System and method for automatically applying a bead of sealant within a peripheral trench

Abstract

This invention discloses a system for automatically applying sealant beads within a peripheral groove (4) defined between two interconnected elements (2, 3) and having non-strictly predetermined dimensions. The system includes a manipulator robot (R) equipped with a sealant dispensing head (12). An electronic controller (E) causes the sealant dispensing head (12) to perform a first pass along the peripheral groove (4) without dispensing sealant, in order to detect the profiles of the opposing lateral surfaces of the peripheral groove (4) by means of a profilometer. Data related to the detected profiles are processed to calculate the correct amount of sealant to be applied to each portion of the peripheral groove (4) along its peripheral extension. The sealant dispensing head (12) then performs a second pass along the peripheral groove (4), dispensing the calculated amount of sealant in each portion of the peripheral groove (4) along its periphery. In one example, the sealant is dispensed at a constant flow rate, and the electronic controller (E) changes the speed of movement of the dispensing nozzle (14) during a second pass to apply a calculated amount of sealant to each portion of the peripheral groove (4) along its periphery. The dispensing nozzle is made of replaceable components of plastic material. After its replacement, a vision system is used to detect the position of the dispensing end of the dispensing nozzle (14) relative to a reference element (30) carried by a robot, which is adjacent to the dispensing nozzle (14) and has a predetermined geometry.

Description

Technical Field

[0001] The present invention relates to a system and method for automatically applying sealant beads in a peripheral groove defined between two interconnected elements and having a non-strictly predetermined size such that the peripheral groove has two opposing lateral surfaces whose contours change continuously along the periphery of the peripheral groove.

[0002] In this specification, the term "sealant" is used to refer to the case of fluids that have only sealing properties, fluids that have both sealing and adhesive properties, and generally any adhesive fluid. Background Technology

[0003] Although the invention has broad applications, it was originally developed with reference to assembling a lid onto a container for powering an electric traction motor in an electric vehicle. In the assembled state with the lid on the container, these elements define a peripheral groove between them along the lateral surface of the container. This peripheral groove must be filled with beads of a sealing agent, which functions to rigidly attach the lid to the container and seal the interior of the container from the outside.

[0004] In this type of application, the common technique is to apply a bead of sealant along the outer edge of the container before applying the cap to it. Operating in this way can also lead to excess sealant depositing on the container's edges, as subsequent application of the cap (which ensures proper adhesion between the two components) can cause any excess sealant to leak out. However, in the specific application mentioned above, it is necessary to ensure that the bead of sealant is applied after the cap has been applied to the container. In this case, if the sealant is applied in an automated processing station by means of a robot carrying a sealant dispensing head, it is necessary to measure the amount of sealant applied with relative precision. However, due to the inaccuracy of the geometry of the components defining the outer groove where the sealant will be deposited (in the cited example, the container and cap), the required amount of sealant cannot be determined in advance. For example, in the case of the specific application mentioned, the cap is made of plastic and the container is made of aluminum alloy, and they are manufactured with not particularly precise tolerances; therefore, as mentioned above, the profile of the lateral surface defining the outer groove varies continuously along the periphery of the groove and also varies between different samples of the product moving along the production line. Therefore, the dimensions of the peripheral groove vary along the perimeter of the groove and also vary depending on the product.

[0005] Therefore, a system and method are needed that allows for the application of sealant beads in a fully automated and rapid manner, and that ensures the correct amount of sealant is applied in each section of the peripheral groove, even though the dimensions of the groove are variable along the perimeter of the same product and along the production line from one product to another. Summary of the Invention

[0006] Therefore, the object of the present invention is to produce a system and method for automatically applying sealant beads in a peripheral groove that solves the aforementioned problems, wherein the peripheral groove is defined between two interconnected elements and has a non-strictly predetermined size.

[0007] In particular, one object of the present invention is to produce a system and method for automatically applying sealant beads, which allows the sealant to be applied automatically in a short time while still ensuring that the correct amount of sealant is distributed in each portion of the peripheral groove along the periphery of the peripheral groove.

