JP5465628B2 - Multi-liquid mixing system, control apparatus for multi-liquid mixing apparatus, control method for multi-liquid mixing apparatus and program - Google Patents

Description

  The present invention relates to a multi-liquid mixing system, a control apparatus for a multi-liquid mixing apparatus, a control method for a multi-liquid mixing apparatus, and a program.

  Patent Document 1 discloses a technique for maintaining a mixing ratio of a first liquid and a second liquid at a target value in a multi-liquid mixing apparatus that alternately introduces and mixes a first liquid and a second liquid into a common flow path. Has been. In the technique disclosed here, after the first liquid is charged, this charging amount is detected, and based on the error between the detected value and the target charging amount of the first liquid, the target charging amount of the second liquid is determined. By adding a correction, the expected amount of the second liquid is determined. In other words, every time one cycle of alternate charging is performed, the mixing ratio of the first liquid and the second liquid is determined by determining the planned charging volume of the second liquid based on the error of the actual charging volume of the first liquid. It tries to keep it at the target value.

Japanese Patent No. 3192286

  As a means for pumping both liquids in a multi-liquid mixing device, a plunger pump using air pressure as a drive source can be used, but since this plunger pump is difficult to control the liquid discharge amount with high accuracy, Even if the estimated amount of the second liquid to be charged is corrected as described above, it is inevitable that an error occurs in the actual amount of the second liquid to be charged. Therefore, in the method of correcting the input amount of the second liquid every cycle as described above, the influence of the error of the input amount of the second liquid remains without being corrected, and as a result, Since the errors of the two liquids are accumulated, it is difficult to keep the mixing ratio at an appropriate value.

  The present invention has been completed based on the above circumstances, and an object thereof is to keep the mixing ratio appropriate with high accuracy.

  As a means for achieving the above object, the invention according to claim 1 is configured such that the control device controls the charging operation of the multi-liquid mixing apparatus that alternately charges and mixes the first liquid and the second liquid into the common flow path. In the multi-liquid mixing system according to the first aspect, the control device may include a second liquid input amount detection unit that detects an actual input amount of the second liquid, and a second result based on a detection result of the second liquid input amount detection unit. A second scheduled injection amount determining unit for determining a planned next charged amount of the liquid, a planned next charged amount of the second liquid, a preset target mixture ratio of the first liquid and the second liquid, and the previous time A first liquid injection planned amount determination unit that determines a next liquid injection planned amount of the first liquid based on an error between the first mixed liquid and the actually measured mixing ratio of the second liquid; Has characteristics.

  The invention of claim 2 is a control device for controlling the charging operation of a multi-liquid mixing apparatus that alternately mixes the first liquid and the second liquid into the common flow path, and detects the actual input amount of the second liquid. A second liquid input amount detection unit that performs determination, a second liquid input amount determination unit that determines a next liquid injection amount amount based on a detection result of the second liquid input amount detection unit, and the second liquid Of the next injection, the preset target mixture ratio of the first liquid and the second liquid, and the error between the previously input first liquid and the second liquid actually measured mixture ratio. It has a feature in that it includes a first liquid input scheduled amount determination unit that determines a next liquid input scheduled amount.

  According to a third aspect of the present invention, in the second aspect of the present invention, the second liquid injection scheduled amount determination unit is configured to determine a measured input amount of the second liquid with respect to a preset target input amount of the second liquid. It is characterized in that a correction amount corresponding to an error from the target amount of the second liquid is added.

  According to a fourth aspect of the present invention, in the first aspect of the present invention, the first liquid injection scheduled amount determination unit is configured to supply the second liquid next time with respect to a preset target input amount of the first liquid. It is characterized in that correction of a correction amount corresponding to an error between an actual input amount of the second liquid and a target input amount of the second liquid in a predetermined amount is added.

  According to a fifth aspect of the present invention, in the first or second aspect of the present invention, the first liquid input scheduled amount determination unit is configured to set the target mixture ratio to a preset target input amount of the first liquid. And a correction amount corresponding to an error between the measured mixture ratio and the measured mixing ratio is added.

  The invention according to claim 6 is a method for controlling the charging operation of the multi-liquid mixing apparatus that alternately mixes the first liquid and the second liquid into the common flow path, and detects the actual input amount of the second liquid. A second liquid input amount detection step, a second liquid input amount determination step for determining a next liquid input amount based on a detection result of the second liquid input amount detector, and a second liquid input amount determination step Based on the next scheduled input amount, a preset target mixture ratio of the first liquid and the second liquid, and an error between the previously mixed first liquid and second liquid actually measured mixture ratio. And a first liquid charging scheduled amount determination step for determining the next charging scheduled amount.

  According to a seventh aspect of the present invention, there is provided a second method for detecting an actual input amount of the second liquid in a computer that controls an input operation of a multi-liquid mixing apparatus that alternately supplies the first liquid and the second liquid into the common flow path and mixes them. A liquid injection amount detection process, a second liquid injection amount determination process for determining a next liquid injection target amount based on a detection result of the second liquid input amount detection unit, and a next time of the second liquid. The next time of the first liquid based on the estimated amount of charge, the preset target mixture ratio of the first liquid and the second liquid, and the error between the previously mixed first liquid and second liquid actually measured mixture ratio This is a program for executing a first liquid input scheduled amount determination process for determining the estimated amount of injection.

  When the introduction of one cycle in the order of the first liquid and the second liquid is finished, the next scheduled injection amount of the first liquid is determined based on the error in the mixing ratio of the cycle. The charging operation can eliminate the mixing ratio error in the previous cycle. In addition, since the actual input amount of the second liquid is detected and the next input amount of the second liquid is determined, the variation in the input amount of the second liquid in each input cycle can be suppressed small. In addition, when determining the next scheduled injection amount of the first liquid, the next scheduled injection quantity of the second liquid is taken into consideration, so that an error in the mixing ratio in the next charging cycle can be suppressed. Therefore, according to the present invention, the variation in the mixing ratio in each charging cycle can be kept small, and the average charging amount of the first liquid and the second liquid in one charging cycle can be brought close to the target charging amount. .

