US 12,111,651 B2
Robot synchronization sealer discharge system
Daewon Lee, Gyeonggi-do (KR); Tae Hoon Song, Gyeonggi-do (KR); Yoon Soo Kim, Gyeonggi-do (KR); Jae Sik Kang, Busan (KR); Joo Hyun Lim, Ulsan (KR); and Yeong Min Kim, Ulsan (KR)
Assigned to Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and DMTS Co., Ltd., Ulsan (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and DMTS Co., Ltd., Ulsan (KR)
Filed on Oct. 4, 2021, as Appl. No. 17/493,387.
Claims priority of application No. 10-2021-0031123 (KR), filed on Mar. 10, 2021.
Prior Publication US 2022/0291640 A1, Sep. 15, 2022
Int. Cl. G05B 6/02 (2006.01); B05C 5/02 (2006.01); B05C 11/00 (2006.01); B25J 15/00 (2006.01); G05D 7/06 (2006.01)
CPC G05B 6/02 (2013.01) [B05C 5/02 (2013.01); B05C 11/00 (2013.01); B25J 15/0019 (2013.01); G05D 7/0676 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A robot synchronization sealer discharge system interlocked with a robot for sealer work of a vehicle factory, comprising: a sealer gun mounted on a robot and moving along an application path of a vehicle body to discharge a sealer; a communication unit configured to receive a Tool Center Point (TCP) speed of the sealer gun moving according to an operation of the robot; a synchronization controller configured to assign unique identification information (ID) and a received TCP time to the TCP speed and generate a discharge instruction message recording a sealer discharge amount according to the TCP speed; and a sealer controller configured to adjust a discharge of the sealer gun according to the sealer discharge amount of the discharge instruction message and feedback a sealer time according to discharge completion to the synchronization controller, wherein the synchronization controller is configured to derive an offset time as a deviation of the sealer time for the TCP time of a same ID from the feedback data through pre-sealer work and advance a sealer gun operation time at a next sealer work by the offset time to adjust the discharge of the sealer gun at a synchronized time.