[0008] Another object of the present invention is to produce a system and method of the above type, which can achieve the aforementioned object by simple and low-cost means.

[0009] Another object of the present invention is to produce a system and method for applying a sealant bead in a peripheral groove defined between two joined elements, which utilizes a sealant dispensing head equipped with a dispensing nozzle, which is mounted in a displaceable manner, made of plastic material, and has a non-strictly predetermined geometry, while still ensuring precise control of the position of the dispensing end of the dispensing nozzle by a simple and low-cost means.

[0010] According to the invention, one or more of the foregoing objectives are achieved by providing a system for automatically applying a sealant bead within a peripheral groove defined between two interconnected elements and having a non-strictly predetermined size, such that the peripheral groove has two opposing lateral surfaces whose contours continuously vary along the periphery of the peripheral groove, the system comprising:

[0011] - A manipulating robot equipped with a sealant dispensing head, the sealant dispensing head including a sealant dispensing nozzle and a pump for supplying single-component or two-component sealant from one or more sealant tanks.

[0012] - An electronic controller, programmed to move the sealant dispensing head along the peripheral groove, while simultaneously controlling the aforementioned pump to apply sealant beads within the peripheral groove.

[0013] -Among them, the sealant dispensing head carried by the manipulating robot is equipped with a profilometer of the type with non-contact operation near the dispensing nozzle, and

[0014] -The electronic controller is programmed to:

[0015] - Control the sealant dispensing head to make its first pass along the peripheral groove without dispensing any sealant, while simultaneously activating the profilometer to detect the profiles of the two opposing lateral surfaces of the peripheral groove along its perimeter.

[0016] - Process the data related to the contours of the two lateral surfaces of the peripheral groove detected by the profilometer during the aforementioned first pass, and calculate the correct amount of sealant to be applied to each section of the peripheral groove along its perimeter.

[0017] - Perform a second pass of the sealant dispensing head along the periphery of the outer groove, while dispensing the previously calculated amount of sealant into each section of the outer groove along its periphery.

[0018] In a preferred embodiment, the aforementioned pump is configured to enable a constant and predetermined delivery flow rate of the sealant, and the electronic controller is configured to dynamically change the speed of movement of the dispensing nozzle during the second pass in order to apply a calculated amount of sealant in each section of the peripheral groove along the periphery of the groove.

[0019] According to additional features, the system of the present invention further includes:

[0020] - An electronic control system for positioning the aforementioned element defining the peripheral trench at a predetermined position within the working area, and

[0021] - A vision system configured to directly or indirectly detect the position of the dispensing nozzle carried by the robot and send data indicating the position to an electronic controller.

[0022] In a preferred embodiment, the aforementioned dispensing nozzle is constructed of an element of plastic material that can be replaced, and its geometry is not strictly predetermined. A sealant dispensing head carries a reference element having a predetermined geometry (e.g., a steel stylus), adjacent to the dispensing nozzle, and having a position relative to the manipulator robot known to the electronic controller. The system also includes a vision system configured to detect the relative position of the dispensing end of the nozzle relative to the aforementioned element and transmit data indicating the relative position to the electronic controller.

[0023] According to another preferred feature, the aforementioned one or more sealant canisters are carried by a robot and are of a refillable and / or replaceable type, such that the movement of the robot is not used to obstruct the pipes connecting to the sealant canisters placed on the ground.

[0024] The present invention also relates to a method for applying a sealant using the above-described system. Attached Figure Description

[0025] Other features and advantages of the invention will become apparent from the following description with reference to the accompanying drawings, which are provided by way of non-limiting example, wherein:

[0026] - Figure 1 This is a schematic perspective view of a battery pack container for powering an electric traction motor of an electric vehicle, to which the method according to the present invention is applicable.

[0027] - Figure 2 yes Figure 1 A schematic cross-sectional view of the container at magnified scale, showing the peripheral groove defined between the container and its lid.

