JP2641119B2 - Cartridge piping connection device and batch production system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates mainly to a pipe having a predetermined length selected according to a specific distance between a fixed tank and a fixed pipe, and a driving mechanism and a connecting means for the pipe are paired.
The present invention relates to an automatic connection device housed in a predetermined rigid frame to form a cartridge. More specifically, the present invention relates to a connection device suitable for automatically performing this switching and connection work in a batch production system that performs switching transfer of tank contents between a tank and a switching header pipe. And a production system using the same.

[0002]

2. Description of the Related Art In a food and beverage manufacturing plant, tank contents such as raw materials and intermediate products are transferred from a plurality of tank groups to a plurality of tank groups located at other positions according to a desired purpose. There are cases. In this case, a header including a plurality of pipes is provided alongside the tank group. This is used, for example, for the purpose of receiving, dispensing and cleaning intermediate products. Conventionally, for example, when switching from receiving to dispensing, a changeover operation of a valve or a reconnection of a line by a flexible hose has been performed. By the way, in recent years, with the increase in size of the apparatus and changes in the working environment, it has become necessary to automate these switching operations.

[0003] Such switching of the valves of the piping is shown in FIG.
Is shown in In the figure, reference numerals 41 and 42 denote intermediate product tanks, 4
Reference numerals 3, 44 and 45 denote line pipes, and reference numerals 46 ... 47 denote valves of the tank 41 or tank 42 system. Therefore,
For example, when a group of tanks has three line pipes for receiving, discharging, and washing in common, many valves 46, 4 as shown in FIG.
7 is required. In the case of switching the valves, for example, a valve having a special structure is required to prevent mixing of the product and the cleaning liquid and to facilitate cleaning, which is expensive. Further, when there are a large number of switching lines, the number of valves to be installed increases, the number of control input / output points increases, and the cost of control-related equipment increases.

[0004] On the other hand, in the case of a connecting operation using a flexible hose, operations such as moving, positioning, centering, connecting, and narrowing the hose have been conventionally performed manually. However, manual operation is possible in a range where the thickness of the hose is relatively small, but when the hose becomes large and thick, the operation becomes heavy. In order to automate a connecting operation using a flexible hose, a method has been proposed in which a hose is placed on a trolley, moved to a predetermined position, and a connection with a necessary pipe port is automatically made (Japanese Patent Laid-Open No. Hei 3 (1999)). -26328). In this method, a flexible hose is loaded on a truck, moved between the tank and the piping header, and after the truck stops at the required position, both ends of the flexible hose are moved by the coupling position changing means provided on the truck. This is for connecting the coupling provided in the above to a desired nozzle. When the connection is completed, the bogie leaves and the flexible hose is located, for example, between the nozzle on the tank side and the nozzle on the pipe side.

[0005] This method has the following disadvantages. The bogie has its own stopping accuracy depending on its driving system, control system, presence or absence of a track, and the like, and its position changes each time it stops. Stopping accuracy is good in the tracked method, but in the case of the trackless bogie, the stopping accuracy is generally quite large, ranging from several millimeters to several tens of millimeters, depending on the speed and guidance method. on the other hand,
The tank side and the pipe side are fixed, and their positional relationship and relative positional relationship in space will change each time they stop. Therefore, fine adjustment is required. In performing these fine adjustments, a mechanism for correcting the distance between a sensor for detecting a mutual positional relationship and a target is required. That is, at the time of connection, an advanced position confirmation operation in three dimensions is required. It is driven after connection, but depending on the nature of the contents, it is not always maintained in the same shape as after connection after driving, and when the bogie arrives again to disconnect the hose, when grabbing the hose Also, when a bogie passes under the hose, it is necessary to confirm the shape in an advanced three-dimensional manner.

[0006] The flexible hose has a minimum radius of curvature, and it is necessary to increase the length of the hose to some extent in order to sufficiently absorb deformation. In order to extend the life of the hose, it is necessary to maintain an appropriate radius of curvature. If the length is short, the life of the hose is shortened, and in extreme cases, the contents may not be circulated due to the crushing of the end (a portion where the so-called bamboo shoot ends). After the truck has left, only the flexible hose is still connected, and it is not possible to grasp the driving situation.The tank determines the liquid level in the tank on the tank side, informs the host computer, and based on that, the truck There is a drawback that only centralized management can be taken, such as removal of Therefore, it is not suitable for autonomous work which is the basic philosophy of the proposed pipeless plant. Although a plurality of flexible hoses are loaded and moved on a trolley, the shape of the hose is not always constant, and it is usual that twisting etc. occurs due to repeated use,
It is practically impossible to handle multiple hoses. Furthermore, when connecting and connecting a plurality of hoses between the plurality of connection ports on the tank side and the plurality of connection ports on the pipe side, a predetermined position is required to prevent the hose from being entangled. Automatically setting to a device requires a very high level of technology and is not practical. This situation is more likely to occur due to the irregular shape after removal.

