and a abating time control part 2 for commanding the start/end of coating to the viscous material feeding device 6 and giving the travel speed command to the acceleration/deceleration control device 3. The acceleration/deceleration control part 3 operates the horizontal articulated robot 5 according to the set velocity V (s) and the action start command sent from the coating time control part 2. The viscous material feeding device 6 starts feeding the viscous material by the coating start command sent from the coating time control part 2 and stops feeding the viscous material by the coating finish command sent from the coating time control part 2, thus to constitute a coating apparatus for viscous material where the horizontal articulated robot is moved at a speed determined after considering the influence of non-fixed quantity prevailing at the time of coating start.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for applying viscous material in assembling mechanical parts, mounting electronic parts on a substrate, and the like.

[0002]

2. Description of the Related Art Conventionally, quantitative application of an adhesive or a sealing agent to a work has been an important task in the assembly of mechanical parts or mounting of electronic parts on a substrate. There is a viscous material coating device described in JP-A-62-210071.

That is, the robot is composed of a viscous material supply device for supplying a primer as a sealant to the brush of the hand of the robot and a robot having a brush at the hand of the robot. The amount of primer applied from the viscous material supply device is controlled in response to a change in the application speed such as a decrease in the moving speed of the hand, so that dripping or blurring does not occur in the application part.

[0004]

Although such a viscous material coating device is effective for quantitative coating, it needs to have a function of arbitrarily controlling the coating amount, which makes the viscous material supply device complicated and expensive. Become. Furthermore, the phenomenon of application at the start of application is not considered. That is, the viscous material supply device controls the flow rate, but in general, the control keeps the flow rate constant in the steady state, and the flow rate at the beginning of the flow is larger than that when the flow is steady. There is a problem that the material sags.

In order to solve these problems, it is an object of the present invention to provide an apparatus which enables constant quantity coating using a viscous material supply apparatus having a constant flow rate.

[0006]

In order to achieve the above object, the present invention provides a robot, a viscous material supply device, an acceleration / deceleration control unit for controlling the moving speed of a robot hand, and a viscous material supply device. It consists of a coating time management unit that gives start and end commands and gives a movement speed command to the acceleration / deceleration control unit, and a coating linear density measurement unit that measures the coating linear density of the viscous material at the point of coating the viscous material on the workpiece. , As data,
The linear density function δ (S) and the set speed function Vs (S) are used.

[0007]

The coating time management unit issues an operation start command to the acceleration / deceleration control unit. Next, after confirming that the robot hand has reached the coating start point, the coating time management unit issues a coating start command to the viscous material supply device. The viscous material supply device receives the application start command and starts the delivery of the viscous material. The coating linear density measuring unit measures the coating state of the viscous material, calculates the coating linear density of the viscous material from the measured amount, and stores the linear density function δ (S) as a function of the coating position (path length S). . The coating time management unit calculates from the linear density function δ (S) for the previous operation received from the coating linear density measuring unit, and sets the robot's set speed function Vs (so that the coating linear density becomes uniform. Adjust S). The acceleration / deceleration control unit
The robot is controlled so that the hand of the robot moves in accordance with the set speed function Vs (S). The coating time management unit confirms that the robot hand has reached the point where the coating is finished, and issues a coating finish command to the viscous material supply device. The viscous material supply device receives the application end command and ends the delivery of the viscous material.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described below with reference to the drawings. In the present invention, a method of learning the quantitative coating method by repeatedly executing the same coating operation is used. FIG. 1 is a configuration diagram of a viscous material coating device according to the present invention. Fixing jig 15 on the hand of horizontal articulated robot 5
The nozzle 8 and the sensor 7 are attached by the. The fixing jig 15 rotates up and down by the vertical turning shaft 16 of the horizontal articulated robot 5. The viscous material is supplied to the nozzle 8 from the viscous material supply device 6 through the pipe 14. Nozzle 8
The viscous material 13 is applied to the work 9 from.

The viscous material supply device 6 starts the delivery of the viscous material when it receives a coating start command 17 from the coating time management unit 2 which will be described later, and stops the delivery when it receives the coating end command 18, which is a constant flow rate of the viscous material. It is a supply device.

The control part is summarized as a robot controller 1. These may be partially divided device groups that communicate with each other. The robot controller 1 includes a coating time management unit 2, an acceleration / deceleration control unit 3, and a coating linear density measuring unit 4. The present invention expresses the motion trajectory as a function of the path length S from the starting point of the trajectory, and controls the acceleration / deceleration of the manipulator by an acceleration / deceleration control unit that manages the increasing speed of the path length S every moment. .

