Sealant discharging apparatus
A sealant discharging apparatus includes a sealing gun, a movement controller, and a discharge controller. The sealing gun discharges sealant to an object. The movement controller causes the sealing gun and the object to move relatively. The discharge controller controls a discharge amount of the sealant discharged from the sealing gun. The movement controller controls a movement velocity of the sealing gun based on a volume of post-sealing sealant that has been discharged from the sealing gun and used to seal the object, and an amount of volume change in a sealant pool that has been discharged from the sealing gun and is yet to be used to seal the object.
1. A sealant discharging apparatus comprising:
a sealing gun configured to discharge sealant to an object;
one or more controllers configured to cause the sealing gun and the object to move relatively, and
control a discharge amount of the sealant discharged from the sealing gun; and
a measuring instrument connected to the one or more controllers, and configured to output a measurement result to the one or more controllers,
wherein the one or more controllers are configured to:
determine a volume of post-sealing sealant that has been discharged from the sealing gun and sealed the object;
determine a current radius of a sealant pool that has been discharged from the sealing gun and is yet to be used to seal the object based on the measurement result;
determine an amount of volume change in the sealant pool based on a difference between the current radius of the sealant pool and a predetermined target radius of the sealant pool;
determine a movement velocity of the sealing gun based on at least two factors, including the determined volume of the post-sealing sealant, and the determined amount of volume change in the sealant pool; and
control movement of the sealing gun at the determined movement velocity.
2. The sealant discharging apparatus according to claim 1 ,
wherein the controller is further configured to:
approximate a shape of the sealant pool by a hemisphere shape or a quarter sphere shape;
determine the radius of the sealant pool based on the approximated shape of the sealant pool; and
control the movement velocity of the sealing gun on a basis of a relationship that a sum of the volume of the post-sealing sealant and the amount of volume change in the sealant pool gives a discharge amount of the sealant discharged from the sealing gun.
3. The sealant discharging apparatus according to any claim 2 ,
wherein the sealing gun discharges the sealant forward in a movement direction.
4. The sealant discharging apparatus according to any claim 1 ,
wherein the sealing gun discharges the sealant forward in a movement direction.
5. A sealant discharging apparatus comprising:
a sealing gun configured to discharge sealant to an object; and
circuitry configured to
cause the sealing gun and the object to move relatively; and
control a discharge amount of the sealant discharged from the sealing gun,
a measuring instrument connected to the circuitry, and configured to output a measurement result to the circuitry,
wherein the circuitry is configured to:
determine a volume of post-sealing sealant that has been discharged from the sealing gun and sealed the object;
determine a current radius of a sealant pool that has been discharged from the sealing gun and is yet to be used to seal the object based on the measurement result;
determine an amount of volume change in the sealant pool based on a difference between the current radius of the sealant pool and a predetermined target radius of the sealant pool;
determine a movement velocity of the sealing gun based on at least two factors, including the determined volume of the post-sealing sealant, and the determined amount of volume change in the sealant pool; and
control movement of the sealing gun at the determined movement velocity.