JP6064077B1 - Coating device - Google Patents

Abstract

In a coating apparatus including a first unit that is mounted on a robot and discharges a highly viscous fluid, and a second unit that fills the first unit with a highly viscous fluid, the high viscosity from the second unit to the first unit is provided. When filling the fluid, the possibility of various problems due to the high fluid pressure is reduced. By applying a coupler 30 to a coating device 1, a first unit 2 and a second unit 3 are caused by the pressure of the highly viscous fluid when the highly viscous fluid is filled from the second unit 3 to the first unit 2. Can be prevented from separating. Further, the coating device 1 is equipped with the first and second detection units 31 and 32, and the sleeve 57 is moved based on the signals of the first and second detection units 31 and 32, so that the sphere 43 and the sleeve 57 are automatically controlled. Can be reliably functioned to prevent separation of the first and second units 2 and 3. [Selection] Figure 4

Description

  The present invention relates to a coating apparatus that applies a highly viscous fluid having a viscosity of 10,000 cp or more.

Conventionally, for example, in a process of applying a highly viscous fluid such as a sealing material, a caulking material, or an adhesive to a joint or the like of a metal part, a coating apparatus including the following first and second units and a control unit is provided. It is used.
First, the first unit is filled with a high-viscosity fluid and discharges the filled high-viscosity fluid. The first unit is attached to a predetermined robot and moves three-dimensionally to change the discharge position. The second unit supplies and fills the first unit with a highly viscous fluid, and the control unit controls the operation of the robot.

  Then, the coating apparatus operates as follows by controlling the operation of the robot by the control unit and moving the first unit three-dimensionally. That is, the first unit is connected to the second unit, the high viscosity fluid is filled from the second unit to the first unit, and the first unit is detached from the second unit and moved to a predetermined position. A highly viscous fluid is discharged from the unit and applied to a predetermined site (for example, see Patent Document 1).

  By the way, according to such a coating apparatus, the pressure of the highly viscous fluid flowing through the first and second units is a high pressure exceeding 10 MPa. For this reason, various problems such as leakage of the high-viscosity fluid may occur when the high-viscosity fluid is filled from the second unit to the first unit, and there is a demand for reducing the possibility of these problems occurring. It ’s growing.

Japanese Patent Laying-Open No. 2015-047556

  The present invention has been made to solve this problem, and an object of the present invention is to provide a first unit that is mounted on a robot and discharges a highly viscous fluid, and a second unit that fills the first unit with a highly viscous fluid. An object of the present invention is to reduce the possibility that various problems occur due to the high fluid pressure when a high-viscosity fluid is filled from the second unit to the first unit in a coating apparatus including the unit.

  According to the first invention of the present application, the coating apparatus includes the following first and second units and a control unit. First, the first unit is filled with a high-viscosity fluid having a viscosity of 10,000 cp or more and discharges the filled high-viscosity fluid. The first unit is attached to a predetermined robot and moves three-dimensionally to change the discharge position. Change. The second unit supplies and fills the first unit with a highly viscous fluid, and the control unit controls the operation of the robot.

  Then, the coating apparatus operates as follows by controlling the operation of the robot by the control unit and moving the first unit three-dimensionally. That is, the first unit is connected to the second unit, the high viscosity fluid is filled from the second unit to the first unit, and the first unit is detached from the second unit and moved to a predetermined position. A highly viscous fluid is discharged from the unit and applied to a predetermined site.

The coating apparatus includes the following lock component, sleeve, and first and second detection units.
First, the lock component is provided on the second unit side, and in the state where the first unit is connected to the second unit, the female cylinder tip provided on one of the first unit and the second unit, and the other It is possible to engage with both of the male tube tips provided in the. Further, the sleeve covers and supports the lock part from the outer peripheral side, so that the male side cylinder tip is fitted to the female side cylinder tip and the lock part is engaged with both the female side cylinder tip and the male side cylinder tip. Keep locked.

