DE10257567B4 - Method and computer program and computer-readable medium for computer-controlled application of adhesive beads to a component - Google Patents

Abstract

A method of computer-aided application of adhesive beads to a component comprising the steps of: a) providing a bonding station (2) comprising a glue control system (31) having a stationary glue head (32) for metered dispensing of glue or sealant, a grasping and moving device (42) for receiving and positioning the component (5), a camera system (61) having a camera (62) for detecting and checking the contour of the adhesive bead (51) applied to the component (5) and operable with the adhesive control system (31) with the gripping and moving device (42) and with the camera system (61) connected gripping and moving device control system (41), b) moving the component (5) to an initial position (P1), c) applying a bead of adhesive (51) or a part of an adhesive bead (51) on the component (5) by metered dispensing of adhesive through the adhesive head (32) by the component (5) of the gripping and moving device (42) ent d) moving the component (5) to a checking position in the field of view of the camera (62), e) optically detecting the contours of the applied bead of adhesive (51) or the applied part of the adhesive bead (51) through the camera (62) and successively checking the optically detected contours of the adhesive bead (51) or the part of the adhesive bead (51) for deviations from prescribed adhesive bead contours by the camera system (61 f) determining and memorizing those adhesive web portions (DI [370], DI [372], DI [374] -DI [376]) along which deviations having adhesive beads (A2, A4, A6-A8) were output, g) If adhesive web portions (DI [370], DI [372], DI [374] -DI [376]) have been noted in step f): movement of the component (5) by the gripping and moving device (42) into the starting adhesive positions (FIG. P2, P4, P6) of the noted adhesive strip sections ...

Description

The invention relates to a method and a computer program and a computer-readable medium for computer-controlled application of adhesive beads on components with automatic error correction.

At present, adhesive robots and stationary adhesive heads for applying adhesive beads to components guided past these stationary adhesive heads are used, in particular in the automotive sector. Such provided with adhesive beads components are bonded in a subsequent manufacturing step by pressing or by pressing with other components.

The resulting bonds can sometimes deviate considerably from the specifications. If such deviations remain undetected, leaks or even inadequate connections of the components can result.

The verification of the applied adhesive beads is still often manual. If errors are detected during such manual checks, the entire production line often has to be stopped, resulting in production outages. Furthermore, such a manual verification binds personnel. So far, it is only possible to automatically detect the amount of adhesive issued by the adhesive head.

From the publication DE 100 48 749 A1 An automatic method for applying adhesive is known in which an adhesive is applied by means of a robot of an adhesive station, which is subsequently recorded and evaluated by a camera unit and corresponding metering changes are made in order to apply the desired amount of adhesive. In this case, a camera is arranged on a nozzle head of a Auftragdüse an adhesive station, which is directed with its lens on the spray jet or the adhesive strip and the output side connected to an image evaluation unit. The image data acquired via the camera unit are buffered and compared with predetermined image values in order to allow calibration and tracking of the relevant control parameters of the system on the basis of determined deviations in the image values.

It is therefore an object of the invention to provide a method by which a precise and error-free application of adhesive beads on components is made possible. It is a further object of the invention to provide a method with which defective adhesive beads can be reliably detected and corrected in-line.

This object is solved by the subject matter of the independent claims. Advantageous embodiments emerge from the respective subclaims.

In the following, the term adhesive or adhesive is used as a generic term, which analogously includes all applicable materials whose viscosity is formed so that they assume a caterpillar shape on or on a surface. In particular, these are reactive, solvent-free pumpable and spot-weldable adhesives, relining adhesives and sealants. Such applicable materials may be based on rubber or may be formed as cyanoacrylates.

The inventive method deals with the computer-aided application of adhesive beads on a component. The shapes and materials of the components to be treated by the method according to the invention are arbitrary. Particularly suitable are glass panes, plastic and metal parts, in particular body parts.

First, a gluing station is provided comprising a gluing control system having a stationary downwardly suspended and gallows fixed glueing head for metered dispensing of adhesive, a gripping and moving device or a robot for picking up and positioning the component, a camera system having one or more comprising a plurality of cameras for detecting the contour and position of the adhesive bead applied to the component and operable with the glue control system to which the robot and robot control system connected to the camera system control the robot, the glueing head and the camera system.

The camera system, the glue control system and the robot control system are each separate programmable or programmed control units or computer systems, in particular industrial computer systems. It is also conceivable that the camera system, the Klebesteuerungssystem and the robot control system are combined into one unit.

The adhesive head comprises an adhesive nozzle for applying the adhesive and at least one control unit, for example an opener and / or a closer. The gripping and moving device or the robot is designed in particular as an industrial robot and has a handling gripper for receiving a component.

In the method according to the invention, the handling gripper is equipped with a component and the Component then brought by the handling gripper in an initial position. Then, an adhesive bead or a part of an adhesive bead is applied to the component by metered dispensing of adhesive through the adhesive head. In this case, the component is guided past the adhesive head along a bonding path determined by a plurality of adhesive positions by the robot. After such application of the adhesive bead or a part of the adhesive bead, the component is moved into a checking position in the field of view of the camera.

The camera now captures the contours of the applied adhesive bead or of the applied part of the adhesive bead by making one or more images. The camera system now successively checks the optically detected adhesive bead contours to specified tolerances exceeding deviations from prescribed Kleberaupenkonturen, in particular gaps in the adhesive bead. The prescribed adhesive bead contours are present as taught-in patterns in the form of digital data on the camera system. Thus, those adhesive web portions are determined and noted, along which defective adhesive beads, in particular with gaps, have been issued.

