Coating device and coating device control method

Abstract

To provide a coating device which prevents coating surface from being disturbed.SOLUTION: A controlling device includes a robot arm (4), a coating hand (20) which is attached to the robot arm (4), ejects liquid in the state of being separated from a workpiece (W) and applies the workpiece (W), a substrate (10) which is provided on the robot arm (4) or the coating hand (20) and can be abutted on the workpiece (W) and a driving mechanism (30) which is provided on the robot arm (4) or the coating hand (20) and drives the substrate (10) in the direction of being separated from the workpiece (W).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a coating device. [Background technology]

[0002] Conventionally, coating devices using robots have been known. For example, Patent Document 1 discloses a coating device in which a coating hand is provided at the tip of a robot arm. The coating device applies a liquid ejected from the coating hand to a workpiece. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-65990 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to apply a liquid uniformly to a workpiece, it is necessary to maintain a constant distance between the applicator hand and the workpiece. One method for maintaining a constant distance between the applicator hand and the workpiece is to provide a support on the applicator hand. In this method, the support is brought into contact with the workpiece to maintain a constant distance between the applicator hand and the workpiece. The support moves over the workpiece together with the applicator hand.

[0005] However, in the above method, since the support is in contact with the workpiece, there is a possibility that the support may come into contact with a portion of the workpiece that has already been coated with liquid, which may result in the liquid spreading to unintended locations or the surface of the coated liquid being roughened.

[0006] One aspect of the present invention has been made in view of the above problems, and its object is to prevent a substrate from coming into contact with an already coated area and disturbing the coated surface. [Means for solving the problem]

[0007] In order to solve the above problems, a coating device according to one aspect of the present invention is characterized by comprising a robot arm, a coating hand attached to the robot arm and configured to eject liquid while spaced apart from a workpiece to coat the workpiece, a support provided on the robot arm or the coating hand and capable of contacting the workpiece, and a drive mechanism provided on the robot arm or the coating hand for driving the support in a direction away from the workpiece. [Effects of the Invention]

[0008] According to one aspect of the present invention, it is possible to prevent the support from coming into contact with an already coated area and disturbing the coated surface. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing the overall structure of a coating device according to a first embodiment of the present invention. [Figure 2] 2 is a diagram showing the rotational drive of a support of the coating device shown in FIG. 1. FIG. [Figure 3] 2 is a diagram showing the vertical drive of a support of the coating device shown in FIG. 1. FIG. [Figure 4] 2 is a diagram showing the up and down movement of a syringe of the coating device shown in FIG. 1. FIG. [Figure 5] 1 is a diagram showing a hardware configuration of a coating device according to a first embodiment of the present invention. [Figure 6] 4 is a flowchart showing a method for controlling the coating apparatus according to the first embodiment of the present invention. [Figure 7] 7 is a flowchart showing an avoidance process of the control method shown in FIG. 6. [Figure 8] 7 is a flowchart showing a maintenance step of the control method shown in FIG. 6. [Figure 9] 1. FIG. 4 is a diagram showing the flow of a method for avoiding the support of the coating apparatus shown in FIG. [Figure 10] 1. FIG. 4 is a diagram showing the flow of a method for avoiding the support of the coating apparatus shown in FIG. [Figure 11] FIG. 6 is a view showing an application hand of a coating device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] [Embodiment 1] An embodiment of the present invention will be described in detail below with reference to Figures 1 to 5. Figure 1 is a diagram showing the overall structure of a coating apparatus 1. Figure 2 is a diagram showing the rotational drive of a support 10 of the coating apparatus 1. Figure 3 is a diagram showing the up and down drive of the support 10 of the coating apparatus 1. Figure 4 is a diagram showing the up and down movement of a syringe 22 of the coating apparatus 1. Figure 5 is a diagram showing the hardware configuration of the coating apparatus 1. In explaining the components and positional relationships of the coating apparatus 1, the explanation will be made using three coordinate axes, namely the X (X1-X2) direction, the Y (Y1-Y2) direction, and the Z (Z1-Z2) direction, as shown in Figure 1 etc.

[0011] <Coating device 1> As shown in FIG. 1, the coating apparatus 1 includes a coating robot 2, a liquid supply mechanism 5, a 3D camera 6, and a control device 40.