The front view of the plunger pump (reciprocating pump) showing the state which has a rod and a plunger in a top dead center position in Embodiment 1. Front view of plunger pump (reciprocating pump) showing rod and plunger at bottom dead center position Cross section of the air motor that constitutes the plunger pump (reciprocating pump) Sectional drawing which shows the state which has a plunger in a top dead center position in the pump body which constitutes a plunger pump (reciprocating pump) Sectional drawing which shows the state in which the plunger exists in a bottom dead center position in the pump body which comprises a plunger pump (reciprocating pump) Side view of the position detection device showing the rod at the top dead center position Side view of position detection device showing the state where the rod is at the bottom dead center position Enlarged plan view of the position detector Configuration diagram of multi-liquid mixing system Block diagram showing the hardware configuration of a computer functioning as a control device Functional configuration diagram showing control functions executed by control device (computer) Flow chart showing control procedure executed by control device (computer)

<Embodiment 1>
A first embodiment of the present invention will be described below with reference to FIGS. In this embodiment, an example in which a multi-liquid mixing system is applied to a coating apparatus will be described. As shown in FIG. 9, the multi-liquid mixing system includes a multi-liquid mixing apparatus 1, a control device 60, and a coating gun 70. The multi-liquid mixing apparatus 1 alternately feeds the main agent (second liquid, which is a constituent requirement of the present invention) and the curing agent (first liquid, which is a constituent requirement of the present invention) into the common flow path 2 by predetermined amounts. The paint is generated by mixing, and the generated paint is supplied to the coating gun 70.

<Description of outline of multi-liquid mixing apparatus 1>
The multi-liquid mixing device 1 includes a common flow path 2, a mixing valve 5 provided at the upstream end of the common flow path 2, a main agent pressure feeding device 6M that pressure-feeds the main agent to the common flow path 2 via the mixing valve 5, A curing agent pumping device 6H that pumps the curing agent to the common flow path 2 via the mixing valve 5 is provided. The coating gun 70 is connected to the downstream end of the common flow path 2, and in the middle of the common flow path 2, a mixer 3 (mixing hose) for promoting mixing of the main agent and the curing agent introduced into the common flow path 2. Is provided. The main agent and the curing agent are mixed while passing through the mixer 3 to form a paint.

  The upstream end of the common flow path 2 is bifurcated into a main agent branch 2M and a hardener branch 2H, and the upstream end of the main agent branch 2M constitutes the multi-liquid mixing device 1. The main valve outlet 5Mb of the mixing valve 5 is connected, and the upstream end of the hardener branch 2H is connected to the hardener outlet 5Hb of the mixing valve 5. Each branch path 2M, 2H is provided with a check valve 4 for preventing backflow of the main agent and the curing agent.

<Description of mixing valve 5>
The mixing valve 5 includes a main agent valve 5M and a curing agent valve 5H. The main agent valve 5M has a valve open state that allows the flow of the main agent from the main agent inlet 5Ma to the main agent outlet 5Mb, and a closed state that blocks the flow of the main agent from the main agent inlet 5Ma to the main agent outlet 5Mb. It is designed to switch between them. The curing agent valve 5H has a valve open state that allows the flow of the curing agent from the curing agent inlet 5Ha to the curing agent outlet 5Hb, and the flow of the curing agent from the curing agent inlet 5Ha to the curing agent outlet 5Hb. The valve is switched between a closed state and a closed state.

<Description of main agent pumping device 6M>
The main agent pressure feeding device 6M includes a main agent tank 7M, a plunger pump 30 for pumping the main agent stored in the main agent tank 7M to the common flow channel 2 side, and a main agent flow channel 8M. The upstream end of the main agent flow path 8M is connected to the discharge port 43 (see FIGS. 4 and 5) of the plunger pump 30, and the downstream end of the main agent flow path 8M is connected to the main agent inflow port 5Ma of the mixing valve 5. A pressure gauge 51M is provided in the middle of the main agent flow path 8M.

<Description of curing agent pumping device 6H>
The hardener pumping device 6H includes a hardener tank 7H, a plunger pump 30 for pumping the hardener stored in the hardener tank 7H to the shared flow path 2 side, and a hardener flow path 8H. The upstream end of the hardener flow path 8H is connected to the discharge port 43 of the plunger pump 30, and the downstream end of the hardener flow path 8H is connected to the hardener inlet 5Ha of the mixing valve 5. In the middle of the hardener flow path 8H, a pressure gauge 51H and a hardener regulator 52 are provided.

<Description of outline of plunger pump 30>
The plunger pump 30 (reciprocating pump) is provided separately in the main agent flow path 8M and the hardener flow path 8H, and the main agent plunger pump 30 and the hardener plunger pump 30 have the same structure. The plunger pump 30 is a reciprocating pump that controls the discharge operation by the electromagnetic valves 50A and 50B using pressurized air as a drive source, and as shown in FIGS. 1 and 2, an air motor 31, a pump body 36, The position detection device 10 includes a detection plate 11, and a light emitting unit 26 and a light receiving unit 27 of the optical sensor 20 configuring the position detection device 10.

<Description of Air Motor 31 Constructing Plunger Pump 30>
As shown in FIG. 3, the air motor 31 has a structure in which a cylinder 32 is partitioned into an upper pressurizing chamber 32A and a lower pressurizing chamber 32B by a piston 33 that can move up and down. A descending air pressure feed path 34A formed in the cylinder 32 is communicated with the upper pressurizing chamber 32A, and an ascending air pressure feed path 34B formed in the cylinder 32 is communicated with the lower pressurizing chamber 32B. Pressurized air is pumped from the common air pumping source 53 shown in FIG. 9 through the common air pumping path 54 to the descending air pumping path 34A and the lifting air pumping path 34B.

  The air pressure supply source 53 is also common between the plunger pump 30 for the main agent and the plunger pump 30 for the curing agent. The downstream end portion of the common air pressure supply path 54 is branched as four air branch paths 54M and 54H, and two of the four air branch paths 54M are air pressure supply paths for lowering the plunger pump 30 for the main agent. 34A is connected to the ascending air pressure feed path 34B, and the remaining two air branch paths 54H are connected to the descending air pressure feed path 34A and the ascending air pressure feed path 34B of the plunger pump 30 for the curing agent. Further, an on-off valve 55, an air filter 56, and an air regulator 57 are provided in the middle of the common air pressure feeding path 54 in order from the upstream side.

