CA1253683A - Nutating orifice dispersion apparatus - Google Patents
Nutating orifice dispersion apparatusInfo
- Publication number
- CA1253683A CA1253683A CA000509332A CA509332A CA1253683A CA 1253683 A CA1253683 A CA 1253683A CA 000509332 A CA000509332 A CA 000509332A CA 509332 A CA509332 A CA 509332A CA 1253683 A CA1253683 A CA 1253683A
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- CA
- Canada
- Prior art keywords
- dispensing tube
- mounting means
- axis
- movement
- nutating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
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Abstract
52,569 ABSTRACT OF THE DISCLOSURE A nutating orifice dispersion apparatus applies a material to a work surface by producing a ribbon of the material as the apparatus is moved along the work surface The apparatus is omnidirectional and it does not have to be oriented with respect to the travel direction. More importantly, the flow rate through the dispersion apparatus can be modulated at will without affecting the ribbon pattern width. This feature is key to the robotic applica-tion of sealant in that the speed of the arm is not con-stant throughout the dispensing cycle and the material flow rate needs to be varied correspondingly in order to main-tain ribbon uniformity.
Description
1 52,569 NUTATING ORIFICE DISPERSION APPARATUS
FIELD OF THE INVENTION
This invention i5 directed to a means by which materials such as a medium to high viscosity, thixotropic or fiber filled materials can be applied to a substrate.
More particularly, this invention is directed to an nutating orifice dispersion apparatus for use in combina-tion with a robot to form a dispensing system in which a ribbon o a material having a variable width and thickness can be applied to a substrate from a distance of between about 1 to 6 inches and can be applied at various angles relative to the substrate and even applied to an overhead `` surface.
BACKGROUND OE_THE INVENTION
The use of adhesives and sealants in the automo-tive indu tries is becoming increasingly important.A~hesives and sealants are used in the assemblies of such hem-flanged parts as doors, decks and hoods. For example, sealing materials can be used in conjunction with more `~ conventional spot-weldinq techniques. The sealant is irst applied and then the sheet metal is welded through the ~ sealant. Such a combined approach has allowed the-distance ; between spot welds to be increased while reducing the number of welds. Some manufacturers, moreover, have eliminated the welding altogether by employing structural adhesives.
~ '
FIELD OF THE INVENTION
This invention i5 directed to a means by which materials such as a medium to high viscosity, thixotropic or fiber filled materials can be applied to a substrate.
More particularly, this invention is directed to an nutating orifice dispersion apparatus for use in combina-tion with a robot to form a dispensing system in which a ribbon o a material having a variable width and thickness can be applied to a substrate from a distance of between about 1 to 6 inches and can be applied at various angles relative to the substrate and even applied to an overhead `` surface.
BACKGROUND OE_THE INVENTION
The use of adhesives and sealants in the automo-tive indu tries is becoming increasingly important.A~hesives and sealants are used in the assemblies of such hem-flanged parts as doors, decks and hoods. For example, sealing materials can be used in conjunction with more `~ conventional spot-weldinq techniques. The sealant is irst applied and then the sheet metal is welded through the ~ sealant. Such a combined approach has allowed the-distance ; between spot welds to be increased while reducing the number of welds. Some manufacturers, moreover, have eliminated the welding altogether by employing structural adhesives.
~ '
2 52,569 However, the use of adhesives has presented several distinct disadvantages. Unless carefully applied, the use of adhesives and sealants can be a messy operation requiring manual cleanup. If too much adhesive is applied or if it is not properly covered in the hemming operation, it can contaminate the electrophoretically deposited paint primer baths that are necessary prior to painting. Addi-tionally, excess adhesive can also contaminate hemming dies. The flanges and method for joining parts must be structured to avoid wiping the adhesive from the part once the adhesive is applied thereto. It is not possible to paint over some adhesives and sealants, amplifying the need for accurate dispensing of these materials onto the specif-ic component piece.
Heretofore, the manual application of adhesives and sealants to assemblies has been found to be generally impractical because of the high throughput and hi~h accura-cy required. As a result, the present automotive manufac-turing environment places exacting demands on systems that can automatically apply adhesives and sealants.
