Application method, application system

Abstract

To provide a coating method that can accurately apply the required amount of liquid sealant. [Solution] An application method comprising: an application step of applying a liquid sealant to a workpiece; a grasping step of determining the amount of liquid sealant applied to the workpiece; and a changing step of changing the application conditions for the next workpiece application step according to the amount applied.

Description

Technical Field

[0001] The present invention relates to a coating method and a coating system.

Background Art

[0002] For example, a damping force adjusting type shock absorber described in Patent Document 1 includes a cylinder in which a working fluid is enclosed, a piston inserted into the cylinder and partitioning the inside of the cylinder into a rod side chamber and a bottom side chamber, a piston rod connected to the piston and extending to the outside of the cylinder, a flow path in which the flow of the working fluid is generated by the expansion and contraction of the piston rod, and a damping force adjusting valve provided in the flow path and whose opening and closing operation is adjusted by a solenoid. The solenoid includes a coil that generates a magnetic force when energized, a bottomed cylindrical cap member disposed on the inner peripheral side of the coil, a movable iron core disposed on the inner peripheral side of the cap member and provided so as to be axially movable, a fixed iron core disposed on the inner peripheral side of the cap member and attracting the movable iron core, an overmold covering the outer periphery of the coil, a shaft portion provided on the inner peripheral side of the movable iron core and having a communication path formed on the inner peripheral side, a bush supporting the shaft portion, a bottomed cylindrical back pressure chamber forming member that fits the bush on the inner peripheral side and forms a back pressure chamber between an end portion of the shaft portion on the side opposite to the fixed iron core and the bush. The cylindrical case constitutes a cover on the outer peripheral side of the solenoid. The cylindrical case includes a valve side cylindrical portion located on the outer peripheral side of the damping force adjusting valve and a coil side cylindrical portion located on the outer peripheral side of the cylindrical portion of the overmold. The cylindrical portion of the overmold is inserted into the inner diameter side of the coil side cylindrical portion. Also, a seal ring for liquid-tightly sealing between the cylindrical case and the overmold is provided between the inner peripheral surface on the tip side of the coil side cylindrical portion and the outer peripheral surface of the overmold. In solenoids, techniques have been proposed to prevent foreign matter from entering through the gap between the outer casing and the housing. For example, the solenoid described in Patent Document 2 comprises a housing having an upper end opening and housing a solenoid body in which a coil is wound around a bobbin through the upper end opening; a primary outer casing made of molded resin that covers the solenoid body and is attached to the upper end opening of the housing to form a gap between itself and the upper end opening; and a secondary outer casing made of molded resin that covers the primary outer casing to close the gap. Furthermore, instead of the sealing ring described in Patent Document 1 that liquid-tightly seals the gap between the cylindrical case and the overmolding, it is conceivable to use a liquid seal. Also, instead of the secondary exterior body described in Patent Document 2 that closes the gap between the primary exterior body made of mold resin and the upper end opening of the housing, it is conceivable to use a liquid seal. And, a coating device for applying liquid seals has been proposed. For example, the coating device described in Patent Document 3 is equipped with a controller that automatically controls the amount of foaming agent supplied from the pump to the nozzle in accordance with the detected foaming agent coating thickness, by detecting the thickness of the foaming agent applied by a foaming agent application nozzle that applies the foaming agent toward the joint between wall materials using a laser sensor, and adjusting the amount of foaming agent supplied to the nozzle in accordance with the detected foaming agent coating thickness, so that the coating thickness is maintained at a predetermined thickness. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Patent No. 6719278 [Patent Document 2] Patent No. 6852051 [Patent Document 3] Japanese Patent Application Publication No. 11-57581 [Overview of the project] [Problems that the invention aims to solve]