If no such adhesive web sections are noted in this step, then the inventive method is terminated at this point. If such Klebebahnabschnitte have been noted, the component is moved by the robot in the Ausgangsklebepositions of the noted adhesive sheet sections and the respective Kleberaupenabschnitte by metered dispensing of adhesive through the adhesive head again applied to the component by the component of the robot along the noted adhesive sheet sections up to the respective Endklebepositions of the noted adhesive web sections is moved past the adhesive head.

Another method according to the invention is used on a gluing station whose adhesive head is designed to be movable and is guided by the robot and in which the component is arranged stationarily on a fixing device. The camera can be attached to such a gluing station on the adhesive head or be carried out stationary.

The method steps for a gluing station with a movable gluing head correspond to the above-described method steps for a gluing station with a stationary gluing head, whereby the gluing head is moved in each case instead of the component by the robot. The process step of moving the component into a checking position in the field of view of the camera is either replaced by the method step of aligning the camera on the component or deleted altogether.

A basic idea of the method according to the invention is to automatically repair defective adhesive beads. In contrast to common production methods, defective adhesive beads and in particular gaps having adhesive beads are automatically recognized by the inventive method and repaired in-line or within a predetermined line tact. As a result, the quality of the applied Kleberaupen is significantly increased. Order fluctuations as well as the implementation of time- and personnel-intensive rework are largely avoided. This releases production capacity for other activities.

In a first embodiment of the invention, the method steps beginning with the method step of moving the component into a checking position or starting with the method step of optically detecting the contours of the applied adhesive bead up to the step of reapplying Kleberaupenabschnitten, if previously deviations adhesive web portions are noted have been repeated in a loop. The process step of the successive checking of the optically detected adhesive bead contours carried out at each repetition relates in each case only to the adhesive bead portions applied during the respectively last loop pass.

For the maximum number of loop-like repetitions of these method steps, a maximum value can be predetermined, for example due to the cycle time. If, due to the cycle time, a further correction can no longer be carried out and there are still deviations having adhesive bead portions, then the gluing station can be stopped and a manual rework can take place. The loop-like repetition of the method steps described above can also take place so often, until no deviations Kleberaupenabschnitte have been determined.

In this embodiment of the invention, the repaired adhesive bead portions are automatically checked. By repeatedly passing through the repair cycle, a very high quality of the applied adhesive beads is ensured.

According to a further development, the method according to the invention for the computer-aided application of adhesive beads to a component is carried out with one of the two adhesive stations described above, wherein the robot control system has a main control program based on a Adhesive program, accessing a measuring program and a repair program. These can be designed as subroutines or as components of the main control program.

In this case, the component or the adhesive head is first moved to an initial position and then the adhesive program is started by the robot control system. The adhesive program comprises an adhesive web determined by n adhesive positions. These adhesive positions can also be referred to as support points. These adhesive positions are determined and programmed in the gluing program and also noted in the camera system.

Thereafter, a running variable x is set to a starting value a, in particular to 1. Thereafter, an xth adhesive bead portion is applied to the component by dispensing adhesive through the adhesive head by moving the component or adhesive head from the robot along an xth adhesive sheet portion from an x- to an x + 1-th adhesive position on the adhesive head or is moved past the component. Subsequently, the running variable x is incremented and the last two steps are repeated and thus further adhesive bead sections are applied to the component until the running variable x assumes a predetermined maximum value b. In practice, the repetition of these two steps takes place so fast that the application of successive Kleberaupenabschnitten takes place continuously and without noticeable time interruptions.

After a predetermined number of Kleberaupenabschnitten has been applied to the component in this way, the component is now moved to a defined Verprüfposition in the field of view of the camera. This process step can be omitted if the component is already in such a check position.

Now the measuring program is started, in particular by the robot system. Another run variable y is set to the start value a, a third run variable z assumes a start value 1. The subsequent method step provides for the optical detection of the contours of the previously applied adhesive bead sections by the camera system. In this case, at least one image of the previously applied Kleberaupenabschnitten is made by the camera system. Now, the contours of the (x-b + y) -th Kleberaupenabschnitts to specified tolerances exceeding deviations from a prescribed Kleberaupenkontur, in particular to gaps in the adhesive bead, checked by the camera system.

If such a deviation has been detected in the adhesive bead portion under consideration, the z-th adhesive sheet repair portion corresponding to this adhesive bead portion is noted with the adhesive position in front thereof and with the adhesive position thereafter. To reliably detect the occurrence of defective adhesive bead sections, a Boolean variable can be set to the value "True" here. Subsequently, the running variable z is incremented. In the following method step, the running variable y is incremented and the previous two steps are repeated in a loop until the running variable y assumes the predetermined maximum value b.

If, until then, no deviations have been detected, or if the Boolean variable has the value "trap", the method according to the invention is terminated at this point. In this case, no errors were found in the applied adhesive bead. If previously deviating adhesive bead sections have been determined or if the Boolean variable has the value "True", the method steps described below are carried out.

First, the repair program is started and the running variable z is set to the value 1. Then, the component is moved to the adhesive position preceding the zth adhesive repair portion and an adhesive bead portion is applied to the component by dispensing adhesive through the adhesive head by moving the component or adhesive head from the robot along the zth adhesive sheet repair portion from the preceding one is moved past the gluing head or on the component in the adhesive position arranged thereafter. Subsequently, the running variable z is incremented and the previous correction steps are repeated in a loop-like fashion until all adhesive bead sections, in which deviations have been detected, have been newly applied.