Adhesives and sealants must be applied accurate-ly, along the right bead path, in the required cycle time, in the precise volume required, and with the proper cross section. Otherwi.se, incorrect bonding or squeezing or bead placement will occur.
A dispensing system must be designed to handle the throughput requirements of the production assembly line as well ag the geometry of the workpiece. Cycle times can be as ~hort as 3 to 4 seconds for dispensing material around the entire perimeter of a door. At constant dispensing-head velocity, an a& esive or sealant must be delivered at Gonstant pressure and 10w to produce a uniform bead.
It has been found that a robotic dispensing yst~m can generaily accommodate the aforementioned re-quirements and substantially alleviate the above-enumerated disadvantages of adhesive use. However, significant ~\
~53~33
Heretofore, the manual application of adhesives and sealants to assemblies has been found to be generally impractical because of the high throughput and hi~h accura-cy required. As a result, the present automotive manufac-turing environment places exacting demands on systems that can automatically apply adhesives and sealants.
Adhesives and sealants must be applied accurate-ly, along the right bead path, in the required cycle time, in the precise volume required, and with the proper cross section. Otherwi.se, incorrect bonding or squeezing or bead placement will occur.
A dispensing system must be designed to handle the throughput requirements of the production assembly line as well ag the geometry of the workpiece. Cycle times can be as ~hort as 3 to 4 seconds for dispensing material around the entire perimeter of a door. At constant dispensing-head velocity, an a& esive or sealant must be delivered at Gonstant pressure and 10w to produce a uniform bead.
It has been found that a robotic dispensing yst~m can generaily accommodate the aforementioned re-quirements and substantially alleviate the above-enumerated disadvantages of adhesive use. However, significant ~\
~53~33
3 52,569 limitations are still found in the actual adhesive dispens-ing system.
It is therefore an object of this invention to provide a nutating orifice dispersion apparatus for the application of a pattern of adhesive material or the like in any direction without reorienting the nozzle apparatus.
The flow rate is adjusted by varying the pressure supplied to the noz7.1e. The pa~tern width is varied by adjusting the distance between the nozzle and the work surface.
SUMMARY OF THE INVENTION
The nutating orifice dispersion apparatus of this invention is adapted for use in combination with a robot dispensing system including an industrial manipulator and a material conveyance system for delivering the adhesive material or the like from a storage point to the nozzle whereupon the material is applied to the workpiece as desired. The nutating orifice dispersion apparatus of this invention has a dispensing tube means with a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed. A support means is provided in which the dispensing tube means is disposed. A first mounting means supports the dispensing tube means at a location proximate the first end. The first mounting means is mounted in the support means for rotational movement about a first axis. The first mounting means supports the dispensing tube at a location proximate the first end the for oribital movement of the first end about the first axis. A second support means compliantly supports the dispensing tube means at a location proximate the second or nozzle end thereof. In other words, first end of the dispensing tube is not rotating but rather it is orbiting the first axis. Finally motive means are opera-tively associated with the first mounting means for affect-ing the rotational movement of the first mounting means about the fir~t axis.
It is therefore an object of this invention to provide a nutating orifice dispersion apparatus for the application of a pattern of adhesive material or the like in any direction without reorienting the nozzle apparatus.
The flow rate is adjusted by varying the pressure supplied to the noz7.1e. The pa~tern width is varied by adjusting the distance between the nozzle and the work surface.
SUMMARY OF THE INVENTION
The nutating orifice dispersion apparatus of this invention is adapted for use in combination with a robot dispensing system including an industrial manipulator and a material conveyance system for delivering the adhesive material or the like from a storage point to the nozzle whereupon the material is applied to the workpiece as desired. The nutating orifice dispersion apparatus of this invention has a dispensing tube means with a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed. A support means is provided in which the dispensing tube means is disposed. A first mounting means supports the dispensing tube means at a location proximate the first end. The first mounting means is mounted in the support means for rotational movement about a first axis. The first mounting means supports the dispensing tube at a location proximate the first end the for oribital movement of the first end about the first axis. A second support means compliantly supports the dispensing tube means at a location proximate the second or nozzle end thereof. In other words, first end of the dispensing tube is not rotating but rather it is orbiting the first axis. Finally motive means are opera-tively associated with the first mounting means for affect-ing the rotational movement of the first mounting means about the fir~t axis.