[0004] For example, in the case of a liquid sealant applied between a cylindrical case and an overmolding, it is sometimes required to apply a predetermined amount of the liquid sealant. In the application apparatus described in Patent Document 3, the application width is automatically controlled to be maintained at a predetermined width, making it difficult to detect whether the predetermined amount of liquid sealant has been applied. This is because even if the application width is maintained at a predetermined width, the amount applied will change due to changes in the viscosity of the liquid sealant. The present invention aims to provide a coating method that can accurately apply a required amount of liquid sealant. [Means for solving the problem]

[0005] The present invention, completed with this objective in mind, is an application method comprising: an application step of applying a liquid sealant to a workpiece; a determination step of determining the amount of the liquid sealant applied to the workpiece; and a modification step of changing the application conditions for the next application step to the workpiece according to the amount applied. Furthermore, from another perspective, the present invention is a coating system comprising: a coating unit for applying a liquid sealant to a workpiece; a measuring device for measuring weight; and a changing unit for changing the application conditions of the liquid sealant to the next workpiece by the coating unit according to the amount applied to the workpiece, which is determined based on the weight measured by the measuring device. [Effects of the Invention]

[0006] According to the present invention, the required amount of liquid sealant can be applied with high accuracy. [Brief explanation of the drawing]

[0007] [Figure 1] This figure shows an example of a schematic configuration of the coating system according to the embodiment. [Figure 2] This figure shows an example of a schematic configuration of a control device. [Figure 3] This is a diagram illustrating the state of the liquid sealant applied to the workpiece. [Figure 4]This flowchart shows the procedure for the coating process performed by the control device. [Modes for carrying out the invention]

[0008] Embodiments of the present invention will be described in detail below with reference to the attached drawings. Figure 1 is a diagram showing an example of the schematic configuration of the coating system 1 according to the embodiment. Figure 2 shows an example of the schematic configuration of the control device 60. Figure 3 is a diagram illustrating the state of the liquid sealant S applied to the workpiece W. The coating system 1 includes a dispenser 10 for applying liquid sealant S to a workpiece W, and a pump 20 for supplying the liquid sealant S to the dispenser 10. The coating system 1 also includes a measuring device 30 for measuring the weight of the workpiece W, and a camera 40 for imaging the workpiece W. The coating system 1 also includes a robot arm 50 for holding the workpiece W and moving it to positions such as the liquid sealant S application position by the dispenser 10 and the weight measurement position by the measuring device 30. The coating system 1 also includes a control device 60 for controlling the operation of the dispenser 10, pump 20, camera 40, and robot arm 50.

[0009] Dispenser 10 is a device that discharges liquid sealant S downward. Dispenser 10 can be exemplified by screw type, needle valve type, plunger type, air type, or jet type. Pump 20 is a device that delivers liquid sealant S to dispenser 10 by the action of pressure.

[0010] The measuring device 30 has a platform on which to place the workpiece W, and measures the weight of the workpiece W placed on the platform. The measuring device 30 also outputs the measured weight of the workpiece W to the control device 60. Camera 40 can be exemplified as a CCD camera. Camera 40 captures an image of the workpiece W after the liquid sealant S has been applied, and outputs the captured image to the control device 60. The robot arm 50 is capable of gripping the workpiece W, and can perform rotational and linear movements while gripping the workpiece W.

[0011] The control device 60 is an arithmetic logic circuit consisting of a CPU (Central Processing Unit) (not shown), ROM (Read Only Memory) (not shown), RAM (Random Access Memory) (not shown), backup RAM (not shown), etc. The control device 60 receives input such as measurement results from the measuring device 30 and images captured by the camera 40.

[0012] The control device 60 controls the dispensing of the liquid sealant S by the dispenser 10, the driving of the pump 20, imaging by the camera 40, and the driving of the robot arm 50. For example, the control device 60 includes a robot control unit 61 that controls the drive of the robot arm 50 and a pump control unit 62 that controls the drive of the pump 20. The control device 60 also includes a coating amount determination unit 63 that determines whether the amount of liquid sealant S applied is normal based on the measurement results from the measuring device 30. The control device 60 also includes a coating state determination unit 64 that determines whether the coating state of the liquid sealant S is normal based on the image captured by the camera 40.