The first detection unit detects the approach of the first unit to the second unit, and the second detection unit detects the position of the sleeve.
Then, the control unit moves the sleeve between the locked position where the locked state can be maintained and the unlocked position where the locked state cannot be maintained based on the signals of the first detecting unit and the second detecting unit. Let

  First, when the coating device is equipped with a lock part and a sleeve, the first unit and the second unit are separated by the pressure of the highly viscous fluid when the highly viscous fluid is filled from the second unit to the first unit. Can be suppressed. Further, the first and second detection units are provided in the coating apparatus, and the sleeve is moved based on the signals of the first and second detection units, so that the lock component and the sleeve can be surely functioned by the automatic control, and the first, Separation of the second unit can be suppressed.

According to the second invention of the present application, the coating apparatus includes the following first and second valve units and a variable volume portion.
First, the first valve unit includes a first body that forms a flow path and a receiving port for a highly viscous fluid, and a first valve body that opens and closes the receiving port, and is provided in the first unit. The second valve unit is movably accommodated in a second body that forms a flow path for the highly viscous fluid, and a flow path formed in the second body to form a flow path and a supply port for the highly viscous fluid. The second unit has a slider and a second valve body that opens and closes the supply port. Furthermore, the volume variable unit changes the volume of the flow path of the highly viscous fluid formed in the second unit.

Then, in a state in which the first unit is connected to the second unit, the first valve unit and the second valve unit are opened by causing the first body to abut against the slider and moving the slider. The variable volume portion has the following rod. That is, the rod is urged by a predetermined drive source and protrudes into the flow path formed in the second body.
And a control part controls a drive source and reduces the urging | biasing force with respect to a rod, before opening a 1st valve unit and a 2nd valve unit at the time of filling of a highly viscous fluid.

  Thereby, when the first and second valve units are opened, the volume reduction of the flow path accompanying the movement of the slider can be compensated by the retreat of the rod from the flow path. That is, before the slider is moved, the slider can be smoothly moved by reducing the urging force applied to the rod so that the rod is easily retracted from the flow path. For this reason, it can be avoided that the movement of the slider is hindered by the highly viscous fluid present at the movement destination of the slider and the opening of the first and second valve units is hindered.

According to the third invention of the present application, the O-ring is attached to the tip of the slider, and the first body moves the slider in a state of being in contact with the O-ring.
Thereby, it is possible to suppress leakage of the highly viscous fluid from the contact portion between the first body and the slider.

It is a block diagram of a coating device. It is sectional drawing of a 1st valve unit. It is sectional drawing of a 2nd valve unit and a coupler. It is sectional drawing which shows the state which the 1st unit connected to the 2nd unit and the 1st and 2nd valve unit opened. It is sectional drawing of a volume variable part.

  Hereinafter, modes for carrying out the invention will be described based on examples. In addition, an Example discloses a specific example, and it cannot be overemphasized that this invention is not limited to an Example.

[Configuration of Example]
The coating apparatus 1 of an Example is demonstrated using FIGS. 1-5.
The coating apparatus 1 discharges a high-viscosity fluid having a viscosity of 10000 cp or more and applies it to a predetermined part. To do. And the coating device 1 is provided with the following 1st, 2nd units 2, 3 and the control part 4 (refer FIG. 1).

  First, the first unit 2 is filled with a high-viscosity fluid and discharges the filled high-viscosity fluid. The first unit 2 is attached to a predetermined robot 5 and moves three-dimensionally to change the discharge position. The second unit 3 supplies and fills the first unit 2 with a highly viscous fluid. The robot 5 is, for example, an articulated robot mounted on a predetermined base 6, and the first unit 2 is attached to the tip of the robot.

  The control unit 4 includes various storage devices such as a CPU, RAM, ROM, and flash memory that perform arithmetic processing and control processing, and a known microcomputer that includes various signal input devices and output devices. Based on the signal input from the detector, various control signals are output to control the operations of the first and second units 2 and 3 and the robot 5.

In the coating apparatus 1, the control unit 4 controls the operation of the robot 5 to move the first unit 2 three-dimensionally, and further appropriately controls the first and second units 2 and 3. It works as follows.
That is, the first unit 2 is connected to the second unit 3, the second unit 3 is filled with the high-viscosity fluid, and the first unit 2 is separated from the second unit 3 to be in a predetermined position. The high-viscosity fluid is discharged from the first unit 2 and applied to a predetermined site.
Hereinafter, the first and second units 2 and 3 will be described in detail.