4 52,569 BRIEF ~ESCRIPTION OF THE DRAWINGS
The above, as well as other features and advantages of the present invention, will become apparent through consideration of the detailed description of the preferred embodiment of this invention in conjunction with the several drawings in which:
Figure 1 is a'somewhat schematical representation of a robot dispensing system incorporating the nutating orifice dispersion apparatus all according to the teachings of this invention;
Figure 2 is a sectional view of the nutating orifice dispersion apparatus according to this invention;
Figure 3 is a sPctional view along lines III III
of Figure 2 illustrating the rotational mounting means through which the nutational movement is effected at th~
dispersion orifice of the apparatus of this invention; and Figure 4 is a plan view of the dispersion pattern of material deposited by means of the nutating oriflce dispersion apparatus of this invention.
A robotic dispensing system which incorporates the nutating orifice dispersion apparatus (NODA) by which materials such as high ~iscosity, thixotropic or fiber filled materials can be applied to a substrate is schemati-cally illustrated in Figure 1 and indicated by the refer-~: ence character 11. The robotic system 11 includes a robot 13 in communication with ~ robot control means 15 for applying the appropriate commands to effect the desired ~: mo~ement of the robot 13. A material supply means such as container 17 holds the material to be dispersed by means of the robot system. The material supply means 17 is in communication via a conduit 19 with the nutating orifice dispersion apparatus (NODA) 21. A pump and fluid flow control apparatus which is schematically indicated at 23, insures that the appropriate flow of material is maintained . to the N~DA nozzle 21. A workpiece 25 is positioned within the work envelope of the robot 13 for the application o -.
.
- ',' ~'.
.~ .
36~il3 52,569 the desired materiOl thereto. The worXpiece can be placed into position by a conveyor means or the like. It should be appreciated that the present system is not limited to a specific type o robot and t~a~ the robot shown in Figure 1 is for illustrative purposes only. The robot 13 includes a base portion 27 which would typically be secured to the floor of the work area, and at least a first arm 29 rotat-ably and pivotably mounted with respect to the base portion 27, a second arm 31 rotatably mounted about one end of the arm 29 and a wrist 33 mounted onto the cantilevered end of th~ arm 31. The N~DA nozzle 21 would be fixedly attached to the wrist 33 for manipulation thereby. Such a wrist preferably provides ~everal degrees of freedom for the manipulation of the NODA nozzlP 21. The conduit means 19 convey the material from the material supply 17 by way of the pump and flow control means 23 to the NODA nozzle 21.
Considering Fi~ures l through 3, the operating principles of the NODA nozzle can be readily appreciated.
The NODA nozzle generally indicated by the reference character 21 includes a drive means housing 35 which has at the upper end thereof a mounting means 37 adapted to permit the NODA nozzle 21 to be removably interconnected to the wrist 33 of the robot 13. At the lower end 39 of the drive means housing 35 a support means 41 depends downwardly therefrom and provides a housing which supports the adhe-sive disp~nsing tube 43. The dispensing tube means 43 has a fir~t end 45 for receiving therein the materials to be conveyed through the dispensing tube and dispersed there-from and a second or nozzle end 47 from which the material is ultimately dispersed and a center portion 49 disposed thereinbetween. The upper portion 45 of the dispensing tube 43 is supported by an upper support means Sl. The nozzle end 47 of the dispensing tube means 43 is supported by a diaphragm 53 which encloses the bottom portion of the lower support means 41. The dispensing tube 43 is main-tained in that diaphragm about a first axis 55. The diaphragm 53 can be made of stainless steel or similar 3b;~
6 52,569 material which provides a relatively ixed yet flexible support for the dispensing tube 43. This diaphragm facili-tates the nutating movement of the nozzle end 47 of the dispensing tube 43. The first end 45 of the dispensing tube means 43 is in communication with a delivery tube means 19 by means of a high pressure~ flexible tubing member 59. A housing 57 which is generally a continuation of the lower housing portion 41 extends above the upper support means 51 and encloses the high pressure flexible tubing 59.
At the upper portion of the housing 57 is an inlet fitting 61 which provides a threaded joint by which the delivery tube means 19 for the material to be deposited is connected to the system. Thus the high pressure tubing 59 is inter-connected between the inlet fitting 61 and the first end 45 of the dispensing tube means 43.