According to a further basic concept of the invention, the individual adhesive positions of an adhesive bead are taught into the camera system, which can then tell between which programmed adhesive positions a gap is present or an adhesive bead portion has been incorrectly applied. This results in the advantage that within the participating computer or control systems no coordinates, but only the numbers of those adhesive positions between which such deviations have been determined, need to be transferred. These adhesive positions can be traversed by the robot according to the original trajectory.

If a gap is located exactly at the location of an adhesive position, then advantageously an adhesive bead portion is newly applied between the adhesive position preceding this adhesive position and the adhesive position following this adhesive position.

Between the camera and the robot system, existing data is exchanged as a digital bit pattern. These bit patterns are evaluated by the robot system. It is possible to selectively repair almost any number of Kleberaupenabschnitte using a single bit pattern. For the Kleberaupenabschnitte to be repaired each initial and final positions are determined, resulting from the noted adhesive positions. These start and end positions can be present in any combination in the adhesive bead.

To ensure a secure repair of Kleberaupenabschnitte, make sure that the robot passes the component or the adhesive head at a low speed past the adhesive head or on the component and that the adhesive head outputs a constant amount of adhesive.

The technical implementation of this method according to the invention is possible on all conceivable platforms using control software known to those skilled in the art. The technical implementation of the program results for the person skilled in the art from the present explanations and need not be described in detail here. In this programming, it should be noted that zones for moving the robot to the starting point of the adhesive sheet portion as well as for driving the robot away from the terminal of the adhesive sheet portion are defined. It must be ensured that no collision of the components with elements of the gluing station can take place.

By means of this method according to the invention, a particularly reliable examination of the applied adhesive beads as well as an automatic correction of detected defective adhesive bead portions are provided. This results in a high Kleberaupenqualität with only small order fluctuations. Manual rework is largely avoided.

In an advantageous development of the invention, the execution of the last step of the method described above is followed by a loop-like repetition of the method steps from the method step of moving the component into a checking position or starting from the method step of starting the measuring program. This cyclical repetition takes place until all noted defective Kleberaupenabschnitte have been reapplied.

In the process step of checking the contours of the generated adhesive bead sections, only the last applied adhesive bead sections are considered and, if deviations are found in a newly created adhesive bead section, the adhesive web repair section corresponding to this adhesive bead section is noted with the adhesive position located in front of it and with the subsequently arranged adhesive position. If no defective Kleberaupenabschnitte are detected in the last applied Kleberaupenabschnitten, the adhesive bead produced is error-free. The inventive method is then completed at this point. If deviations are detected, the adhesive bead sections concerned are newly applied to the component.

By the single or multiple loop-like running through the described correction cycle, the quality of the applied adhesive bead can be further optimized. For the number of loop-like repetitions of this correction cycle results in a maximum value of the cycle time, which may not be exceeded per component.

According to a further embodiment of the invention, all method steps from the step of moving the component or the adhesive head in an initial position for other parts of the adhesive bead or for other Kleberaupenabschnitte repeated as many times until the adhesive bead has been completely applied. This variant of the method is particularly advantageous if a very long or very curvy or winding adhesive bead is to be applied to the component. This adhesive bead can then be applied in succession to the component in several parts.

In this case, the length of the individual parts of the adhesive bead is determined by the camera system after the resolution of the camera system and / or after the maximum detectable detail size of the component. Such a section-by-line examination of adhesive beads makes it possible to treat adhesive beads having a relatively complex three-dimensional course with the method according to the invention, even if the camera system comprises only one camera or can only provide two-dimensional images.

In a further advantageous embodiment of the method according to the invention, the adhesive positions are stored in a file, in a database or in the sticking program of the robot system. The invention Main control program, as well as the gluing program, the measuring program and the repair program can access these gluing positions. Such a program-technical embodiment of the method according to the invention makes it possible to treat a multiplicity of adhesive beads with only slight adjustments in the programs or program sections mentioned with the method according to the invention. The individual adaptation of the method according to the invention to the adhesive bead to be applied in each case takes place merely by changing the parameters which rely on the adhesive positions. A change of existing adhesive beads as well as a recording of new adhesive beads is very easily possible by changing existing adhesive positions or added new adhesive positions. In addition, such a method implemented according to the invention is very easy to maintain.

In a further embodiment of the invention, electronic registers are provided, in which those adhesive positions are entered, in which defective Kleberaupenabschnitte are found, and from which these adhesive positions can be read out again. In this case, a first electronic register is preferably specified for the adhesive positions arranged in front of an adhesive web repair section and a second electronic register for the adhesive positions arranged after an adhesive web repair section. Such a register may be by a maximum size predetermined memory field or by the use of variables, in particular pointer variables. The robot accesses such register (s) to obtain the adhesive sheet repair portions to be corrected. The use of such electronic registers ensures the reliable detection of the adhesive bead sections to be corrected with a very small memory requirement.

If the adhesive positions are stored in the electronic registers such that the adhesive positions of the respectively last adhesive tape repair section occupy respectively the last location and the last field in the respective electronic register, it is ensured that the robot does not stand in the place in the process while applying adhesive the component drips. The first and last repair points are defined as starting point and end point, respectively. This prevents unwanted glue spots on the component.

The invention is also embodied in a computer program or robot program for carrying out the method according to the invention for the computer-aided application of adhesive beads to a component. The robot program contains program instructions that cause a robot system to carry out such a method in an embodiment described above. The robot program controls the adhesive head, the robot and the camera system. As a result of the robot program according to the invention, adhesive beads are checked reliably and automatically by a camera system immediately after their application and, if necessary, corrected automatically.