[0012] The application robot 2 includes a base 3 , a robot arm 4 , and an application hand 20 .

[0013] The base 3 is fixed to the floor surface. The base 3 may have wheels and be movable.

[0014] The robot arm 4 is provided on a base 3. The robot arm 4 is rotatably attached to the base 3. The base end of the robot arm 4 is attached to the base 3. The robot arm 4 has a plurality of links. The links of the robot arm 4 are rotatably attached at joints connecting the links to adjacent links. An application hand 20 is provided at the tip of the robot arm 4.

[0015] The application hand 20 is a hand for applying a liquid to a workpiece W. The application hand 20 is provided with an attachment member 24. The application hand 20 is attached to the robot arm 4 by the attachment member 24.

[0016] The application hand 20 includes a dispenser 21 , a syringe 22 , a force sensor 27 , a support 10 , and a drive mechanism 30 .

[0017] The dispenser 21 is a drive mechanism for discharging liquid from the syringe 22 toward the workpiece W. The dispenser 21 includes a drive motor and the like. The syringe 22 is provided in the Z1 direction of the dispenser 21. The syringe 22 is filled with the liquid to be discharged. The liquid filled in the syringe 22 is supplied to the syringe 22 from the liquid supply mechanism 5. The syringe 22 has a discharge port, and the liquid is discharged from the discharge port toward the workpiece W. The connecting member 23 is a member arranged between the syringe 22 and the force sensor 27. A through hole is provided in the connecting member 23. The dispenser 21 and the syringe 22 are inserted into the through hole of the connecting member 23. The syringe 22 is attached to the surface of the connecting member 23 facing the workpiece W. The force sensor 27 is attached to the surface of the connecting member 23 facing the dispenser 21.

[0018] The force sensor 27 is a six-axis force sensor that can detect loads (Fx, Fy, Fz) in the X-axis, Y-axis, and Z-axis directions, as well as moments (Mx, My, Mz) in the X-axis, Y-axis, and Z-axis directions simultaneously. The force sensor 27 is a strain gauge type sensor having a strain generating body. Note that the force sensor 27 is not limited to a strain gauge type sensor, and piezoelectric or optical type force sensors may also be used.

[0019] The force sensor 27 is disposed between the dispenser 21 and the syringe 22. A through-hole is provided in the center of the force sensor 27. The dispenser 21 and the syringe 22 are inserted into the through-hole of the force sensor 27. The force sensor 27 detects the force and moment received from the workpiece W via the support body 10. More specifically, the force sensor 27 detects the force and moment acting on the connecting member 23 via the support body 10 and the drive mechanism 30. The force sensor 27 may be provided between the dispenser 21 and the tip of the robot arm 4.

[0020] The force sensor 27 detects a normal force, which is a force received from the workpiece W via the support 10. The normal force is a force that acts in a direction perpendicular to the coating surface of the workpiece W. In other words, it is the direction in which the support 10 moves away from the workpiece W or abuts against the workpiece W. In the drawing, a force that acts in the Z direction is the normal force. The force sensor 27 detects a first rotational moment and a second rotational moment, which are moments received from the workpiece W via the support 10. The first rotational moment is a moment about an axis that is horizontal to the coating surface of the workpiece W and perpendicular to the direction of travel of the coating hand 20. The second rotational moment is a moment about an axis that is horizontal to the coating surface of the workpiece W and parallel to the direction of travel of the coating hand 20. The rotational axis of the first rotational moment is perpendicular to the rotational axis of the second rotational moment. For example, in the drawing, when the application hand 20 is moving in the X1 direction, the first rotational moment is a moment with the Y direction (Y1-Y2) as the rotational axis, and the second rotational moment is a moment with the X direction (X1-X2) as the rotational axis.

[0021] The support 10 is provided on the application hand 20. The support 10 is a member that abuts against the workpiece W to maintain a constant distance between the application hand 20 and the workpiece. In addition, by abutting the support 10 against the workpiece W, it becomes possible to control the operation of the robot arm 4 using a force sensor 27.