The first unit 2 includes a nozzle 8 that discharges a highly viscous fluid, a supply unit 9 that supplies the highly viscous fluid to the nozzle 8, and a first valve unit 10 that will be described in detail below (see FIG. 1).
As shown in FIG. 2, the first valve unit 10 includes a first body 14 that forms a flow path 12 and a receiving port 13 for a highly viscous fluid, and a first valve body 15 that opens and closes the receiving port 13 (hereinafter referred to as “first valve body 15”). The flow path 12 formed in the first unit 2 may be referred to as a first flow path 12).

  Then, the first valve unit 10 is opened with the first unit 2 connected to the second unit 3, whereby a highly viscous fluid is passed from the second unit 3 through the receiving port 13 and the first flow path 12. Accept. The highly viscous fluid received by the first valve unit 10 is filled in the supply unit 9, supplied from the supply unit 9 to the nozzle 8, and discharged. The operations of the supply unit 9 and the nozzle 8 are appropriately controlled by the control unit 4.

  The first body 14 includes the following first cylinder tip 17, first valve seat 18, and first valve guide 19, and the first flow path 12 is provided in a substantially cylindrical shape in the axial direction of the first valve unit 10. It penetrates through the first body 14 (hereinafter, the axial direction of the first valve unit 10 may be referred to as “α direction”).

  First, the first tube tip 17 exists at one end in the α direction of the first body 14 (the end on the side connected to the second unit 3), and an annular shape in which a lock component existing in the second unit 3 is fitted on the outer periphery. A groove 21 is provided. Further, on the inner periphery of the first tube tip 17, there is a contact surface 22 for pushing a movable body arranged on the second unit 3 side when the first and second units 2 and 3 are connected.

  The first valve seat 18 is a portion where the valve portion 15a of the first valve body 15 is seated. Here, one end portion in the α direction of the first flow path 12 forms a tapered surface that decreases in a conical shape toward one end side in the α direction, and the first valve seat 18 is set at one end portion of the tapered surface. ing. The opening at one end of the taper surface in the α direction forms the receiving port 13, and the receiving port 13 is opened and closed by the seating of the valve portion 15 a on the first valve seat 18.

Further, the first valve guide 19 guides the valve shaft 15b of the first valve body 15 so as to be slidable in the α direction. The first valve guide 19 enters the first flow path 12 on the other end side in the α direction of the valve portion 15a. It is fixed. Further, the first valve guide 19 is provided with a plurality of through holes 23 penetrating in the α direction, and the through hole 23 causes high viscosity between one end side and the other end side of the first valve guide 19 in the α direction. Fluid distribution is possible.
A metal body 24 serving as a detection target of a detection unit provided on the second unit 3 side is fastened to the outer periphery of the first body 14.

The first valve body 15 includes a valve portion 15a disposed on one end side in the α direction, and a valve shaft 15b extending from the valve portion 15a to the other end side in the α direction. The valve portion 15a has one end side in the α direction having a conical diameter reduced toward the one end side in the α direction, and is biased by the spring 26 toward one end side (the valve closing side) in the α direction. Sitting at 18. Further, the valve shaft 15 b is guided to move in the α direction by being fitted into a guide hole 27 provided in the first valve guide 19.
The spring 26 is set between the valve portion 15 a and the first valve guide 19.

The second unit 3 includes the following second valve unit 29, coupler 30, first and second detectors 31 and 32, and volume variable unit 33 (see FIGS. 1, 3 and 5).
Hereinafter, the second valve unit 29, the coupler 30, the first and second detection units 31, 32, and the volume variable unit 33 will be described in detail in order.

  The second valve unit 29 opens the valve while the first unit 2 is connected to the second unit 3, thereby supplying a highly viscous fluid to the first unit 2 via the flow path 35 and the supply port 36 (hereinafter, referred to as “the second unit 3”). The channel 35 formed in the second unit 3 may be referred to as a second channel 35). Further, the second valve unit 29 receives a high-viscosity fluid from a predetermined supply source 37 such as a pump and a tank at all times or as required (see FIG. 1).

