Filling method, filling program, and robot system

Abstract

To provide a filling method capable of uniformly and rapidly filling a first recessed part with a proper amount of a viscous material, a filling program, and a robot system.SOLUTION: The robot arm moves the discharge port to a first position in the first recess, starts the discharge of the viscous material from the discharge port at the first position, stops the discharge of the viscous material after starting the discharge of the viscous material, and moves the discharge port to above the first recess in a state where the discharge of the viscous material is stopped, in a state where the discharge of the viscous material is stopped, the robot arm moves the discharge port to a second position in the first recess by moving the discharge port in a horizontal direction and then lowering the discharge port along a vertical direction or moving the discharge port obliquely downward, and starts the discharge of the viscous material from the discharge port at the second position.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a filling method, a filling program, and a robot system. [Background technology]

[0002] The robot described in Patent Document 1 has a robot arm and a dispenser attached to the tip of the robot arm that dispenses a viscous liquid material such as uncured adhesive. By changing the posture of the robot arm as desired, the dispenser's outlet moves along a predetermined trajectory, and the material is continuously dispensed during this movement. In Patent Document 1, the object onto which the material is dispensed is a workpiece having a flat dispensing surface.

[0003] The dispenser discharges the material at a constant discharge rate, and the robot arm is driven to move above the discharge surface, thereby supplying the material to the discharge surface. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-049642 Summary of the Invention [Problem to be solved by the invention]

[0005] The robot of Patent Document 1 is not intended for use in filling a recess of a workpiece with a dispensing material. Therefore, when using the robot of Patent Document 1 to fill a recess of a workpiece with a dispensing material, it is difficult to efficiently supply the dispensing material into the recess. [Means for solving the problem]

[0006] A filling method of the present invention is a filling method for filling a workpiece having a first recess by discharging the viscous material to a first position in the first recess and to a second position different from the first position in a plan view of the first recess, using a robot having a robot arm and a discharge unit provided at a tip of the robot arm and having a discharge port for discharging the viscous material, the robot arm moves the outlet to the first position within the first recess; Initiating the discharge of the viscous material from the discharge port at the first position; After starting the dispensing of the viscous material, stopping the dispensing of the viscous material; the robot arm moves the discharge port above the first recess while the discharge of the viscous material is stopped; With the dispensing of the viscous material stopped, the robot arm moves the discharge port horizontally and then vertically downward or diagonally downward to the second position within the first recess; At the second position, the viscous material begins to be discharged from the discharge port.

[0007] The filling program of the present invention is a filling program for executing a filling method using a robot having a robot arm and a discharge unit provided at a tip of the robot arm and having a discharge port for discharging a viscous material, the filling method comprising: discharging the viscous material to a first position in a first recess of a workpiece having the first recess and to a second position different from the first position in a plan view of the first recess; the robot arm moves the outlet to the first position within the first recess; Initiating the discharge of the viscous material from the discharge port at the first position; After starting the dispensing of the viscous material, stopping the dispensing of the viscous material; the robot arm moves the discharge port above the first recess while the discharge of the viscous material is stopped; With the dispensing of the viscous material stopped, the robot arm moves the discharge port horizontally and then vertically downward or diagonally downward to the second position within the first recess; At the second position, an operation is performed to start discharging the viscous material from the discharge port.

[0008] A robot system of the present invention includes a robot arm, a robot having a discharge unit provided at a tip of the robot arm and having a discharge port for discharging a viscous material, and a robot control device that controls operation of the robot, and is configured to discharge and fill a first position in a first recess of a workpiece having the first recess and a second position different from the first position in a plan view of the first recess, The robot control device moving the outlet to the first position within the first recess; Initiating the discharge of the viscous material from the discharge port at the first position; After starting the dispensing of the viscous material, stopping the dispensing of the viscous material; moving the discharge port above the first recess while the discharge of the viscous material is stopped; With the discharge of the viscous material stopped, the discharge port is moved horizontally and then lowered vertically or diagonally downward to the second position within the first recess; At the second position, the operation of the robot is controlled to start dispensing the viscous material from the dispensing port. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic configuration diagram of a robot system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram of the robot system shown in FIG. [Figure 3] 2 is a diagram illustrating an example of a hardware configuration of the robot system shown in FIG. 1. [Figure 4] 2 is a side view of a discharge unit included in the robot system shown in FIG. 1. FIG. [Figure 5] 1 is a cross-sectional side view showing a state in which a filling method according to a first embodiment of the present invention is being performed. [Figure 6] 1 is a cross-sectional side view showing a state in which a filling method according to a first embodiment of the present invention is being performed. [Figure 7] 1 is a cross-sectional side view showing a state in which a filling method according to a first embodiment of the present invention is being performed. [Figure 8] 1 is a cross-sectional side view showing a state in which a filling method according to a first embodiment of the present invention is being performed. [Figure 9] 1 is a cross-sectional side view showing a state in which a filling method according to a first embodiment of the present invention is being performed. [Figure 10] 1 is a cross-sectional side view showing a state in which a filling method according to a first embodiment of the present invention is being performed. [Figure 11] 1 is a cross-sectional side view showing a state in which a filling method according to a first embodiment of the present invention is being performed. [Figure 12] 3 is a flowchart illustrating a filling method according to the first embodiment of the present invention. [Figure 13] FIG. 10 is a cross-sectional side view showing a state in which a filling method according to a second embodiment of the present invention is being performed. [Figure 14] 6 is a flowchart illustrating a filling method according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A filling method, a filling program, and a robot system according to the present invention will be described in detail below based on the embodiments shown in the accompanying drawings.

[0011] First Embodiment Fig. 1 is a schematic configuration diagram of a robot system according to a first embodiment of the present invention. Fig. 2 is a block diagram of the robot system shown in Fig. 1. Fig. 3 is an example of a hardware configuration of the robot system shown in Fig. 1. Fig. 4 is a side view of a discharge unit provided in the robot system shown in Fig. 1. Figs. 5 to 11 are cross-sectional side views each showing a state in which a filling method according to a first embodiment of the present invention is being performed. Fig. 12 is a flowchart for explaining the filling method according to the first embodiment of the present invention.

[0012] 1 corresponds to the vertical direction, and the upper side in FIG. 1 is also referred to as "upper" or "upper side," and the lower side in FIG. 1 is also referred to as "lower" or "lower side." This also applies to FIGS. 4 to 11 and 13. With regard to the robot arm 72, first arm 73, and second arm 74, the right side in FIG. 1 is referred to as the "base end" and the left side is referred to as the "tip end."

[0013] 1, 5 to 11, and 13 show three mutually orthogonal axes, the X-axis, the Y-axis, and the Z-axis, with the tip of the arrow representing the positive side and the opposite side representing the negative side. The Z-axis runs vertically. The X-axis and the Y-axis run horizontally, and the XY plane is a horizontal plane parallel to the horizontal.