[0013] The coating amount determination unit 63 first determines the amount of coating applied to the workpiece W using the measurement results from the measuring device 30. More specifically, the coating amount determination unit 63 determines the coating amount as the value obtained by subtracting the weight of the workpiece W before the liquid sealant S was applied from the weight of the workpiece W after the liquid sealant S was applied, as measured by the measuring device 30. The coating amount determination unit 63 then determines whether the coating amount matches a predetermined value. If the coating amount matches the predetermined value, it is determined to be normal; if the coating amount does not match the predetermined value, it is determined to be abnormal. Note that the predetermined value is not limited to a single predetermined value (for example, 1.5 (g)), but may be a predetermined range (for example, 1.5 ± 0.15 (g)).

[0014] The coating state determination unit 64 first grasps the state of the liquid sealant S applied to the workpiece W using the image captured by the camera 40. For example, when the liquid sealant S is to be applied along a predetermined line to the workpiece W, the coating state determination unit 64 first grasps the line drawn by the liquid sealant S using the image captured by the camera 40. Then, the coating state determination unit 64 determines that it is normal when the line drawn by the liquid sealant S is not interrupted, and determines that it is abnormal when it is interrupted. For example, as shown in the normal figure of FIG. 3, when the liquid sealant S is to be applied to the workpiece W so as to draw a circle, the coating state determination unit 64 determines that it is abnormal when a part of the circle is interrupted, as shown in the abnormal figure of FIG. 3.

[0015] The robot control unit 61 causes the robot arm 50 to grip the workpiece W before the application of the liquid sealant S (hereinafter sometimes referred to as the "pre-application workpiece") at the location where the pre-application workpiece is placed (in other words, the workpiece placement area), and takes out the pre-application workpiece. Thereafter, the robot control unit 61 causes the robot arm 50 to position the starting point of the application of the liquid sealant S on the pre-application workpiece at a position below the dispenser 10. Then, thereafter, when the dispenser 10 is discharging the liquid sealant S, the robot control unit 61 causes the robot arm 50 to move the pre-application workpiece along the line along which the liquid sealant S is to be applied.

[0016] When it is the pre-application measurement timing determined in advance, the robot control unit 61 causes the robot arm 50 to place the pre-application workpiece held thereon on the measuring device 30 before positioning it below the dispenser 10. Then, after the measuring device 30 finishes measuring the weight of the pre-application workpiece, the robot control unit 61 causes the robot arm 50 to hold the pre-application workpiece and positions the application start point of the liquid sealant S on the pre-application workpiece at a position below the dispenser 10. Note that the pre-application measurement timing can be exemplified when the pre-application workpiece held is the first pre-application workpiece to be applied after the start of the application process, or when the pre-application workpiece is the first pre-application workpiece to be applied with the liquid sealant S after it is determined that the application is not normal. Also, the pre-application measurement timing can be exemplified when the pre-application workpiece held is the pre-application workpiece at a predetermined number (for example, the 100th) (in other words, the pre-application workpiece at a predetermined number of application times (for example, the 100th time)) after the previous measurement.

[0017] When it is the post-application measurement timing determined in advance, the robot control unit 61 causes the robot arm 50 to place the workpiece W (hereinafter, may be referred to as "post-application workpiece") after the application of the liquid sealant S on the measuring device 30. Then, after the measuring device 30 finishes measuring the weight of the post-application workpiece, the robot control unit 61 causes the robot arm 50 to hold the post-application workpiece. Note that the post-application measurement timing can be exemplified to be the same as the pre-application measurement timing. However, this may be excluded when the application state determination unit 64 determines that it is abnormal.

[0018] The robot control unit 61 causes the robot arm 50 to attach the post-application workpiece on which the application has been normally performed to the product. For example, when the workpiece W is the overmold described in Patent Document 1, the robot control unit 61 causes the robot arm 50 to attach the overmold coated with the liquid sealant S to the damping force adjusting type shock absorber as the product (for example, press-fitting it into a cylindrical case).