[0028] - Figures 3-5 These are two perspective views and a plan view of a workstation in a production plant equipped with a system according to the invention, the system being used to apply sealant beads to... Figure 1 , Figure 2 In the outer groove of the container,

[0029] - Figure 6 This is a perspective view of a manipulator robot that forms part of the system according to the invention.

[0030] - Figure 7 It is by Figure 6 A magnified side view of the sealant dispensing head carried by the manipulator robot.

[0031] - Figure 7A , Figure 7B yes Figure 7 An additional perspective view of the distribution head; some parts have been removed for clarity.

[0032] - Figure 8 This is a schematic diagram of the main steps of the method according to the present invention.

[0033] - Figure 9 This is an enlarged scale view of the outlines of the two opposing lateral surfaces of the peripheral trench of the present invention.

[0034] - Figure 10 It is similar to Figure 9 An additional view, which also schematically shows a sealant dispensing nozzle moving along the peripheral groove,

[0035] - Figure 11 This is a perspective view of the refill station, where the sealant canister on the sealant dispenser can be refilled.

[0036] - Figure 12 This is a perspective view of the equipment that forms part of the refill station, used to connect to the dispensing head and control the refilling process. Detailed Implementation

[0037] exist Figure 1 , Figure 2 In the figure, reference numeral 1, as a whole, indicates a container for powering an electric motor of an electric vehicle, which includes, for example, an aluminum container body 3 and a lid 2 made of, for example, plastic material.

[0038] As in Figure 2 As can be particularly seen, along the lateral surface of container 1, a peripheral groove 4 is defined between the container body 3 and the lid 2 applied thereon, the groove having two opposing lateral surfaces 5, 6. (Refer to...) Figure 2 Lateral surface 5 defines the peripheral groove 4 at the top and is defined by the protruding edge of the lid 2, while lateral surface 6 defines the peripheral groove 4 at the bottom and is defined by the peripheral upper surface of the lateral wall of the container body 3.

[0039] Figure 3-5 Workstation 7 of a battery pack manufacturing plant for powering electric traction motors of electric vehicles is shown by way of example only. It includes a work area A designed to receive a workpiece holder frame 8 carrying a workpiece (i.e., container 1 in the cited example). Again, by way of example only, in the illustrated case, the workpiece holder frame 8 is transported to work area A on a manually pulled trolley. In a manner known per se, the workpiece holder frame 8 is equipped with support and reference elements to support the container 1, consisting of the container body 3 and the lid 2 mounted above it, in a strictly predetermined position relative to the workpiece holder frame 8. When the workpiece holder frame 8 arrives at work area A via a trolley 9, it is lifted and moved away from the trolley by means of a vertically movable support member associated with fixed structures 10 arranged on both sides of work area A along a conveyor line L traversed by the trolley 9. The aforementioned vertically movable support member lifts the workpiece holder frame 8 to a predetermined height Z. Simultaneously, an additional centering member associated with the fixing structure 10 engages a corresponding engagement element carried by the workpiece retainer frame 8 to position the workpiece retainer frame 8 in place relative to two mutually orthogonal horizontal directions (X, Y) and relative to possible rotation of the workpiece retainer frame 8 in the horizontal plane. Construction details of the fixing structure 10 and the aforementioned vertically movable support member and its associated auxiliary centering member are not described here, as they can be made in any known manner, and such details themselves are not within the scope of this invention. Preferred and innovative embodiments of these elements are the subject of a common pending patent application by the same applicant.

[0040] Preferably, the aforementioned vertically movable support member and the aforementioned auxiliary centering member are driven by servo-controlled electric motors, so that when container 1 must be subjected to the application of sealant beads, the electronic controller E of the processing station (in...) Figure 8 (Illustrated schematically) The position of container 1 relative to the X, Y, Z coordinate system is known.

[0041] The application of sealant beads into the outer groove 4 of container 1 is carried out by means of a robot manipulator R.

[0042] In the example shown, the manipulator robot R is a multi-axis robot that includes a series of interconnected robotic elements to attach flange 11, to which a sealant dispensing head 12 is rigidly connected.