In short, in the above proposal, a flexible hose is handled as it is as a hose.
This is a factor that requires advanced recognition technology and control technology, and is a major obstacle to realizing automation.
In order to solve these problems and increase the flexibility of operation, it is conceivable to mount a robot with a high intelligence level on the cart and handle flexible hoses.However, in order to solve the problem, advanced recognition processing and There is no change in the situation where the control method is necessary, and further, the large size of the robot is inevitable due to the fact that there is a large force in pushing the coupling. On the other hand, the present inventors have previously proposed an apparatus and a system that automates the connection between the tank and the piping header by changing the form in consideration of the difficulty in handling the flexible hose (Japanese Patent Application No. Hei 4 (1994)). -69063).
In this method, the hose is housed in a rigid frame, and the whole is formed into a cartridge to form one unit of physical distribution, thereby improving the handling performance. Automatic connection devices as coupling means are installed at both ends of the hose,
The movement of the hose in the cartridge is also performed by the driving device. And since it is made into a cartridge, the alignment may be performed by a normal method used in FA technology, and the shape is used as it is in the frame, and its shape does not change at the time of mounting and after operation.

However, for the following reasons,
Depending on the industry or product, the use of flexible hoses may not be appropriate or desirable in terms of quality control, and it may be desirable to minimize the use of hoses. This is especially true in the food and beverage manufacturing industries. Therefore, the above proposals of the present inventors were not always satisfactory. When handling a fermented product such as beer, the content remains in the uneven portion in the hose, and fermentation occurs due to decay of the content. The contents penetrate into the unexpected gaps and stagnant portions as well as the concave portions on the inner surface of the hose, and stagnate, causing rot fermentation. When manufacturing foods and beverages, washing must be performed frequently to prevent the above-mentioned spoilage, but weak alkaline solutions, weakly acidic solutions, and fresh water are repeatedly washed. In some cases, hot water is used and the use environment is severe. During the transfer, the internal pressure also acts repeatedly, and the conditions become increasingly severe. For this reason, the material of the hose is severely damaged, and vertical cracks are likely to occur. As described above, when using a flexible hose,
In some industries and products, its use is inappropriate or undesirable, and its use must be minimized.

[0009]

SUMMARY OF THE INVENTION Accordingly, the present invention overcomes the drawbacks of handling flexible hoses as they are, requiring advanced recognition and control techniques, and facilitates automation in factory automation. It is an object of the present invention to provide a cartridge piping connection device that can be realized, a connection system thereof, and a batch production system using the same. A further object of the present invention is to provide a cartridge-type piping connection device, a connection system therefor, and a batch production system using the same, which can avoid problems such as decay of residual contents in the connection device and can be used repeatedly even in severe use environments. And

[0010]

SUMMARY OF THE INVENTION The object of the present invention is as follows: (1) It has a connecting function of two connecting joints, and has a specific function of both.
With a specific length selected according to the interval, a displacement absorber
And a connecting means provided at both ends of the pipe
And a pipe support mechanism for driving the pipe in one direction,
The drive unit connected to the support mechanism is stored in the frame.
Into a cartridge, which is provided on the moving means
Cartridge pipe connection apparatus characterized by comprising, (2) has a function of connecting a stationary tank and a fixed pipe, in particular length chosen for a particular spacing therebetween, the displacement absorbing mechanism in the middle The pipe having the pipe, connecting means provided at both ends of the pipe, a pipe support mechanism for driving the pipe in one direction, and a driving device connected to the support mechanism are housed in a frame body to form a cartridge, which is moved. cartridge pipe connection apparatus characterized by comprising provided on means, (3) the cartridge is built-in battery or an air cylinder (1) or (2) a cartridge pipe connection apparatus according to claim, (4) characterized in that a detection device is provided in a part of the pipe (1) or (2) a cartridge pipe connection apparatus according to claim (5) drive mechanism and connecting means automatically control of That (1) or (2) a cartridge pipe connection apparatus according to claim moves a tank fixed (6), the cartridge pipe connection device of a predetermined in position (1) above, wherein between the fixed pipe A connection system in which the fixed tank and the fixed pipe are connected by respective connection means. ( 7 ) The cartridge-formed pipe connection device incorporates an automatic coupling device, and thereby the fixed The connection system according to ( 6 ), wherein connection with a tank and connection with a fixed pipe are performed. ( 8 ) A fixed system having a plurality of fixed pipes provided in parallel with a plurality of fixed tanks. The connection system according to ( 6 ), wherein the tank row is arranged parallel to the pipe when viewed in plan, ( 9 ) The distance between the fixed tank and the fixed pipe according to each length. Arrangement (1) is moved to stop at a predetermined position with respect to a predetermined fixed tank, and the fixed tank and the fixed pipe are connected by a pipe cartridge via respective connection joint means. And a batch production system characterized by using the connection system described in ( 10 ), ( 6 ), ( 7 ), ( 8 ) or ( 9 ). Was.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. FIG. 1 is a side view of an embodiment of the cartridge-forming piping connection device of the present invention. In the cartridge 13, the pipe 1
5 are provided. The pipe 15 includes a straight pipe portion having a predetermined length, which will be described later, and connection joints 16 and 17 provided at both ends.
And displacement absorbing mechanisms 50, 51 provided in the middle of the straight pipe section
It consists of. The pipe 15 may be, for example, a sanitary stainless steel pipe used in the food industry. Since the inner surface is smooth, unevenness can be minimized. When the connection between the tank and the header is made as shown in FIG. 2, the tank-side connection joint 12 and the header-side connection joint 9
Alternatively, when considering the connection with each of 10 or 11, three types of pipes having different lengths may be considered. When the connection joints 12 and 9 are connected, the pipe 15 described above in which the length between the connection joints 16 and 17 at both ends is equal to the length connecting the centers of the connection joints 12 and 9 is used. This is a length 1 pipe. Similarly, when the connection joints 12 and 10 are connected, a pipe 15 having a length between both end connection joints 16 and 17 equal to the length connecting the centers of the connection joints 12 and 10 is used.
This is a length 2 pipe. Further, when connecting to the connection 11, when connecting the connection joints 12 and 11, use a pipe 15 having a length between the two connection joints 16 and 17 equal to the length connecting the centers of the connection joints 12 and 11. . This is a length 3 pipe. In this manner, three types of cartridge-type piping connection devices having a length 1, a length 2, or a length 3 may be prepared. If the distance between the connection joints 12, 9, 10, 11 is equal, it is clear that, for example, the length of the pipe of length 3 is three times as long as the pipe of length 1.