[0019] On the other hand, if the robot control unit 61 determines that the coating has not been performed properly, it instructs the robot arm 50 to place the coated workpiece in a predetermined defective product storage area. The robot control unit 61 then changes the application conditions so that the application to the next workpiece W is performed correctly. If the application amount determination unit 63 determines that the application amount is less than a predetermined value and is therefore abnormal, or if the application state determination unit 64 determines that the application state is abnormal because the line drawn by the liquid sealant S is broken, the robot control unit 61 reduces the movement speed of the workpiece before application. On the other hand, if the application amount determination unit 63 determines that the application amount is more than a predetermined value and is therefore abnormal, the robot control unit 61 increases the movement speed of the workpiece before application.

[0020] More specifically, the robot control unit 61 changes the override of the next pre-coating workpiece's movement speed (in other words, coating speed), calculated using the following equation (1), to Y(%). Y = X × (M2 - M1) / M···(1) Here, X(%) is the override of the pre-coating workpiece movement speed (where the coating was not performed correctly). M(g) is the target coating amount (in other words, a predetermined value). M1(g) is the weight of the workpiece W before the liquid sealant S is applied. M2(g) is the weight of the workpiece W after the liquid sealant S is applied.

[0021] The pump control unit 62 drives the pump 20 so that the supply rate of the liquid sealant S to the dispenser 10 is proportional to the movement speed of the workpiece before coating relative to the dispenser 10.

[0022] Next, the procedure for the coating process performed by the control device 60 will be explained using a flowchart. Figure 4 is a flowchart showing the procedure for the coating process performed by the control device 60. The control device 60 instructs the robot arm 50 to remove the workpiece before coating from the location where the workpiece before coating is placed (S401).

[0023] Subsequently, the control device 60 determines whether or not it is the pre-coating measurement timing as described above (S402). If it is the pre-coating measurement timing (YES in S402), the control device 60 measures the weight of the workpiece before coating (in other words, M1 as described above) (S403). For example, the control device 60 causes the robot arm 50 to place the gripped pre-coating workpiece on the measuring device 30 and obtains the measurement result from the measuring device 30. The control device 60 then stores the measurement result and causes the robot arm 50 to grip the pre-coating workpiece placed on the measuring device 30, and positions the starting point for applying the liquid sealant S on the pre-coating workpiece at a position below the dispenser 10.

[0024] Subsequently, the control device 60 applies the liquid sealant S to the workpiece W (S404). Also, if it is not the pre-application measurement timing (NO in S402), the control device 60 applies the liquid sealant S without measuring the weight of the workpiece before application (S404). After the application of the liquid sealant S is complete, the control device 60 determines whether the application state is normal or not (S405). The process in S405 is performed by the application state determination unit 64.

[0025] If the coating condition is normal (YES in S405), the control device 60 determines whether or not it is the post-coating measurement timing as described above (S406). If it is not the post-coating measurement timing (NO in S406), the control device 60 attaches the coated workpiece to the product without measuring the weight of the coated workpiece (S407). Then, the control device 60 causes the next pre-coating workpiece to be removed from the location where the pre-coating workpiece is placed (S401).

[0026] On the other hand, if the measurement timing is after coating (YES in S406), the control device 60 measures the weight of the coated workpiece (in other words, M2 as described above) (S408). For example, the control device 60 has the robot arm 50 place the gripped coated workpiece on the measuring device 30 and obtains the measurement result from the measuring device 30. The control device 60 then determines the coating amount by subtracting the weight of the workpiece before coating, measured in S403, from the weight of the coated workpiece measured in S408, and determines whether the coating amount is normal or not, in other words, whether the coating amount matches a predetermined value (S409).

[0027] If the coating amount is normal (YES in S409), the control device 60 attaches the coated workpiece to the product (S407). On the other hand, if the coating amount is not normal (NO in S409), the control device 60 corrects the coating amount for the next workpiece W (S410). For example, the control device 60 changes the override of the movement speed (in other words, coating speed) of the next workpiece before coating to Y (%) calculated using the above formula (1).