Such a robot program may be contained on a storage medium which is stored in a memory which is contained in a read-only memory or in a read-only memory or which is transmitted on an electrical carrier signal.

The robot program can be stored on a carrier medium, in particular a data carrier, such as a floppy disk, a Zip drive, a streamer, a CD or a DVD.

Such a robot program can be stored on a robot system. Also, such a robot program can be downloaded from an electronic data network, such as from the Internet to a robot connected to the data network.

The invention is illustrated in more detail in the drawings with reference to an embodiment.

1 shows a flowchart 1 the method according to the invention for computer-controlled application of adhesive beads to a component,

2 shows a schematic representation of a component and a first adhesive station with a stationary adhesive head and with a first robot, which has a gripping arm for receiving the component,

3 shows a schematic representation of a second gluing station with a fixing device and with a second robot, which has a movable adhesive head, and the component arranged on the fixing device,

4 shows a schematic enlarged view of the in the 2 and 3 shown component applied adhesive bead and a schematic adhesive web section representation.

1 shows a flowchart 1 the inventive method for computer-controlled application of adhesive beads on a component.

This method is performed on a gluing station, in which a component is provided with adhesive or sealant by the component of a Robot is guided past a stationary adhesive head or by a movable adhesive head is guided past the stationary component. Furthermore, such a glue station comprises a robot system which controls a camera system, the glueing head and the robot.

In the first process step 101 Depending on the type of gluing station, either the component or the gluing head is moved to an initial position. Subsequently, an adhesive bead is applied to the component by metered dispensing of adhesive through the adhesive head. In the third process step 103 the component is moved to a check position in the camera field of view. If the component is already in a check position in the camera field of view, this method step can be omitted. In the subsequent process step 104 The contours of the applied adhesive bead are optically detected by the camera system.

In the now following fifth process step 105 is checked by the camera system successively, whether the optically detected contours of the applied Kleberaupe have deviations from stored contours that exceed predetermined tolerances. The subsequent process step 106 includes determining and remembering those adhesive web portions along which deviations having adhesive bead portions were dispensed. In the event that no such adhesive web sections have been noticed and the adhesive bead applied is thus faultless, the method step is seen 107 the end of the process according to the invention.

Returns this seventh process step 107 in that deviations adhesive web portions have been noticed, then the subsequent process steps from the eighth process step 108 the first time the eighth step is carried out 108 the setting of a flag or a variable to an initial value and incremented in a repeated execution of this flag.

In the ninth procedural step 109 a check is made as to whether the flag exceeds a default value for the number of maximum repair cycles to be executed. If this is the case, then the twelfth method step 112 continued, which sets the flag to a repair value, in particular to the value of the defective adhesive bead, and the process is terminated thereafter. At this point, a manual repair or confirmation can then be made that the rejected adhesive bead is suitable for further processing. If the flag does not exceed the default value, then the tenth method step 110 continued.

The tenth process step 110 provides for moving the component or adhesive head into the initial adhesive locations of the noted adhesive sheet portions. In the eleventh process step 111 the noted Kleberaupenabschnitte are reapplied to the component by dosed adhesive dispensed through the adhesive head.

Subsequently, the method steps according to the invention, starting with the third method step 103 or beginning with the fourth method step 104 repeated. In this case, the newly applied Kleberaupenabschnitte are looped checked, defective Kleberaupenabschnitte possibly redeposited and possibly executed further correction cycles.

2 shows a schematic representation of a component 5 and a first gluing station 2 with a stationary adhesive head 32 and with a first robot 42 that has a gripper arm 43 for receiving the component 5 features.

The first glue station 2 includes the first robot 42 with his first robot control system 41 , the stationary adhesive head 32 with his first glue control system 31 and a first camera 62 with her first camera system 61 , The schematic representation in 2 represents the first gluing station 2 with its essential components for the sake of clarity greatly simplifies.

The first robot control system 41 , the first adhesive control system 31 and the first camera system 61 are in the form of programmed or programmable control units or computer systems.

The first glue control system 31 is about the first glue plug connection 71 with the stationary adhesive head 32 , the first robot control system 41 over the first robot connection 72 with the first robot 42 and the first camera system 61 over the first camera connection 73 with the first camera 62 connected. The first robot control system 41 exchanges with the first camera system 61 via the first robot camera system connection 74 and with the first glue control system 31 via the first robotic glue control connection 75 data available as data. These connections 74 and 75 can be present as Profibus or as other network systems. Here are the first robot control system 41 as master and the first glue control system 31 as well as the first camera system 61 designed as a slave.

The gripper arm 43 is for picking up, moving and placing the component 5 certainly. The first robot 42 as well as the gripper arm 43 are like that executed that the gripper arm 43 the component 5 as well as further in 2 Remove components not shown from a stack, also not shown, to the stationary adhesive head 32 and to the first camera 62 lead and then put on a conveyor belt, also not shown.

The stationary adhesive head 32 is designed so that it can output an adhesive or sealant with a constant, precisely adjustable volume flow, while the component 5 with the gripper arm 43 on the stationary adhesive head 32 is passed. The material application of the stationary adhesive head 32 takes place time and volume flow controlled.

In 2 is a glue bead 51 on the component 5 recognizable by the stationary adhesive head 32 on the component 5 has been applied. The first camera 62 and the first camera system 61 are designed so that images can be taken from a resized field of view, these images are converted to binary data and the first robot control system 41 can be forwarded. The timing of the image recordings of the first camera system 61 is done by the first robot control system 41 ,

3 shows a schematic representation of a second adhesive station 8th with a fixing device 13 and with a second robot 92 , which has a movable glue head 82 and that on the fixing device 13 arranged component 5 ,

The second glue station 8th further includes a second camera 111 with her second camera system 112 , a second Klebesteuerungssystem 81 of the movable adhesive head 82 and a second robot control system 91 of the second robot 92 , The illustration of the second gluing station 8th is made simplifying for illustrative purposes.