[0022] The support 10 has a roller 11, a main body 12, and a protrusion 13. The support 10 is an L-shaped member. The roller 11 is provided at the tip of the main body 12 on the workpiece W side. The roller 11 of the support 10 abuts against the workpiece W. A protrusion 13 is provided on the robot arm side of the main body 12. The protrusion 13 extends in a direction intersecting the extension direction of the main body 12. In FIG. 1, the protrusion 13 extends in the X2 direction. A rotation mechanism 31 of the drive mechanism 30 is provided on the protrusion 13. Note that the support 10 may not have the roller 11. As an example, the tip of the support 10 may be curved so that the tip of the support 10 slides on the workpiece W.

[0023] The drive mechanism 30 includes a rotation mechanism 31, a vertical movement mechanism 32, a syringe vertical movement mechanism 33, and a drive mechanism main body 34. The drive mechanism 30 is controlled by a control device 40.

[0024] The rotation mechanism 31 is a mechanism that drives the support 10 in a direction that rotates around an axis that is perpendicular to the coating surface of the workpiece W. In other words, the rotation mechanism 31 is a mechanism that drives the support 10 to rotate in an arc on the coating surface of the workpiece W. The rotation mechanism 31 is provided between the support 10 and the drive mechanism main body 34. The rotation mechanism 31 is provided on the workpiece W side of the drive mechanism main body 34. The support 10 is attached to the workpiece W side of the rotation mechanism 31. When the rotation mechanism 31 is driven, the power of the rotation mechanism 31 is transmitted to the support 10. The support 10 to which the power is transmitted rotates around the rotation axis D of the rotation mechanism 31.

[0025] An example of the rotation mechanism will be described using FIG. 2. 100 in FIG. 2 shows the position of the support 10 before the rotation mechanism 31 is driven. 101 in FIG. 2 shows the position of the support 10 after the rotation mechanism 31 is driven. As shown in 101 in FIG. 2, when the rotation mechanism 31 is driven, the support 10 rotates around a rotation axis D. The support 10 rotates around an axis in the Z direction (Z1-Z2). The roller 11 of the support 10 is provided at a position away from the rotation axis D of the rotation mechanism 31. Therefore, when the rotation mechanism 31 is driven, the relative position of the support 10 with respect to the syringe 22 of the application hand 20 is changed. The rotation mechanism 31 can adjust the relative position of the support 10 with respect to the syringe 22.

[0026] In this way, by using the rotation mechanism 31, the position of the support 10 on the workpiece can be adjusted, eliminating the need to adjust the position of the support 10 by controlling the operation of the robot arm 4. As a result, continuous coating operations can be continued, and a uniform coated surface can be formed. The rotation mechanism 31 may be of any type as long as it drives the support 10 in a direction rotating about an axis perpendicular to the coating surface of the workpiece W. The rotation mechanism 31 may also be a mechanism that drives the coating hand 20 to rotate relative to the robot arm 4.

[0027] Returning to FIG. 1 , the up-down mechanism 32 is a mechanism that drives the support 10 in a direction that moves the support 10 away from the workpiece W or in a direction that brings the support 10 into contact with the workpiece W. In other words, the up-down mechanism 32 is a mechanism that drives the support 10 in the Z direction (up-down direction) relative to the syringe 22 of the application hand 20. The up-down mechanism 32 is provided between the syringe up-down mechanism 33 and the drive mechanism main body 34. The up-down mechanism 32 slides the drive mechanism main body 34 relative to the up-down mechanism 32. When the drive mechanism main body 34 slides in the Z direction, the support 10 slides in the Z direction together with the drive mechanism main body 34.

[0028] An example of the up-down mechanism 32 will be described using FIG. 3. 102 in FIG. 3 shows the position of the support 10 before the up-down mechanism 32 is driven. 103 in FIG. 3 shows the position of the support 10 after the up-down mechanism 32 is driven. As shown in 102 in FIG. 3, before the up-down mechanism 32 is driven, the support 10 is in contact with the workpiece W. When the up-down mechanism 32 is driven based on the control of the control device 40, the drive mechanism main body 34 slides relative to the up-down mechanism 32 in a direction away from the workpiece W (Z2 direction), as shown in 103 in FIG. 3. As the drive mechanism main body 34 slides in the Z2 direction, the support 10 is driven in a direction away from the workpiece W (Z2 direction). As a result, the support 10 is separated from the workpiece W. Furthermore, when the up-down mechanism 32 is driven, the position of the support 10 relative to the syringe 22 of the application hand 20 is changed. This allows the support 10 to be driven in a direction away from the workpiece W without changing the distance between the syringe 22 and the workpiece W.