[0014] Furthermore, in this specification, "vertical" does not only mean that something is vertical, but also means that something is slightly tilted from the vertical, for example, within ±10°. The same applies to "horizontal." Furthermore, in this specification, "parallel" does not only mean that two objects are parallel, but also means that something is slightly tilted from the parallel, for example, within ±10°.

[0015] 1 and 2, the robot system 1 includes a robot 7 and a robot control device 3 that controls the driving of each part of the robot 7. The robot system 1 is used to execute the filling method (method of supplying a viscous material) of the present invention, and specifically, it performs the task of filling (supplying) a viscous material 200, which will be described later, into a first recess 400 of a workpiece 300.

[0016] First, the configuration of the robot 7 will be described. The robot 7 in this embodiment is a SCARA robot, and is used for tasks such as holding, transporting, assembling, processing, painting, and inspecting workpieces such as electronic components and parts to be processed. However, the uses and types of tasks of the robot 7 are not limited to those described above. Furthermore, the robot 7 may be a robot other than a SCARA robot, such as a six-axis articulated robot or a dual-arm robot.

[0017] 1, the robot 7 has a base 71 and a robot arm 72 rotatably connected to the base 71. The robot arm 72 has a first arm 73 whose base end is connected to the base 71 and rotates around a first rotation axis J1 that is vertical to the base 71, and a second arm 74 whose base end is connected to a tip end of the first arm 73 and rotates around a second rotation axis J2 that is vertical to the first arm 73.

[0018] Furthermore, as shown in FIG. 1, the robot control device 3 is built into the base 71, but this configuration is not limited thereto, and the robot control device 3 may be configured as a separate device from the robot 7.

[0019] A work head 75 is provided at the tip of the second arm 74. The work head 75 has a spline nut 751 and a ball screw nut 752 that are coaxially arranged at the tip of the second arm 74, and a spline shaft 753 that is inserted through the spline nut 751 and the ball screw nut 752. The spline shaft 753 is rotatable relative to the second arm 74 about a third rotation axis J3 that is its central axis and extends along the vertical direction, and is also movable up and down in the direction along the third rotation axis J3.

[0020] A control point TCP is set at the lower end of the spline shaft 753. The control point TCP is a reference point for controlling the operation of the robot arm 72. The robot control device 3 grasps the position of the control point TCP in an arbitrary coordinate system, and controls the driving of the first joint unit 4K, the second joint unit 6K, the first drive mechanism 791, and the second drive mechanism 792 so that the control point TCP is located at a desired position.

[0021] The robot 7 has a first joint 4K that rotatably connects the base 71 and the first arm 73, and this first joint 4K is equipped with a motor unit 4 that rotates the first arm 73 around a first rotation axis J1 relative to the base 71.

[0022] The robot 7 also has a second joint 6K that rotatably connects the first arm 73 and the second arm 74, and this second joint 6K is equipped with a motor unit 6 that rotates the second arm 74 around a second rotation axis J2 relative to the first arm 73.

[0023] The robot 7 also includes a first drive mechanism 791 that rotates the spline nut 751 to rotate the spline shaft 753 about the third rotation axis J3, and a second drive mechanism 792 that rotates the ball screw nut 752 to raise and lower the spline shaft 753 in a direction along the third rotation axis J3, i.e., in the vertical direction. The second drive mechanism 792 is installed below the first drive mechanism 791. The first drive mechanism 791 includes a motor 793, and the second drive mechanism 792 includes a motor 794. As shown in FIG. 2 , the motors 793 and 794 are electrically connected to the robot control device 3. The current supply conditions, such as the current supply pattern, current supply timing, and current supply amount, of the motors 793 and 794 are controlled by the robot control device 3.

[0024] The motor unit 4 includes a motor 41 and a power transmission mechanism (not shown) that includes, for example, a reducer. The motor unit 6 includes a motor 61 and a power transmission mechanism (not shown) that includes, for example, a reducer.

[0025] The motor 41 generates a driving force that rotates the first arm 73 relative to the base 71. The motor 61 generates a driving force that rotates the second arm 74 relative to the first arm 73. There are no particular limitations on the motors 41 and 61, but it is preferable that they are servo motors such as AC servo motors or DC servo motors.

[0026] As shown in FIG. 2, the motors 41 and 61 are electrically connected to the robot control device 3. Although not shown, the motors 41 and 61 each include a stator, a rotor that rotates inside the stator, and a case that houses these components. The stator is arranged along the inner circumference of the case and has windings such as three-phase windings. The stator generates a magnetic field when electricity is passed through the windings, for example, when three-phase AC electricity is passed through the windings. In the motors 41 and 61, the robot control device 3 controls the current flow pattern, timing, amount of electricity, etc., of the windings provided in the stators.

[0027] Furthermore, the motors 793, 794, 41 and 61 each have a built-in motor driver (not shown).

[0028] The motors 793 and 794 may be the same as the motors 41 and 61, or may be motors of different types or configurations.

[0029] The power transmission mechanism provided in the motor units 4 and 6 transmits the driving force of the motor, which is the power source, to the adjacent arm, and includes, for example, at least one of a reducer, a pulley, an endless belt, etc. The reducer is not particularly limited, but an eccentric oscillation type, a planetary gear type, a wave gear type, etc. can be used.

[0030] Discharge unit 76 that discharges viscous material 200 is provided at the lower end of spline shaft 753. As shown in Figures 1 and 4, discharge unit 76 constitutes a so-called dispenser, and includes a syringe unit 761, a needle unit 762, a discharge port 763, and a pressurizing unit (air injection unit) that injects air or the like into syringe unit 761 to pressurize viscous material 200 in syringe unit 761 and pushes it out through discharge port 763.

[0031] The pressurizing section is not limited to the above configuration, and may be configured, for example, such that instead of air, other working fluid such as water or oil is injected into the syringe section 761 to apply pressure and eject the viscous material 200 from the outlet 763, or such that the syringe section 761 has a plunger (piston) (not shown) inserted therein, and the plunger is driven to move downward in Figure 4 to pressurize the viscous material 200 in the syringe section 761 and eject it from the outlet 763.

[0032] As shown in FIG. 4, the syringe portion 761 is a container having a space for accommodating the liquid viscous material 200. The needle portion 762 constitutes a nozzle for discharging the viscous material 200, and in this embodiment, has a hollow, straight needle for discharging the viscous material 200 in the syringe portion 761. Therefore, the tip of the needle portion 762 is smaller than the opening surface 500 of the first recess 400. The needle portion 762 is detachably attached to the syringe portion 761. An outlet 763 that opens outward is provided at the tip (lower end in the figure) of the needle portion 762, and the needle portion 762 is provided with an internal space that is connected to the outlet 763. The viscous material 200 passes through the internal space of the needle portion 762 and is discharged from the outlet 763. That is, the discharge section 76 discharges a predetermined amount of viscous material 200 in the syringe section 761 at a predetermined speed from a discharge port 763 provided at the tip of the needle section 762 by injecting air into the inside of the syringe section 761 using a pressure section not shown.