  1 to 3, a lowering solenoid valve 50 </ b> A and a lifting solenoid valve 50 </ b> B are provided on the upper surface of the cylinder 32. The descending solenoid valve 50A is provided between the descending air pressure feed path 34A and the air branch path 54M. The descending solenoid valve 50A is in a valve-open state that allows air to be fed from the air branch path 54H to the descending air pressure feed path 34A and the upper pressurizing chamber 32A, and in the upper pressurizing chamber 32A and the descending air pressure feed path 34A. It is switched between the exhaust state in which the air is discharged into the atmosphere.

  The raising solenoid valve 50B is provided between the raising air pressure feed path 34B and the air branch path 54H. The ascending solenoid valve 50B includes a valve open state that allows air to be fed from the air branch path 54H to the ascending air pressure feeding path 34B and the lower pressurizing chamber 32B, and the lower pressurizing chamber 32B and the ascending air pressure feeding path 34B. It is switched between the exhaust state in which the air is discharged into the atmosphere. The operation of the raising electromagnetic valve 50B and the operation of the lowering electromagnetic valve 50A are performed independently by the control of the control device 60.

  As shown by the solid line in FIG. 3, when the descending solenoid valve 50A is switched to the open state while the piston 33 is located at the upper side, the lift solenoid valve 50B is switched to the exhaust state. Is discharged into the atmosphere, and the pressurized air is pumped into the upper pressurizing chamber 32A, and the piston 33 is lowered. Further, as shown by an imaginary line in FIG. 3, in the state where the piston 33 is located below, when the ascending solenoid valve 50B is switched to the valve open state, the descending solenoid valve 50A is switched to the exhaust state. While the air in the chamber 32A is discharged into the atmosphere, the pressurized air is pumped to the lower pressurizing chamber 32B, and the piston 33 rises. As the piston 33 moves up and down, the rod 35 fixed so as to move integrally with the piston 33 also moves linearly in the up and down direction. The rod 35 is elongated in parallel with the moving direction, and protrudes above and below the air motor 31.

<Description of pump body 36 constituting plunger pump 30>
As shown in FIGS. 4 and 5, the pump body 36 is obtained by dividing the pump chamber 37 into an upper pump chamber 37 </ b> A and a lower pump chamber 37 </ b> B by a plunger 38 that can move up and down. The lower end portion of the rod 35 is fixed to the plunger 38 so as to move integrally. Therefore, a part of the volume of the upper pump chamber 37A is occupied by a part of the rod 35. The plunger 38 reciprocates in the vertical direction between the top dead center position shown in FIG. 4 and the bottom dead center position shown in FIG. As the plunger 38 moves up and down, the volumes of the upper pump chamber 37A and the lower pump chamber 37B increase and decrease alternately.

  The pump body 36 is formed with a suction port 39 that penetrates the bottom wall portion, and the main agent tank 7M or the curing agent tank 7H is connected to the suction port 39. In addition, a foot valve 40 is provided at the lower end of the pump body 36 so as to communicate with the suction port 39 and face the lower pump chamber 37B. In addition, a communication passage 41 that communicates the lower pump chamber 37B and the upper pump chamber 37A and a check valve 42 that opens and closes the communication passage 41 are provided at the assembly portion of the plunger 38 and the rod 35. The pump body 36 is formed with a discharge port 43 that penetrates the side wall and communicates with the upper pump chamber 37A. The discharge port 43 is connected to the upstream end of the main agent flow path 8M or the hardener flow path 8H. Has been.

  When the plunger 38 is moved upward by driving the air motor 31, the foot valve 40 is opened, the main agent or the curing agent is sucked into the lower pump chamber 37B from the suction port 39, and the check valve 42 is closed to enter the upper pump chamber 37A. The stored main agent or curing agent is discharged from the discharge port 43 to the main agent channel 8M or the curing agent channel 8H. Further, when the plunger 38 moves downward, the foot valve 40 is closed and the check valve 42 is opened, and the main agent or curing agent in the lower pump chamber 37B passes through the communication path 41 and the main agent or curing agent in the upper pump chamber 37A. Merged and discharged from the discharge port 43 to the main agent flow path 8M or the hardener flow path 8H.

  The discharge amount of the main agent or the hardener accompanying the vertical movement of the plunger 38 is proportional to the lifting stroke (displacement amount) of the plunger 38. In the ascending stroke of the plunger 38, the volume of the main agent or curing agent obtained by multiplying the cross-sectional area of the pump chamber 37 (lower pump chamber 37B) when the plunger 38 is cut at right angles to the ascending / descending direction by the ascending stroke is sucked simultaneously. A main agent or a curing agent having a volume obtained by multiplying the difference in cross-sectional area between the pump chamber 37 and the rod 35 by the rising stroke is discharged. On the other hand, in the downward stroke of the plunger 38, the main agent or the hardener is not sucked, and the main agent or hardener having a volume obtained by multiplying the cross-sectional area of the rod 35 by the downward stroke is discharged. Therefore, if the cross-sectional area of the pump chamber 37 is the same as the cross-sectional area of the rod 35, the discharge amount of the ascending stroke and the descending stroke will be the same, but if the cross-sectional area of the pump chamber 37 and the cross-sectional area of the rod 35 are different, The discharge amount of the up stroke and the down stroke is also different.

  In the air motor 31, the pistons 33 and the rod 35 are moved and stopped by the solenoid valves 50A and 50B and the lifting / lowering operation is switched. Even if the solenoid valves 50A and 50B are operated at an appropriate timing, the air pressure fluctuations For this reason, it is inevitable that an error occurs in the movement of the piston 33 and the rod 35. Therefore, by using the position detection device 10, the position and moving direction of the rod 35 are detected, and the moving direction of the plunger 38 is discriminated (that is, whether it is rising or falling) based on the detection result. Based on the stroke at the time of rising and the stroke at the time of lowering, the discharge amount of the main agent or hardener from the plunger pump 30 in each stroke (that is, the amount of main agent and hardener charged into the common flow path 2) is detected. It is like that.

<Description of Position Detection Device 10>
The position detection device 10 includes a detection plate 11 and an optical sensor 20. The detection plate 11 is formed by subjecting a metal plate material punched into a predetermined shape to a drilling process and a bending process using a laser beam, and extends as a whole in the vertical direction (a direction parallel to the moving direction of the rod 35). It is a form. As shown in FIGS. 6 and 7, the detection plate 11 is attached to the detection plate portion 12 that is elongated in the vertical direction (the direction in which through holes 16 to be described later are arranged) and the upper end portion of the detection plate portion 12. And a plate portion 14.