[0029] In this way, by using the up-and-down mechanism 32, the support 10 can be driven in a direction away from the workpiece W. Therefore, when the support 10 travels over an area where liquid has already been applied to the workpiece W, the support 10 can be moved away from the workpiece W. This prevents the support from coming into contact with an area that has already been applied, thereby preventing the applied surface from becoming disturbed. Furthermore, because the operation of the robot arm 4 is not controlled, the support 10 can be driven in a direction away from the workpiece while the application work continues. Note that the up-and-down mechanism 32 may be of any type as long as it is a mechanism that drives the support 10 in a direction away from the workpiece W or in a direction to bring the support 10 into contact with the workpiece W.

[0030] The syringe up / down mechanism 33 is a mechanism that moves the syringe 22 in a direction away from the workpiece W or in a direction toward the workpiece W. In other words, the syringe up / down mechanism 33 is a mechanism that moves the syringe 22 in the Z direction. The syringe up / down mechanism 33 is provided between the up / down mechanism 32 and the connecting member 23. One example of the syringe up / down mechanism 33 is a microgauge. By operating the microgauge, the user can adjust the distance between the workpiece W and the syringe 22 to any distance. This allows the user to change the distance setting to suit the material of the workpiece W.

[0031] An example of the syringe up / down mechanism 33 will be described using Figure 4. 104 in Figure 4 shows the position of the syringe 22 before the syringe up / down mechanism 33 is operated. 105 in Figure 4 shows the position of the syringe 22 after the syringe up / down mechanism 33 is operated. As shown in 104 in Figure 4, before the syringe up / down mechanism 33 is operated, the syringe 22 is in a state close to the workpiece W. When the user operates the syringe up / down mechanism 33, as shown in 105 in Figure 4, the connecting member 23 slides relative to the syringe up / down mechanism 33 in a direction away from the workpiece W (Z2 direction). As the connecting member 23 slides in the Z2 direction, the syringe 22 moves in a direction away from the workpiece W (Z2 direction).

[0032] Returning to Fig. 1, liquid supply mechanism 5 is a mechanism that supplies the liquid to be discharged onto the workpiece to syringe 22. The amount of liquid supplied to the syringe is controlled by control device 40. Liquid supply mechanism 5 includes a pump, a drive motor, etc.

[0033] The 3D camera 6 is a camera for image analysis of the shape of the workpiece W. The 3D camera 6 is provided in a position where it can capture an image of the workpiece W. One or more 3D cameras 6 are used. The 3D camera 6 may be provided on the coating robot 2, or may be provided in a work space other than the coating robot 2. The image data captured by the 3D camera 6 is transmitted to the control device 40. The image data captured by the 3D camera 6 may be a still image or a video.

[0034] The control device 40 is a device that controls the entire coating apparatus 1. FIG. 5 is a diagram showing the hardware configuration of the coating apparatus 1. As shown in FIG. 5, the control device 40 includes a processor 41, a memory 42, and an input / output IF 43. The control device 40 is realized by, for example, a personal computer (PC), a PLC (programmable logic controller), or the like. The processor 41, the memory 42, and the input / output IF 43 are electrically connected to each other via a bus.

[0035] The processor 41 performs various controls and calculations by executing various programs stored in the memory 42. For example, a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), or a combination of these may be used as the processor 41. The processor 41 controls the operations of the robot arm 4 and the drive mechanism 30, for example.

[0036] The memory 42 stores various programs executed by the processor 41. Programs related to the coating operation are stored in the memory 42. The programs related to the coating operation are programs that describe the operation and control routines of the entire coating apparatus 1. The memory 42 may be, for example, a read-only memory (ROM), a random access memory (RAM), or the like.

[0037] The input / output IF 43 is an interface that communicates with the robot arm 4, the liquid supply mechanism 5, the 3D camera 6, the force sensor 27, and the drive mechanism 30. As the input / output IF 43, for example, a Universal Serial Bus (USB), an Advanced Technology Attachment (ATA), a Small Computer System Interface (SCSI), serial communication, etc. can be used.