The housing 35 is a generally rectangular struc-ture which encloses a synchronous motor 63, preferably a 24,000 rpm synchronous motor. The output shaft 6S of the synchronous motor has a spur gear 67 mounted thereon which is in communication with a second spur gear 69 by w~ich the orbiting motion of the first end 45 of the dispensing means 43 is effected. The second spur gear 69 is mounted for rotational movement about the axis 55 within the upper support mean~ 51 by means of bearings 71 and support structure portion 73 of the support means 51.
The nutating movement of the nozzle portion 47 of the dispen~ing tube means 43 is effected by the orbital movement of the first end 45 of the nozzle means. The fir~t end 45 of the dispensing tube means 43 is mounted in the spur gear 69 so as to orbit about the axis 55. An offset bore indicated at 75 is provided in the spur gear 69. The first end 43 of the dispensing tube means 45 is mounted within the bore 75 by means of bearings 77. As the ~pur gear is rotated about the axis 55, the first end 45 of the dispensing tube means 43 orbits the axis 55. It should be appreciated that no rotational movement is being i inparted to the dispensing tube 43 as it orbits about the '"''' ~' ``''"' '-: `
. ' 3 6 ~3 3 7 52,569 axis 55, rather t~e first end 45 is moved in an orbital path or a continuous displacement thereof about a fixed axis defined by the rotational movement of the spur gear 69. As described previously, the diaphragm 53 supports the dispensing end 47 or nozzle and facilitates the nutational displacement thereof. A sized output nozzle as at 85 has a bore 87 of a predetermined diameter which is smaller than the inside diameter of the dispensing tube. Several such nozzles can be provided, each having a unique bore diame-ter, for selected insertion into the nozzle 47.
The NODA nozzle of this invention isomnidirectional and there is no need to orient the nozzle with respect to the workpiece because the nozzle can be maintained a predetermined distance from the workpiece, whereas conventional extrusion devices require physical contact with the workpiece. This NODA apparatus provides good seam penetration because of the high impact velocity and high inertia of a cylindrical stream as opposed to the conventional techniques of material application. For example, devices using a spray technique emit droplets which are characterized by a high surface tension to mass.
As a result, these droplets tend to bounce off rather than penetrate the same area or workpiece. There is no overspray as with conventional devices. The operator is specifically able to place the material at a desired location on the workpiece. As shown in Figure 4 the NODA
provide~ a stable fan with a flow rate change that can vary from 5 to 1. The upper limit of the flow rate is con-trolled by the maximum pressure which can be delivered to the nozzle. The lower limit of the flow rate is controlled by the minimum exit velocity needed to maintain pattern width. The nutating movement of the nozzle 47 as effected by the orbital movement of the ~irst end 45 o the dispens-ing tube means 43 eliminates the centrifugal components of the material being dispensed at the orifice. This main~
tains the dispersion angle regardless of the flow rate of the material through the dispensing tube means. Accord-~ 53~
8 52,569 ingly, a ~table circle pattern of dispensed material isdeveloped regardless of the flow rate. Because of these uni~ue features, the NODA nozzle can be utilized to effec-tively penetrate seams and workpieces where appropriate even when the nozzle is disposed in an upside-down rela-tionship with the workpiece. This is due to the fact that the NODA delivers a high mass of material with low surface tension. The NODA nozzle combines the most advantageous features of spray deposition and extrusion techniques in the application of an adhesive material to a workpiece and the penetration of the adhesive material into the seam o two abutting workpieces.
It is expected that the radius of the orbit of the first end ~5 of the dispensing tube means 43 about the fixed axis 55 in relationship to the diameter of the nozzle portion 47 is approximately 20% greater than the diameter of the nozzle exit oriice. The cone angle as shown in Figure 2 would be approximately 45. The nozzle would be positioned approximately 4 inches above the work surface and the nutating motion of the nozzle about the fixed axis would dispense a ribbon of material as illustrated in Figure 4 of approximately 5/8 inch in width. The pattern width changes are minimal even with increased flow rate or exit velocity of material due to the control of the dis-tance between the exit point of the nozzle and the work-piece and as indicated above the elimination of the centrifugal component of the orifice maintains the disper-sion angle regardless o the flow rat~.