  A plurality of through holes 16 are formed in the plate for detection 12 in the form of slits arranged in parallel in the vertical direction (direction parallel to the moving direction of the rod 35) at a constant pitch. Although not shown in detail, the plurality of horizontal through-holes 16 are connected in a ninety-nine fold shape through a plurality of communication holes 17 (see FIG. 8) that are elongated slits (grooves) in the vertical direction. ing. The mounting plate portion 14 is attached to the upper end portion of the rod 35 via the bracket 19. Thereby, the detection plate 11 moves up and down integrally with the rod 35 in a state in which the plate portion 12 to be detected is kept parallel to the rod 35. The bracket 19 is restricted from turning in the horizontal direction by being fitted to a guide bar 44 parallel to the rod 35.

  The optical sensor 20 includes a signal processing unit 61 (see FIG. 10) including a photoelectric element (not shown) that performs conversion between an electrical signal and an optical signal, and light emitting and receiving optical fibers 21 and 22 (FIGS. 1 to 3). , 8) and a holder 23 (see FIGS. 1 to 3 and 6 to 8) for holding the optical fibers 21 and 22. A pulse signal is output from the signal processing unit 61 on the main agent side to the plunger position detection unit 62M for the main agent of the control device 60 based on the electrical signal from the photoelectric element for light reception. From the signal processing unit 61 on the curing agent side, a pulse signal is output to the plunger position detection unit 62H for the curing agent of the control device 60 based on the electrical signal from the photoelectric element for light reception.

  Two sets of light emitting photoelectric elements and light receiving photoelectric elements are provided for the A phase and the B phase, and optical fibers 21 and 22 are connected to the respective photoelectric elements. A base 24 is fixed to the upper surface of the air motor 31, and a holder 23 is fixed to a position near the detection plate 11 on the upper surface of the base 24. As shown in FIG. 8, the holder 23 has a pair of light emitting and light receiving arm portions 25 spaced apart in the horizontal direction (a direction perpendicular to the plate surface of the plate portion 12 to be detected). The pair of arm portions 25 are arranged so as to sandwich the plate portion 12 to be detected.

  On the light emitting arm portion 25, the light emitting side end portions (light emitting portions 26) of the two light emitting optical fibers 21 connected to the light emitting photoelectric elements are fixed with a predetermined interval in the vertical direction. Yes. On the other hand, the light receiving arm portion 25 has light receiving side end portions (light receiving portions 27) of the two light emitting optical fibers 22 connected to the light receiving photoelectric elements, and the light emitting side end portions of the light emitting optical fibers 21. It is fixed so as to face the light emitting unit 26 at the same height as the (light emitting unit 26) (with the same interval as the light emitting optical fiber 21 in the vertical direction). The pitches of the optical fibers 21 and 22 for A phase and B phase arranged in the vertical direction are different from the integral multiple of the parallel pitch of the through holes 16.

  When the air motor 31 is driven to introduce the main agent and the curing agent into the common flow path 2, the detection light is sent from both the A-phase and B-phase light emitting portions 26 (the through-hole 16 in the detection plate 11). ). Then, as the rod 35 and the plunger 38 move up and down, the detection light passes through each through hole 16, so that the detection light that has passed through the through hole 16 is intermittently received by the light receiving unit 27. The signal processing unit 61 outputs to the control device 60 an A-phase pulse signal and a B-phase pulse signal that are turned on (high level) when detection light is detected by the light receiving unit 27. Further, as described above, the pitches of the optical fibers 21 and 22 for the A phase and the B phase are different from an integral multiple of the parallel pitch of the through holes 16. Therefore, the phase of the A-phase pulse signal and that of the B-phase pulse signal are shifted by ¼ period of the pulse.

<Description of Control Device 60>
In the multi-liquid mixing apparatus 1, the main agent and the curing agent are alternately fed into the common flow path 2 by a predetermined amount by switching the plunger pump 30 and the mixing valve 5, but both electromagnetic valves 50 </ b> A and 50 </ b> B of the plunger pump 30 are used. And the opening / closing operation of the main agent valve 5M and the hardener valve 5H of the mixing valve 5 are controlled by the control device 60.

  FIG. 10 shows a hardware configuration of a computer 80 that functions as the control device 60. The computer 80 is configured by connecting a CPU 81 and a RAM 67 and a memory 67 including a RAM via a bus 82, and connecting an input / output interface 83 to the bus 82. The input / output interface 83 includes a signal processing unit 61 of the optical sensor 20, a descending solenoid valve 50A and a lift solenoid valve 50B of the plunger pump 30, a main valve 5M and a curing agent valve 5H of the mixing valve 5, and a pressure gauge 51M. , 51H, an input device 84, a display device 85, and the like.

  FIG. 11 is a functional configuration diagram showing functions executed by the control device 60 (computer 80). The control device 60 includes a plunger position detector 62M for the main agent, a plunger position detector 62H for the curing agent, a valve controller 63, an electromagnetic valve controller 64, a calculator 65, a pressure detector 66, A memory 67 is provided.

  The A-phase pulse signal and the B-phase pulse signal output from the signal processing unit 61 of the optical sensor 20 are input to the plunger position detection units 62M and 62H. Based on the pulse signal input from the signal processing unit 61, the plunger position detection units 62M and 62H, the position of the rod 35 and the plunger 38 in the reciprocating stroke (up and down stroke), and the movement stroke (that is, the plunger) in each stroke. The number of pulses counted in 38 movement steps) is detected. In addition, as described above, the pitches of the optical fibers 21 and 22 for the A phase and the B phase are different from the integral multiple of the parallel pitch of the through holes 16, and the A phase pulse signal and the B phase The pulse signal is out of phase by a quarter period of the pulse. Due to this phase shift, the plunger position detectors 62M and 62H detect the movement direction of the plunger 38 and the rod 35 (that is, whether it is an ascending stroke or a descending step). The detection results of the plunger position detectors 62M and 62H are input to the calculator 65.