[0038] <Method for controlling coating device> The control method for the coating apparatus 1 will be described with reference to Figs. 6 to 8. Fig. 6 is a flowchart showing the control method for the coating apparatus 1. Fig. 7 is a flowchart showing the avoidance step S3 of the control method shown in Fig. 6. Fig. 8 is a flowchart showing the maintenance step S5 of the control method shown in Fig. 6.

[0039] The movement step S1 is a step in which the control device 40 controls the robot arm 4 of the coating robot 2. In step S1, when the processor 41 executes a program related to the coating operation, the control device 40 controls the operation of the robot arm 4. Under the control of the control device 40, the operation of the robot arm 4 is adjusted so that the position of the coating hand 20 relative to the workpiece W satisfies predetermined conditions. In a maintenance step S5, the position of the coating hand relative to the workpiece W is adjusted so as to maintain the predetermined conditions. This maintenance step S5 will be described in detail later.

[0040] The application step S2 is a step in which the control device 40 controls the liquid supply mechanism 5 and the application hand 20 to apply the liquid to the workpiece W. In step S2, the liquid supply mechanism 5 supplies the liquid to the syringe 22 of the application hand 20 under the control of the control device 40. The control device 40 drives the dispenser 21. When the dispenser 21 is driven, the liquid is ejected from the syringe 22 toward the workpiece W. As a result, the liquid is applied to the workpiece W.

[0041] The avoidance step S3 is a step in which the control device 40 controls the operation of the drive mechanism 30 to drive the support 10. In step S3, the control device 40 performs image analysis on the image data transmitted from the 3D camera 6. The control device 40 drives the support 10 to a specific position based on the image analysis data.

[0042] The avoidance step S3 will be described in detail with reference to FIG. 7. In step S3, the control device 40 performs image analysis based on image data acquired from the 3D camera 6 (S6). Next, the control device 40 determines whether the roller 11 of the support 10 is located within a predetermined range from the end of the workpiece W based on the image analysis data (S7). If the roller 11 is not located within the predetermined range from the end of the workpiece W (NO in S7), the process proceeds to step S9. If the roller 11 is located within the predetermined range from the end of the workpiece W (YES in S7), the control device 40 drives the drive mechanism 30 to change the position of the support 10 to a specific position (S8). In step S8, the control device 40 drives the rotation mechanism 31 to change the position of the support 10 to a specific position. After the position of the support 10 is changed in step S8, the process proceeds to step S9.

[0043] In this way, after detecting the end of the workpiece W, the control device 40 drives the rotation mechanism 31. Therefore, only the support body 10 can be driven to rotate. This reduces the number of steps in controlling the operation of the robot arm 4, thereby shortening the work time.

[0044] Next, the control device 40 determines whether the roller 11 is located within a predetermined range from a location T where liquid has already been applied (hereinafter referred to as the application location T) based on the image analysis data (S9). If the roller 11 is not located within the predetermined range from the application location T (NO in S9), the avoidance step S3 ends. If the roller 11 is located within the predetermined range from the application location T (YES in S9), the control device 40 drives the drive mechanism 30 to change the position of the support 10 to a specific position (S10). In step S10, the control device 40 drives the up / down mechanism 32 to change the position of the support 10 to the specific position. After the position of the support 10 has been changed in step S10, the avoidance step S3 ends.

[0045] In this way, after detecting the application area T of the workpiece W, the control device 40 drives the up-and-down mechanism 32 to separate the support 10 from the workpiece W. Therefore, the roller 11 of the support 10 does not come into contact with the application area T. In addition, the control device 40 does not need to control the operation of the robot arm 4. This makes it possible to continue the application work of applying the liquid to the workpiece W while preventing the application surface from being disturbed.

[0046] Furthermore, by using image data from the 3D camera 6, it is possible to obtain information on the coating surface of the workpiece W, which changes from moment to moment. Therefore, it is possible to detect information that may be an obstacle to the support 10 in the direction of travel of the coating hand 20 (the edge of the workpiece, the coating location T), and to avoid such obstacle. Therefore, it is possible to prevent the coating surface of the liquid applied to the workpiece W from being disturbed.