The acceleration / deceleration control unit 3 can use the acceleration / deceleration control device described in Japanese Patent Application No. 4-191380 filed by the present applicant. FIG. 5 is a block diagram showing a data flow of the acceleration / deceleration control unit 3. The operation will be described with reference to FIG. The calculation processing is executed in the order of the route speed command setting unit 51, the route speed deviation calculation unit 53, the route acceleration calculation unit 54, the route speed calculation unit 55, the route length calculation unit 56, and the stop control unit 52. The motion trajectory is generated by repeating the control with a constant control cycle. Further, at the start of operation, the following processing is performed. 1. S = 0 2. V = 0 (the moving speed on the route is defined as the route speed V) 3. SW = 1

The route speed command setting unit 51 uses the set length function Vs (S) from the route length S to convert the data C into C = Vs.
Calculate as (S). The set speed function Vs (S) represents the speed setting on the route. The switching process 58 is performed according to the speed selection SW to obtain the route speed command Vr.

The route speed deviation calculator 53 calculates the route speed deviation E by subtracting the route speed V from the route speed command Vr.

The route acceleration calculation unit 54 calculates the route velocity deviation E.
From the acceleration function F (E), the data B is B = F
Calculate as (E). The acceleration function F (E) represents the characteristics of acceleration / deceleration. Further, the acceleration limiter 50 is applied to the data B to calculate the path acceleration A. + Amax; B ≧ Amax A = B; −Amax <B <Amax −Amax; B ≦ −Amax Amax; maximum acceleration

The route speed calculator 55 integrates the route acceleration A to obtain a route speed V. The route length calculation unit 56 integrates the route speed V to obtain the route length S.

The stop control unit 52 calculates the deceleration distance W from the route speed V to the deceleration stop, and when the remaining route length L becomes smaller than the deceleration distance W, the speed selection SW is set so that the route speed command Vr becomes 0. While controlling, the parameters of the path acceleration calculation unit are changed so as to just stop at the teaching point at the end point of the trajectory.

As shown in FIG. 3, the coating linear density measuring unit 4 samples the coating state of the viscous material 13 by the sensor 7, that is, a TV camera, performs image processing of the image H, and applies the coated viscous material. Is regarded as a line in the trajectory direction 20, and its line width k (S) is stored as a line density function δ (S) of the coating position (path length S).

Alternatively, for more accuracy, as shown in FIG. 4, a slit light in a direction perpendicular to the locus direction 20 is applied and the position where the reflected light 30 is generated is measured obliquely from above by a TV camera. It is also possible to use the method of calculating the cross-sectional area A (S) of the viscous material at the position of the path length S to obtain the linear density function δ (S) by calculating from the distribution of the generation position of the reflected light 30. In this case, the slit light irradiation device and the TV camera correspond to the sensor 7 (see FIG. 1).

The details and operation sequence of the coating time management unit 2 will be described with reference to FIGS. 1 and 2. First, the application time management unit 2 sends the set speed function Vs (S) to the acceleration / deceleration control unit 3. FIG. 2 shows the set velocity function Vs (S) and the actual route velocity V, where the vertical axis represents the linear velocity of the route and the horizontal axis represents the time. Although the actual route speed V has an acceleration / deceleration area, the acceleration / deceleration operation is automatically performed by the acceleration / deceleration control unit 3, so the set speed function V
It need not be included in s (S). In order to perform the desired coating operation, the operation of the horizontal articulated robot 5 has the run-up section 21 so that the coating can be started when the acceleration is completed and the set speed is reached. There is a section 23. In the middle part, there is a coating section 22 that operates with the set speed function Vs (S), which is acquired by iterative learning.

Next, the application time management unit 2 sends an operation start command 11 to the acceleration / deceleration control unit 3 (FIG. 1), receives the path length S that changes from time to time at the application start point. After confirming that the viscosity has reached, the application start command 17 is sent to the viscous material supply device 6. Next, the application time management unit 2
After confirming that the path length S has reached the point where coating is finished,
A coating end command 18 is sent to the viscous material supply device 6. From this point onwards, the overrun section 23 (see FIG. 2) is reached, and the acceleration / deceleration control unit 3 performs a deceleration operation and the robot operation ends.

