CONTROL OF COATING FILM THICKNESS IN COATING ROBOT AND FORMATION OF ROBOT TRACK

摘要

PROBLEM TO BE SOLVED: To provide a method for forming a robot track by which gradation coating is performed by the robot. ;SOLUTION: The wrist of the tip of the arm of a coating robot is oscillated at the leading and trailing ends of a coating path, the oscillating speed is made higher than the coating speed at a linear part to perform gradation coating. In this case, the track of the tip of a spray nozzle is obtained by this method. A change in the film thickness at the leading and trailing ends is imparted as the positional function of the central point of spraying (SCP), the condition that the film thickness is inversely proportional to the coating speed is used to obtain the coating speed at the SCP as the function at that position, the position of the SCP is obtained as the time function based on the speed function using that the speed is differential of the position, and then the track of the tip of the spray nozzle TCP is obtained based on the position of the SCP.;COPYRIGHT: (C)1999,JPO