What has been described is a nutating orifice dispersion apparatus by which materials such as medium to high vi6cosity, thixotropic or fiber filled materials can be applied to a substrate. The dispersion pattern is typically a ribbon of variable width and thicXness. The pattern is applied to the sl~bstrate from a distance of between about 1 to 6 inches and can be applied at various angles to the substrate and even applied to an overhead surface. The pattern can be applied in any direction .
" ~536~33 9 52,569 without reorienting the nutating orifice dispersion apparatus of this invention. The material flow rate is simply adjusted by varying the pressure supplied to the NODA. The pattern width is varied by adjusting the dis-tance between the NODA and the work surface. Thus the flowrate through the NODA can be modulated at will without effecting the ribbon pattern width. This advantage is key to the robotic application o~ sealant in that the speed of the arm may not be constant throughout the dispensing cycle and the material flow rate needs to be varied correspond-ingly in order to maintain ribbon uniformity.
d
The above, as well as other features and advantages of the present invention, will become apparent through consideration of the detailed description of the preferred embodiment of this invention in conjunction with the several drawings in which:
Figure 1 is a'somewhat schematical representation of a robot dispensing system incorporating the nutating orifice dispersion apparatus all according to the teachings of this invention;
Figure 2 is a sectional view of the nutating orifice dispersion apparatus according to this invention;
Figure 3 is a sPctional view along lines III III
of Figure 2 illustrating the rotational mounting means through which the nutational movement is effected at th~
dispersion orifice of the apparatus of this invention; and Figure 4 is a plan view of the dispersion pattern of material deposited by means of the nutating oriflce dispersion apparatus of this invention.
A robotic dispensing system which incorporates the nutating orifice dispersion apparatus (NODA) by which materials such as high ~iscosity, thixotropic or fiber filled materials can be applied to a substrate is schemati-cally illustrated in Figure 1 and indicated by the refer-~: ence character 11. The robotic system 11 includes a robot 13 in communication with ~ robot control means 15 for applying the appropriate commands to effect the desired ~: mo~ement of the robot 13. A material supply means such as container 17 holds the material to be dispersed by means of the robot system. The material supply means 17 is in communication via a conduit 19 with the nutating orifice dispersion apparatus (NODA) 21. A pump and fluid flow control apparatus which is schematically indicated at 23, insures that the appropriate flow of material is maintained . to the N~DA nozzle 21. A workpiece 25 is positioned within the work envelope of the robot 13 for the application o -.
.
- ',' ~'.
.~ .
36~il3 52,569 the desired materiOl thereto. The worXpiece can be placed into position by a conveyor means or the like. It should be appreciated that the present system is not limited to a specific type o robot and t~a~ the robot shown in Figure 1 is for illustrative purposes only. The robot 13 includes a base portion 27 which would typically be secured to the floor of the work area, and at least a first arm 29 rotat-ably and pivotably mounted with respect to the base portion 27, a second arm 31 rotatably mounted about one end of the arm 29 and a wrist 33 mounted onto the cantilevered end of th~ arm 31. The N~DA nozzle 21 would be fixedly attached to the wrist 33 for manipulation thereby. Such a wrist preferably provides ~everal degrees of freedom for the manipulation of the NODA nozzlP 21. The conduit means 19 convey the material from the material supply 17 by way of the pump and flow control means 23 to the NODA nozzle 21.
Considering Fi~ures l through 3, the operating principles of the NODA nozzle can be readily appreciated.