  As shown in FIG. 3, the second valve unit 29 is movably accommodated in a second body 38 that forms the second flow path 35 and a second flow path 35 that is formed in the second body 38. It has a slider 39 that forms a flow path 35 and a supply port 36, and a second valve body 40 that opens and closes the supply port 36.

The 2nd body 38 has the inner body 38a which exists in an inner peripheral side, and the outer body 38b fixed to the outer peripheral side of the inner body 38a.
The inner body 38a is provided with a second flow path 35 in a substantially cylindrical shape, and the second flow path 35 penetrates the inner body 38a in the axial direction of the second valve unit 29 (hereinafter referred to as a second flow path). The axial direction of the valve unit 29 may be referred to as the β direction.

  The tube end 42 on the other end side in the β direction of the outer body 38 b (hereinafter sometimes referred to as the outer side tube tip 42) has a plurality of holes 44 for holding the sphere 43, around the axis of the second valve unit 29. Are provided at equiangular intervals. Here, the sphere 43 is a component of the coupler 30, and the hole 44 penetrates the outer side cylinder tip 42 in the radial direction. Further, the hole 44 has an opening diameter on the inner peripheral side that is smaller than the diameter of the sphere 43 and an opening diameter on the outer peripheral side that is larger than the diameter of the sphere 43 and expands in a conical shape toward the outer peripheral side. .

  Further, the cylinder tip 45 on the other end side in the β direction of the inner body 38a (hereinafter also referred to as the inner side cylinder tip 45) has a stepped diameter and is annular between the outer side cylinder tip 42 and the inner side 38a. The space 46 is formed. The first tube tip 17 is fitted into the space 46 when the first unit 2 is connected to the second unit 3.

  The slider 39 is a movable body that is slid by the first body 14 and is accommodated in the inner periphery of the second body 38 so as to be slidable in the β direction. That is, the slider 39 is guided from the outer peripheral side by the inner body 38a and can move in the β direction. Then, in a state where the first unit 2 is connected to the second unit 3, the slider 39 is pushed by the first body 14 and moves to one end side in the β direction. In the first body 14, the portion that contacts the slider 39 is the contact surface 22 (see FIGS. 2 and 4).

  The slider 39 has a second valve seat 48 on which the valve portion 40a of the second valve body 40 is seated. Here, the slider 39 is provided in a substantially cylindrical shape, and the inner periphery forms the second flow path 35, and the inner peripheral surface on the other end side in the β direction of the second flow path 35 has a conical shape toward the other end side. It is divided into a tapered surface that reduces the diameter, a cylindrical surface having a small diameter, and an annular groove 51 that accommodates the O-ring 50. The second valve seat 48 is set at the other end of the cylindrical surface in the β direction, and the inner periphery of the second valve seat 48 forms the supply port 36.

The second valve body 40 is fixed to the valve portion 40a disposed on the other end side in the β direction, the valve shaft 40b extending from the valve portion 40a to the one end side in the β direction, and the inner periphery of the inner body 38a. And a valve guide 52.
The valve portion 40a has a conical diameter increasing toward the other end side in the β direction. Here, the outer peripheral wall that divides the outer peripheral side of the groove 51 is provided as a tapered surface that is reduced in diameter toward the other end side in the β direction, and the angle formed between the generatrix of the outer peripheral wall of the groove 51 and the axis of the second valve unit 29. Is equal to the angle formed by the generatrix of the outer peripheral surface of the valve portion 40 a and the axis of the second valve unit 29. Further, these angles are set in a range of 24 ± 1 ° in order to prevent the O-ring 50 from falling off, and particularly preferably set to 24 °.

  Further, the bottom wall that divides one end side in the β direction of the groove 51 has the other end in the β direction of the O-ring 50 slightly projecting to the other end side in the β direction from the plane of the other end in the β direction of the valve portion 40a. It is provided as follows. As a result, the first body 14 moves the slider 39 to one end side in the β direction in a state in which the first body 14 is in contact with the O-ring 50. Of the slider 39, a portion 39a forming the outer periphery of the groove 51 is provided separately from the main body of the slider 39, and is fastened to the main body by a screw 39b.