[0033] The discharge speed, discharge amount, discharge timing, etc. of the viscous material 200 from the discharge port 763 can be adjusted by the amount and pressure of air injected by the pressurizing unit.

[0034] The position of the outlet 763 and the position of the control point TCP are associated with each other, and information on this positional relationship is stored in the storage unit 36 ​​of the robot control device 3, as shown in Fig. 2. Therefore, the robot control device 3 can control the operation of the robot arm 72 based on the control point TCP, and move the outlet 763 to a desired position.

[0035] The "position of the discharge port 763" is the center of the opening surface of the discharge port 763. The opening surface is an imaginary plane that includes the edge of the opening when the discharge port 763 is viewed from the outside in a plan view along the direction in which the needle extends. In this embodiment, the discharge port 763 is circular, and therefore the "position of the discharge port 763" is the center of that circle. However, the present invention is not limited to this, and the "position of the discharge port 763" may be offset from the center as long as it is within the plane of the opening surface of the discharge port 763.

[0036] In this embodiment, the discharge unit 76 has one discharge outlet 763, but is not limited to this and may have a plurality of discharge outlets 763. For example, the discharge unit 76 may have two discharge outlets 763 adjacent to each other in the X-axis direction or the Y-axis direction, and may be configured to discharge viscous materials 200 having the same or different compositions from the respective discharge outlets 763.

[0037] The viscous material 200 may be in the form of a liquid material having a viscosity relatively higher than that of water, a semi-solid material, an uncured, semi-cured, molten, or softened resin, rubber, or the like. The uses and types of the viscous material 200 are not particularly limited, and examples thereof include uncured adhesives, fillers, sealants, abrasives, paints, various pastes, various pre-fired materials (precursors), various oils, grease, liquid rubber, wiring materials, semiconductor materials, insulating materials, various cosmetics (including wax, cream, emulsion, shampoo, gel, toothpaste, etc.), and various foods (including lard, butter, margarine, mayonnaise, ketchup, mustard, syrup, cream, honey, edible oil, condensed milk, jelly, miso, etc.). The composition of such a viscous material 200, particularly its main constituent materials, are not particularly limited, and examples thereof include various polymer materials, aqueous dispersions, ceramics, carbon materials, etc.

[0038] The color of the viscous material 200 is not particularly limited, and may be any color, such as a chromatic color, an achromatic color, a metallic color, a transparent color, or a translucent color.

[0039] The viscosity of the viscous material 200 is not particularly limited, but is preferably 1 cps or more and 10,000 cps or less, and more preferably 10 cps or more and 3,000 cps or less, at 23° C. This allows the effects of the present invention, which will be described later, to be more significantly exhibited.

[0040] Next, the workpiece 300 will be described. 1 and 5 to 11, workpiece 300 has first recess 400 that opens to the main surface located on the +Z-axis side. First recess 400 is a region that is surrounded by the main surface and recessed toward the -Z-axis side relative to the main surface, or a region that is surrounded by a protruding portion or the like that protrudes toward the +Z-axis side and constitutes the main surface, and has bottom surface 410 at its lower end and opening surface 500 at its upper end.

[0041] The overall shape of the workpiece 300 is not particularly limited, and examples thereof include a block shape, a flat plate shape, and a cylindrical shape with a bottom. The workpiece 300 itself may be a container having the first recess 400.

[0042] In this embodiment, the first recess 400 has a rectangular shape extending in the Y-axis direction in a plan view (hereinafter referred to as "plan view") of its opening surface 500 seen in the Z-axis direction. The first recess 400 has a constant width and depth along the Y-axis direction. However, this configuration is not limited thereto, and the first recess 400 may have a portion where at least one of the width and depth varies along the Y-axis direction.

[0043] The bottom surface 410 of the first recess 400 is formed of a flat surface, which in this embodiment is a flat surface parallel to the XY plane. However, the configuration is not limited to this, and the bottom surface 410 may be a curved convex surface protruding in the +Z axis direction, a curved concave surface, or a surface that partially has either of these. Furthermore, the bottom surface 410 of the first recess 400 may be a smooth surface or a rough surface.

[0044] The opening surface 500 of the first recess 400 is an imaginary plane that includes the edge of the opening in a plan view, and coincides with the main surface of the first recess 400. However, this configuration is not limited thereto, and the opening surface 500 of the first recess 400 does not have to coincide with the main surface of the first recess 400.

[0045] The type, shape, and use of the workpiece 300 are not particularly limited, but as an example, the workpiece 300 may be an ornament such as an accessory such as a nameplate, name tag, brooch, or pendant head, and the robot 7 operates to apply adhesive, filler, or paint to the first recess 400 of the workpiece 300.

[0046] The area of ​​the first recess 400 formed in the workpiece 300 in a plan view is not particularly limited, but is preferably 0.2 cm 2 More than 5cm 2 Preferably less than 0.5 cm 2 More than 3cm 2 More preferably, it is:

[0047] The depth, especially the average depth, of the first recess 400 formed in the workpiece 300 is not particularly limited, but is preferably 0.5 mm or more and 10 mm or less, and more preferably 1 mm or more and 5 mm or less.

[0048] Such a workpiece 300 is placed at a predetermined position within the movable area of ​​the robot 7, i.e., within the movable area of ​​the discharge port 763. The workpiece 300 is also placed at a position where the first recess 400 is determined. The placement position of the workpiece 300 is specified in a predetermined coordinate system, for example, the robot coordinate system, and the coordinate position is stored in advance in the memory unit 36 ​​of the robot control device 3. The coordinate position refers to the X-axis position, Y-axis position, and Z-axis position in the robot coordinate system.

[0049] The placement position of the workpiece 300 does not have to be stored in advance in the storage unit 36 ​​of the robot control device 3. In this case, the loading method of the present invention can be executed more smoothly and appropriately by operating the robot arm 72 while capturing an image of the workpiece 300 using an imaging unit 77, which will be described later.

[0050] 1, an imaging unit 77 is provided at the tip of the second arm 74. The imaging unit 77 captures an image of the -Z axis side, i.e., the lower end of the spline shaft 753 and its surroundings, and acquires a captured image. The imaging unit 77 also captures an image of the entire workpiece 300 below it in a planar view, and in particular, captures an image of the entire first recessed portion 400 in a planar view.

[0051] As shown in FIG. 2, the imaging unit 77 is electrically connected to the robot control device 3, and information about the image captured by the imaging unit 77 is transmitted as an electrical signal to the robot control device 3, where it is subjected to predetermined processing.

[0052] For example, a camera equipped with an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be used as the imaging unit 77. Furthermore, the imaging unit 77 may be a 3D camera that acquires depth information.

[0053] As shown in FIG. 2, the robot control device 3 has, as a functional section 30, an imaging control section 31, a path setting section 32, a discharge amount setting section 33, a drive control section , a discharge amount control section 35, and a storage section .