  The calculation unit 65 includes detection results (including information on the number of pulses in the movement process of the plunger 38 and information on the movement direction of the plunger 38) input from the plunger position detection units 62M and 62H, and various types of information stored in the memory 67 in advance. And a function as a main agent input amount detection unit 65Md (second liquid input amount detection unit which is a constituent of the present invention), a function as a hardener input amount detection unit 65Hd, and a main agent input expected amount A function as a determination unit 65Me (second liquid injection scheduled amount determination unit which is a constituent of the present invention) and a function as a curing agent input scheduled amount determination unit 65He (first liquid input scheduled amount determination unit) To do. The memory 67 stores various kinds of information necessary for determining the planned injection amount VC4 of the main agent and the planned injection amount VC6 of the curing agent and controlling the main agent valve 5M and the curing agent valve 5H.

  Based on the calculation result of the calculation unit 65, the valve control unit 63 individually controls the main valve 5M and the hardener valve 5H constituting the mixing valve 5 to switch between the valve open state and the valve closed state. A signal is output. By the control signal from the valve control unit 63, the main agent valve 5M and the hardener valve 5H are opened and closed so that the charging operation of the main agent and the hardener to the shared flow path 2 is performed alternately. In addition, after the main agent valve 5M or the curing agent valve 5H is opened by the control signal from the valve control unit 63 and the introduction of the main agent or the curing agent is started, the plunger 38 reaches the dead point in the reciprocating stroke. Before that, the main agent valve 5M or the curing agent valve 5H is switched to the closed state, and the charging of the liquid agent is stopped.

  Based on the calculation result of the calculation unit 65, the solenoid valve control unit 64 includes a lowering solenoid valve 50 </ b> A of the main agent side plunger pump 30, a raising electromagnetic valve 50 </ b> B of the main agent side plunger pump 30, and a curing agent side plunger pump 30. Control signals for individually switching between the open state and the exhaust state are output to the lowering solenoid valve 50A and the raising solenoid valve 50B of the plunger pump 30 on the hardener side. According to the control signal from the solenoid valve control unit 64, the solenoid valves 50A and 50B are switched between the closing of the main agent valve 5M or the curing agent valve 5H and the opening thereof for the next liquid charging. Thus, the direction of movement of the plunger 38 when it is turned on next time is reversed.

  Signals representing the pressure values of the main agent and the curing agent are input to the pressure detector 66 from the pressure gauge 51M of the main agent flow path 8M and the pressure gauge 51H of the hardener flow path 8H, respectively. In the pressure detector 66, an abnormality in the discharge pressure of the main agent and the curing agent is detected based on signals from these pressure gauges 51M and 51H. When an abnormality is detected, the amount of the main agent and the curing agent to be introduced into the common flow path 2 becomes incorrect, and there is a concern that the mixing ratio may be out of order, so the operation of the apparatus is stopped.

<Description of charging process of main agent and curing agent>
The ratio (mixing ratio) of the main agent and the curing agent is set so that the main agent is twice or more larger than the curing agent. Further, the amount of the main agent charged per time is set to an amount smaller than the maximum discharge amount of the main agent in the one-way stroke of the plunger 38 (stroke moving between the upper and lower dead centers). When the maximum discharge amount of the main agent is different between the ascending stroke and the descending stroke, the amount of the main agent charged once is set to be smaller than the maximum discharge amount in the smaller stroke.

  In the initial state, all the solenoid valves 50A and 50B are exhausted, the main agent valve 5M and the hardener valve 5H are closed, and the main agent side, the hardener side rod 35 and the plunger 38 are bottom dead center (origin). The air supply source 53 pumps pressurized air from the air supply source 53 to the air motors 31 of both the main agent and the hardener plunger pumps 30.

  Thereafter, in the plunger pump 30, the lowering solenoid valve 50A and the lowering solenoid valve 50B are alternately switched between the valve open state and the exhaust state. When the lowering solenoid valve 50A is opened, the plunger 38 is urged in the downward direction by the pressure of pressurized air. When the lifting solenoid valve 50B is opened, the plunger 38 is raised by the pressure of pressurized air. Biased in the direction. Therefore, the plunger 38 is always kept biased in the downward direction or the upward direction.

  Further, in the mixing valve 5, the main agent valve 5M and the hardener valve 5H are alternately switched between the valve open state and the valve closed state. When the main agent valve 5M is opened, the main agent is introduced into the common flow path 2 as the plunger 38 on the main agent side rises or descends. While the main agent is being charged, the position detecting device 10 detects the position of the rod 35 that is lowered or raised integrally with the plunger 38, and the main agent charging amount detector 65Md calculates the amount of the main agent charged. When the amount of the main agent charged reaches a predetermined amount, the main agent valve 5M is switched to a closed state, and the charging of the main agent is temporarily stopped. Further, while the main agent is being charged, on the curing agent side, the plunger 38 does not move, and the curing agent in the curing agent channel 8H is kept pressurized by the urging force of the pressurized air.

  Conversely, when the curing agent valve 5H is opened, the curing agent is introduced into the common flow path 2 as the plunger 38 on the curing agent side rises or descends. While the curing agent is being charged, the position detecting device 10 detects the position of the rod 35 that is lowered or raised integrally with the plunger 38, and the curing agent charging amount detector 65Hd calculates the amount of the curing agent charged. Then, when the amount of hardener input reaches a predetermined amount, the hardener valve 5H is switched to the closed state, and the input of the hardener is temporarily stopped. Further, while the curing agent is being charged, the plunger 38 does not move on the main agent side, and the main agent in the main agent flow path 8M is kept pressurized by the urging force of the pressurized air.

  In this manner, the main agent valve and the hardener agent 5 are alternately opened and closed, whereby the main agent and the hardener agent are alternately charged into the common flow path 2.

<Description of main agent and curing agent input amount determination processing>
In the multi-liquid mixing apparatus 1 of the present embodiment, the target charging amounts V1t and V2t in one charging cycle of the main agent and the curing agent are set, but the plunger is switched by switching the electromagnetic valves 50A and 50B using the air pressure as a driving source. In the reciprocating plunger pump 30 that reciprocates the valve 38, it is difficult to stop the plunger 38 at the target timing even if the switching of the solenoid valves 50A and 50B is controlled at an appropriate timing. There is a tendency that the input amount of the curing agent is larger than the target value. As described above, when the measured amounts of the main agent and the curing agent are larger than the target input amounts V1t and V2t, there is a concern that the mixing ratio of the main agent and the curing agent may be out of order.