[0047] The above steps 1 to 3 are repeated until the program relating to the coating operation is completed.

[0048] In parallel with steps S1 to S3, steps S4 and S5 are repeatedly performed.

[0049] The detection step S4 is a step in which the force sensor 27 detects the force and moment received from the workpiece W via the support body 10. In step S4, the force sensor 27 detects the force and moment received from the workpiece W via the support body 10. The values ​​of the force and moment detected by the force sensor 27 are input to the control device 40 via the input / output IF 43.

[0050] The maintenance step S5 is a step in which the control device 40 controls the operation of the robot arm 4 so that the position and angle of the application hand 20 relative to the workpiece W are maintained at predetermined conditions. In step S5, the control device 40 controls the operation of the robot arm 4 based on the force and moment detected in step S4.

[0051] The maintenance step S5 will be described in detail with reference to FIG. 8. As shown in FIG. 8, in step S5, the control device 40 determines whether the value of the normal force received from the workpiece W via the support 10 is within a predetermined range (S11). If the value of the normal force is within the predetermined range (YES in S11), the process proceeds to step S7. If the value of the normal force is not within the predetermined range (NO in S11), the control device 40 corrects the movement of the robot arm 4 so that the value of the detected normal force is within the predetermined range (S12). The control device 40 corrects the movement of the robot arm 4 in a direction to move the application hand 20 away from the workpiece W or in a direction to move the application hand 20 closer to the workpiece W. After correcting the movement of the robot arm 4 in step S12, the process proceeds to step S7.

[0052] Next, the control device 40 determines whether the value of the first rotational moment received from the workpiece W via the support 10 is within a predetermined range (S13). If the value of the first rotational moment is within the predetermined range (YES in S13), the process proceeds to step S15. If the value of the first rotational moment is not within the predetermined range (NO in S7), the control device 40 corrects the operation of the robot arm 4 so that the value of the detected first rotational moment is within the predetermined range (S8). The control device 40 corrects the operation of the robot arm 4 by adjusting the tilt of the application hand 20 in the first rotational moment direction. After correcting the operation of the robot arm 4 in step S14, the process proceeds to step S15.

[0053] Next, the control device 40 determines whether the value of the second rotational moment received from the workpiece W via the support 10 is within a predetermined range (S15). If the value of the second rotational moment is within the predetermined range (YES in S15), the maintenance step S5 ends. If the value of the second rotational moment is not within the predetermined range (NO in S15), the control device 40 corrects the operation of the robot arm 4 so that the value of the detected second rotational moment MX is within a predetermined range (S16). After correcting the operation of the robot arm 4 in step S10, the maintenance step S5 ends.

[0054] In the maintenance step S5, the control device 40 corrects the operation of the robot arm 4 so that the position and angle of the applicator hand 20 relative to the workpiece W satisfy predetermined conditions. Therefore, the position and angle of the applicator hand 20 relative to the workpiece W are maintained within a predetermined range. This allows the liquid to be uniformly applied to the workpiece W. The applicator 1 also includes a 3D camera 6 and a force sensor 27. The 3D camera 6 can detect the edge of the workpiece W and the application area T, and the force sensor 27 can detect minute irregularities on the workpiece W. Therefore, when creating a program for the application work, it is not necessary to create a detailed operation program for the robot arm 4 by teaching it to match the shape of the workpiece W. In other words, the operation program for the robot arm 4 can be easily created by teaching it. This reduces unevenness in the liquid applied to the workpiece W due to differences in the user's teaching skill.

[0055] <Flow of how to avoid the support of the coating device> 9 and 10, the flow of the method for avoiding the support 10 of the coating apparatus 1 in the avoiding step S3 will be described.

[0056] FIG. 9 illustrates the support 10 avoiding the application location T. As shown in FIG. 9, during application work, the support 10 travels ahead of the syringe 22 in the direction of travel of the application hand 20. When the support 10 approaches the application location T, the control device 40 drives the up / down mechanism 32. Driving the up / down mechanism 32 moves the support 10 away from the workpiece W. The application hand 20 continues traveling in accordance with the program. When the support 10 passes the application location T, the control device 40 drives the up / down mechanism to bring the support 10 into contact with the workpiece W.