[0028] After correcting the coating amount for the next workpiece W, the control device 60 determines that the coating amount is not normal and removes the coated workpiece by placing it in a predetermined defective product area without attaching it to the product (S411). Similarly, if the coating condition is not normal (NO in S405), the control device 60 corrects the coating amount for the next workpiece W (S410) and removes the coated workpiece by placing it in the defective product area (S411). Then, after removing the coated workpiece by placing it in the defective product area (S411), the control device 60 causes the next uncoated workpiece to be removed from the location where the uncoated workpiece was placed (S401). Note that the uncoated workpiece grasped by the robot arm 50 at this time is the uncoated workpiece to which the liquid sealant S is applied for the first time after it has been determined that the coating is not normal. Therefore, the control device 60 measures the weight of the uncoated workpiece (S403) and the weight of the coated workpiece (S408) to determine whether the coating amount is normal or not (S409). On the other hand, the control device 60 determines whether the coating state is normal for all coated workpieces.

[0029] As described above, the coating system 1 includes a dispenser 10 (an example of a coating unit) for applying liquid sealant S to a workpiece W, and a measuring device 30 for measuring weight. The coating system 1 also includes a control device 60 (an example of a modification unit) that changes the application conditions of the liquid sealant S by the dispenser 10 to the next workpiece W according to the amount applied to the workpiece W determined based on the weight measured by the measuring device 30.

[0030] According to the coating system 1, the coating conditions are changed according to the actual amount applied to the workpiece W, so even if the viscosity of the liquid sealant S changes, the required amount of liquid sealant S can be applied with high accuracy. Furthermore, the amount applied can be kept constant even if the lot or type of liquid sealant S changes. In addition, the quality of the product to which the workpiece W coated with liquid sealant S is attached can be improved, without being affected by weather, temperature, humidity, etc.

[0031] The control device 60 determines the amount of liquid sealant applied by subtracting the weight of the workpiece W before the liquid sealant S was applied from the weight of the workpiece W after the liquid sealant S was applied, as measured by the measuring device 30. This allows the control device 60 to accurately determine the amount of liquid sealant actually applied to the workpiece W.

[0032] The control device 60 then changes the coating conditions if the coating amount is not a predetermined value. For example, the coating system 1 further includes a robot arm 50 (an example of a moving part) for moving the workpiece W, and the control device 60 reduces the movement speed of the robot arm 50 if the coating amount is less than the predetermined value. This makes it possible to coat the next workpiece W with a coating amount equal to or greater than the required amount.

[0033] Furthermore, the coating system 1 is further equipped with a camera 40 (an example of a detection unit) that detects the state of the liquid sealant S applied to the workpiece W by the dispenser 10. The control device 60 then changes the coating conditions according to the state detected by the camera 40 (for example, the state captured in the image taken by the camera 40). For example, the coating system 1 is further equipped with a robot arm 50 (an example of a moving unit) that moves the workpiece W, and the control device 60 reduces the movement speed of the robot arm 50 when the camera 40 detects that the liquid sealant S has run out. This makes it possible to apply the required amount to the next workpiece W. In addition, if the control device 60 detects overflow of the liquid sealant S (for example, overflow from the circular area as described above) from the image taken by the camera 40, it increases the movement speed of the robot arm 50. This makes it possible to apply the required amount to the next workpiece W.

[0034] The robot arm 50 retrieves the workpiece W from the workpiece storage area and moves the workpiece W to the application position by the dispenser 10. The control device 60 transports the workpiece W, which is the workpiece before the liquid sealant S is applied to the robot arm 50, to the measuring device 30 to obtain the measurement result of the weight of the workpiece before application. The control device 60 also transports the workpiece W, which is the workpiece after the liquid sealant S has been applied to the robot arm 50, to the measuring device 30 to obtain the measurement result of the weight of the workpiece after application and to determine the amount applied.

