Masking system using masking piece

Patent metadata

Field	Value
Publication number	US-9533482-B2
Application number	US-201414294581-A
Country	US
Kind code	B2
Filing date	Jun 3, 2014
Priority date	Feb 9, 2011
Publication date	Jan 3, 2017
Grant date	Jan 3, 2017

Abstract

In a masking system a robot performs first conveyance work of making an object gripping unit grip an object and set the object at a predetermined position based on positional information of the object which was detected by a first detection unit, coating work of making a coating unit coat an adhesive on a masking location of the object which is set at the predetermined position, and second conveyance work of making a masking piece gripping unit adhere a masking piece to the masking location of the object based on positional information of the masking piece which was detected by a second detection unit.

First claim

The invention claimed is:

1. A method, comprising:
detecting a position of an object at a first position, thereby obtaining first positional information of the object;
robotically gripping a masking piece;
detecting a position of said masking piece which is gripped, thereby obtaining second positional information of the masking piece;
robotically gripping the object with a robotic device based on the detected position of the object;
setting the object at a predetermined position different from the first position based on the first positional information;
directly coating an adhesive on a masking location of the object while the object is set at the predetermined position; and
adhering said masking piece to the masking location of said object based on the second positional information.

2. The method of claim 1 , wherein the action of setting the object at a predetermined position different from the first position based on the first positional information is executed by a robot and corresponds to a performance of a first conveyance work executed by the robot.

3. The method of claim 1 , wherein the action of adhering said masking piece to the masking location of said object based on the second positional information is executed by a robot and corresponds to a performance of a second conveyance work executed by the robot.

4. The method of claim 1 , wherein the action of directly coating an adhesive on a masking location of the object while the object is set at the predetermined position is executed by a robot.

5. The method of claim 1 , wherein said adhesive is water soluble and has the property of increasing in viscosity by a decrease in water content and wherein said masking piece includes a water absorbing material.

6. The method of claim 1 , wherein the masking piece is cardboard.

7. The method of claim 1 , wherein the adhesive is a material mainly comprised of natural rubber latex.

8. The method of claim 1 , wherein the actions of (i) setting the object at a predetermined position different from the first position based on the first positional information, and (ii) adhering said masking piece to the masking location of said object based on the second positional information, are executed by different robots.

9. The method of claim 5 , wherein the actions of (i) setting the object at a predetermined position different from the first position based on the first positional information, and (ii) adhering said masking piece to the masking location of said object based on the second positional information, are executed by different robots.

10. The method of claim 6 , wherein the actions of (i) setting the object at a predetermined position different from the first position based on the first positional information, and (ii) adhering said masking piece to the masking location of said object based on the second positional information, are executed by different robots.

11. The method of claim 1 , further comprising:
using a robot controller to control a robot system including a plurality of robots to execute the actions of:
detecting a position of an object at a first position, thereby obtaining first positional information of the object;
robotically gripping a masking piece;
detecting a position of said masking piece which is gripped, thereby obtaining second positional information of the masking piece;
robotically gripping the object with a robotic device based on the detected position of the object;
setting the object at a predetermined position different from the first position based on the first positional information;
directly coating an adhesive on a masking location of the object while the object is set at the predetermined position; and
adhering said masking piece to the masking location of said object based on the second positional information.

12. A method, comprising:
detecting a position of an object at a first position, thereby obtaining first positional information of the object;
gripping a masking piece;
detecting a position of said masking piece which is gripped, thereby obtaining second positional information of the masking piece;
gripping the object with a robotic device based on the detected position of the object;
setting the object at a predetermined position different from the first position based on the first positional information;
directly coating an adhesive on a masking location of the object while the object is set at the predetermined position; and
adhering said masking piece to the masking location of said object based on the second positional information, wherein at least one of:
setting the object at a predetermined position different from the first position based on the first positional information;
directly coating an adhesive on a masking location of the object while the object is set at the predetermined position; or
adhering said masking piece to the masking location of said object based on the second positional information, are executed by a robot.

13. The method of claim 12 , wherein at least two of:
setting the object at a predetermined position different from the first position based on the first positional information;
directly coating an adhesive on a masking location of the object while the object is set at the predetermined position; or
adhering said masking piece to the masking location of said object based on the second positional information, are executed by the same robot.

14. The method of claim 12 , wherein:
setting the object at a predetermined position different from the first position based on the first positional information; and
adhering said masking piece to the masking location of said object based on the second positional information, are executed by different robots.

15. The method of claim 12 , wherein the action of detecting a position of an object, thereby obtaining first positional information of the object, is executed utilizing a vision sensor.

16. The method of claim 12 , further comprising:
utilizing a robot system including a plurality of robots linked to a robot controller to execute the actions of:
detecting a position of an object at a first position, thereby obtaining first positional information of the object;
gripping a masking piece;
detecting a position of said masking piece which is gripped, thereby obtaining second positional information of the masking piece;
gripping the object with a robotic device based on the detected position of the object;
setting the object at a predetermined position different from the first position based on the first positional information;
directly coating an adhesive on a masking location of the object while the object is set at the predetermined position; and
adhering said masking piece to the masking location of said object based on the second positional information.

Assignees

• Fanuc Corp

Inventors

• Oda Masaru
• Otsuka Kazuhisa
• Okuda Mitsuhiro
• Nagasue Eiichirou

Classifications

• B25J9/0084 Primary

  comprising a plurality of manipulators · CPC title

• B05C21/005

  Masking devices (stencils B05C17/06; masking devices for which the means for applying liquids or other fluent material is spraying or is not important B05B12/20) · CPC title

• B32B37/30 Primary

  Partial laminating · CPC title

• B05B13/0431

  with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces · CPC title

• B32B37/12

  characterised by using adhesives · CPC title