[0054] The imaging control unit 31 has a function of controlling the operation of the imaging unit 77. The imaging control unit 31 uses the imaging unit 77 to capture an image of the first recess 400 of the workpiece 300 and acquires the captured image. The acquired captured image is stored in the storage unit 36.

[0055] The path setting unit 32 has a function of setting the position of the control point TCP, i.e., the position of the discharge port 763, over time when executing the filling method of the present invention, and setting the movement path of the discharge port 763. Hereinafter, as an example, as shown in FIGS. 5 to 11, the discharge port 763 is located at a first position P1, moves from that state to a first upper position HP1, which is one of the upper positions at an upper height H, moves horizontally to a second upper position HP2, which is also one of the upper positions and is directly above the second position P2 at the height H, and then descends to the second position P2. In this series of operations, the viscous material 200 is discharged from the discharge port 763 at the first position P1 and the second position P2, respectively. That is, the first position P1 and the second position P2 are each a discharge position.

[0056] As will be described later, position information of the movement path of the discharge port 763, including the first position P1 and the second position P2 in the first recessed portion 400 of the workpiece 300 and the first and second upper positions HP1 and HP2 above the first recessed portion 400, is set and stored as an operation program in the storage unit 36. The operation program also includes information on the order in which the position information is passed.

[0057] The path setting unit 32 sets the X-axis direction and the Y-axis direction at the first position P1 and the second position P2 based on the captured image captured by the imaging control unit 31. For example, the path setting unit 32 identifies the shape of the first recess 400 in a planar view in the captured image, and sets a plurality of ejection positions (the first position P1 and the second position P2) (two in the illustrated configuration). When two ejection positions are set, they can be the intersections of line segments that divide the shape of the first recess 400 in a planar view into thirds in the longitudinal direction and into two equal parts in the width direction.

[0058] The number of ejection positions in the first recess 400 may be set in advance, or may be set depending on the shape and size of the first recess 400.

[0059] The positions in the Z-axis direction of the first position P1 and the second position P2 may be configured such that the user inputs coordinate positions, or if the captured image has depth information, may be configured such that they are set based on the captured image. If the captured image has depth information, for example, the positions may be set to the midpoint of the depth of the first recessed portion 400. However, this is not limited to this configuration, and the positions in the Z-axis direction may be positions other than the midpoint of the depth of the first recessed portion 400.

[0060] The first position P1 and the second position P2 are different positions from each other in a plan view of the first recess 400, and are offset in at least one of the X-axis direction and the Y-axis direction. In this embodiment, the first position P1 and the second position P2 are offset in the Y-axis direction, but are at the same position in the X-axis direction.

[0061] However, the present invention is not limited to this configuration, and the first position P1 and the second position P2 may be offset in the X-axis direction, or may be positioned differently in the Z-axis direction.

[0062] 5 to 10, the first position P1 and the second position P2 are spaced a predetermined distance upward from the bottom surface 410 of the first recess 400. The distance between the first position P1 and the second position P2 and the bottom surface 410 is not particularly limited, but is preferably 1 mm or more and 20 mm or less, and more preferably 3 mm or more and 10 mm or less. At least one of the first position P1 and the second position P2 may be on the bottom surface 410. In other words, the distance from the bottom surface 410 may be zero.

[0063] Furthermore, the path setting unit 32 sets the height H of the first and second upper positions HP1, HP2 above the first recess 400, that is, above the opening surface 500 of the first recess 400.

[0064] When the captured image has depth information, the height H can be set to a position a predetermined distance above the opening surface 500 of the first recess 400. The predetermined distance (the position of the height H) may be a preset value, or may be set appropriately based on conditions such as the type, composition, and viscosity of the viscous material 200, and the amount of discharge per unit time.

[0065] The method for setting the movement path of the outlet 763 by the path setting unit 32 is not limited to the above. The positions of the first position P1 and the second position P2 in the X-axis direction and the Y-axis direction and the positions of the first and second upper positions HP1 and HP2 in the Z-axis direction may be set by the user. In this case, the user inputs various coordinate values ​​using an input device (not shown).

[0066] The discharge amount setting unit 33 sets the discharge amount per unit time and the discharge time at each of the first position P1 and the second position P2. These settings are made based on, for example, the volume of the first recess 400 for the viscous material 200 whose type, composition, viscosity, etc. are specified. The information on the volume of the first recess 400 may be input by the user or may be determined from a captured image.

[0067] Furthermore, the discharge amount setting section 33 may be configured to set the discharge amount per unit time and the discharge time at each of the first position P1 and the second position P2 based on input from the user.

[0068] The drive control unit 34 has a function of reading out a program stored in the storage unit 36 ​​and driving the robot arm 72 .

[0069] The discharge amount control unit 35 controls the operation of a pressurizing unit (air injection unit) (not shown) of the discharge unit 76, and controls the discharge amount, discharge speed, discharge timing, etc. of the viscous material 200.

[0070] A filling program of the present invention for executing the filling method of the present invention is stored in the memory unit 36. The filling program includes programs for the imaging control unit 31, the path setting unit 32, the discharge amount setting unit 33, the drive control unit 34, and the discharge amount control unit 35 to execute the control operations described above.

[0071] The functional unit 30 of such a robot control device 3 can be realized as an example of a hardware configuration as shown in Fig. 3. The robot control device 3 has at least one processor, a memory, and an I / O interface. The control unit, storage unit, and communication unit are connected to each other so that they can communicate with each other, for example, via a bus.

[0072] The processor is configured, for example, by a CPU (Central Processing Unit), and reads and executes various programs stored in memory.

[0073] The memory stores various programs executed by the processor, etc. Examples of memory include volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and removable external storage devices.

[0074] The I / O interface is compatible with communication means such as a wired LAN (Local Area Network), a wireless LAN, etc. This allows the robot control device 3 to send and receive signals to and from each part of the robot 7 or external devices such as a teaching device (not shown). In this case, communication may be performed via a server (not shown), or via a network such as the Internet.

[0075] Using such a robot system 1, the viscous material 200 is filled into the first recess 400 of the workpiece 300. During this filling, the robot control device 3 performs the following control.

[0076] First, the robot arm 72 is operated to move the syringe portion 761 and the needle portion 762 above the workpiece 300 downward, and the discharge port 763 is positioned at the first position P1 in the first recess 400 as shown in FIG.

[0077] Next, as shown in FIG. 6, the discharge of the viscous material 200 from the discharge port 763 begins at the first position P1, continues for a predetermined time, and then stops. That is, a predetermined amount of the viscous material 200 is discharged for a predetermined time, and droplets 200A of the viscous material 200 are formed on the bottom surface 410 of the first recess 400. Because the viscous material 200 has a relatively high viscosity, the droplets 200A of the viscous material 200 rise (are superimposed) to a relatively high position in the Z-axis direction and maintain that shape for a while. For this reason, the discharge port 763 often becomes buried in the droplets 200A.