The NODA nozzle generally indicated by the reference character 21 includes a drive means housing 35 which has at the upper end thereof a mounting means 37 adapted to permit the NODA nozzle 21 to be removably interconnected to the wrist 33 of the robot 13. At the lower end 39 of the drive means housing 35 a support means 41 depends downwardly therefrom and provides a housing which supports the adhe-sive disp~nsing tube 43. The dispensing tube means 43 has a fir~t end 45 for receiving therein the materials to be conveyed through the dispensing tube and dispersed there-from and a second or nozzle end 47 from which the material is ultimately dispersed and a center portion 49 disposed thereinbetween. The upper portion 45 of the dispensing tube 43 is supported by an upper support means Sl. The nozzle end 47 of the dispensing tube means 43 is supported by a diaphragm 53 which encloses the bottom portion of the lower support means 41. The dispensing tube 43 is main-tained in that diaphragm about a first axis 55. The diaphragm 53 can be made of stainless steel or similar 3b;~
6 52,569 material which provides a relatively ixed yet flexible support for the dispensing tube 43. This diaphragm facili-tates the nutating movement of the nozzle end 47 of the dispensing tube 43. The first end 45 of the dispensing tube means 43 is in communication with a delivery tube means 19 by means of a high pressure~ flexible tubing member 59. A housing 57 which is generally a continuation of the lower housing portion 41 extends above the upper support means 51 and encloses the high pressure flexible tubing 59.
At the upper portion of the housing 57 is an inlet fitting 61 which provides a threaded joint by which the delivery tube means 19 for the material to be deposited is connected to the system. Thus the high pressure tubing 59 is inter-connected between the inlet fitting 61 and the first end 45 of the dispensing tube means 43.
The housing 35 is a generally rectangular struc-ture which encloses a synchronous motor 63, preferably a 24,000 rpm synchronous motor. The output shaft 6S of the synchronous motor has a spur gear 67 mounted thereon which is in communication with a second spur gear 69 by w~ich the orbiting motion of the first end 45 of the dispensing means 43 is effected. The second spur gear 69 is mounted for rotational movement about the axis 55 within the upper support mean~ 51 by means of bearings 71 and support structure portion 73 of the support means 51.
The nutating movement of the nozzle portion 47 of the dispen~ing tube means 43 is effected by the orbital movement of the first end 45 of the nozzle means. The fir~t end 45 of the dispensing tube means 43 is mounted in the spur gear 69 so as to orbit about the axis 55. An offset bore indicated at 75 is provided in the spur gear 69. The first end 43 of the dispensing tube means 45 is mounted within the bore 75 by means of bearings 77. As the ~pur gear is rotated about the axis 55, the first end 45 of the dispensing tube means 43 orbits the axis 55. It should be appreciated that no rotational movement is being i inparted to the dispensing tube 43 as it orbits about the '"''' ~' ``''"' '-: `
. ' 3 6 ~3 3 7 52,569 axis 55, rather t~e first end 45 is moved in an orbital path or a continuous displacement thereof about a fixed axis defined by the rotational movement of the spur gear 69. As described previously, the diaphragm 53 supports the dispensing end 47 or nozzle and facilitates the nutational displacement thereof. A sized output nozzle as at 85 has a bore 87 of a predetermined diameter which is smaller than the inside diameter of the dispensing tube. Several such nozzles can be provided, each having a unique bore diame-ter, for selected insertion into the nozzle 47.
The NODA nozzle of this invention isomnidirectional and there is no need to orient the nozzle with respect to the workpiece because the nozzle can be maintained a predetermined distance from the workpiece, whereas conventional extrusion devices require physical contact with the workpiece. This NODA apparatus provides good seam penetration because of the high impact velocity and high inertia of a cylindrical stream as opposed to the conventional techniques of material application. For example, devices using a spray technique emit droplets which are characterized by a high surface tension to mass.
As a result, these droplets tend to bounce off rather than penetrate the same area or workpiece. There is no overspray as with conventional devices. The operator is specifically able to place the material at a desired location on the workpiece. As shown in Figure 4 the NODA
provide~ a stable fan with a flow rate change that can vary from 5 to 1. The upper limit of the flow rate is con-trolled by the maximum pressure which can be delivered to the nozzle. The lower limit of the flow rate is controlled by the minimum exit velocity needed to maintain pattern width. The nutating movement of the nozzle 47 as effected by the orbital movement of the ~irst end 45 o the dispens-ing tube means 43 eliminates the centrifugal components of the material being dispensed at the orifice. This main~
tains the dispersion angle regardless of the flow rate of the material through the dispensing tube means. Accord-~ 53~
8 52,569 ingly, a ~table circle pattern of dispensed material isdeveloped regardless of the flow rate. Because of these uni~ue features, the NODA nozzle can be utilized to effec-tively penetrate seams and workpieces where appropriate even when the nozzle is disposed in an upside-down rela-tionship with the workpiece. This is due to the fact that the NODA delivers a high mass of material with low surface tension. The NODA nozzle combines the most advantageous features of spray deposition and extrusion techniques in the application of an adhesive material to a workpiece and the penetration of the adhesive material into the seam o two abutting workpieces.