In FIG. 1, cartridge-side connection joints 16 and 17 are provided at both ends of a pipe 15, and after connecting and disconnecting the entire pipe by a driving device 18 in a vertical direction, a tank-side connection joint is provided. 12, connected to and disconnected from the header-side connection joints 9, 11, 12. FIG.
The displacement absorbing mechanisms 50 and 51 are provided in the middle and in the middle of the pipe 15. The displacement absorbing mechanisms 50 and 51 are provided with eccentricity (center misalignment) when the connection joints at both ends are connected to the tank side connection joint and the header side connection joint. This is for absorbing bending and the like. For example,
A resin bellows or the like is used. The pipe 15 is connected to the driving device 18 via a support mechanism 60, and the driving device moves the pipe only in one direction up and down. The driving device 18 is fixed to the frame. The driving device may be a motor or an air cylinder depending on the type of energy source supplied to the cartridge, and may be variously selected. An energy source 28 for the drive can be built into the cartridge 13. When using electric energy for driving, it is sufficient to incorporate a battery,
When air energy is used, there is a method of incorporating a small compression cylinder in place of the battery.

In the cartridge 13, a connection joint 16,
17, other devices 25 and 26 having an auxiliary function in addition to the driving device 18 (for example, a clamp mechanism for realizing a mechanical lock, a device for cleaning a coupling surface after disconnection, etc.), A control unit 21 that performs a CPU function corresponding to the brain of the cartridge, a communication unit 24 that communicates with a higher-level control system, and a detecting device (for example, a conductivity meter 19 and a flow meter 2)
0), an auxiliary tank 27 (for example, a cleaning liquid and a waste liquid recovery tank for a cleaning device), a driving energy source unit 28
(An air cylinder, a battery, and the like) are contained therein, and are fixed in a frame (frame) 29 of a rigid member having rigidity. The cartridge 13 is mounted on the frame 29.
By this, it becomes possible to handle as a rigid thing, that is, as a logistics unit, and by ordinary means of logistics,
Can handle. Furthermore, it is also possible to form a kind of container by wrapping a thin plate outside the frame 29, even if the piping is disconnected or the liquid leaks due to a mistake in driving, until it spills on the floor Can also function as a temporary holder. In this case, if a device that detects the leakage inside is provided, processing such as closing the main valve of the tank can be performed quickly. In the cartridge 13, various sensors and the like can be installed in the pipe 15 in order to know the operation status. For example, the conductivity meter 19 is provided in the middle of the pipe, and when the contents are switched, it can be sensed that the fluid has flowed due to the difference in conductivity.

Further, it is possible to easily detect the flow rate by installing the flow meter 20 in the piping, detecting the flow rate, and integrating the flow rate. These measurements can be made by a non-contact method. For example, if an electromagnetic flow meter or the like is used, it can be used even when a product whose cleaning is troublesome is flowed. Since these measurement values are provided by the communication unit 24, information can be transmitted to the host system during connection or when returning to the home station. Further, when the capacity of the energy source is reduced, it is possible to communicate with the service station by the communication means. Various methods are widely used as communication means. Non-contact methods such as optical communication are conceivable. In realizing the so-called "autonomous mobile body" which is the basic concept of a pipeless plant,
With the same positioning as the intelligence in the tank, the moved cartridge can also be intelligent.
For this purpose, a control unit (CPU 21) as a brain is provided in the cartridge. In particular,
A sequencer and the like are provided so that they can be operated automatically.
Of course, in a simple system that does not need to include a CPU, it can be omitted.