[0078] Next, the robot arm 72 is operated to move the syringe portion 761 and the needle portion 762 upward, and the discharge port 763 is positioned above the first recess 400, i.e., at a first upper position HP1 at a height H on the +Z-axis side of the opening surface 500, as shown in FIG. 7. This allows the discharge port 763 to be raised to a sufficient height so that the discharge port 763 is not in contact with the droplet 200A of the viscous material 200. This prevents the viscous material 200 in the discharge portion 76 from being pulled downward by the surface tension of the viscous material 200, which would otherwise result in unintended discharge. Furthermore, by moving the discharge port 763 to a height H on the +Z-axis side of the opening surface 500, it is possible to prevent the viscous material 200 from forming a string between the discharge port 763 and the droplet 200A.

[0079] Next, as shown in FIG. 8, at height H, the outlet 763 is moved horizontally, i.e., in the +Y-axis direction, until the outlet 763 is positioned at a second upper position HP2 above the second position P2, and then the robot arm 72 is actuated to move the syringe portion 761 and the needle portion 762 downward, until the outlet 763 is positioned at the second position P2, as shown in FIG. 9.

[0080] By such an operation, the outlet 763 can be positioned at a second position P2 in the first recess 400 that is different from the first position P1 in a planar view of the first recess 400, i.e., the second position P2 that is shifted a predetermined distance in the Y-axis direction.

[0081] Next, as shown in FIG. 10, the discharge of the viscous material 200 from the discharge port 763 begins at the second position P2, continues for a predetermined time, and then stops. That is, a predetermined amount of the viscous material 200 is discharged for a predetermined time, and a droplet 200B of the viscous material 200 is formed on the bottom surface 410 of the first recess 400. Like the droplet 200A, the droplet 200B rises to a relatively high position in the Z-axis direction and maintains its shape for a while. The sizes (volumes) of the droplets 200A and 200B may be the same or different.

[0082] Thereafter, the robot arm 72 is operated to move the syringe portion 761 and the needle portion 762 upward, and the discharge port 763 is removed from the first recess 400.

[0083] In this way, droplets 200A and 200B are formed at different positions in first recess 400. Although it depends on the viscosity of viscous material 200 and the wettability of first recess 400, droplets 200A and 200B usually spread in first recess 400 over time, as shown in FIG. 11 , and first recess 400 is filled with viscous material 200.

[0084] This filling method utilizes the formation of desired amounts of droplets 200A and 200B at multiple desired locations within first recess 400 and the subsequent spreading of each of the droplets 200A and 200B within first recess 400, thereby enabling a more uniform amount of viscous material 200 to be filled throughout the entire area of ​​first recess 400. In particular, the present invention stops discharging the viscous material 200 at first position P1, then moves the discharge port 763 to second position P2 while discharging is stopped, and then starts discharging again. This prevents each of the droplets 200A and 200B from swelling excessively in the Z-axis direction compared to the case where the discharge port 763 is moved while discharging the viscous material 200, and prevents the viscous material 200 from rising onto the main surface due to the excessive swelling and protruding outside of first recess 400 or spreading in an unintended direction. Furthermore, if the discharge port 763 comes into contact with the droplets, especially if it is submerged in the droplets, the surface tension of the viscous material 200 may pull the viscous material 200 downward within the discharge section 76, potentially resulting in an unintended discharge, such as an excessive amount being discharged. However, the present invention can prevent or mitigate this by temporarily moving the discharge port 763 to the first and second upper positions HP1 and HP2 above the first recess 400. Thus, the filling method of the present invention enables the viscous material 200 to be accurately filled into the workpiece 300, eliminating the need for additional work due to an excess or deficiency of the viscous material 200, and efficiently filling the viscous material 200. Furthermore, since the droplets 200A are formed without waiting for the droplets 200A to spread, time can be effectively utilized, thereby reducing work time. As described above, the present invention allows the appropriate amount of viscous material 200 to be efficiently filled into the first recess 400.

[0085] Furthermore, in this embodiment, when the discharge port 763 is moved from the first position P1 to the second position P2, as described above, so-called gate motion (an operation pattern in which the discharge port 763 moves in a gate-like manner from the first position P1 to the first upper position HP1, the second upper position HP2, and the second position P2) is performed, in which (1) vertical ascent, (2) horizontal movement, and (3) vertical descent are sequentially performed. By raising the discharge port 763 in the vertical direction as in (1), that is, by moving it toward the +Z axis, the discharge port 763 can be quickly separated from the droplets that move lower toward the -Z axis with the passage of time.

[0086] Furthermore, in the present invention, the latter half of (1) and the first half of (2) may overlap in time, and the latter half of (2) and the first half of (3) may overlap in time, resulting in a so-called arch motion (a movement pattern in which the outlet 763 moves diagonally upward and downward in an arch-like manner from the first position P1 to the second position P2, i.e., drawing an arc, without passing through the first and second upper positions HP1 and HP2). In this case, the outlet 763 may move to an upper position at height H on any of the paths from the first position P1 to the second position P2. For example, the outlet 763 may move to an upper position midway between the first position P1 and the second position P2 in a plan view. When operating in this manner, the number of upper positions is small, thereby shortening the movement time and reducing the effort required to teach the upper positions, if any.

[0087] Such gate motion or arch motion more reliably prevents the viscous material 200 from spilling out of the first recess 400 or spreading in an undesired direction than when the outlet 763 moves while buried in the droplet 200A or when the outlet 763 moves while ejecting the viscous material 200.

[0088] As described above, the robot system 1 includes the robot arm 72, the robot 7 having the discharge unit 76 provided at the tip of the robot arm 72 and having the discharge port 763 for discharging the viscous material 200, and the robot control device 3 for controlling the operation of the robot 7, and is configured to discharge and fill the viscous material 200 at a first position P1 in the first recess 400 of the workpiece 300 having the first recess 400 and at a second position P2 different from the first position P1 in a plan view of the first recess 400, and the robot control device 3 moves the discharge port 763 to the first position P1 in the first recess 400, At P1, the discharge of the viscous material 200 from the discharge port 763 is started, and after the discharge of the viscous material 200 has started, the discharge of the viscous material 200 is stopped. With the discharge of the viscous material 200 stopped, the discharge port 763 is moved above the first recess 400. With the discharge of the viscous material 200 stopped, the discharge port 763 is moved horizontally and then lowered vertically or diagonally downward to a second position P2 within the first recess 400. At the second position P2, the operation of the robot 7 is controlled to start discharging the viscous material 200 from the discharge port 763. This allows the first recess 400 to be efficiently filled with an appropriate amount of viscous material 200.

[0089] In the above embodiment, the viscous material 200 is discharged at two locations, the first location P1 and the second location P2, but the present invention is not limited to this and may be configured to discharge the viscous material 200 at three or more locations. When the viscous material 200 is discharged at three or more locations, any two locations in succession at which the viscous material 200 is discharged can be considered as the first location P1 and the second location P2, respectively.