  As a countermeasure, in the present embodiment, in order to correct an error between the actually measured input amount and the target input amount, the next main agent planned injection amount VC4 and the next setting amount of the curing agent are added every one input cycle. VC6 is determined, and based on this, the opening / closing operation of the main agent valve 5M and the hardener valve 5H and the switching operation of the main agent side and hardener side electromagnetic valves 50A and 50B are controlled as necessary. The procedure will be described below with reference to the flowchart shown in FIG.

  In the memory 67 of the computer 80, the target mixing ratio N1: 1 of the main agent and the curing agent, the target charging amount V1t of the curing agent in the charging cycle, and the signal processing unit 61 of the optical sensor 20 are input to the plunger position detection units 62M and 62H. Number of pulse signals (hereinafter referred to as count number), the target count number C1t of the curing agent corresponding to the target dosage V1t of the curing agent, the target dosage V2t of the main agent in the charging cycle, and the target dosage of the main agent Target count number C2t of main agent corresponding to V2t, total target input amount M combining target input amounts V1t and V2t of curing agent and main agent, input amount P2 per count of main agent pulse signal, 1 count of pulse signal of hardener The hit amount P1 and the like are stored.

The target count number C2t of the main agent is calculated by the following equation (A).
C2t = 4 × k2 × (M / (N1 + 1)) × N1 / P2 (A)
k2 is a correction coefficient for the main agent, and the constant 4 is a multiple for adding / subtracting the two-phase pulse by 4 times.
The target injection amount V2t of the main agent is calculated by the following formula (B).
V2t = (C2 × P2) / (k2 × 4) (B)
The target charging amount V1t of the curing agent is calculated by the following formula (C).
V1t = V2t / N1 (C)
The target count number C1t of the curing agent is calculated by the following equation (D).
C1t = 4 × k1 × V1t / P1 (D)
k1 is a correction coefficient for the curing agent.

  The injection amount P2 per count of the pulse signal of the main agent is stored as different values when the plunger 38 is raised and lowered. Therefore, the target injection amount V2t of the main agent is also reduced when the plunger 38 is raised and lowered. Different values are stored at different times. In addition, as for the input amount P1 per one pulse signal of the curing agent, different values are stored when the plunger 38 is raised and lowered. In addition, as the target input amount V1t of the curing agent, four different values are stored according to the combination of raising and lowering of the plunger 38 on the main agent side and the plunger 38 on the curing agent side.

  Further, in the plunger position detectors 62M and 62H on the main agent side and the hardener side, the pulse signals input from the main agent side signal processor 61 and the hardener side signal processor 61 are counted, respectively, and the count value is Are input to the arithmetic unit 65. In the calculation unit 65, calculation is performed based on the input count value and information stored in the memory 67, and the actual charging amounts V1a and V2a of the main agent and the curing agent, and the next charging schedule of the main agent and the curing agent are performed. The quantities VC4 and VC6 are determined.

In determining the target inputs V1t and V2t of the main agent and the curing agent, first, the curing agent input amount detection unit 65Hd detects the previous measured input amount V1a of the curing agent by the following equation (E) (step S101). ).
V1a = | C1_end−C1_old | × P1 / (k1 × 4) (E)
C1_end is a count value of the hardener-side plunger pump 30 at the start of the previous charging of the hardener, C1_old is a count value at the end of the previous charging of the hardener, and k1 is a correction for the hardener. It is a coefficient.

The main agent input amount detection unit 65Md detects the previous measured input amount V2a of the main agent according to the following equation (F) (step S102).
V2a = | C2_end−C2_old | × P2 / (k2 × 4) (F)
C2_end is the count value of the plunger pump 30 on the main agent side at the start of the previous charging of the main agent, C2_old is the count value at the end of the previous charging of the main agent, and k2 is a correction coefficient for the main agent.
Therefore, the actual measurement mixing ratio of the main agent and the curing agent that has been charged last time is V2a: V1a.

Next, in the main agent planned injection amount determination unit 65Me, the next main agent planned injection amount VC4 is determined by the following procedure (step S103). The next charging amount VC4 of the main agent is calculated by the following equation (G).
VC4 = (C4 × P2) / (k2 × 4) (G)
C4 is a count corresponding to the next injection amount VC4 of the main agent, and is calculated by the following equation (H).
C4 = C2t-off_m1 (H)
off_m1 is a correction count that is corrected in accordance with the error between the previous measured amount V2a of the main agent and the target amount V2t, and is calculated by the following equation (I).
off_m1 = | C2_end−C2_old | (I)
Accordingly, the first correction amount Voff_m1 corresponding to the error between the measured amount of main agent V2a and the target amount of main agent V2t is calculated by the following equation (J).
Voff_m1 = (off_m1 × P2) / (k2 × 4) (J)
As described above, the next scheduled injection amount VC4 of the main agent is determined by the process of correcting the target injection amount V2t of the main agent based on the error of the previous actual injection amount V2a of the main agent.

Next, the next scheduled charging amount VC6 of the curing agent is determined by the following procedure in the scheduled curing agent input amount determination unit 65He (step S104). The next charging amount VC6 of the curing agent is calculated by the following equation (K).
VC6 = (C6 × P1) / (k1 × 4) (K)
C6 is a count value corresponding to the next charging amount VC6 of the curing agent, and is calculated by the following equation (L) or (M).
C6 = C1t + (4 × k1 × (Voff_m2 + Voff_m3) / P1) (L)
C6 = C1t + off_m2 + off_m3 (M)
Voff_m2 is a second correction amount (correction amount with respect to the previous mixing ratio) corresponding to an error between the measured mixing ratio V2a: V1a of the main agent and the curing agent that has been charged in the previous charging cycle and the target mixing ratio N1: 1. Is calculated by the following equation (N).
Voff_m2 = (V2a−V1a × N1) / N1 (N)
off_m2 is a second correction count value corresponding to the second correction amount Voff_m2, and is calculated by the following equation (O).
off_m2 = Voff_m2 × k1 × 4 / P1 (O)
Voff_m3 is a third correction amount corresponding to the first correction amount Voff_m1 corresponding to the error between the measured amount V2a of the main agent and the target amount V2t of the main agent in the next injection amount VC4 of the main agent (the amount of the next main agent (Correction amount for the estimated injection amount VC4) and is calculated by the following equation (P).
Voff_m3 = Off_m1 × P2 / (k2 × 4 × N1) (P)
off_m3 is a third correction count value corresponding to the third correction amount Voff_m3, and is calculated by the following equation (Q).
off_m3 = Voff_m3 × k1 × 4 / P1 (Q)
As described above, the target addition amount V1t of the curing agent is subjected to the process of adding two corrections, that is, the correction based on the previous mixing ratio error and the correction based on the next main agent planned injection amount VC6. The next scheduled charging amount VC6 of the curing agent is determined.