[0035] In the coating system 1, if the control device 60 determines that the application of the liquid sealant S to the workpiece W is normal, it instructs the robot arm 50 to attach the workpiece W to the product. In other words, the robot arm 50 attaches the workpiece W to the product if the application of the liquid sealant S to the workpiece W is normal. On the other hand, if the control device 60 determines that the application of the liquid sealant S to the workpiece W is abnormal, it instructs the robot arm 50 to place the workpiece W in the defective product area. In other words, the robot arm 50 places the workpiece W in the defective product area if the application of the liquid sealant S to the workpiece W is abnormal. Therefore, the coating system 1 can improve the quality of the product to which the workpiece W coated with the liquid sealant S is attached.

[0036] Furthermore, the coating method performed by the coating system 1 described above for applying liquid sealant S to a workpiece W comprises a coating step (e.g., S404) for applying liquid sealant S to the workpiece W, and a determination step (e.g., S409) for determining the amount of liquid sealant S applied to the workpiece W. The coating method also includes a change step (e.g., S410) for changing the coating conditions in the next coating step for the next workpiece W according to the amount applied.

[0037] According to the coating method performed by coating system 1, the coating conditions are changed according to the amount actually applied to the workpiece W. Therefore, even if the viscosity of the liquid sealant S changes, the required amount of liquid sealant S can be applied with high accuracy. Furthermore, the amount applied can be kept constant even if the lot or type of liquid sealant S changes. In addition, the quality of the product to which the workpiece W coated with liquid sealant S is attached can be improved, without being affected by weather, temperature, humidity, etc.

[0038] The above determination process determines the amount of sealant applied by subtracting the weight of the workpiece W before applying the liquid sealant S from the weight of the workpiece W after applying the liquid sealant S. The above modification step changes the coating conditions if the coating amount is not a predetermined value. For example, if the coating step includes a moving step in which the workpiece W is moved, the modification step reduces the moving speed in the moving step if the coating amount is less than the predetermined value.

[0039] Furthermore, the coating method performed by the coating system 1 further includes a detection step (e.g., S405) for detecting the state of the liquid sealant S applied to the workpiece W by the coating step, and the modification step changes the coating conditions according to the state detected by the detection step. For example, the coating step includes a moving step for moving the workpiece W, and if the modification step detects that the liquid sealant S has not been applied properly in the detection step, it reduces the moving speed in the moving step.

[0040] The above-described movement process includes the step of using the robot arm 50 to take the workpiece W from the workpiece storage area and move the workpiece W to the coating position in the coating process. The above grasping process involves transporting the workpiece W, which is the workpiece before the liquid sealant S is applied to the robot arm 50, to the measuring device 30 to obtain the weight measurement result of the workpiece before application. Then, the above grasping process involves transporting the workpiece W, which is the workpiece after the liquid sealant S has been applied to the robot arm 50, to the measuring device 30 to obtain the weight measurement result of the workpiece after application and to determine the amount applied.

[0041] Furthermore, the coating method performed by the coating system 1 includes a step (for example, S407) in which, if it is determined that the application of the liquid sealant S applied to the workpiece W is normal, the robot arm 50 attaches the workpiece W to the product. Furthermore, the coating method performed by the coating system 1 includes a step (for example, S411) in which, if it is determined that the application of the liquid sealant S applied to the workpiece W is abnormal, the robot arm 50 places the workpiece W in the defective product area.

[0042] In addition, in the above-described embodiment, it is also possible to determine whether the amount of liquid sealant S applied to all workpieces W is normal. [Explanation of Symbols]

[0043] 1... Coating system, 10... Dispenser (example of coating unit), 20... Pump, 30... Measuring device, 40... Camera (example of detection unit), 50... Robot arm (example of moving unit), 60... Control device (example of modification unit), 61... Robot control unit, 63... Coating amount determination unit, 64... Coating state determination unit, S... Liquid sealant, W... Workpiece

Claims

1. The process involves applying a liquid sealant to the workpiece, A step of determining the amount of the liquid sealant applied to the workpiece, A modification step that changes the coating conditions in the coating step for the next workpiece according to the amount of coating applied, A coating method comprising the following:

2. The aforementioned determination step involves determining the amount of liquid sealant to be applied by subtracting the weight of the workpiece before the liquid sealant was applied from the weight of the workpiece after the liquid sealant was applied. The coating method according to claim 1.