Further, an auxiliary function unit such as an alcohol spraying device or a chemical cleaning device for cleaning the O-ring at the connection portion can be simultaneously mounted. It goes without saying that a small-capacity tank for these solutions is incorporated. Further, a device having a sterilizing function (for example, an ultraviolet sterilizing device or a flame sterilizing device) or the like can be mounted according to a desired purpose. Since the cartridge is used in this manner, necessary devices and the like can be freely mounted, and it is a matter of course that the equipment to be mounted can be changed according to the requirements of various industries or products. In the present invention, it is also possible to carry out all necessary driving and other operations by carrying out all driving from the truck side without having the driving device 18 in the cartridge. This can reduce the number of equipment built in the cartridge. However, in this case, the bogie is at that position every time the work is performed, and it is necessary to perform positioning for driving with the driven body. Since the driving energy source is built in the cartridge and the information processing control unit (CPU) is also built in, all the driving operations can be performed from the cartridge side, and the cartridge itself can perform autonomous work. Since autonomous work can be performed by the cartridge itself, driving autonomy is further enhanced. If you do this,
Even if functions corresponding to human feet depend on the cart, the cartridge has a brain (CPU) and muscular strength (drive mechanism and energy source). In this way, the piping, the driving device for moving and connecting them, the energy source, the CPU corresponding to the brain, the communication means, etc. are installed in one frame framework, and as a rigid cartridge, autonomy is achieved. Since the height is increased, handling by ordinary distribution operation means is facilitated, and the disadvantages of the flexible hose are overcome, so that various effects are produced. If it is not advisable to have an energy source in the cartridge, it can also be automatically connected to a fixed energy line (for example an air line) when the cartridge is set in place. For example, an air line or an electric line is provided at a set position, and when the cartridge is set by an automatic connection coupling device provided in the cartridge, connection with these lines is made. It is good. In this case, it is necessary to provide an air line and an electric line for each tank.

If the CPU and the information transmitting means are mounted in the cartridge, the completion of the connection can be sensed by a detecting device or the like, and the signal can be transmitted to a host computer by optical communication or the like. Upon release, the passing flow rate is detected by a liquid level detection signal in the tank or a flow meter provided in the middle of the piping between the CPU in the cartridge and the passage, and the completion of transfer is detected by the passage flow rate detection signal. Withdrawal work is performed at his own discretion. Of course, in the detaching operation, information is exchanged with the tank side. After all the work is completed, a signal to the cart can be sent via optical communication to wait for the arrival of the cart.

Hereinafter, an example using such a cartridge-formed piping connection device will be described. FIG. 2 is a plan view of one embodiment of a production system using the cartridge-forming piping connection device of the present invention. Note that in the description of FIG. In the figure, 1, 2, 3, 4, and 5 denote tanks containing different contents (raw materials, intermediate products, etc.), 6, 7, and 8 denote line piping, and 13 denotes a transport trolley (hereinafter simply referred to as a trolley) 14. It is a cartridge mounted on the. Reference numeral 12 denotes connection joints provided in the tanks 1 to 5, respectively, while reference numerals 9, 10, and 11 denote line pipes, 6, 7, and
8 are connection joints provided respectively. In this embodiment, five tanks are arranged in a line, and a piping header composed of three pipes is provided along the direction in which the tanks are arranged. However, the number of tanks and the number of piping are particularly limited. There is no. FIG. 2 shows a case in which a cartridge having a pipe length of 1, 2, or 3 is automatically selected according to the position of a header desired to be connected, and the cartridge is mounted on the carriage 14 and stopped at the tank 2 position. It is shown. When the cart 14 stops at the position of the tank 2, the cartridge 13 is set at a predetermined position by the transfer device 61 (for example, a push-pull type roller conveyor) attached to the cart.

FIG. 3 is a front view for explaining the connection of the cartridge 13 at the position of the tank 2 in FIG. 2 (a sectional view taken along line XX '). The cartridge 13 is transferred from the carriage 14 of FIG. 3 by the transfer device 61 and is placed at a predetermined position without mechanical interference with the connection joints 9, 10, 11, and 12. The cartridge is set in a station 36 provided across the fittings 9, 10, 11, 12. After the cartridge is set, the carriage 14 can be moved to another position, loaded with another cartridge and moved to transfer the cartridge to another tank. In positioning the cartridge, a conventional method such as a guide cone and a guide pin may be used. The position of the connection cone between the tank and the pipe is determined by the guide cone. When performing welding work on tanks and pipes, if the work is carried out using an appropriate jig from the guide cone, the positional relationship will be within a very good accuracy range, even if a trackless bogie with poor stopping accuracy is used. , A predetermined positional relationship is obtained. In FIG. 3, the cartridge 13 has a built-in length 2 pipe 15 for connecting the tank side connection joint 12 and the header side connection joint 10.
An operation is performed by the driving device 18 in the cartridge to connect the connection joint 12 of the tank 2 and the connection joint 10 on the pipe header side (the line 7 in FIG. 3). cup
Referring to ring device, both ends of the connection joint 16,
The pipe 15 including 17 is automatically lowered by the driving device 18 (for example, a pneumatic cylinder), and necessary connections are made. The pipe 15 is lowered by the driving device 18, and the upper connection joints 16 and 17 are joined to the lower connection joints 12 and 10. At this time, the half-split clamp 47 is moved inward by the clamp driving devices 46a and 46b to tighten the joint. Conventionally, the work of tightening the clamp has been performed manually.
6 is to be automated using the driving devices 46a and 46b housed in 6. FIG. 3 shows the case where electricity from a battery with a built-in cartridge is used as driving energy. 3
Reference numerals 0 and 31 denote fixed communication units for the cart or the cartridge. Reference numeral 33 denotes a bogie CPU, and reference numeral 34 denotes a bogie information processing unit.