The process for determining the next charging amount VC6 of the curing agent is performed after the previous charging process of the main agent is completed and in the middle of the next charging process of the curing agent. That is, determination processing (correction processing) is performed when the condition of the following equation (R) is satisfied.
C5 = C1t / 2 ≦ | C1_now−C1_old | (R)
C5 is a count number from the start of the next charging of the curing agent to the start of the determination process, and C1_old is a count value of the plunger pump 30 on the curing agent side at the end of the previous charging of the curing agent. Yes, C1_now is a count value of the hardener-side plunger pump 30 that is read by the hardener-side plunger position detector 62H every 1 msec. Therefore, at the time when charging of the curing agent is started, the planned charging amount VC6 of the curing agent in the charging process is not fixed, and the planned charging amount VC6 in the charging process is determined in the middle of the charging process. .

Thereafter, the curing agent valve 5H is switched to the closed state based on the determined estimated charging amount VC6 of the curing agent, and the charging of the curing agent is temporarily stopped. Switching to the closed state is performed when the following expressions (S) and (T) are satisfied.
(C6-off1) ≦ | C1_now−C1_old | (S)
off1 = 4 × Td2_1 × 4 / T4p_1 (0 or more) (T)
Td2_1 is a delay time (10 to 150 msec, the initial value is 40 msec) from when the curing agent valve 5H is closed to when the pulse signal input to the curing agent plunger position detection unit 62H is stopped. Determined by function or default setting. T4p_1 is a time (unit: msec) during continuous flow of the curing agent for four pulses input to the plunger position detector 62H during the control.
If it is determined that it is necessary to switch the ascending stroke and the descending stroke of the curing agent side plunger 38 in accordance with the switching of the curing agent valve 5H, the curing agent side is switched together with the switching of the curing agent valve 5H. The solenoid valves 50A and 50B are also switched.

When the charging of the curing agent is temporarily stopped, the main agent valve 5M is switched to the valve open state, and the main agent is started to be charged. Then, based on the determined planned injection amount VC4 of the main agent, the main agent valve 5M is switched to the closed state, and the charging of the main agent is temporarily stopped. Switching to valve closing is performed when the following expressions (U) and (V) are satisfied.
(C4-off2) ≦ | C2_now−C2_old | ... (U)
off2 = 4 × Td2_2 × 4 / T4p_2 (0 or more) (V)
Td2_2 is a delay time (10 to 150 msec, initial value is 40 msec) from when the main agent valve 5M is closed to when the pulse signal input to the main agent plunger position detector 62M is stopped. Determined by default settings. T4p_2 is a time (unit: msec) during continuous flow of the main agent for four pulses input to the plunger position detector 62M during control.
If it is determined that the ascending stroke and the descending stroke of the plunger 38 on the main agent side need to be switched in accordance with the switching of the main agent valve 5M, the main agent-side solenoid valve 50A is combined with the switching of the main agent valve 5M. , 50B.

  In the present embodiment, the control device 60 that controls the multi-liquid mixing device 1 in the multi-liquid mixing system uses the detection results of the main agent input amount detection unit 65Md that detects the actual input amount V2a of the main agent and the detection results of the main agent input amount detection unit 65Md. Based on the planned injection amount determination unit 65Me for determining the next injection amount VC4 of the main agent based on the following, the planned injection amount VC4 for the main agent next time, the preset target mixture ratio N1: 1 of the curing agent and the main agent, and the previous time A curing agent scheduled injection amount determination unit 65He that determines a next scheduled charging amount VC6 of the curing agent based on an error between the charged main agent and the actually measured mixing ratio V2a: V1a of the curing agent is provided.

  Then, the computer 80 detects the main agent measured input amount V2a by the main agent input amount detection unit 65Md, the processing for determining the next main agent input scheduled amount VC4 by the main agent input scheduled amount determination unit 65Me, and the curing agent. The control device 60 controls the alternate charging operation of the main agent and the curing agent by executing the process of determining the next scheduled charging amount VC6 of the curing agent by the scheduled charging amount determination unit 65He.

  In addition, the main agent planned injection amount determination unit 65Me sets a first correction amount Voff_m1 corresponding to an error between the main agent actual input amount V2a and the main agent target input amount V2t with respect to a preset main agent target input amount V2t. Correction is added. The hardener scheduled injection amount determination unit 65He sets the main agent measured input amount V2a and the main agent target input amount V2t of the main agent next scheduled injection amount VC4 with respect to the preset target input amount V1t of the hardener. The correction of the third correction amount Voff_m3 corresponding to the first correction amount Voff_m1 corresponding to the error is added. Furthermore, the hardener input scheduled amount determination unit 65He has a second correction amount corresponding to an error between the target mixture ratio N1: 1 and the actually measured mixture ratio V2a: V1a with respect to the preset target input amount V1t of the hardener. The correction of Voff_m2 is added.

  According to the present invention, when one cycle of charging is completed in the order of the curing agent and the main agent, the next scheduled charging amount VC6 of the curing agent is determined based on the mixing ratio error of the cycle. The mixing ratio error in the previous cycle can be eliminated by the next charging operation.

  In addition, since the measured amount V2a of the main agent is detected and the next main agent planned injection amount VC4 is determined, variation in the amount of the main agent charged in each charging cycle can be suppressed to be small. In addition, when determining the next charging amount VC6 of the curing agent, the next charging amount VC4 of the main agent is also taken into consideration, so that an error in the mixing ratio in the next charging cycle can be suppressed. Therefore, according to the control device, the control method, and the program of the computer 80 of the present embodiment, the variation in the mixing ratio in each charging cycle can be reduced, and the average charging amount of the curing agent and the main agent in one charging cycle. Can be made close to the target input amounts V1t and V2t.