[0090] Alternatively, the viscous material 200 may be discharged while moving horizontally at a position other than the first position P1 and the second position P2 in the first recess 400. This is effective when the area of ​​the bottom surface 410 of the first recess 400 is large.

[0091] Furthermore, although the configuration has been described in which the discharge port 763 is moved after the discharge of the viscous material 200 from the discharge port 763 has been stopped, the present invention is not limited to this, and the discharge port 763 may be moved before the discharge of the viscous material 200 from the discharge port 763 has been stopped.

[0092] 11 , after the viscous material 200 has spread into the first recess 400 and has completely filled it, the robot arm 72 may be operated to agitate the viscous material 200 with the needle 762. This allows the air bubbles to be removed from the viscous material 200, even if they are present in the viscous material 200.

[0093] Next, an example of the filling method of the present invention will be described with reference to the flowchart shown in Fig. 12. The following description will be given after the workpiece 300 is placed in a predetermined position and in a predetermined orientation within the movable area of ​​the robot 7, i.e., within the movable area of ​​the discharge port 763.

[0094] First, in step S101, the imaging unit 77 is used to image the first recessed portion 400 of the workpiece 300, and a captured image viewed from the Z-axis direction of the first recessed portion 400 is obtained. This step is executed by the imaging control unit 31.

[0095] Next, in step S102, two discharge positions and discharge amounts at each discharge position are set. Specifically, as described above, the path setting unit 32 sets the first position P1 and the second position P2, and the discharge amount setting unit 33 sets the discharge amounts at the first position P1 and the second position P2. Note that the discharge amounts at each discharge position may be set separately from the setting of the discharge positions, and may be set in advance, for example.

[0096] After this setting is completed, the filling of the viscous material 200 into the first recess 400 begins.

[0097] First, in step S103, the robot arm 72 is actuated to move the outlet 763 to the first position P1 (see FIG. 5). That is, the outlet 763 is positioned at the first position P1 in the first recess 400.

[0098] Next, in step S104, the discharge unit 76 is operated to start discharging the viscous material 200 (see FIG. 6). Then, after a predetermined amount of viscous material 200 has been discharged, in step S105, the discharge of the viscous material 200 is stopped. In this way, the discharge of the viscous material 200 from the discharge port 763 starts and stops when a predetermined amount (predetermined time) has been discharged, forming droplets 200A on the bottom surface 410 of the first recess 400.

[0099] Next, in step S106, the discharge outlet 763 is moved to the second position P2. That is, the discharge outlet 763 is first moved to a first upper position HP1 at a height H above the opening surface 500 of the first recess 400 (see FIG. 7), and then, while the discharge outlet 763 is located at the height H, the discharge outlet 763 is moved in the horizontal direction (+Y-axis direction) to a second upper position HP2 above the second position P2 (see FIG. 8), and then the discharge outlet 763 is lowered to position the discharge outlet 763 at the second position P2 (see FIG. 9).

[0100] Next, in step S107, the discharge unit 76 is operated to start discharging the viscous material 200 (see FIG. 10). Then, after a predetermined amount of viscous material 200 has been discharged, in step S108, the discharge of the viscous material 200 is stopped. In this way, the discharge of the viscous material 200 from the discharge port 763 starts and stops when a predetermined amount (predetermined time) has been discharged, forming droplets 200B on the bottom surface 410 of the first recess 400.

[0101] Next, in step S109, for example, the discharge port 763 is raised to a second upper position HP2 at height H, and the discharge port 763 is moved outside the first recess 400. Thereafter, as shown in Fig. 11, the droplets 200A and 200B spread within the first recess 400 over time, and the viscous material 200 is filled uniformly in predetermined areas within the first recess 400, particularly over almost the entire area.

[0102] As described above, the filling method of the present invention is a filling method for filling a workpiece 300 having a first recess 400 by discharging the viscous material 200 to a first position P1 in the first recess 400 and a second position P2 different from the first position P1 in a plan view of the first recess 400, using a robot 7 having a robot arm 72 and a discharge unit 76 provided at a tip end of the robot arm 72 and having a discharge port 763 for discharging the viscous material 200, the robot arm 72 moving the discharge port 763 to the first position P1 in the first recess 400, and discharging the viscous material 200 from the discharge port 763 at the first position P1. The robot arm 72 starts discharging the viscous material 200, stops discharging the viscous material 200 after starting the discharging, and with the discharging of the viscous material 200 stopped, moves the discharge port 763 above the first recess 400, and with the discharging of the viscous material 200 stopped, the robot arm 72 moves the discharge port 763 horizontally and then vertically downward or diagonally downward to move it to a second position P2 within the first recess 400, and starts discharging the viscous material 200 from the discharge port 763 at the second position P2. This allows the first recess 400 to be efficiently filled with an appropriate amount of viscous material 200.

[0103] As described above, the filling program of the present invention is a filling program for executing a filling method in which the robot 7 has the robot arm 72 and the discharge unit 76, which is provided at the tip of the robot arm 72 and has a discharge port 763 for discharging the viscous material 200, to fill a first position P1 in the first recess 400 of the workpiece 300 having the first recess 400 and a second position P2 different from the first position P1 in a plan view of the first recess 400, and the robot arm 72 moves the discharge port 763 to the first position P1 in the first recess 400, and at the first position P1, discharges the viscous material 200 from the discharge port 763. The program is for executing the following operations: starting dispensing of the viscous material 200 from the robot arm 72; stopping dispensing of the viscous material 200 after starting dispensing of the viscous material 200; with the dispensing of the viscous material 200 stopped, the robot arm 72 moves the discharge port 763 above the first recess 400; with the dispensing of the viscous material 200 stopped, the robot arm 72 moves the discharge port 763 horizontally and then vertically downward or diagonally downward to move it to a second position P2 within the first recess 400; and starting dispensing of the viscous material 200 from the discharge port 763 at the second position P2. By executing such a filling program, the first recess 400 can be efficiently filled with an appropriate amount of viscous material 200.

[0104] Although the filling program is stored in the memory unit 36 ​​of the robot control device 3, the present invention is not limited to this, and part or all of the filling program may be stored in a memory unit other than the memory unit 36 ​​of the robot control device 3, for example, a memory unit of a teaching device not shown, or a memory unit possessed by a server not shown.

[0105] As described above, the first position P1 and the second position P2 are specified based on the shape of the first recess 400 in a plan view. This makes it possible to more appropriately set the positions of the first position P1 and the second position P2 relative to the shape of the first recess 400 in a plan view, and to more appropriately set the amount of viscous material 200 dispensed at each of the first position P1 and the second position P2. As a result, the viscous material 200 dispensed at each of the first position P1 and the second position P2 can be more easily spread throughout the entire area of ​​the first recess 400. This makes it possible to more uniformly and quickly fill the first recess 400 with the viscous material 200.