[0057] FIG. 10 illustrates the flow of movement of the support 10 as it avoids the edge of the workpiece W. As indicated by 106 in FIG. 10, during application work, the support 10 travels ahead of the syringe 22 in the direction of travel of the application hand 20. In 106 in FIG. 10, the syringe 22 starts applying liquid to the workpiece W from position A'. The roller 11 is positioned at position B'. In accordance with the program, the syringe 22 applies the liquid to the workpiece W along the edge of the workpiece W. When the syringe 22 moves to position A, the roller 11 reaches position B, which is within a predetermined range from the edge of the workpiece W.

[0058] Next, an explanation will be given using 107 in Figure 10. When roller 11 reaches position B', which is within a predetermined range from the end of workpiece W, control device 40 drives rotation mechanism 31 to move roller 11 to specific position B. Specific position B is located inside the workpiece from position B'. At this time, syringe 22 continues the coating operation according to the program until it reaches position A. Note that the coating operation of syringe 22 may be interrupted while support 10 is rotating.

[0059] Next, a description will be given using 108 in Fig. 10. When the syringe 22 reaches position A' and the roller 11 is located at position B', the control device 40 controls the robot arm 4 to change the direction of travel of the application hand 20. The syringe 22 moves in the direction from A' to A, and the roller 11 moves in the direction from B' to B.

[0060] [Variation 1] A modification of the above embodiment will now be described. In this modification, the control device 40 drives the drive mechanism 30 based on teaching data set by the user.

[0061] The user creates teaching data for the application robot 2 in advance and stores the teaching data in the memory 42 of the control device 40. When the processor 41 executes various programs, the application device 1 starts the application work.

[0062] In the avoidance step S3 described above, the control device 40 controls the operation of the drive mechanism 30 to drive the support 10 based on the teaching data stored in the memory 42. When the roller 11 of the support 10 is positioned within a predetermined range from the end of the workpiece W, the control device 40 drives the rotation mechanism 31. By driving the rotation mechanism 31, the control device 40 changes the roller 11 to a specific position. Furthermore, when the roller 11 is positioned within a predetermined range from the application location T, the control device 40 drives the up / down mechanism 32. By driving the up / down mechanism 32, the control device 40 changes the roller 11 to a specific position.

[0063] In this way, by using teaching data, it is possible to drive the drive mechanism 30 according to specific conditions without using a 3D camera. This allows for a reduction in the number of parts. Furthermore, the coating device 1 in this modified example is equipped with a force sensor 27. The edges of the workpiece W and the coating location T can be detected using teaching data created by the user, and the force sensor 27 can detect minute irregularities on the workpiece W. Therefore, when creating a program for a coating operation, it is not necessary to create a detailed operation program for the robot arm 4 in accordance with the shape of the workpiece W during teaching. In other words, it is possible to easily create an operation program for the robot arm 4 through teaching. This reduces unevenness in the liquid applied to the workpiece W due to differences in the user's teaching skill.

[0064] [Embodiment 2] A second embodiment of the present invention will be described below with reference to Fig. 11. For ease of explanation, members having the same functions as those described in the above embodiment will be denoted by the same reference numerals, and their description will not be repeated. Fig. 11 is a diagram showing an application hand 20a of a coating device according to a second embodiment of the present invention. In this embodiment, a force sensor 27 is provided on a support 10a.

[0065] As shown in FIG. 11, a coating hand 20a is provided at the tip of a robot arm. A support 10a is attached to a drive mechanism 30. The support 10a has a roller 11a, a first body portion 12a, and a second body portion 12b. The roller 11a is provided on the workpiece W side of the first body portion 12a. The first body portion 12a and the second body portion 12b are connected via a force sensor 27. A lifting mechanism 32 of the drive mechanism 30 is provided on the robot arm side of the second body portion 12b.

[0066] A force sensor 27 is provided between the first body portion 12a and the second body portion 12b. One surface of the force sensor 27 is attached to the robot arm side of the first body portion 12a. The other surface of the force sensor 27 is attached to the workpiece side of the second body portion 12b. The force sensor 27 detects forces and moments acting on the first body portion 12a.