It is expected that the radius of the orbit of the first end ~5 of the dispensing tube means 43 about the fixed axis 55 in relationship to the diameter of the nozzle portion 47 is approximately 20% greater than the diameter of the nozzle exit oriice. The cone angle as shown in Figure 2 would be approximately 45. The nozzle would be positioned approximately 4 inches above the work surface and the nutating motion of the nozzle about the fixed axis would dispense a ribbon of material as illustrated in Figure 4 of approximately 5/8 inch in width. The pattern width changes are minimal even with increased flow rate or exit velocity of material due to the control of the dis-tance between the exit point of the nozzle and the work-piece and as indicated above the elimination of the centrifugal component of the orifice maintains the disper-sion angle regardless o the flow rat~.
What has been described is a nutating orifice dispersion apparatus by which materials such as medium to high vi6cosity, thixotropic or fiber filled materials can be applied to a substrate. The dispersion pattern is typically a ribbon of variable width and thicXness. The pattern is applied to the sl~bstrate from a distance of between about 1 to 6 inches and can be applied at various angles to the substrate and even applied to an overhead surface. The pattern can be applied in any direction .
" ~536~33 9 52,569 without reorienting the nutating orifice dispersion apparatus of this invention. The material flow rate is simply adjusted by varying the pressure supplied to the NODA. The pattern width is varied by adjusting the dis-tance between the NODA and the work surface. Thus the flowrate through the NODA can be modulated at will without effecting the ribbon pattern width. This advantage is key to the robotic application o~ sealant in that the speed of the arm may not be constant throughout the dispensing cycle and the material flow rate needs to be varied correspond-ingly in order to maintain ribbon uniformity.
d
Claims (17)
1. A nutating orifice dispersion apparatus for the application of a medium to high viscosity, thixotropic or fiber filled material to a substrate, comprising:
dispensing tube means having a first end for receiving material to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, and having a bore therethrough which is offset with respect to said first axis and wherein said first end of said dispens-ing tube means is mounted within said bore by bearings whereby the rotational movement of said first mounting means imparts orbital movement to said dispensing tube means about aid axis;
a second mounting means comprising a relatively fixed yet flexible diaphragm for compliantly supporting said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement 11 52,569 of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
dispensing tube means having a first end for receiving material to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, and having a bore therethrough which is offset with respect to said first axis and wherein said first end of said dispens-ing tube means is mounted within said bore by bearings whereby the rotational movement of said first mounting means imparts orbital movement to said dispensing tube means about aid axis;
a second mounting means comprising a relatively fixed yet flexible diaphragm for compliantly supporting said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement 11 52,569 of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
2. A nutating orifice dispersion apparatus comprising:
dispensing tube means having a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, said first mounting means supporting said dispensing tube at a location proximate said first end for orbital movement of said first end about said axis;
a second mounting means for compliantly support-ing said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
dispensing tube means having a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, said first mounting means supporting said dispensing tube at a location proximate said first end for orbital movement of said first end about said axis;
a second mounting means for compliantly support-ing said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
3. The nutating orifice dispersion apparatus according to claim 2 wherein the second mounting means is a diaphragm which provides a relatively fixed yet flexible support for the dispensing tube second, nozzle end.
4. The nutating orifice dispersion apparatus according to claim 3 wherein the diaphragm consists of stainless steel.
5. The nutating orifice dispersion apparatus according to claim 2 wherein the motive means is a synchro-nous motor.
6. The nutating orifice dispersion apparatus according to claim 2 wherein the first mounting means is 12 52,569 mounted for rotational movement about the axis and has a bore therethrough which is offset with respect to the axis and wherein the first end of the dispensing tube means is mounted within the bore by bearings whereby the rotational movement of said first mounting means imparts orbital movement to the dispensing tube means about the axis.