[0043] exist Figure 6 In the example shown, the sealant dispensing head 12 includes a housing 13, inside which components of the sealant dispensing system are arranged. The housing 13 supports an elongated sealant dispensing nozzle 14 at its bottom, which extends horizontally from a support 15 supported by the housing 13. The dispensing nozzle 14 has a dispensing end 16 and is detachably connected at its opposite end to a connector element 17, which connects to a sealant supply system arranged inside the housing 13.

[0044] Specific reference Figure 7A , Figure 7B In the example shown in the attached drawings, the dispensing head 12 is configured to apply beads of two-component sealant, and for this purpose, two cans 20 are arranged inside the housing 13. Figure 7B The fluid contained in each tank 20 can be supplied to a corresponding conduit 18, which converges in the dispensing nozzle 14, via a corresponding volumetric pump 40 operated by a corresponding servo-controlled electric motor 19. In the example shown, the pump 40 is of the type configured to supply a constant flow rate of fluid to the dispensing nozzle 14. Figure 7A In the figure, reference numeral 41 indicates the valve assembly that establishes the connection between canister 20 and dispensing nozzle 14 during the dispensing step, and establishes the connection between canister 20 and coupling device 43 in the step of connecting coupling device 43 to the fixing device for refilling canister 20 (described in detail below). Reference numeral 42 indicates a pneumatic booster for pressurizing canister 20. Alternatively, a mechanical pressurization system, such as a nitrogen cylinder (gas spring) or another known pressurization device, can be used.

[0045] Because of this arrangement, the manipulator robot R is able to move the sealant dispensing head 12 around the container 1 without being obstructed by the pipes connecting the dispensing head to the sealant can fixedly arranged on the ground.

[0046] Refer again Figure 7BIn the example shown herein, the dispensing head 12 is equipped with an electrically operated heating device 60 of any type known per se to maintain the fluid to be dispensed within a suitable temperature range. Preferably, the heating device is controlled by an electronic control system based on temperature signals sent to the control system by one or more temperature sensors arranged along the path of each fluid component.

[0047] As in Figure 6 As can be seen in the example shown, the manipulator robot R has a base platform 21, a body 22 rotatably mounted on the base platform 21 about a first axis I, an arm 23 rotatably mounted on the body 22 about a second axis II, a body 24 rotatably mounted on the arm 23 about a third axis III, an additional arm 25 rotatably mounted on the body 24 about its axis IV, and a robot wrist 26 carrying an attachment flange 11 by means of two hinge axes V and VI. Of course, this conventional robot configuration is shown here only by way of example.

[0048] Refer again Figure 7 , Figure 7A and Figure 7B According to the present invention, the dispensing head 12 is provided with a profiler 29, which is supported by a support 29A adjacent to the dispensing nozzle 14.

[0049] The profilometer 29 is of any known type and is configured to optically detect the profile of the surface thus illuminated, thereby operating without contact.

[0050] Also refer to Figure 8 In the method according to the invention, the manipulator robot R moves the dispensing head 12 along the peripheral groove 4 of the container 1 to apply sealant beads into the groove 4. However, prior to this operation, according to the invention, the robot R (in... Figure 8 (Schematally shown) A first pass is performed along the peripheral groove 4 without the application of sealant, to detect the profiles of the opposing surfaces 5, 6 of the peripheral groove 4 by means of a profilometer 29, and preferably also to detect the profile of the bottom surface of the groove (i.e., the surface where surfaces 5 and 6 connect). This operation is performed in Figure 8 The letter A is used to indicate this symbolically.

[0051] like Figure 8 As schematically shown, robot R is controlled by electronic controller E, which is also connected to profilometer 29 (via cable or wirelessly).

[0052] As shown in the figure, the manipulator robot R moves the sealant dispensing head 12 by performing a first pass along the peripheral groove 4 of the container 1 without dispensing sealant, but only for the purpose of enabling the profilometer 29 to detect the entire peripheral extension of the groove 4.

[0053] This operation is necessary because the elements of the plastic material constituting container 1 have non-strictly predetermined geometries, such that the contours of the lateral surfaces 5, 6 that define the groove 4 vary in an unpredictable manner along the peripheral extension of the groove of the same container 1, and change from one container to another in the production of a series of such containers.