The component 5 with the adhesive bead on it 51 corresponds to the in 2 shown component 5 , The component 5 is in 3 on the fixing device 13 arranged. The top-to-bottom second camera 111 is located directly above the component 5 and can, without having to make a movement, a picture of the component 5 , in particular of the adhesive bead 51 comprehensive part of the component 5 make. The movable adhesive head 82 is designed so that it can apply adhesive to components that rest on the fixture 13 are located.

The second Klebesteuerungssystem 81 is over the second glue plug connection 121 with the movable adhesive head 82 , the second robot control system 91 is about the second robot connection 122 with the second robot 92 and the second camera system 112 is via the second camera connection 123 with the second camera 111 connected. The second robot control system 91 exchanges with the second camera system 112 via the second robot camera system connection 124 and with the second glue control system 81 via the second robot glue connection 125 Data from. The connections 124 and 125 can be present as Profibus or as other network systems. Here are the second robot control system 91 as master and the second glue control system 81 as well as the second camera system 112 designed as a slave.

4 shows a schematic enlarged view of the adhesive bead 51 and a schematic adhesive web section illustration 14 ,

The glue bead 51 is divided into adhesive positions P1-P9 and arranged between these adhesive positions Kleberaupenabschnitte A1-A8. The Kleberaupenabschnitte A1-A8 connect the respectively before and after arranged adhesive positions P1-P9 and are in 4 designed as wide black bars.

The second adhesive bead portion A2 has a first gap L1. The fourth adhesive bead portion A4 is interrupted by a second gap L2. The sixth adhesive bead portion A6 has a third gap L3. A fourth gap L4 is located directly on the adhesive position P8 and extends to both the seventh adhesive bead portion A7 and the eighth adhesive bead portion A8. The gaps L1 to L4 are in 4 each represented by elongated, white recesses in the black bar of Kleberaupenabschnitte A1-A8.

Below the schematic representation of the adhesive bead 51 is located in 4 the adhesive sheet section representation 14 , which is designed so that under each Kleberaupenabschnitt A1 to A8 each provided a vertically arranged rectangle. Above each rectangle is the variable name of the digital robot inputs represented by these rectangles. The variable names are DI [369], DI [370], ..., DI [376], where DI stands for Digital Input. A rectangle filled with white indicates the unnoticed adhesive web sections with the robot input names DI [369], DI [371], DI [373]. Black rectangles each denote the noted adhesive web sections DI [370], DI [372], DI [374] -DI [376]. Black filled rectangles indicate that the respective robot input is set and white rectangles that it is not set. The adhesive sheet shown above represents the relationship between set input and the corresponding gap in the adhesive sheet.

Hereinafter, the inventive method for computer-aided application of adhesive beads on a component based on 1 . 2 and 4 explained.

First, the first robot attacks 42 with his gripper arm 43 a component 5 from the stack. Then the gripper arm leads 43 the component 5 in an initial position, located directly under the stationary adhesive head 32 located. Now the glue bead is 51 on the component 5 applied by the component 5 from the gripper arm 43 along the adhesive web determined by the adhesive positions P1-P9 on the stationary adhesive head 32 is passed over, which outputs an adhesive with a constant volume flow until reaching the adhesive position P9.

Now the component becomes 5 from the gripper arm 43 in a checking position of the field of view of the first camera 62 emotional. The first camera 62 now takes a picture, in which the position and contour of the adhesive bead 51 is detected.

This recording in the form of digital data is in the first camera system 61 successively checked and the optically recorded contours of the adhesive bead 51 checked for deviations from stored taught-in contours. It is determined that the applied adhesive bead 51 compared to their ideal form the four in 4 has particularly well-identified gaps L1-L4.

Through the first camera system 61 Now, those adhesive web portions are determined which correspond to the Kleberaupenabschnitten A2, A4, A6, A7 and A8 with the gaps L1-L4. These are the in 4 Adhesive sheet sections labeled with the robot input names DI [370], DI [372], DI [374], DI [375], and DI [376]. These adhesive sheet sections are from the first robot control system 41 evaluated. This is done in the robot program by a special subroutine in which the respective adhesive positions located before and after these adhesive web sections are stored in two registers, namely in a register with initial positions and in a register with end positions. In the registers of the initial positions are therefore the adhesive position names 22 . 24 and 26 stored. The tabs of the end positions contain the adhesive position names 23 . 25 and 29 ,

The following check, if glue web sections were noticed, turns out positive. Accordingly, the component becomes 5 each moved to the Ausgangsklebepositionen according to the register of the initial positions. Thereafter, the noted adhesive web portions of the gripping arm 43 traversed until each of the apparent from the register of end positions adhesive positions can be achieved. Accordingly, in the present embodiment, the adhesive bead portions A2, A4, A6, A7 and A8 are newly created. In this case, the adhesive web sections P2-P3, P4-P5 and P6-P9 are successively through the gripping arm 43 departed while from the stationary glue head 32 Adhesive on the component 5 is applied. The component 5 then has a checked and corrected adhesive bead 51 without gaps.

The inventive method for computer-aided application of adhesive beads is also with the in 3 shown second gluing station 8th executable, in which the component 5 is stationary and the movable adhesive head 82 from the second robot 92 over the component 5 to be led. The procedure of this method largely corresponds to that of the first gluing station 2 explained method and results for a person skilled in the information mentioned.