[0067] The drive mechanism 30 has a vertical movement mechanism 32 and a syringe vertical movement mechanism 33. When the vertical movement mechanism 32 is driven by the control device 40, the second main body portion 12b of the support body 10a slides in a direction (Z direction) away from the workpiece W. The sliding of the second main body portion 12b in the Z direction drives the support body 10a to move away from the workpiece W.

[0068] In this embodiment, a rotation mechanism may be further provided to drive the support 10a in a direction of rotation about an axis perpendicular to the surface of the workpiece W to be coated.

[0069] In the above-described embodiment, the support 10 and the drive mechanism 30 are provided on the application hand 20, but this is not limitative. The support 10 and the drive mechanism 30 may be provided on the tip side of the robot arm 4.

[0070] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0071] 1 Coating device 2. Coating robot 3. Foundation 4. Robotic Arm 5 Liquid supply mechanism 6. 3D Camera 10, 10a support 11, 11a Laura 12 Main body 12a First main body part 12b Second main body part 13 Protrusion 20, 20a Application Hand 21 Dispenser 22 syringe 23 Connecting member 24 Mounting material 27 Force sensor 30 Drive mechanism 31 Rotation mechanism 32 Vertical mechanism 33 Syringe up / down mechanism 34 Drive mechanism body 40 Control device

Claims

1. A robotic arm, an application hand attached to the robot arm and configured to discharge a liquid onto a workpiece while spaced apart from the workpiece; a support provided on the robot arm or the application hand and capable of contacting the workpiece; a drive mechanism provided on the robot arm or the application hand, which drives the support body in a direction away from the workpiece; It is equipped with The coating device is characterized in that the drive mechanism further adjusts the position of the support relative to the coating hand by driving the support in a direction rotating around an axis perpendicular to the coating surface of the stationary workpiece.

2. Further provided with a 3D camera for image analysis of the shape of the workpiece and a control unit, The control unit The coating apparatus according to claim 1 , wherein the driving mechanism is controlled to drive the support based on the image analysis result from the 3D camera.

3. Further comprising a control unit, The coating apparatus according to claim 1 , wherein the control unit controls the drive mechanism to drive the support based on teaching data set by a user.

4. The control unit, based on the image analysis result from the 3D camera for image analysis of the shape of the workpiece or teaching data set by the user, On the condition that the support is positioned within a predetermined range from a coating point where the coating hand has applied the liquid to the workpiece, the drive mechanism is controlled to drive the support in a direction away from the coating point; The coating device according to claim 2 or 3, characterized in that, when it is detected that the support is located within a predetermined range from the end of the workpiece, the driving mechanism is controlled to rotate the support and change the support to a specific position.

5. The coating device described in claim 2 or 3, characterized in that the control unit controls the drive mechanism and drives the support in a direction away from the end of the workpiece, provided that the support is positioned within a predetermined range from the end of the workpiece, based on image analysis results from a 3D camera for image analysis of the shape of the workpiece or teaching data set by a user.

6. The application hand further includes a force sensor provided in the application hand for detecting a force and a moment received from a workpiece via the support body, and a control unit, the support is provided on the application hand, 6. The coating apparatus according to claim 1, wherein the control unit controls the operation of the robot arm based on a parameter calculated from an output signal of the force sensor.

7. A control method for a coating device including a robot arm, a coating hand attached to the robot arm and configured to apply a liquid to a workpiece while spaced apart from the workpiece, a support provided on the coating hand and configured to contact the workpiece, and a drive mechanism provided on the robot arm or the coating hand and configured to drive the support in a direction to move the support away from the workpiece, controlling the drive mechanism to drive the support relative to the application hand based on a predetermined condition; The drive mechanism includes: Bringing the support body into a state spaced apart from the workpiece; A control method for a coating device, characterized in that the support is driven in a direction that rotates in an arc around an axis perpendicular to the coating surface of the stationary workpiece, thereby adjusting the position of the support relative to the coating hand.

8. Based on the image analysis results from a 3D camera for image analysis of the shape of the workpiece or teaching data set by a user, controlling the support to be spaced from the workpiece on the condition that the support is positioned within a predetermined range from a coating point where the coating hand has applied the liquid to the workpiece; The control method for a coating device according to claim 7, characterized in that, on the condition that it is detected that the support is located within a predetermined range from the end of the workpiece, the support is controlled to rotate and change to a specific position.

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