<Other embodiments>
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.
(1) In the above-described embodiment, as a means for determining the next scheduled injection amount of the first liquid, calculation is performed based on the error value of the mixing ratio and the scheduled charging quantity of the second liquid with respect to the target charged amount of the first liquid. However, instead of this, the next estimated amount of the first liquid corresponding to the error value of the mixing ratio and the estimated amount of the second liquid are previously stored in the memory of the computer. This information may be stored, and the next input scheduled amount of the first liquid stored in the memory may be read out.
(2) In the above embodiment, the case where only two types of liquids (main agent and curing agent) are mixed has been described. However, the present invention is a multi-purpose solution in which three or more types of liquids are sequentially introduced into a common flow path and mixed. It can also be applied to a liquid mixing apparatus. In this case, when the next scheduled injection amount of the first liquid is determined, a correction corresponding to the planned injection amounts of the plurality of other liquids with respect to the target injection amount of the first liquid, and 1 for a plurality of types of liquids. What is necessary is just to add correction | amendment based on the error of the mixing ratio of a cycle.
(3) In the above embodiment, the case where the paint is produced by mixing the main agent and the curing agent has been described, but the present invention can also be applied to the case where the mixture of the liquid agent is other than the paint.
(4) In the above embodiment, the case where the curing agent is charged twice in one forward stroke and the backward stroke of the plunger has been described. However, in one forward stroke and the backward stroke of the plunger, The number of times the curing agent is charged may be one time or three or more times.

DESCRIPTION OF SYMBOLS 1 ... Multi-liquid mixing apparatus 2 ... Common flow path 60 ... Control apparatus 65He ... Hardening agent estimated amount determination part (1st liquid estimated amount determination part)
65Me ... main agent input scheduled amount determination unit (second liquid input scheduled amount determination unit)
65Md ... main agent input amount detection unit (second liquid input amount detection unit)
80 ... Computer N1: 1 ... Target mixing ratio of main agent (second liquid) S hardener (first liquid) V1a ... Measured input amount of hardener (first liquid) V1t ... Target input of hardener (first liquid) Amount V2t: Target input amount of main agent (second liquid) V2a: Actual input amount of main agent (second liquid) V2a: V1a: Actual mixing of main agent (second liquid) and curing agent (first liquid) previously input Ratio VC4 ... Next injection amount of main agent (second liquid) VC6 ... Next injection amount of curing agent (first liquid) Voff_m1 ... First correction amount (actual input amount of second liquid and target of second liquid) Correction amount equivalent to the error from the input amount)
Voff_m2 ... second correction amount (correction amount corresponding to an error between the target mixture ratio and the actual mixture ratio)
Voff_m3... Third correction amount (a correction amount corresponding to a correction amount corresponding to an error between an actual input amount of the second liquid and a target input amount of the second liquid in the next input amount of the second liquid)

Claims (7)

A multi-liquid mixing system in which the charging operation of the multi-liquid mixing apparatus that alternately charges and mixes the first liquid and the second liquid into the common flow path is controlled by the control device,
The control device includes:
A second liquid input amount detection unit for detecting an actual input amount of the second liquid;
A second liquid input scheduled amount determining unit that determines a next liquid planned input amount of the second liquid based on a detection result of the second liquid input amount detecting unit;
Based on an estimated amount of the second liquid to be charged next time, a preset target mixture ratio of the first liquid and the second liquid, and an error between the previously mixed first liquid and the actually measured mixture ratio of the second liquid. A multi-liquid mixing system, comprising: a first liquid input scheduled amount determination unit that determines a next liquid planned input amount. A control device for controlling a charging operation of a multi-liquid mixing apparatus that alternately charges and mixes a first liquid and a second liquid into a common flow path,
A second liquid input amount detection unit for detecting an actual input amount of the second liquid;
A second liquid input scheduled amount determining unit that determines a next liquid planned input amount of the second liquid based on a detection result of the second liquid input amount detecting unit;
Based on an estimated amount of the second liquid to be charged next time, a preset target mixture ratio of the first liquid and the second liquid, and an error between the previously mixed first liquid and the actually measured mixture ratio of the second liquid. A control unit for the multi-liquid mixing apparatus, comprising: a first liquid input scheduled amount determination unit that determines a next input amount of the first liquid.   The second liquid scheduled injection amount determination unit is a correction amount corresponding to an error between a measured input amount of the second liquid and a target input amount of the second liquid with respect to a preset target input amount of the second liquid. 3. The control device for a multi-liquid mixing apparatus according to claim 2, wherein the correction is performed.   The first liquid input scheduled amount determination unit is configured to set the second liquid measured input amount of the next liquid to be supplied and the second liquid measured input amount with respect to a preset target input amount of the first liquid. 4. The control device for a multi-liquid mixing apparatus according to claim 3, wherein a correction amount corresponding to an error from the target input amount of two liquids and a correction amount corresponding to the correction amount are added.   The first liquid input scheduled amount determination unit adds a correction amount corresponding to an error between the target mixture ratio and the actually measured mixture ratio to a preset target input amount of the first liquid. The control apparatus of the multi-liquid mixing apparatus of Claim 2 or Claim 4. A method for controlling a charging operation of a multi-liquid mixing apparatus that alternately charges and mixes a first liquid and a second liquid into a common flow path,
A second liquid input amount detecting step for detecting an actual input amount of the second liquid;
A second liquid injection planned amount determination step for determining a next liquid injection planned amount based on a detection result of the second liquid input amount detection unit;
Based on an estimated amount of the second liquid to be charged next time, a preset target mixture ratio of the first liquid and the second liquid, and an error between the previously mixed first liquid and the actually measured mixture ratio of the second liquid. And a first liquid input scheduled amount determining step for determining a next liquid input scheduled amount of the first liquid. In a computer for controlling the charging operation of a multi-liquid mixing apparatus that alternately mixes the first liquid and the second liquid into the common flow path,
A second liquid input amount detection process for detecting an actual input amount of the second liquid;
A second liquid input scheduled amount determination process for determining a next liquid planned input amount of the second liquid based on a detection result of the second liquid input amount detection unit;
Based on an estimated amount of the second liquid to be charged next time, a preset target mixture ratio of the first liquid and the second liquid, and an error between the previously mixed first liquid and the actually measured mixture ratio of the second liquid. And a first liquid charging scheduled amount determination process for determining a next charging scheduled amount of the first liquid.

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