Claims (15)

Method for computer-aided application of adhesive beads to a component, comprising the following steps: a) providing a bonding station ( 2 ), which has a Klebesteuerungssystem ( 31 ) with a stationary adhesive head ( 32 ) for metered dispensing of adhesive or sealant, a gripping and moving device ( 42 ) for picking up and positioning the component ( 5 ), a camera system ( 61 ) with a camera ( 62 ) for detecting and checking the contour of the component ( 5 ) applied adhesive bead ( 51 ) and operable with the Klebesteuerungssystem ( 31 ), with the gripping and moving device ( 42 ) and with the camera system ( 61 ) connected gripping and moving device control system ( 41 ), b) moving the component ( 5 ) in an initial position (P1), c) applying an adhesive bead ( 51 ) or a part of an adhesive bead ( 51 ) on the component ( 5 ) by metered dispensing of adhesive through the adhesive head ( 32 ) by the component ( 5 ) of the gripping and moving device ( 42 ) along a bonding path determined by a plurality of adhesive positions (P1-P9) on the adhesive head ( 32 ) is moved past, d) moving the component ( 5 ) in a check position in the field of view of the camera ( 62 ), e) optical detection of the contours of the applied adhesive bead ( 51 ) or the applied part of the adhesive bead ( 51 ) through the camera ( 62 ) and successively checking the optically detected contours of the adhesive bead ( 51 ) or the part of the adhesive bead ( 51 ) for deviations from prescribed adhesive contour contours by the camera system ( 61 f) determining and memorizing those adhesive web portions (DI [370], DI [372], DI [374] -DI [376]) along which deviations having adhesive beads (A2, A4, A6-A8) were output, g) If adhesive web sections (DI [370], DI [372], DI [374] -DI [376]) have been noticed in step f): movement of the component (FIG. 5 ) by the gripping and moving device ( 42 ) into the initial adhesive positions (P2, P4, P6) of the noted adhesive web portions (DI [370], DI [372], DI [374] -DI [376]) and reapplying adhesive bead portions (A2, A4, A6-A8) the component ( 5 ) by metered dispensing of adhesive through the adhesive head ( 32 ) by the component ( 5 ) of the gripping and moving device ( 42 ) along the noted adhesive web portions (DI [370], DI [372], DI [374] -DI [376]) on the glue head ( 32 ) is moved past. Method for computer-aided application of adhesive beads to a component, comprising the following steps: a) providing a bonding station ( 8th ), which has a Klebesteuerungssystem ( 81 ) with a movable adhesive head ( 82 ) for metered dispensing of adhesive or sealant, a gripping and moving device ( 92 ) for receiving and guiding the movable adhesive head ( 82 ), a fixing device ( 13 ) for receiving the component ( 5 ), a camera system ( 112 ) with a camera ( 111 ) for detecting and checking the contour of the component ( 5 ) applied adhesive bead ( 51 ), as well as operable with the Klebesteuerungssystem ( 81 ), with the gripping and moving device ( 92 ) and with the camera system ( 112 ) connected gripping and moving device control system ( 91 b) moving the adhesive head ( 82 ) in an initial position (P1), c) applying an adhesive bead ( 51 ) or a part of an adhesive bead ( 51 ) on the component ( 5 ) by metered dispensing of adhesive through the adhesive head ( 82 ) by the adhesive head ( 82 ) of the gripping and moving device ( 92 ) along a bonding path determined by a plurality of adhesive positions (P1-P9) on the component ( 5 ) is moved past, d) optical detection of the contours of the applied adhesive bead ( 51 ) or the applied part of the adhesive bead ( 51 ) through the camera ( 111 ) and successively check the optically detected contours of the adhesive bead ( 51 ) or the part of the adhesive bead ( 51 ) for deviations from prescribed adhesive contour contours by the camera system ( 112 e) determining and memorizing those adhesive web sections (DI [370], DI [372], DI [374] -DI [376]) along which deviations having adhesive beads (A2, A4, A6-A8) were output, f) If adhesive web sections (DI [370], DI [372], DI [374] -DI [376]) have been noticed in step e): moving the adhesive head ( 82 ) by the gripping and moving device ( 92 ) into the initial adhesive positions (P2, P4, P6) of the noted adhesive web portions (DI (370), DI [372], DI [374] -DI [376]) and reapplying adhesive bead portions (A2, A4, A6-A8) the component ( 5 ) by metered dispensing of adhesive through the adhesive head ( 82 ) by the adhesive head ( 82 ) of the gripping and moving device ( 92 ) along the noted adhesive web portions (DI [370], DI [372], DI [374] -DI [376]) on the component ( 5 ) is moved past. Method according to claim 1, characterized in that the steps d) to g) are repeated in a loop-like manner, wherein in each case the contours of the adhesive bead sections applied during the last loop pass in step g) are checked, wherein for the number of loop-like repetitions Steps d) to g) a maximum value is predetermined or wherein the loop-like repetition of steps d) to g) is repeated until in step e) no Kleberaupenabschnitte are detected, the contours have deviations. A method according to claim 2, characterized in that the steps c) to f) are repeated in a loop, wherein in each case the contours of each last loop pass in step f) applied Kleberaupenabschnitte are checked, wherein for the number of loop-like repetitions of Steps c) to f), a maximum value is predetermined or wherein the loop-like repetition of steps c) to f) is repeated until in step d) no more Kleberaupenabschnitte are determined whose contours have deviations. Method according to claim 1, characterized in that the gripping and moving device control system ( 41 ) the gluing station to be provided in step a) ( 2 ) has a main control program accessing a gluing program, a measuring program and a repair program, wherein step c) is performed by the following