FIG. 4 shows the relationship between the connection joint of the tank and the header and the length of the pipe. When connecting the tank side connection joint 12 and the header side connection joint 9, FIG.
A cartridge 13 having a pipe 38 having a length connecting the center of the connection joint 12 and the center of the connection joint 9 as in -a is prepared. Similarly, when connecting to the connection joint 10, a pipe 39 having a length connecting the connection joint 12 and the center of the connection joint 10 is connected. When connecting to the connection 11, a pipe 40 having a length connecting the connection joint 12 and the center of the connection joint 11 is used. Are prepared like b and c, respectively. As described above, three types of the cartridges 13 are provided according to the length of the pipe, and are selected and connected as needed.
If the tank-side connection joint 12 and the header-side connection joint 9 and the connection joints 9, 10, and 11 are set to have the same distance, if the connection joint 12 and the connection joint 9 have a unit length, the other connection joints Is the pipe length which is an integral multiple of this unit length. Although various types of connection joints are conceivable, FIG. 5 is a cross-sectional view showing an example of a connection joint with an inner valve.
The cartridge-side connection joints 16 and 17 include an inner valve 49, a connection joint body 52, a tip cleaning chamber 56 provided in a double structure in the shaft of the inner valve, and a body top plate 54.
, And an inner valve driving actuator 100, 110 provided at the end of the shaft. 1
Reference numerals 5 and 19 are pipes. Further, a valve seat 52a corresponding to the inner valve 49 and a ferrule end 5 into which a half clamp 47 for mechanical locking is inserted are provided at a lower portion of the body 52.
2b, and an O-ring 52c for sealing between the header-side connection joint.

Connection joints 9, 10, 11, 1 on the header side
2 includes an inner valve 48, a body 53, a valve shaft 58 penetrating through the body bottom plate 55, and an automatic return spring unit 59 provided at the tip of the valve shaft. This joint uses a sanitary valve conventionally used in the food industry for a connection joint. That is, the conventional double-seat valve is cut in half at the center, and the upper part is used for the connection joints 16 and 17 in the cartridge 13, and the lower part is used for the tank-side connection joint 12 and the header-side connection joints 9, 10 and 11. It is. The clamps 72 and 73 are for connecting the top plate and the bottom plate to the body.

The inner valves of the tank-side connection joint 12 and the header-side connection joints 9, 10, and 11 are automatically returned by a spring and closed, so that a special energy supply line (for example, a pneumatic type) is used for opening and closing operations. In the case of an on-off valve, there is no need to provide an air line), which is advantageous in terms of cost and construction. It is preferable that the lower surface of the inner valve 48 in the lower connection joint is substantially the same as the inner surface of the pipe, so that a stagnation portion during cleaning is reduced. When connecting the connecting joints, a mechanical lock may be required in some cases. For this purpose, it is preferable to tighten the clamps by the half clamp 47 which is easy to handle. In order to drive the half clamp 47, the clamping devices 46a, 4a
6b is prepared. By providing the inner valve in the connection joint in this manner, it is possible to prevent liquid leakage at the time of disconnection,
Opening and closing can be performed by one actuator. In addition, high sanitary properties can be obtained by using a sanitary specification valve.

FIG. 6 shows a state before the connection is tightened. FIG. 7 illustrates the tightened state. Thereafter, the upper actuator 100 attached to the distal end of the inner valve shaft passing through the body top plate of the connection joints 16 and 17,
110 is actuated to push down the inner valve 49 and then to contact the lower inner valve 48, push it down and open it to allow circulation. Electric or pneumatic energy can be used as an energy source for driving the driving device 18 for moving the pipe up and down, which may be provided in the cartridge, or a fixed supply side provided for each tank and a cartridge. A connection device provided on the side may be connected and supplied. In the above description, a guide cone, a guide pin, and the like are used for positioning the cartridge. An example of the guide cone is shown in FIG. As shown in the figure, the relative positional relationship is adjusted by matching the male-side cone 62 and the female-side recess 63. In the above configuration, the bogie may be a tracked type or a trackless type. In the case of the trackless type, any guidance method can be selected and used according to its purpose. .

Specifically, the carriage 14 and the cartridge 1
The operation control 3 is controlled based on a command from a host computer at a home station, for example. Further, the cartridge 13 has a built-in detection device for detecting the moving state and the connection state, and works autonomously when it is detected that the transfer state and the connection state have become predetermined. In other words, there are various methods for controlling the unmanned transport carriage 14 and the cartridge 13 and transmitting and receiving signals, regardless of whether the trackless system or the tracked system is used, such as those widely used in FA (factory automation) systems. Can be used. As a typical method for transmitting and receiving signals, for example, an information transmission method using non-contact optical communication can be used.
As another method, for example, a large number of pin connector connections or the like can be used. However, in this case, alignment is required, so that automatic connection work becomes difficult. Therefore, a non-contact method such as an information transmission method by optical communication is preferably used. At this time, the home station is provided with an optical communication unit, and the cart 14 and the cartridge 13 are also provided with an optical communication unit.
Also, when the carriage 14 and the cartridge 13 return to the home station, the next connection execution position,
Receive instructions for piping type (length). In addition, when transferring the contents, the operation of opening and closing the valve is required,
The completion of the connection of the connection device in the cartridge is detected by the detection device (for example, a sensor) as described above, and the signal is transmitted to the host computer via the optical communication unit, and it is confirmed that all the conditions are satisfied. Then, the opening operation of the original valve of the tank can be performed.
Also, when the connection device is released, if it is confirmed by the host computer that the transfer has been performed by the detection signal of the liquid level in the tank or the detection signal of the flow rate, the cartridge 1 is released.
When a call signal is sent from the host computer to the trolley 14 to remove the trolley 3, the microcomputer of the trolley 14 controls the trolley 14 to move to a predetermined position, and thereby the disconnection operation may be performed. However, it is also possible to signal a transfer application to the bogie on standby.

