| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for discharging a liquid capable of applying the liquid onto a workpiece surface formed into a curved surface with a fixed width.SOLUTION: While a robot arm A follows the shape of a workpiece W surface to be relatively moved, a liquid is discharged from an open discharge port 33 toward the workpiece surface of a discharge head H at a predetermined flow rate. While the robot arm is relatively moved to the workpiece surface, by an actuator 2 mounted on the discharge head, the discharge port is relatively moved to the robot arm in one direction to the workpiece surface to be controlled at a constant interval between the workpiece surface and the discharge port. This interval is measured by a laser sensor 5 and also the relative displacement volume of the discharge port to the robot arm when the discharge port is relatively moved by the actuator based on the measured value is measured by a displacement sensor 4. Either the measured value of the laser sensor or the measured value of the displacement sensor is selected as a target value of the actuator to carry out the position control of the discharge port. |