  The valve shaft 40 b is fixed to the second valve guide 52. For this reason, the second valve body 40 does not move relative to the second body 38 but opens or closes by the movement of the slider 39 in the β direction. That is, when the slider 39 moves to one end side in the β direction, the valve portion 40a is separated from the second valve seat 48, the supply port 36 is opened, and the slider 39 moves to the other end side in the β direction to move the valve portion. When 40a is seated on the second valve seat 48, the supply port 36 is closed.

  A spring 54 that biases the slider 39 toward the other end side in the β direction (valve closing side) is set between the slider 39 and the second valve guide 52, and the spring 54 moves the slider 39 in the other direction in the β direction. By energizing to the end side, the valve portion 40a is seated on the second valve seat 48. Further, the second valve guide 52 is provided with a plurality of through holes 55 penetrating in the β direction, and the through holes 55 provide high viscosity between one end side and the other end side of the second valve guide 52 in the β direction. Fluid distribution is possible.

  As described above, the robot 5 is driven to bring the first unit 2 closer to the second unit 3, the axis of the first unit 2 is aligned with the axis of the second unit 3, and then the first unit 2 is changed to the second unit 3. When approaching, the contact surface 22 hits the O-ring 50.

  Further, when the first unit 2 is driven toward the second unit 3, as shown in FIG. 4, the first tube tip 17 is fitted in the space 46, and the slider 39 is one end in the α and β directions by the first body 14. The valve portion 40a is separated from the second valve seat 48 by being pushed to the side. At the same time, the other end of the valve portion 40a comes into contact with one end of the valve portion 15a, and the valve portion 15a is pushed toward the other end side in the α and β directions by the valve portion 40a so as to be relatively to the first body 14. It moves to the other end side in the α and β directions and leaves the first valve seat 18. As a result, both the receiving port 13 and the supply port 36 are opened, and the highly viscous fluid flows from the second unit 3 into the first unit 2 and is filled.

The coupler 30 maintains the connection between the first unit 2 and the second unit 3 and includes the following sphere 43 and sleeve 57.
The spherical body 43 functions as a lock part that engages with both the first cylinder tip 17 and the outer cylinder tip 42 when the first unit 2 is connected to the second unit 3. More specifically, the sphere 43 is fitted into both the groove 21 on the first unit 2 side and the hole 44 on the second unit 3 side when the first tube tip 17 is fitted in the space 46. The first and second units 2 and 3 are engaged with both cylinder tips (that is, the first cylinder tip 17 and the outer cylinder tip 42).

  The sleeve 57 covers and supports the spherical body 43 from the outer peripheral side, thereby maintaining the following locked state. That is, the locked state is a state in which the male tube tip is fitted to the female tube tip and the lock part is engaged with both the female tube tip and the male tube tip. The first tube tip 17 forming the male tube tip is fitted to the outer tube tip 42 forming the tube tip, and the sphere 43 is engaged with both the first tube tip 17 and the outer tube tip 42.

  Here, the sleeve 57 is provided in a substantially cylindrical shape and is mounted on the outer peripheral side of the outer body 38b so as to be movable in the β direction with respect to the outer body 38b. When the sleeve 57 is present at a position covering the sphere 43 from the outer peripheral side, the sleeve 43 presses the sphere 43 from the outer peripheral side and partially protrudes from the hole 44 into the space 46. Thereby, the sleeve 57 can fit the spherical body 43 in the groove 21 when the first tube tip 17 is fitted in the space 46 (see FIG. 4).

A seat for setting a spring 58 is provided on the inner periphery of the sleeve 57 and the outer periphery of the outer body 38b, and the spring 58 biases the sleeve 57 toward the other end side in the β direction. A stopper 59 that restricts the movement of the sleeve 57 toward the other end side in the β direction is provided at the tip of the outer cylinder tip 42.
A flange 57a is provided at one end of the sleeve 57 in the β direction, and drive chambers 61a and 61b for driving the sleeve 57 are formed on one end side and the other end side of the flange 57a in the β direction, respectively. .