[0054] In the attached diagram Figure 9 The contours of the two surfaces 5 and 6 extending along the periphery of the groove 4 are shown at a vertically magnified scale. As a result of the scanning of the groove 4 by the profilometer 29, which moves along the groove 4 by the robot R, the electronic controller E is thus able to store the distances between the opposing surfaces 5 and 6 for each segment S1, S2, ... Si... Sn of the peripheral groove 4.

[0055] Therefore, based on the data detected by the profilometer 29, the electronic controller E is able to calculate the correct amount of sealant to be applied to each part / segment of the peripheral groove 4 along the peripheral extension of the peripheral groove 4.

[0056] Once these operations are performed, robot R moves sealant dispensing head 12 by making a second pass along peripheral groove 4, this time to apply sealant beads.

[0057] In the specific example shown, the sealant dispensing pump supplies a constant flow rate of sealant. Therefore, the amount of sealant is determined by the electronic controller E by changing the dispensing nozzle 14 ( Figure 10 The speed of the nozzle 14 is measured along the peripheral groove 4. The movement of the nozzle 14 is slowed down in sections where the distance between the opposing surfaces 5 and 6 of the groove 4 is greater, and accelerated in sections where the distance between surfaces 5 and 6 is smaller. The speed variation is calculated by the electronic controller E to achieve this at each section of the peripheral groove 4 of the container 1. Figure 8 The target is that there is a sufficient amount of sealant in area C (that is, neither insufficient nor excessive).

[0058] Of course, the amount of sealant applied to each part of the peripheral trench can also be controlled by varying the flow rate of the sealant delivered by the nozzle. This solution is difficult to implement with two-component sealants because the two components supplied by the corresponding pumps are mixed in a mixer before reaching the nozzle, making it difficult to control the flow rate delivered by the nozzle. However, with single-component sealants, a variable flow pump can be used, and the variation in the flow rate delivered by the nozzle can be controlled based on detection using a profilometer. In this case, the invention envisions that optical detection of the peripheral trench dimensions and application of sealant at a variable flow rate along the periphery of the peripheral trench are performed in a single pass of the dispensing head.

[0059] Another problem arising from the above-described type of sealant dispensing head is that, for example, the dispensing nozzle 14 tends to become clogged and blocked when the sealant dries during processing interruptions. To address this, the nozzle 14 is preferably made of plastic (to reduce costs) and is interchangeably connected to the connector 17. However, this workaround introduces another problem because the geometry of the nozzle 14, made of plastic, is not strictly predetermined, as it is subject to dimensional variations due to not particularly narrow manufacturing tolerances and deformation. To overcome this drawback, the sealant dispensing head 12 of the system according to the invention is equipped with a reference element, which in the illustrated example is constituted by a steel pin 30 having a strictly predetermined geometry, extending parallel to and adjacent to the dispensing nozzle 14 (see in particular). Figure 7A ).

[0060] Before the second pass to dispense sealant into the peripheral groove 4, robot R places the dispensing nozzle 14 in front of a station equipped with a vision device 31. Figure 8 The vision device is also connected to the electronic controller E. This operation allows the electronic controller to know the position of the dispensing end 16 of the dispensing nozzle 14 relative to the X, Y, Z coordinate system. In this way, even when using nozzles made of inferior materials that can be frequently replaced and have non-strictly predetermined geometries, there is no need to perform a zeroing operation on the robot's position relative to the X, Y, Z coordinate system.

[0061] In this example, as described above, the steel stylus 30 is arranged parallel to and adjacent to the dispensing nozzle 14 and has an end 30A, the position of which relative to the robot R is known to the electronic controller E. After replacing the dispensing nozzle 14, the robot R carries the nozzle 14 and the two ends 16, 30A of the steel stylus 30 in front of the vision system 31, which detects the relative position of the end 16 of the dispensing nozzle 14 relative to the end 30A of the steel stylus 30. The data related to the aforementioned relative position is sent to the electronic controller E, which can therefore control the robot R taking into account the actual position of the dispensing end 16 of the dispensing nozzle 14. The unique feature of this measurement method is that, because the system measures the position of the nozzle 16 relative to the stylus 30, positioning errors of the nozzle relative to the chamber can be eliminated when the nozzle position is reset, thus providing data without any robot positioning errors during the measurement.