Next, the operation of the connection joint of this embodiment will be described. The cartridge 13 is positioned according to the guide cone 64 (or guide pin) provided on the fixed side. Therefore, for example, the relative positional relationship with the connection joint 12 in the lower part of the tank is naturally determined. The same applies to the connection joints 9, 10, 11 of the lines 6, 7, 8. (See FIG. 3) In this manner, the connection joints 16, 1
7 and the connection joint sides 12 and 9 have 10 or 11 facing each other. Next, the connection joints 16 and 17 on the cartridge side are lowered by the driving device 18, and the connection portions are pushed in and connected. The clamp mechanism mechanically holds the sheet. Upon release and release, the vehicle is raised by the driving device. At this time, displacement absorbing mechanisms 50 and 51 (for example, resin bellows) and the like are used so as to absorb and connect even if there is some misalignment. Then, joint 1
By operating the actuators provided on the upper portions of the tanks 6 and 17, the inner valve is pushed in to form a line, and the tank contents are transferred to the header pipe via the cartridge. When the transfer of the contents of the tank is completed, it is detected by the flow meter in the cartridge, and the completion detection signal is output from the C in the cartridge.
It is emitted toward the PU, and the actuator provided in the cartridge inner joints 16 and 17 is operated based on the signal, and the inner valve is closed.

Next, the mechanical lock is released, and then the piping is returned to the original position by the driving device. In this way, the cartridge having completed the transfer operation leaves the station, is mounted again on the carriage, and goes to a washing station (not shown), and after the necessary washing of the inside of the tube is performed, the home station (the washing station). And sent to a standby. An example of such a control circuit of the system of the present invention will be further described with reference to FIG. In the example, a battery is provided for each cartridge and energy is not supplied from the outside. The cartridge-forming piping connection device 101 includes a microcomputer 102 for controlling the entire system, and an information communication unit 103 for controlling transmission and reception of information to and from the host computer 109 and the cart.
, A connection clamp device 105, a unit drive device 104 for performing vertical drive control of the pipe, a connection joint actuator drive device 107, and a measurement device 108. Here, the connection clamp device 105 has a mechanism for mechanically holding the ferrule portion of the pipe joint by a clamp, and the unit driving device 104 moves the pipe to a predetermined position when receiving a command from the microcomputer 102. It is designed to be lowered / raised. By driving the unit driving device 104, the pipe moves to a predetermined position and is connected, and when the mechanical holding is completed by the connection clamp device, a connection completion signal is notified to the microcomputer 102. The actuator driving device 107 is a device for driving an actuator provided above the connection joints 16 and 17. The measuring device 108 is constituted by, for example, a flow meter or the like attached to a pipe in the cartridge, measures the transfer amount of the contents of the tank, and gives the measurement result to the microcomputer 102. The battery 106 provides a warning signal to the microcomputer when the capacity of the battery is reduced.

The operation of the information system used in this production system will be described. First, the carriage 108 goes to the home station where the cartridge 101 is on standby, communicates with the host computer, and selects a washed cartridge having a predetermined pipe length required for the next operation.
At this time, information on which tank the cartridge is to be carried from is transmitted from the host computer to the carriage via the information communication means. Such a movement command signal is sent via the communication unit 74, the information processing unit 103, and the microcomputer 102. When the cartridge 101 advances to a predetermined tank and is set therein, work is performed according to information stored in the home station in advance (that is, an instruction to move up and down for connection when a setting completion signal is issued). You. Unit driving device 104
Moves the piping by a motor or the like. Following the movement, the amount of movement is confirmed and final positioning is performed while feeding back to the motor side. When the movement is completed and comes to a predetermined position, the unit driving device 104 sends a movement completion signal to the microcomputer 102. This includes
For example, a limit switch can be used.

Next, the drive device inside the connection clamp device is operated to perform the clamp operation and mechanically lock. Finally, a signal confirming that the clamp is completed is issued and transmitted to the microcomputer. Next, a signal is sent to the actuator that drives the connection joint inner valve. The contents of the tank are transferred, and the transfer amount is measured by a measuring device (e.g.,
Flow rate, etc.) to monitor the transfer amount. When the predetermined transfer amount is reached, a signal can be issued from the cartridge to the tank side to stop the transfer, and the main valve of the tank can be closed. If the entire amount is paid out, information about the amount may be given. Next, a transfer completion signal is transmitted, and a carriage waiting at another location is called out to remove and move the cartridge. In the cartridge 101, for example, a battery 106 is incorporated as an energy source, and it is desired that a warning be issued in advance when the capacity is reduced. For this purpose, the capacity can be monitored (for example, by measuring a decrease in voltage), and a warning signal can be output to the outside when the capacity reaches a predetermined value.

