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1. WO1991000151 - METHOD OF DEPOSITING MATERIAL ON ROTARY MEMBER USING ROBOT

Publication Number WO/1991/000151
Publication Date 10.01.1991
International Application No. PCT/JP1990/000771
International Filing Date 13.06.1990
IPC
B05B 13/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
13Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/-B05B11/190
02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
B05B 13/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
13Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/-B05B11/190
02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
04the spray heads being moved during operation
G05B 19/418 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
CPC
B05B 13/0228
BPERFORMING OPERATIONS; TRANSPORTING
05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
13Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
0221characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
0228the movement of the objects being rotative
B05B 13/0431
BPERFORMING OPERATIONS; TRANSPORTING
05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
13Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
04the spray heads being moved during ; spraying; operation
0431with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
B05B 13/0442
BPERFORMING OPERATIONS; TRANSPORTING
05SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER FLUENT MATERIALS TO SURFACES, IN GENERAL
BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
13Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
04the spray heads being moved during ; spraying; operation
0442Installation or apparatus for applying liquid or other fluent material to separate articles rotated during spraying operation
G05B 19/4182
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
41815characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
4182manipulators and conveyor only
G05B 2219/43141
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
43Speed, acceleration, deceleration control ADC
43141Surface, path, tangential speed
G05B 2219/45013
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
45Nc applications
45013Spraying, coating, painting
Applicants
  • FANUC LTD [JP/JP]; 3580, Shibokusa Aza-Komanba Oshino-mura, Minamitsuru-gun Yamanashi 401-05, JP (AllExceptUS)
  • KOBAYASHI, Hirohiko [JP/JP]; JP (UsOnly)
Inventors
  • KOBAYASHI, Hirohiko; JP
Agents
  • TAKEMOTO, Shoji ; 6F., Toraichi Bldg. 1-11 Toranomon 1-chome Minato-ku Tokyo 105, JP
Priority Data
1/16532529.06.1989JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) METHOD OF DEPOSITING MATERIAL ON ROTARY MEMBER USING ROBOT
(FR) PROCEDE DE DEPOT DE MATERIAU SUR UN ORGANE ROTATIF A L'AIDE D'UN ROBOT
Abstract
(EN)
A method of uniformly depositing a material on the entire outer peripheral surface of a rotary member using a robot. A material is ejected from a nozzle towards a rotary member while moving the nozzle (2) of a material fluid apparatus fitted to the tip of a robot arm along the outer peripheral surface of the rotary member such as a truncated cone (1) rotating at a predetermined speed. A robot control apparatus calculates (S12) periodically the coordinate values (x, R, O) on the work coordinates system including a target moving position (x) in the direction of the axis of rotation of the nozzle on the work coordinates system (P5-XWYWZW) expressed by a function of the time elapsed from the start point of the material deposition and a target moving position (R) in the radial direction of the nozzle corresponding to the former. These coordinate values are transformed (S14) into those on a robot based coordinates system (OB-XBYBZB), which are in turn transformed (S15) into robot-axis data. Further, pulse distribution is made in accordance with the moving distance of each axis of the robot in this period calculated from the data described above and the data of the previous period (S16 $m(k) S18). In this manner, the nozzle fitted to the robot arm moves at a speed in proportion to the outer diameter of the rotary member changing along the axis of rotation, and the material is uniformly deposited in a target thickness on the entire outer peripheral surface of the rotary member.
(FR)
Procédé permettant de déposer uniformément un matériau sur toute la surface périphérique externe d'un organe rotatif à l'aide d'un robot. Un matériau est éjecté d'une tuyère en direction d'un organe rotatif, pendant que la tuyère (2) d'un appareil à matériau fluide montée à l'extrémité d'un bras de robot se déplace le long de la surface périphérique externe de l'organe rotatif, tel qu'un tronc de cône (1) tournant à une vitesse déterminée. Un appareil de commande de robot calcule (S12) périodiquement les valeurs de coordonnées (x, R, O) dans le système de coordonnées de travail, comprenant une position de déplacement de la cible (x) dans le sens de l'axe de rotation de la tuyère dans le système de coordonnées de travail (P5-XWYWZW) exprimé par une fonction du temps écoulé depuis le point de départ du dépôt de matériau. et une position de déplacement de la cible (R) dans le sens radial de la tuyère correspondant à la première position. Ces valeurs de coordonnées sont transformées (S14) en celles d'un système de coordonnées relatives à un robot (OB-XBYBZB), qui sont transformées (S15) à leur tour en des données d'axe de robot. On effectue en outre une distribution d'impulsions en fonction de la distance de déplacement de chaque axe du robot pendant cette période que l'on calcule à partir des données susmentionnées et des données de la période précédente (S16 $m(k) S18). Grâce à cet agencement, la tuyère montée sur le bras du robot se déplace à une vitesse variable le long de l'axe de rotation proportionnellement au diamètre externe de l'organe rotatif, et le matériau est déposé de manière uniforme selon l'épaisseur désirée sur toute la surface périphérique externe de l'organe rotatif.
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