3. The modification step involves changing the coating conditions if the coating amount is not a predetermined value. The coating method according to claim 1.

4. The coating step includes a moving step of moving the workpiece, The modification step involves reducing the moving speed in the moving step if the amount of coating is less than the predetermined value. The coating method according to claim 3.

5. The system further comprises a detection step for detecting the state of the liquid sealant applied to the workpiece by the coating step, The modification step modifies the coating conditions according to the state detected by the detection step. The coating method according to claim 1.

6. The coating step includes a moving step of moving the workpiece, The modification step reduces the movement speed in the movement step if the detection step detects that the liquid sealant has not been applied properly. The coating method according to claim 5.

7. The aforementioned moving step includes the step of using a robot arm to take the workpiece from the workpiece storage area and move the workpiece to the coating position in the coating step. The coating method according to claim 4 or 6.

8. The grasping step involves transporting the workpiece before application of the liquid sealant to the robot arm to a measuring device to obtain the weight measurement result of the workpiece before application, and transporting the workpiece after application of the liquid sealant to the robot arm to the measuring device to obtain the weight measurement result of the workpiece after application, thereby determining the amount of sealant applied. The coating method according to claim 7.

9. If it is determined that the application of the liquid sealant to the workpiece is normal, the robot arm is instructed to attach the workpiece to the product. The coating method according to claim 7.

10. If it is determined that the application of the liquid sealant applied to the workpiece is abnormal, the robot arm is instructed to place the workpiece in a defective product area. The coating method according to claim 7.

11. An application section for applying liquid sealant to the workpiece, A measuring device for measuring weight, A modification unit that changes the application conditions of the liquid sealant by the application unit to the next workpiece according to the amount applied to the workpiece, which is determined based on the weight measured by the measuring device, A coating system equipped with the following features.

12. The modified part determines the amount of coating to be the value obtained by subtracting the weight of the workpiece before the application of the liquid sealant from the weight of the workpiece after the application of the liquid sealant, as measured by the measuring device. The coating system according to claim 11.

13. The aforementioned modification unit modifies the application conditions if the amount of coating is not a predetermined value. The coating system according to claim 11.

14. The system further comprises a moving unit for moving the aforementioned workpiece, The modified part reduces the moving speed of the moving part when the amount of coating is less than the predetermined value. The coating system according to claim 13.

15. The system further includes a detection unit for detecting the state of the liquid sealant applied to the workpiece by the coating unit, The modification unit modifies the coating conditions according to the state detected by the detection unit. The coating system according to claim 11.

16. The system further comprises a moving unit for moving the aforementioned workpiece, The modified unit reduces the movement speed of the moving unit when the detection unit detects that the liquid sealant has not been applied properly. The coating system according to claim 15.

17. The moving unit has a robotic arm that retrieves the workpiece from the workpiece storage area and moves the workpiece to the coating position by the coating unit. The coating system according to claim 14 or 16.

18. The modified unit transports the workpiece before application of the liquid sealant to the robot arm to the measuring device to obtain a measurement result of the weight of the workpiece before application, and transports the workpiece after application of the liquid sealant to the robot arm to the measuring device to obtain a measurement result of the weight of the workpiece after application, thereby determining the amount of sealant applied. The coating system according to claim 17.

19. The robot arm, if the application of the liquid sealant to the workpiece is normal, will attach the workpiece to the product. The coating system according to claim 17.

20. If the application of the liquid sealant to the workpiece is abnormal, the robot arm places the workpiece in the defective product area. The coating system according to claim 17.

Images