[0062] Refer again Figure 3-5In the example shown, the robot R has a base that is slidably mounted on a guide 32 in the longitudinal direction of the work area A in the processing station, so that the robot R can move along the guide 32 to more easily follow the peripheral extension of the peripheral trench 4.

[0063] Figure 11 An example of a refill station is shown, to which a dispensing head 12 can be transported by a robot R to perform refilling of the sealant tank 20 on the robot. As has been noted several times, the illustration relates to an example in which two tanks 20 are arranged on the dispensing head 12 to constitute two different fluids of the sealant fluid dispensed by the nozzle 14. Of course, the dispensing head 12 may also be arranged with a single tank for dispensing a single-component sealant.

[0064] In this example, the refill station, indicated by 50 as a whole, includes two extrusion pumping units 51 of any known type (therefore, not described in detail here), which supply the corresponding fluid components to two supply pipes 52, which are connected to a device 53 that docks with a dispensing head.

[0065] Reference Figure 12 The device 53, which interfaces with the dispensing head 12, includes a support structure 54 that carries a coupling device 55 having two quick-connect connectors of any known type, designed to connect with corresponding connectors on the coupling device 43 carried by the dispensing head 12. For greater clarity, Figure 12 The connecting pipe between the coupling device 55 and the pipe 52 from the pumping unit 51 is not shown.

[0066] The control panel 56 and the container 57 for collecting the sealant cleaning fluid are arranged adjacent to the connection device 55.

[0067] Of course, without prejudice to the principles of the invention or without departing from the scope of the invention as defined by the appended claims, the details of the construction and the embodiments may vary considerably from those examples which are described by way of example only.

Claims

1. A system for automatically applying a bead of sealant within a peripheral groove (4), the peripheral groove being defined between two interconnected elements (2, 3) and having a non-strictly predetermined size such that the peripheral groove (4) has two opposing lateral surfaces (5, 6) whose contours continuously change along the periphery of the peripheral groove (4), the system comprising: - A manipulating robot (R) equipped with a sealant dispensing head (12), the sealant dispensing head including a sealant dispensing nozzle (14) and a pump for supplying single-component or two-component sealant from one or more sealant tanks (20), - An electronic controller (E) is programmed to move the sealant dispensing head (12) along the peripheral groove (4) and simultaneously control the pump to apply sealant beads within the peripheral groove (4). -in, The sealant dispensing head (12) carried by the manipulating robot (R) is provided with a profilometer (29) of the type with non-contact operation adjacent to the dispensing nozzle (14). - Wherein, the electronic controller (E) is programmed to: - Control the sealant dispensing head (12) to pass through the peripheral groove (4) for the first time without dispensing sealant, while activating the profilometer (29) to detect the profiles of the two opposing lateral surfaces (5, 6) of the peripheral groove (4) along its periphery. - Process the data related to the contours of the two lateral surfaces (5, 6) of the peripheral groove (4) detected by the profilometer (29) during the aforementioned first pass, and calculate the correct amount of sealant to be applied to each portion of the peripheral groove (4) along the periphery of the peripheral groove. - Control the sealant dispensing head (12) to pass through the peripheral groove (4) a second time, while dispensing sealant in the aforementioned calculated amount in each section of the peripheral groove (4) along the periphery of the peripheral groove. The dispensing nozzle (14) is composed of a replaceable plastic material element having a non-predetermined geometry. The sealant dispensing head (12) carries a reference element (30), which has a predetermined geometry, is adjacent to the dispensing nozzle (14), and has a position relative to the manipulating robot (R) known by the electronic controller (E). The system further includes a vision system (31) configured to detect the relative position of the dispensing end (14A) of the dispensing nozzle (14) relative to the reference element (30) and send data to the electronic controller (E) indicating the detected relative position without robot positioning error.