[0106] The first position P1 and the second position P2 do not have to be based on the shape of the first recess 400 in a planar view. In other words, the first position P1 and the second position P2 may be set without taking into consideration the shape of the first recess 400 in a planar view.

[0107] As described above, the shape of the first recess 400 in plan view can be obtained from an image of the first recess 400. This makes it possible to grasp the shape of the first recess 400 in plan view more accurately using a simple method. This allows the viscous material 200 to be filled into the first recess 400 more uniformly and more quickly.

[0108] The shape of the first recess 400 in plan view may be obtained from, for example, a detection value of a separately installed distance measuring sensor, other than an image of the first recess 400. The shape of the first recess 400 in plan view may be stored in advance in the storage unit 36 ​​or a storage unit of a teaching device (not shown), and this information may be used.

[0109] The amount of viscous material 200 dispensed at the first position P1 and the amount of viscous material 200 dispensed at the second position P2 are set based on at least one of the following conditions, in this embodiment, the shape and area of ​​the first recess 400 in a plan view and the depth of the first recess 400. This allows the amount of viscous material 200 dispensed at the first position P1 and the second position P2 to be more appropriate in accordance with the shape of the first recess 400 in a plan view, etc., and allows the viscous material 200 to be filled more uniformly and more quickly inside the first recess 400.

[0110] The amount of viscous material 200 discharged at the first position P1 and the amount of viscous material 200 discharged at the second position P2 may be set based on one or two of the shape and area of ​​the first recess 400 in a planar view and the depth of the first recess 400, or may be set without being based on these.

[0111] Second Embodiment Fig. 13 is a cross-sectional side view showing a state in which a filling method according to a second embodiment of the present invention is being performed. Fig. 14 is a flowchart for explaining the filling method according to the second embodiment of the present invention.

[0112] Below, we will explain the second embodiment of the filling method, filling program, and robot system of the present invention with reference to Figures 13 and 14. However, below we will focus on the differences from the first embodiment, and omit explanations of similar points.

[0113] 13, the workpiece 300 has a first recess 400 and a second recess 700 adjacent to the first recess 400 via a partition wall 600. The second recess 700 has a different shape in a plan view from the first recess 400 and a smaller size (area) than the first recess 400. However, this configuration is not limited thereto, and the second recess 700 may have the same shape and size (area) in a plan view as the first recess 400. Furthermore, the second recess 700 may have a portion in which at least one of the width and depth is different along its longitudinal direction.

[0114] The area of ​​the second recess 700 formed in the workpiece 300 in a plan view is not particularly limited, but is preferably 0.2 cm 2 More than 10cm 2 Preferably less than 0.5 cm 2 More than 5cm 2 More preferably, it is:

[0115] The depth, particularly the average depth, of the second recess 700 formed in the workpiece 300 is not particularly limited, but is preferably 0.5 mm or more and 10 mm or less, and more preferably 1 mm or more and 5 mm or less.

[0116] The first recess 400 and the second recess 700 may have the same depth, particularly the average depth, or may have different depths.

[0117] In such a workpiece 300, the first recess 400 and the second recess 700 are not necessarily completely separated by the partition wall 600, and the first recess 400 and the second recess 700 may be partially connected.

[0118] An example of a filling method according to this embodiment will be described below with reference to the flowchart shown in Fig. 14. Steps S201 to S208 shown in Fig. 14 are substantially similar to steps S101 to S108 in the first embodiment, and therefore description thereof will be omitted. The differences are that in step S201, the second recessed portion 700 is imaged in addition to the first recessed portion 400, and that in step S202, a third position P3 is set within the second recessed portion 700. The third position P3 is set in the same manner as the first position P1 and the second position P2.

[0119] In this embodiment, after the viscous material 200 is supplied to the first recess 400, that is, after the discharge of the viscous material 200 from the discharge port 763 at the second position P2 is stopped, the following operation is performed.

[0120] In step S209, the outlet 763 is moved from the second position P2 to the third position P3. In this embodiment, step S209 is performed using gate motion. That is, the robot arm 72 is operated to move the outlet 763 from the second position P2 to a second upper position HP2 above the first recess 400, i.e., at a height H. Next, the outlet 763 is moved in the +Y-axis direction while maintaining the height H, passing above the partition wall 600, to a third upper position HP3, which is one of the upper positions above the third position P3 of the second recess 700. Then, the outlet 763 is lowered to the third position P3, and the outlet 763 is positioned at the third position P3.

[0121] This prevents unintended deformation of the droplet 200B due to the discharge portion 76 moving while submerged in the droplet, and also prevents interference between the discharge portion 76 and the partition wall 600 because the discharge port 763 passes above the partition wall 600. Furthermore, when the discharge port 763 moves in the +Y-axis direction and passes above the partition wall 600, the discharge of the viscous material 200 from the discharge port 763 stops, which prevents the viscous material 200 from adhering to the upper end surface 610 of the partition wall 600 or its surrounding area and scattering of the viscous material 200 to the surrounding area. Note that if the discharge portion 76 is a spray type or if the discharge portion 76 continuously discharges the viscous material 200, the above effect cannot be obtained.

[0122] Next, in step S210, the discharge unit 76 is operated to start discharging the viscous material 200 at the third position P3 (see FIG. 13). Then, when a predetermined amount of the viscous material 200 has been discharged (for a predetermined time), in step S211, the discharge of the viscous material 200 is stopped. In this way, the discharge of the viscous material 200 from the discharge port 763 is started and then stopped, forming droplets 200C on the bottom surface 710 of the second recess 700.

[0123] Next, in step S212, for example, the discharge port 763 is raised to a third upper position HP3 at height H, and the discharge port 763 is moved outside the second recess 700. Thereafter, the droplet 200C spreads within the second recess 700 over time, and the viscous material 200 is filled (supplied) uniformly into predetermined portions within the second recess 700, particularly over almost the entire area within the second recess 700.

[0124] The viscous material 200 dispensed into the first recess 400 and the viscous material 200 dispensed into the second recess 700 may be the same or different. In the latter case, for example, the viscous material 200 may differ in at least one of the conditions such as use, type, composition, color, viscosity, etc.

[0125] Furthermore, when different viscous materials 200 are ejected into the first recess 400 and the second recess 700, it is preferable that the ejection section 76 has a heterogeneous material supply section that can supply multiple different types of viscous materials 200 to the ejection outlet 763.

