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The current spray painting system is hardly considered that the thickness is controlled enough, because the temperature greatly influence on the viscosity of paint. We noticed the problem and detected the temperature at a nozzle of a spray unit. We tried that the paint flow is controlled to get stable thickness more accurately by the temperature feedback system. We also tried to develop the new programming method of robots. This new offline programming system provided us an ideal positions and orientations of the spray gun mounted on a robot wrist, after several simulation in the CAD system. We checked and debugged the office taught date with a trial robot in a trial area, and then loaded down with the date to a target robot. We eventually provided a better production technology with the paintflow control system together with the new CAD based offline programming system.

Car rust has been a big problem. To improve the effectiveness of rustproofing, car materials and some methods are being developed. Sealing the seams of body panels is one important method. But the sealing operation is a difficult process and it is not easy to maintain quality standards for workmen and automatized systems. To overcome this problem, we developed an automatic robot sealing system with following features: 1. The system can be easily installed on an existing conveyor and follows the line conveyor in synchronization during sealing operation. 2. Small robots can cover wide area inside the vihecle. 3. New sealant supply controllers can regurate the supply rate in response to speed and motion of robots with a high accuracy. This system has already been installed in the Murayma plant and has proved successful in achieving a high quality sealing result.