substeps: c1) starting the gluing program with n sticking positions and setting a running variable x to a starting value a, c2 ) Applying an x th adhesive bead portion (A1-A8) to the component ( 5 ) by dispensing adhesive through the adhesive head ( 32 ) by the component ( 5 ) of the gripping and moving device ( 42 ) along an x-th adhesive sheet portion (DI [369] -DI [376]) from an xth to a (x + 1) th adhesive position (P1-P9) on the glue head (FIG. 32 ), c3) incrementing x and repeating steps c2) and c3) until x reaches a predetermined maximum value b, steps e) and t) being performed by the following substeps: e1) starting the measuring program with n Adhesive positions and setting of a running variable y to the starting value a and a running variable z to the starting value 1, e2) Optical detection of the contours of the adhesive bead portions (A1-A8) applied in step c2) by the camera system ( 62 ) e3) checking the contours of the (x-b + y) -th adhesive bead portion (A1-A8) for deviations from a prescribed adhesive bead contour, in particular gaps in the adhesive bead ( 51 ), through the camera system ( 61 f1) If a deviation has been detected in the (x-b + y) -th adhesive bead portion (A2, A4, A6-A8): note the z-th adhesive sheet repair portion corresponding to this adhesive bead portion (A2, A4, A6-A8) (DI [370], DI [372], DI [374] -DI [376]) with the preceding (x-b + y) -th adhesive position (P2, P4, P6) and with the (x. b + y + 1) -th glue position (P3, P5, P9) and incrementing z, f2) incrementing y and loop-repeating steps e3), f1) and f2) until y becomes the predetermined maximum value b, wherein Step g) is carried out by the following substeps: g1) If deviations in adhesive bead sections (A2, A4, A6-A8) have been detected in step f1), the following steps g2), g3), g4) and g5) are carried out, g2) Starting the repair program and setting the run variables to the starting value 1, g3) Moving the component ( 5 ) in the adhesive position (P2, P4, P6), g4) lying in front of the zth adhesive web repair portion (DI [370], DI [372], DI [374] -DI [376]), applying an adhesive bead portion (A2, A4, A6-A8) on the component ( 5 ) by dispensing adhesive through the adhesive head ( 32 ) by the component ( 5 ) of the gripping and moving device ( 42 ) along the zth adhesive sheet repair portion (DI [370], DI [372], DI [374] -DI [376]) from the preceding adhesive position (P2, P4, P6) to the adhesive position (P3, P5) thereafter P9) on the adhesive head ( 32 g) incrementing z and loop repeating steps g3), g4) and g5) until all the deviations in adhesive (A2, A4, A6-A8) noted in step f1) have been reapplied in step g4) are. A method according to claim 5, characterized in that after step g5) the following steps are carried out: h) moving the component ( 5 ) in a check position in the field of view of the camera ( 62 i) starting the measuring program and setting run variables y, z to the starting value 1, j) optical detection of the contours of the adhesive bead sections (A1-A8) applied in step c2) and / or in step q) by the camera ( 62 k) checking the contours of the y-th newly produced adhesive bead section (A2, A4, A6-A8) for deviations from the prescribed adhesive contour, in particular for snags in the adhesive bead ( 51 ), through the camera system ( 61 1) If a deviation has been detected in the y-th newly-formed adhesive bead portion (A2, A4, A6-A8), note the z-th adhesive sheet repair portion corresponding to this adhesive bead portion with the adhesive position preceding it and the adhesive position thereafter, and incrementing z, m) increment y and loop repeat steps k), l) and m) until all the glue bead sections (A2, A4, A6-A8) applied in step g4) and in the last execution of step q) are checked n) If deviations in adhesive bead sections having deviations have been found in step l), the following steps o), p), q) and r) are carried out, o) starting the repair program and setting the running variable z to the starting value 1, p ) Moving the component ( 5 ) in the adhesive position lying in front of the z-th adhesive sheet repair section, q) application of a Kleberaupenabschnitts on the component ( 5 ) by dispensing adhesive through the adhesive head ( 32 ) by the component ( 5 ) of the gripping and moving device ( 42 ) along the z-th adhesive sheet repair portion from the preceding to the subsequently disposed adhesive position on the adhesive head ( 32 ) is moved past, r) incrementing z and repeating steps p), q) and r) until all the adhesive bead portions having been noted in step l) have been reapplied in step q). Method according to claim 2, characterized in that the gripping and moving device control system ( 91 ) the gluing station to be provided in step a) ( 8th ) comprises a build control program accessing a glue program, a measurement program and a repair program, wherein step c) is performed by the following substeps: c1) starting the glue program with n glue positions and setting a run variable x to a starting value a, c2 ) Applying an x th adhesive bead portion (A1-A8) to the component ( 5 ) by dispensing adhesive through the adhesive head ( 82 ) by the adhesive head ( 82 ) of the gripping and moving device ( 92 ) along an x-th adhesive sheet portion (DI [369] -DI [376]) from an xth to a (x + 1) th adhesive position (P1-P9) on the component ( 5 ), c3) incrementing x and repeating steps c2) and c3) until x reaches a predetermined maximum value b, wherein steps d) and e) are performed by the following substeps: d1) starting the measuring program with n Gluing positions and setting of a running variable y to the starting value a and a running variable z to the starting value 1, d2) Optical detection of the contours of the adhesive bead portions (A1-A8) applied in step c2) by the camera ( 111 ) d3) checking the contours of the (x-b + y) -th adhesive bead section (A1-A8) for deviations from a