[0126] As described above, the workpiece 300 has a second recess 700 adjacent to the first recess 400 via the partition 600. After starting to discharge the viscous material 200 from the discharge port 763 at the second position P2, the discharge of the viscous material 200 is stopped. With the discharge of the viscous material 200 stopped, the robot arm 72 moves the discharge port 763 above the first recess 400. With the discharge of the viscous material 200 stopped, the robot arm 72 passes above the partition 600 and moves the discharge port 763 above the second recess 700. With the discharge of the viscous material 200 stopped, the robot arm 72 moves the discharge port 763 horizontally and then vertically downward or diagonally downward to move the discharge port 763 to a third position P3 within the second recess 700. At the third position P3, the discharge of the viscous material 200 from the discharge port 763 is started. This allows an appropriate amount of viscous material 200 to be efficiently filled not only in the first recess 400 but also in the second recess 700. Furthermore, since the discharge port 763 passes above the partition wall 600 and moves from the second position P2 to the third position P3 while the discharge of the viscous material 200 is stopped, it is possible to prevent or suppress the viscous material 200 from adhering to the upper end surface 610 of the partition wall 600 or scattering around the first recess 400 and the second recess 700.

[0127] Furthermore, according to this embodiment, the viscous material 200 can be filled (supplied) independently into the first recess 400 and the second recess 700. In particular, different viscous materials 200 can be filled into the first recess 400 and the second recess 700.

[0128] The second recess 700 may also be configured to sequentially discharge the viscous material 200 from two or more locations that are different in plan view. In this case, the movement of the discharge port 763 between the locations is the same as that described in the first embodiment.

[0129] Furthermore, when the viscous material 200 is discharged at three or more locations in the first recess 400, the location where the viscous material 200 was last discharged is set as the second location P2, and the location where the viscous material was previously discharged is set as the first location P1. Alternatively, the viscous material 200 may be discharged while moving horizontally at a position other than the first position P1 and the second position P2 within the first recess 400.

[0130] 13, the third position P3 is spaced a predetermined distance upward from the bottom surface 710 of the second recess 700, similar to the first position P1 and the second position P2. The distance from the bottom surface 710 of the third position P3 is not particularly limited, and the preferred value is the same as that of the first position P1 and the second position P2. The third position P3 may be located on the bottom surface 710. That is, the distance from the bottom surface 710 may be zero.

[0131] While the filling method, filling program, and robot system of the present invention have been described above based on the illustrated embodiments, the present invention is not limited to these, and the configurations of the parts and processes in the filling method, filling program, and robot system can be replaced with any configurations and processes having similar functions. Furthermore, any other functional parts and processes may be added to the filling method, filling program, and robot system. [Explanation of symbols]

[0132] 1...robot system, 3...robot control device, 4...motor unit, 4K...first joint section, 6...motor unit, 6K...second joint section, 7...robot, 30...functional section, 31...imaging control section, 32...path setting section, 33...discharge amount setting section, 34...drive control section, 35...discharge amount control section, 36...memory section, 41...motor, 61...motor, 71...base, 72...robot arm, 73... First arm, 74... second arm, 75... working head, 76... discharge portion, 77... imaging portion, 200... viscous material, 200A... droplet, 200B... droplet, 200C... droplet, 300... workpiece, 400... first recess, 410... bottom surface, 500... opening surface, 600... partition wall, 610... upper end surface, 700... second recess, 710... bottom surface, 751... spline nut, 752... ball screw nut, 753... spline Line shaft, 761...syringe portion, 762...needle portion, 763...discharge port, 791...first drive mechanism, 792...second drive mechanism, 793...motor, 794...motor, H...height, J1...first rotation axis, J2...second rotation axis, J3...third rotation axis, P1...first position, P2...second position, P3...third position, HP1...first upper position, HP2...second upper position, HP3...third upper position, S 101...step, S102...step, S103...step, S104...step, S105...step, S106...step, S107...step, S108...step, S109...step, S201...step, S202...step, S208...step, S209...step, S210...step, S211...step, S212...step, TCP...control point

Claims

1. A filling method for filling a workpiece having a first recess by discharging the viscous material to a first position in the first recess and to a second position different from the first position in a plan view of the first recess, using a robot having a robot arm and a discharge unit provided at a tip of the robot arm and having a discharge port for discharging the viscous material, the method comprising: the robot arm moves the outlet to the first position within the first recess; Initiating the discharge of the viscous material from the discharge port at the first position; After starting the dispensing of the viscous material, stopping the dispensing of the viscous material; the robot arm moves the discharge port above the first recess while the discharge of the viscous material is stopped; With the dispensing of the viscous material stopped, the robot arm moves the discharge port horizontally and then vertically downward or obliquely downward to the second position within the first recess; A filling method, comprising starting to discharge the viscous material from the discharge port at the second position.

2. the workpiece has a second recess adjacent to the first recess via a partition wall, After starting the discharge of the viscous material from the discharge port at the second position, stopping the discharge of the viscous material; the robot arm moves the discharge port above the first recess while the discharge of the viscous material is stopped; while the discharging of the viscous material is stopped, the robot arm passes above the partition wall and moves the discharge port to above the second recess; while the dispensing of the viscous material is stopped, the robot arm moves the discharge port horizontally and then vertically downward or obliquely downward to a third position within the second recess; The method of claim 1 , wherein the viscous material starts to be discharged from the discharge port at the third position.

3. The filling method according to claim 1 or 2, wherein the first position and the second position are specified based on a shape of the first recess in a plan view.

4. The filling method according to claim 3 , wherein the shape of the first recess in a plan view is obtained from an image of the first recess.

5. The filling method described in claim 3, wherein the amount of viscous material dispensed at the first position and the amount of viscous material dispensed at the second position are set based on at least one condition of the shape and area of ​​the first recess in a planar view and the depth of the first recess.

6. A filling program for executing a filling method using a robot having a robot arm and a discharge unit provided at a tip end of the robot arm and having a discharge port for discharging a viscous material, the method comprising: discharging the viscous material to a first position in a first recess of a workpiece having the first recess and to a second position different from the first position in a plan view of the first recess, the program comprising: the robot arm moves the outlet to the first position within the first recess; Initiating the discharge of the viscous material from the discharge port at the first position; After starting the dispensing of the viscous material, stopping the dispensing of the viscous material; the robot arm moves the discharge port above the first recess while the discharge of the viscous material is stopped; With the dispensing of the viscous material stopped, the robot arm moves the discharge port horizontally and then vertically downward or obliquely downward to the second position within the first recess; A filling program for executing an operation of starting the discharge of the viscous material from the discharge port at the second position.

7. A robot system comprising: a robot arm; a discharge unit provided at a tip end of the robot arm and having a discharge port for discharging a viscous material; and a robot control device that controls operation of the robot, wherein the robot system discharges and fills a first position in a first recess of a workpiece having the first recess and a second position different from the first position in a plan view of the first recess, The robot control device moving the outlet to the first position within the first recess; Initiating the discharge of the viscous material from the discharge port at the first position; After starting the dispensing of the viscous material, stopping the dispensing of the viscous material; moving the discharge port above the first recess while the discharge of the viscous material is stopped; With the discharge of the viscous material stopped, the discharge port is moved horizontally and then lowered vertically or diagonally downward to the second position within the first recess; A robot system, characterized in that, at the second position, the operation of the robot is controlled to start discharging the viscous material from the discharge port.

Images