As described above, the structure and operation of a cartridge-type piping connection device using a connection joint with an inner valve to which a conventional double-seat valve is applied have been described as an embodiment. Rubber is a typical example of another connection joint. An embodiment using an annular bag body will be described below. FIG. 10 is a side view of a cartridge piping connection device using a rubber annular bag. Structures and operations other than the connection joint portion are basically the same as those in the case of using the double seat type connection joint. The pipe 15 in the cartridge 13 has a desired length in a direction orthogonal to the axis of the straight pipe through a straight pipe having a predetermined length as in the double sheet type, and a curved pipe (90 ° elbow) at both ends thereof. A connection pipe 16 provided at the short pipe and the short pipe tip,
17. That is, the pipe 15 is composed of a straight pipe portion having a predetermined length and connection joints 16 and 17 at both ends, and does not have a displacement absorbing mechanism in the middle of the pipe. 11, JP-A-3 without the inner valve as the connection joint - shows a front tip portion as in No. 133,789 are connected by the enlarged sectional view of an example in which a rubber ring bag 70. The upper part of the joint is composed of a rubber annular bag attached to the tip of the pipe 15 side, and the lower part has a header side fitting opening having a cylindrical part 75 having an inner diameter larger than the diameter of the upper rubber annular bag. Lower short tube 76
Consists of In this case, the cartridge side connection joint 1
Reference numerals 6 and 17 denote the cartridge side, and the lower portion thereof is the tank side and the header side connection joints 9, 10, 11, and 12.

When air pressure is supplied from the small hole 65 in the figure, the rubber annular bag expands and the connection joints 9, 10, 11, and
In this case, a seal is formed between the inner surface and the inner surface of the inner surface 12 to form a flow path. FIG. 12 shows the state at the time of connection. In this case, there is an advantage that the misalignment is absorbed by the expansion of the rubber and the sealing can be sufficiently performed. However, since there is no inner valve, it is necessary to devise measures such as providing a dripping pan for the liquid. is there. FIG. 13 shows the relationship between the connection joint of the tank and the header and the length of the pipe. When connecting the tank side connection joint 12 and the header side connection joint 9 as in the double seat type, the connection joint 12 is connected as shown in FIG.
A cartridge 13 provided with a pipe 38 having a length connecting the connection joint 9 to the cartridge 13 is prepared. Similarly, when connecting to the connection joint 10, a pipe 39 having a length connecting the connection joint 12 and the connection joint 10 is used.
Are connected to the connection joint 12 and the connection joint 11
Are prepared as shown in b and c, respectively. In this case, three types of cartridges 13 are provided according to the length of the piping, and are selected and connected as needed. If the tank-side connection joint 12 and the header-side connection joint 9 and the connection joints 9, 10, and 11 are set to have the same distance, if the connection joint 12 and the connection joint 9 have a unit length, the other connection joints Is the pipe length which is an integral multiple of this unit length. On the other hand, as shown in FIG. 14, the connection joint 12 at the end of the take-out line corresponds to the connection joint 16 at the tank 2 via an opening / closing valve 69 as shown in FIG. It is provided. The connection joints 9, 10, and 11 on the header side that are connected to the connection joint 17 are provided on the piping header side.
The header side connection joint is connected to the header pipe via each of the open / close valves 66, 67, 68. In the case of FIG. 14, it connects to the header side joint 10 by the piping of length 2. The cartridge 13 having a pipe having a length corresponding to a desired connection joint is mounted on a carriage 14, carried to a predetermined position, and fixed at a predetermined position by a transfer device. Then connect both ends
The pipe 15 having the joints 16 and 17 is automatically lowered by the driving device 18 to make necessary connections.

At this time, since the misalignment can be absorbed by the rubber, the displacement absorbing mechanism of the double sheet type can be omitted, and the centering can be easily performed without performing the accompanying control. . After the connection is confirmed, the respective main valves 69 and 67 are opened to transfer the contents. Further, at the time of disconnection, after confirming that the main valve is closed, the rubber annular bag is contracted by bleeding air, and then the pipe 15 is automatically raised by the driving device 18 to complete the disconnection. In the method in which the information communication means and the energy supply means are provided for each tank, the movement control of the carriage 14 and the transfer of the cartridge 13 require the carriage 14 to receive a command from the host computer via the fixed unit and the optical communication unit. According to the progress of the process, a predetermined signal from the host computer, for example, a signal of movement and transfer is transmitted to the carriage 14. The cart 14 is provided with, for example, a microcomputer, and the microcomputer receives a predetermined signal from a host computer, and performs a predetermined operation, for example, a movement,
Transfers and the like are performed. The tank is provided with tank-side information communication means, and the tank transmits and receives information to and from a host computer via the tank-side information communication means. Whether the signal from the host computer is transmitted via the tank side information communication means,
Alternatively, the signal is transmitted to the host computer via the information communication means, and the main valve of the tank is opened and closed.