A method of acquiring the set speed function Vs (S) will be described. The coating time management unit 2 first receives the linear density function δ (S) from the coating linear density measuring unit 4 before the start of the coating operation, but this information is the result of the previous execution. With the target linear density being Δ, the set speed function Vs (S) is changed by the following equation. Vs (S) = Vs (S) (1 + α × (δ (S + β) −Δ)) where α (> 0) and β (> 0) depend on the size of the device and the viscosity of the viscous material. Set a value at which control works stably with a fixed value.

As the number of repeated executions increases, the set speed function Vs (S) becomes the set speed function Vs (S) that makes the coating linear density function δ (S) a constant value Δ.

In this embodiment, as described above, the method of sequentially updating the set speed function Vs (S) during a plurality of repetitive operations is used. However, the set speed function Vs (S) is previously changed by another method. It is also conceivable that the method is determined and fixed and used. For example, as a trial operation, Vs (S) is derived by the above-described method of repetitive correction, and Vs (S) is calculated during actual work.
Vs derived by the trial operation without learning (S)
A method using (S) may be used. Also, there may be a method of setting based on human intuition by applying a heuristic solution.
In these cases, the coating linear density measuring unit 4 and the sensor 7 are not necessary when performing the actual work.

Further, in the present embodiment, the target linear density is set to Δ and is set to a constant value, but this is a function of the path length Δ (S).
Therefore, it is clear that the present invention can be applied to the work of coating while changing the coating linear density on the path.

[0025]

Since the viscous material coating apparatus according to the present invention has an acceleration / deceleration control section that can freely set the set speed function Vs (S), the coating linear density is set to a target linear density. By operating the robot with the velocity function Vs (S), it is possible to perform quantitative coating in consideration of the influence of an indefinite flow rate at the coating start time of the viscous material supply device. Further, it becomes possible to make the coating linear density follow the function Δ (S) of the path length. Further, the set speed function Vs (S) can be automatically determined by repeatedly changing the linear density function δ (S) measured by the coating linear density measuring unit.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of the present invention and is a configuration diagram.

FIG. 2 is a diagram showing a set speed function Vs (S) and an actual route speed V according to an embodiment of the present invention.

FIG. 3 is an explanatory diagram of a method for measuring a coated linear density according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram of another method for measuring the coating linear density according to the embodiment of the present invention.

FIG. 5 is a block diagram showing a data flow of an acceleration / deceleration control unit according to an embodiment of the present invention.

[Explanation of symbols]

 1 Robot Controller 2 Application Time Management Section 3 Acceleration / Deceleration Control Section 4 Application Line Density Measurement Section 5 Horizontal Articulated Robot 6 Viscous Material Supply Device 7 Sensor 8 Nozzle 9 Work 11 Operation Start Command 13 Viscous Material 14 Pipe 15 Fixture 16 16 Vertical Rotation Axis 17 Application start command 18 Application end command 20 Trajectory direction 21 Run-up section 22 Application section 23 Overrun section 30 Reflected light 50 Acceleration limiter 51 Path speed command setting section 52 Stop control section 53 Path speed deviation calculation section 54 Path acceleration calculation section 55 Path Speed calculation unit 56 Path length calculation unit 58 Switching process

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location // H05K 1/18 G 7128-4E

Claims (2)

[Claims] 1. A robot, a viscous material supply device, an acceleration / deceleration control unit for controlling a moving speed of a robot hand, a viscous material supply device, and a movement speed command to the acceleration / deceleration control unit. A coating time management unit for giving the application time, the acceleration / deceleration control unit operates the robot according to the set speed function Vs (S) and the operation start command sent from the coating time management unit, A viscous material coating device that starts the supply of a viscous material by a coating start command sent from a time management unit, and stops the supply of a viscous material by a coating end command sent from the coating time management unit. 2. A robot, a viscous material supply device, an acceleration / deceleration control unit for controlling the moving speed of the robot hand, a command for starting and ending coating to the viscous material supply device, and a moving speed command for the acceleration / deceleration control unit. A coating time management unit for giving and a coating linear density measuring unit for measuring the coating linear density of the viscous material at the coating point of the viscous material on the work, the coating time management unit,
Linear density function δ measured by the coating linear density measuring unit
(S) is used to determine the set speed function Vs (S), and the acceleration / deceleration control unit operates the robot according to the set speed function Vs (S) and the operation start command sent from the coating time management unit, The viscous material supply device starts the supply of the viscous material in response to the application start command sent from the application time management unit, and stops the supply of the viscous material in response to the application end command sent from the application time management unit. .