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Applying sealant from a distance of 0.5 mm

Cell description

Sealant is applied to the cylinder head of an engine by two ABB 1400 robots in the cell. The nozzle moves over the surface of the engine at a distance of only 0.5 mm.

Only the first point of the path is taught in the robot programs. All the other points are calculated from this.

Task definition

To keep the calculation as simple as possible, a work object is placed on the cylinder head surface which lies at a slant. This work object must be aligned very precisely to the surface of the cylinder head as the robot has to keep the 0.5 mm from the workpiece constant and only a tolerance of +/- 0.1 mm is allowed.


An engine block was used to generate a setting master in which four measuring rods were fitted. The master engine was measured precisely by the LaserLAB. The measurement results were used to generate the coordinate system for the work object on the cylinder head surface. With this coordinate system it is very simple to specify points in the X-Y plane. Z defines the distance from the surface and remains constant throughout the entire processing operation.

Measuring the work object by the conventional manual processes simply does not deliver the necessary precision.

Customer benefit

The measurement enables the customer to use calculated paths that run exactly at a defined distance from the surface of the workpiece.