2. The system according to claim 1, characterized in that, The pump is configured to enable a constant and predetermined delivery flow rate of sealant, and the electronic controller (E) is configured to change the speed of movement of the dispensing nozzle (14) during the second pass in order to apply a calculated amount of sealant in each section of the peripheral groove (4) along the periphery of the peripheral groove (4).

3. The system according to claim 1, characterized in that, The system also includes: - An electronic control system for positioning the aforementioned elements (2, 3) defining the peripheral trench (4) at predetermined positions in the working area (A), and - A vision system (31) is configured to directly or indirectly detect the position of the dispensing nozzle (14) carried by the manipulating robot (R) and send data indicating the position to the electronic controller (E).

4. The system according to claim 1, characterized in that, The aforementioned one or more sealant canisters (20) are carried by a manipulator and are of a refillable and / or replaceable type, such that the movement of the manipulator is not used to obstruct the pipes connected to the fixed sealant canisters.

5. The system according to claim 1, characterized in that, The manipulator is mounted on a movable slider onto a working area on a guide (32), the guide being oriented in a longitudinal direction parallel to the working area (A).

6. A method for automatically applying a sealant bead within a peripheral groove (4), the peripheral groove being defined between two interconnected elements (2, 3) and having non-strictly predetermined dimensions, such that the peripheral groove (4) has two opposing lateral surfaces (5, 6) whose profiles are capable of continuously varying along the periphery of the peripheral groove (4). -in, The manipulating robot (R) is equipped with a sealant dispensing head (12), which includes a sealant dispensing nozzle (14) and a pump for supplying single-component or two-component sealant from one or more sealant tanks (20). -in, An electronic controller (E) is configured to move the sealant dispensing head (12) along the peripheral groove (4) and simultaneously control the pump to apply sealant beads within the peripheral groove (4). -In this embodiment, the sealant dispensing head (12) carried by the manipulating robot (R) is equipped with a profilometer (29) of the type with non-contact operation, the profilometer being adjacent to the dispensing nozzle (14), and -in: - The electronic controller controls the sealant dispensing head (12) to pass through the peripheral groove (4) for the first time without dispensing sealant, while simultaneously activating the profilometer (29) to detect the profiles of the two opposing lateral surfaces (5, 6) of the peripheral groove (4) along its periphery. - The electronic controller processes data related to the contours of the two lateral surfaces (5, 6) of the peripheral groove (4) detected by the profilometer (29) during the aforementioned first pass, in order to calculate the correct amount of sealant to be applied to each portion of the peripheral groove (4) along its perimeter, and The electronic controller controls the sealant dispensing head (12) to pass through the peripheral groove (4) a second time, while dispensing sealant in the aforementioned calculated amount in each section of the peripheral groove (4) along its periphery. The dispensing nozzle (14) is composed of a replaceable plastic material element having a non-predetermined geometry. The sealant dispensing head (12) carries a reference element (30), which has a predetermined geometry, is adjacent to the dispensing nozzle (14), and has a position relative to the manipulating robot (R) known to the electronic controller (E). The relative position of the dispensing end (14A) of the dispensing nozzle (14) relative to the reference element (30) is detected by means of a vision system (31), and data indicating the detected relative position without robot positioning error is sent to the electronic controller (E).

7. The method according to claim 6, characterized in that, The pump enables a constant and predetermined flow rate of sealant, and during the second pass, the speed of movement of the dispensing nozzle (14) is changed by the electronic controller (E) to apply a calculated amount of sealant in each section of the peripheral groove (4) along the periphery of the peripheral groove (4).

8. The method according to claim 6, characterized in that, The aforementioned elements (2, 3) defining the peripheral groove (4) are located at predetermined positions in the working area (A), and the position of the dispensing nozzle (14) carried by the manipulating robot (R) is detected directly or indirectly by the vision system (31), and data indicating the position is sent to the electronic controller (E).

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