prescribed adhesive bead contour, in particular on paints in the adhesive bead ( 51 ), through the camera system ( 112 ), e1) If a deviation has been detected in the (x-b + y) -th adhesive bead portion (A2, A4, A6-A8): note the z-th adhesive sheet repair portion corresponding to this adhesive bead portion (A2, A4, A6-A8) (DI [370], DI [372], DI [374] -DI [376]) with the preceding (x-b + y) -th adhesive position (P2, P4, P6) and with the (x. b + y + 1) -th glue position (P3, P5, P9) and incrementing z, e2) incrementing y and loop-repeating steps d3), e1) and e2) until y reaches the predetermined maximum value b, wherein the Step f) is carried out by the following sub-steps: f1) If deviations in adhesive bead sections (A2, A4, A6-A8) have been detected in step e1), the following steps f2), f3), f4) and f5) are carried out, f2) Starting the repair program and setting the run variables to start value 1, f3) Moving the adhesive head ( 82 ) in the adhesive position (P2, P4, P6), f4) before the zth adhesive web repair portion (DI [370], DI [372], DI [374] -DI [376]); application of an adhesive bead portion (A2, A4, A6-A8) on the component ( 5 ) by dispensing adhesive through the adhesive head ( 82 ) by the adhesive head ( 82 ) of the gripping and moving device ( 92 ) along the zth adhesive sheet repair portion (DI [370], DI [372], DI [374] -DI [376]) from the preceding adhesive position (P2, P4, P6) to the adhesive position (P3, P5) thereafter P9) on the component ( 5 ), f5) incrementing z and loop repeating steps f3), f4) and f5) until all the deviations in adhesive (A2, A4, A6-A8) noted in step e1) have been reapplied in step f4) are. Method according to claim 7, characterized in that after step f5) the following steps are carried out: h) starting the measuring program and setting run variables y, z to the starting value 1, i) optically detecting the contours of step c2) and / or in step p) applied Kleberaupenabschnitte (A1-A8) by the camera ( 111 ), j) checking the contours of the y-th newly produced Kleberaupenabschnitts (A2, A4, A6-A8) for deviations from the prescribed Kleberaupenkontur, in particular gaps in the Kleveraupe ( 51 ), through the camera system ( 112 k) If a deviation has been detected in the y-th newly formed adhesive bead portion (A2, A4, A6-A8): note the z-th adhesive sheet repair portion corresponding to this adhesive bead portion with the adhesive position preceding and thereafter arranged and incrementing z, l) increment y and loop repeat steps j), k) and l) until all the glue bead sections (A2, A4, A6-A8) applied in step f4) and in the last execution of step p) are checked m) If deviations of adhesive bead portions are detected in step k), the following steps n), o), p) and q) are performed, n) starting the repair program and setting the running variable z to the starting value 1 , o) moving the adhesive head ( 82 ) in the adhesive position lying in front of the z-th adhesive sheet repair section, p) applying an adhesive bead portion to the component ( 5 ) by dispensing adhesive through the adhesive head ( 82 ) by the adhesive head ( 82 ) of the gripping and moving device ( 92 ) along the z -th adhesive sheet repair portion from the forward to the subsequent adhesive position on the component ( 5 ) is moved past, q) incrementing z and repeating steps o), p) and q) in a loop-like manner, until all of the adhesive bead portions having been noted in step k) have been reapplied in step p). Method according to claim 6 or 8, characterized in that the steps h) to r) or the steps h) to q) are repeated in a loop-like manner, wherein a maximum value is specified for the number of loop-like repetitions of these steps or the loop-like repetition thereof Steps are taken so often until in step k) or in step j) no deviation having Kleberaupenabschnitte (A1-A8) are more determined. Method according to one of the preceding claims, characterized in that the steps, starting with the step b) for other parts of the adhesive bead ( 51 ) or for other Kleberaupenabschnitte repeated looped until all parts of the adhesive bead ( 51 ) or all Kleberaupenabschnitte (A1-A8) of the adhesive bead ( 51 ) have been applied. Method according to one of the preceding claims, characterized in that the gluing positions (P1-P9) are stored in a file, in a database or in the gluing program of the gripping and moving device control system (P1-P9). 41 ; 91 ) or the Klebesteuerungssystems ( 31 ; 81 ) are stored. Method according to one of the preceding claims, characterized in that the adhesive positions (P2, P2) arranged in front of an adhesive strip repair section (DI [370], DI [372], DI [374] -DI [376]) P4, P6) in a first electronic register of the gripping and moving device control system ( 41 ; 91 ) or the Klebesteuerungssystems ( 31 ; 81 ) and the adhesive positions (P3, P5, P9) arranged after a glue web repair section (DI [370], DI [372], DI [374] -DI [376]) in a second electronic register of the gripping and movement device control system (US Pat. 41 ; 91 ) or the Klebesteuerungssystems ( 31 ; 81 ) and that these adhesive positions (P2, P4, P6, P3, P5, P9) are read out of these electronic registers again. A method according to claim 12, characterized in that the electronic registers have a predetermined size, wherein the adhesive positions (P1-P9) are stored in the electronic registers, that the adhesive positions (P6, P9) of the last adhesive sheet repair section (DI [376]) each occupy the last digit or the last field in the respective electronic register. A computer program which, when executed on an arithmetic unit of an adhesive station, instructs the arithmetic unit to perform a method of applying adhesive beads to a component according to any one of the preceding claims. A computer readable medium having stored thereon a computer program according to claim 14.

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