[0031]

According to the present invention, since a cartridge-type device for integrally storing a pipe and a moving connection joint device is used for an automatic connection system between a tank and a pipe header, a normal logistics is used. Since it is easy to handle by operation technology and does not use flexible hoses or expansion joints at all, it can be applied even when it is not appropriate or preferable to use flexible hoses or expansion joints. Promote plant automation, even in demanding industries and product manufacturing,
It is possible to respond quickly to the request for product type change, and to flexibly respond to various production requests. Further, since the CPU is built in the cartridge, autonomous operation becomes possible and more flexible plant operation becomes possible. In the system according to the present invention, when switching the contents in the tank, there is no need to move the entire container, the container is fixed, the contents can be easily transferred to the piping header, and the batch production system is flexible. , The production scale can be easily expanded without causing safety and quality control problems. In addition, according to the apparatus of the present invention and the system using the same, it is needless to say that the number of switching valves can be reduced and the control of the system can be facilitated.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a cartridge connection pipe of the present invention.

FIG. 2 is an example of a production system using a cartridge connection pipe.

FIG. 3 is an example of a production system using a cartridge connection pipe.

FIG. 4 is an explanatory diagram of a positional relationship between a connection pipe length and a connection joint.

FIG. 5 is a sectional view of a connection joint with an inner valve.

FIG. 6 is an example diagram showing a state before connection of a joint.

FIG. 7 is an example diagram showing a state after connection of a joint.

FIG. 8 is a view of a guide cone and a guide pin.

FIG. 9 is an example of a control circuit of the system.

FIG. 10 is a configuration diagram of a cartridge piping connection device using a connection joint without an inner valve.

FIG. 11 is a joint configuration diagram without an inner valve.

FIG. 12 is a configuration diagram of a joint without an inner valve.

FIG. 13 is an explanatory diagram of a positional relationship between a connection pipe length and a connection joint.

FIG. 14 is an example of a production system using a cartridge connection pipe.

FIG. 15 is an explanatory diagram illustrating a conventional connection and switching state between a fixed tank and a fixed pipe.

[Explanation of symbols]

 1, 2, 3, 4, 5 Tank 6, 7, 8 Piping 9, 10, 11 Header-side connection joint 12 Tank-side connection joint 13 Cartridge 14 Carrier 15 Pipe 16, 17 Connection joint 18 Drive unit 19 Pipe 20 Flow meter Reference Signs List 21 control unit 24 communication unit 25 auxiliary device 26 auxiliary device 29 frame

Continuation of the front page (56) References JP-A-6-159600 (JP, A) JP-A-4-231790 (JP, A) JP-A-5-215300 (JP, A) JP-A-5-256739 (JP) JP-A-4-264797 (JP, A) JP-A-6-26600 (JP, A) JP-A-3-26328 (JP, A) JP-A-4-97095 (JP, A) 1-1117158 (JP, U)

Claims (10)

(57) [Claims] (1) It has the function of connecting two connection joints.
At a specific length selected according to the specific interval
Pipes with a position absorption mechanism and provided at both ends of the pipes
Connecting means and a pipe supporting machine for driving this pipe in one direction
The structure and the drive connected to its support mechanism
It is stored and made into a cartridge, which is set on the moving means.
Cartridge piping connection characterized by being cut
apparatus. 2. It has a function of connecting a fixed tank and a fixed pipe, and has a specific length selected according to a specific interval between the two.
A pipe having a displacement absorbing mechanism on the way, connecting means provided at both ends of the pipe, a pipe support mechanism for driving the pipe in one direction, and a driving device connected to the support mechanism are housed in a frame. A cartridge-forming piping connection device, which is formed into a cartridge and provided on a moving means. 3. A cartridge is a cartridge pipe connection apparatus according to claim 1 or 2, wherein a built-in battery or an air cylinder. 4. A cartridge pipe connection apparatus according to claim 1 or 2, characterized in that a detection device to a part of the pipe. 5. The cartridge pipe connection apparatus according to claim 1 or 2, wherein the drive mechanism and the connecting means is automatically controlled. 6. The cartridge piping connection device according to claim 1 is moved to a predetermined position between the fixed tank and the fixed piping, and the fixed tank and the fixed piping are connected by respective connection means. A connection system characterized in that: 7. The connection system according to claim 6, wherein the cartridge-forming piping connection device has an automatic coupling device built-in, and thereby performs connection with the fixed tank and connection with the fixed piping. 8. A fixed tank array having a plurality of fixed pipes provided in parallel with the plurality of fixed tanks, wherein the fixed tank row is arranged parallel to the pipes in plan view. 6. The connection system according to 6 . 9. The cartridge-forming pipe connection device according to claim 1, which has a pipe corresponding to each length between the fixed tank and the fixed pipe, and stops at a predetermined position with respect to a predetermined fixed tank. A connection system, wherein the fixed tank and the fixed pipe are connected by a pipe cartridge via respective connection joint means. 10. A batch production system using the connection system according to claim 6 , 7 , 8, or 9 .