Method for supplying fluid e.g. adhesive substance, into joint, involves guiding nozzle by robot along joint, and controlling discharge velocity of fluid based on width, depth and/or grouting depth of joint and/or moving velocity of nozzle

摘要

The method involves supplying fluid into a joint by a nozzle (4). The nozzle is guided by an industrial robot (1) along the joint. Discharge velocity of the fluid is controlled based on width, depth and/or grouting depth of the joint and/or moving velocity e.g. tool control point velocity, of the nozzle. A layer of the joint and/or the width and/or the depth of the joint are detected by a sensor e.g. charge-coupled device (CCD) sensor. The moving velocity of the nozzle and/or the discharge velocity of the fluid are increased or decreased. An extent of a grouting is determined by the sensor. An independent claim is also included for a device for supplying fluid into a joint.