SYSTEM AND METHOD FOR AUTOMATICALLY APPLYING A BEAD OF SEALANT WITHIN A PERIPHERAL GROOVE

A system for automatically applying a bead of sealant within a peripheral groove (4), which is defined between two elements (2, 3) coupled to each other and having dimensions that are not strictly predetermined, comprises a manipulator robot (R) equipped with a sealant dispensing head (12). An electronic controller (E) makes the sealant dispensing head (12) perform a first pass along the peripheral groove (4) without dispensing sealant, to detect the profile of the facing lateral surfaces of the peripheral groove (4), by means of a profilometer. The data relating to the detected profiles are processed to calculate the correct amount of sealant to be applied within each portion of the peripheral groove (4) along the perimeter extension of the peripheral groove. The sealant dispensing head (12) then carries out a second pass along the peripheral groove (4), while dispensing sealant in the calculated quantity in each portion of the peripheral groove (4) along the perimeter of the peripheral groove (4). In one example, the sealant is dispensed with a constant flow rate, and the electronic controller (E) varies the speed of movement of the dispensing nozzle (14) during the second pass, so as to apply the calculated amount of sealant to each portion of the peripheral groove (4) along the perimeter of the peripheral groove. The dispensing nozzle consists of a replaceable element of plastic material. After its replacement, a vision system is used to detect the position of the dispensing tip of the dispensing nozzle (14) with respect to a reference element (30) carried by the robot adjacent to the dispensing nozzle (14) and having a predetermined geometry. L'invention concerne un système d'application automatique d'un cordon d'agent d'étanchéité dans une gorge périphérique (4), qui est définie entre deux éléments (2, 3) accouplés l'un à l'autre et ayant des dimensions qui ne sont pas strictement prédéterminées, le système comprenant un robot manipulateur (R) équipé d'une tête (12) de distribution d'agent d'étanchéité. Un régulateur électronique (E) permet à la tête (12) de distribution d'agent d'étanchéité d'effectuer une première passe le long de la gorge périphérique (4), sans distribuer d'agent d'étanchéité, dans le but de détecter le profil des surfaces latérales en regard de la gorge périphérique (4), à l'aide d'un profilomètre. Les données concernant les profils détectés sont traitées pour calculer la quantité correcte d'agent d'étanchéité à appliquer dans ch