7. In combination with a robot having at least an arm adopted to receive an end effecter or the like thereon, a nutating orifice dispersion apparatus operably associated with the arm of said robot, said rotating orifice dispersion apparatus comprising:
dispensing tube means having a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, said first mounting means supporting said dispensing tube at a location proximate said first end for orbital movement of said first end about said axis;
a second mounting means for compliantly support-ing said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
dispensing tube means having a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, said first mounting means supporting said dispensing tube at a location proximate said first end for orbital movement of said first end about said axis;
a second mounting means for compliantly support-ing said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
8. The combination according to claim 7 wherein the second mounting means is a diaphragm which provides a relatively fixed yet flexible support for the dispensing tube second, nozzle end.
13 52,569
13 52,569
9. The combination according to claim 8 wherein the diaphragm consists of stainless steel.
10. The combination according to claim 7 wherein the motive means is a synchronous motor.
11. The combination according to claim 7 wherein the first mounting means is mounted for rotational movement about the axis and has a bore therethrough which is offset with respect to the axis and wherein the first end of the dispensing tube means is mounted within the bore by bear-ings whereby the rotational movement of said first mounting means imparts orbital movement to the dispensing tube means about the axis.
12. The combination according to claim 7 includ-ing a robot control panel in communication with the robot to effect the desired movement of the robot; and a material supply means including pump and material flow control means in communication with the nutating dispersion apparatus for the delivery of material thereto.
13. A material dispensing system comprising in combination; a robot having an arm adapted to receive an end effector on the end thereof; robot control means in communication with said robot for effecting the desired movement thereof; and a material supply means including pump and material flow control means for the delivery of material to a material dispersion apparatus, which appara-tus is a nutating orifice dispersion apparatus comprising:
dispensing tube means having a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, said first mounting means supporting said dispensing tube at a 14 52,569 location proximate said first end for orbital movement of said first end about said axis;
a second mounting means for compliantly support-ing said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
dispensing tube means having a first end for receiving materials to be dispersed thereinto and a second, nozzle end from which the material is dispersed;
support means in which said dispensing tube means is disposed;
a first mounting means for supporting said dispensing tube means at a location proximate said first end, said first mounting means being mounted in said support means for rotational movement about an axis, said first mounting means supporting said dispensing tube at a 14 52,569 location proximate said first end for orbital movement of said first end about said axis;
a second mounting means for compliantly support-ing said dispensing tube means at a location proximate said second, nozzle end thereof, which second mounting means facilitates the nutational movement of said second nozzle end;
motive means operatively associated with said first mounting means for affecting the rotational movement of said first mounting means wherein said nutating movement of said second, nozzle end is effected thereby.
14. The combination according to claim 13 wherein the second mounting means is a diaphragm which provides a relatively fixed yet flexible support for the dispensing tube second, nozzle end.
15. The combination according to claim 14 wherein the diaphragm consists of stainless steel.
16. The combination according to claim 13 wherein the motive means is a synchronous motor.
17. The combination according to claim 13 wherein the first mounting means is mounted for rotational movement about the axis and has a bore therethrough which is offset with respect to the axis and wherein the first end of the dispensing tube means is mounted within the bore by bearings whereby the rotational movement of said first mounting means imparts orbital movement to the dispensing tube means about the axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US73993885A | 1985-05-31 | 1985-05-31 | |
| US739,938 | 1985-05-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1253683A true CA1253683A (en) | 1989-05-09 |
Family
ID=24974405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000509332A Expired CA1253683A (en) | 1985-05-31 | 1986-05-16 | Nutating orifice dispersion apparatus |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPS6242760A (en) |
| CA (1) | CA1253683A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6758418B2 (en) | 2001-08-07 | 2004-07-06 | Nordson Corporation | Swirl gun |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5171056B2 (en) * | 2007-02-14 | 2013-03-27 | 本田技研工業株式会社 | Adhesive applicator |
-
1986
- 1986-05-16 CA CA000509332A patent/CA1253683A/en not_active Expired
- 1986-05-28 JP JP12460286A patent/JPS6242760A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6758418B2 (en) | 2001-08-07 | 2004-07-06 | Nordson Corporation | Swirl gun |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6242760A (en) | 1987-02-24 |
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| MKEX | Expiry | ||
| MKEX | Expiry |
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| MKEX | Expiry |
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