Robotic cartridge dispenser and method

Patent metadata

Field	Value
Publication number	US-10105730-B2
Application number	US-201414495276-A
Country	US
Kind code	B2
Filing date	Sep 24, 2014
Priority date	Sep 24, 2013
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

A system for applying sealant material from a cartridge includes a cartridge fixture storing a plurality of cartridges each cartridge including unique identification information and containing sealant material, a cartridge robot for removing a selected one of the cartridges from the fixture, and a dispense robot for receiving the selected cartridge from the cartridge robot and applying the sealant material contained therein to a workpiece. A controller is connected to the cartridge robot and the dispense robot for operating the robots and a plurality of sensors are connected to the controller for generating the unique identification information for the selected cartridge, sealant usage per workpiece, sealant dispense pressure, sealant dispense temperature; and sealant usage from the selected cartridge.

First claim

The invention claimed is:

1. A system for applying sealant material from a cartridge comprising:
a cartridge fixture storing:
a plurality of cartridges each including unique identification information and containing sealant material, said cartridge fixture monitoring and controlling the temperature of the cartridges while in the fixture; and
a plurality of nozzles;

a cartridge robot for removing a selected one of the cartridges from the fixture and for removing a selected one of the nozzles from the fixture;
a dispense robot for receiving the selected cartridge from the cartridge robot, receiving the selected nozzle from the cartridge robot, and applying the sealant material contained therein through the nozzle to a workpiece;
a controller connected to the cartridge robot and the dispense robot for operating the robots, said controller determining a time that each of the plurality of cartridges has been in the fixture, said controller recording the time that the cartridges have been in the fixture and the temperature of the cartridges while in the fixture; and
a sensor connected to the controller for generating the unique identification information for the selected cartridge to the controller for automated handling of the cartridge based upon the unique identification information.

2. The system for applying sealant material according to claim 1 wherein the sensor is a vision sensor associated with the cartridge robot and connected to the controller for generating the unique identification information from a bar code on the selected cartridge.

3. The system for applying sealant material according to claim 1 including a vision sensor associated with the dispense robot and connected to the controller for at least one of inspecting the nozzle through which the sealant material is applied and finding the workpiece.

4. The system for applying sealant material according to claim 1 including at least one other sensor connected to the controller for generating at least one of sealant usage per workpiece, sealant dispense pressure, sealant dispense temperature, and sealant usage from the selected cartridge for the automated handling by the controller.

5. The system for applying sealant material according to claim 4 wherein the at least one other sensor includes a cartridge plunger actuator associated with the dispense robot and connected to the controller for generating the sealant usage per workpiece and sealant usage from the selected cartridge.

6. The system for applying sealant material according to claim 4 wherein the at least one other sensor is a pressure sensor associated with the dispense robot and connected to the controller for generating the sealant dispense pressure during application of the sealant material.

7. The system for applying sealant material according to claim 4 wherein the at least one other sensor is a temperature sensor connected to the controller and associated with at least one of the cartridge fixture, for generating a temperature of the sealant material in the cartridges, and the dispense robot, for generating the sealant dispense temperature.

8. The system for applying sealant material according to claim 1 wherein the dispense robot includes a cartridge holder movable between an open position for receiving the selected cartridge from the cartridge robot and a closed position for applying the sealant material.

9. The system for applying sealant material according to claim 1 wherein the dispense robot includes a pressure sensing manifold for connecting the selected cartridge to the nozzle for applying the sealant material.

10. A method for applying sealant material from a cartridge comprising the steps of:
storing in a cartridge fixture:
a plurality of cartridges each including unique identification information and containing sealant material, said cartridge fixture monitoring and controlling the temperature of the cartridges while in the fixture; and
a plurality of nozzles;

operating a cartridge robot to remove a selected one of the cartridges from the fixture and to remove a selected one of the nozzles from the fixture;
operating a dispense robot to receive the selected cartridge from the cartridge robot, to receive the selected nozzle from the cartridge robot, and apply the sealant material contained therein through the nozzle to a workpiece;
providing a controller connected to the cartridge robot and the dispense robot for operating the robots, said controller determining a time that each of the plurality of cartridges has been in the fixture, said controller recording the time that the cartridges have been in the fixture and the temperature of the cartridges while in the fixture; and
generating from a sensor connected to the controller the unique identification information for the selected cartridge to the controller for automated handling of the cartridge based upon the unique identification information.

11. The method for applying sealant material according to claim 10 including generating from at least one other sensor connected to the controller at least one of sealant usage per workpiece, sealant dispense pressure, sealant dispense temperature, and sealant usage from the selected cartridge for the automated handling by the controller.

12. The method for applying sealant material according to claim 10 including keeping records of each cartridge used to apply the sealant material, each application of the sealant material and each part sealed with the sealant material.

13. The method for applying sealant material according to claim 10 including operating the dispense robot to inspect the sealant material application and provide at least one of inspection results and inspection images for record keeping.

14. A system for applying sealant material from a cartridge comprising:
a cartridge fixture storing:
a plurality of cartridges each including unique identification information and containing sealant material; and
a plurality of nozzles;

a cartridge robot for removing a selected one of the cartridges from the fixture and for removing a selected one of the nozzles from the fixture;
a dispense robot for receiving the selected cartridge from the cartridge robot, receiving the selected nozzle from the cartridge robot, and applying the sealant material contained therein through the nozzle to a workpiece, said dispense robot including a servo actuator that operates to push a plunger to dispense the sealant material from the cartridges;
a controller connected to the cartridge robot and the dispense robot for operating the robots, wherein the controller controls dispensing of the sealant material from the cartridges based on a speed of the servo actuator, and
a sensor connected to the controller for generating the unique identification information for the selected cartridge to the controller for automated handling of the cartridge based upon the unique identification information.

15. The system according to claim 1 wherein the dispense robot includes a servo actuator that operates to push a plunger to dispense the sealant material from the cartridges, and wherein the controller controls dispensing of the sealant material from the cartridges based on a speed of the servo actuator.

16. The method according to claim 10 wherein the dispense robot includes a servo actuator that operates to push a plunger to dispense the sealant material from the cartridges, and wherein the controller controls dispensing of the sealant material from the cartridges based on a speed of the servo actuator.

Assignees

• Fanuc America Corp

Inventors

• Guzowski Raymond J

Classifications

• B05C11/1007

  responsive to condition of liquid or other fluent material (B05C11/1005 takes precedence) · CPC title

• B05C5/0216

  by relative movement of article and outlet according to a predetermined path · CPC title

• B05C11/1036 Primary

  Means for supplying a selected one of a plurality of liquids or other fluent materials, or several in selected proportions, to the applying apparatus · CPC title

• B05B12/1463

  separate containers for different materials to be sprayed being moved from a first location, e.g. a filling station, where they are fluidically disconnected from the spraying apparatus, to a second location, generally close to the spraying apparatus, where they are fluidically connected to the latter (B05B12/1454 takes precedence) · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title