  Here, on the outer periphery of the flange 57a, a substantially cylindrical sleeve guide 62 that slides on the flange 57a and guides the movement of the sleeve 57 in the β direction is disposed, and the sleeve guide 62 is fastened to the outer body 38b. . Further, the flange 57a is assembled so that it can be slidably contacted with the sleeve guide 62 while maintaining airtightness between one end side and the other end side in its β direction. For this reason, the drive chambers 61a and 61b are partitioned by the flange 57a while maintaining airtightness.

  Then, the sleeve 57 is driven to the other end side in the β direction by supplying the pressure air from the predetermined supply source 63 to the drive chamber 61a and extracting the pressure air from the drive chamber 61b. Further, the sleeve 57 is driven to one end side in the β direction by supplying the pressure air to the drive chamber 61b and extracting the pressure air from the drive chamber 61a.

  Here, the operation of the supply source 63 is controlled by the control unit 4 (see FIG. 1), and the sleeve 57 is locked at a locked position where the locked state can be maintained, and an unlocked position where the locked state cannot be maintained. Drive between.

More specifically, when the control unit 4 moves the sleeve 57 from the non-locking position to the locking position, the control unit 4 supplies the pressure source to the driving chamber 61a and extracts the pressure source 63 from the driving chamber 61b. Control. Further, when the sleeve 57 is moved from the lock position to the non-lock position, the control unit 4 controls the supply source 63 so as to supply pressure air to the drive chamber 61b and to extract pressure air from the drive chamber 61a.
The other end in the β direction of the sleeve 57 is provided with a concave portion 57b that holds the spherical body 43 so as not to be disengaged from the hole 44 when the sleeve 57 is in the unlocked position.

  The first detection unit 31 detects the approach of the first unit 2 to the second unit 3, and the second detection unit 32 detects the position of the sleeve 57, both of which approach the predetermined detection target. Is detected magnetically and a signal is output. The output signal is input to the control unit 4 and used for various control processes. The first and second detectors 31 and 32 are held by a sensor holder 65 that is fastened to the sleeve guide 62.

  The 1st detection part 31 makes the metal body 24 (refer FIG. 2) which exists in the 1st unit 2 a detection target, and both the 1st, 2nd valve units 10 and 29 are valve-opened. When the first unit 2 reaches the position, a signal is output facing the metal body 24 in the radial direction (see FIG. 4). For this reason, the 1st detection part 31 is arrange | positioned at the other end side of the (beta) direction of the 2nd valve unit 29 and the coupler 30 so that the 2nd valve unit 29 and the coupler 30 may not be opposed to radial direction.

  The second detection unit 32 uses the sleeve 57 as a detection target, and outputs a signal in a radial direction opposite to the other end of the sleeve 57 in the β direction when the sleeve 57 is in the locked position (see FIG. 4). For this reason, the first detection unit 31 is arranged on one end side in the β direction of the second detection unit 32.

  The volume variable section 33 changes the volume of the second flow path 35 formed in the second unit 3 on the upstream side of the second valve unit 29, and has a rod 67 as shown in FIG. (The axial direction of the variable volume portion 33 may be referred to as the γ direction.)

  The rod 67 is configured to change the volume of the second flow path 35 by projecting one end portion in the γ direction into the second flow path 35 or retreating from the second flow path 35. A piston 68 is connected to the other end of the rod 67 in the γ direction, and a drive chamber 69 for driving the rod 67 is formed on the other end side of the piston 68 in the γ direction. Here, the drive chamber 69 is a space in which pressurized air is supplied or extracted from a predetermined supply source 70. The drive chamber 69 is provided with a spring 71 that biases the rod 67 and the piston 68 toward one end in the γ direction.

  As a result, when pressurized air is supplied from the supply source 70 to the drive chamber 69, the force for urging the rod 67 toward one end in the γ direction is strengthened, and one end of the rod 67 in the γ direction is connected to the second flow path 35. The volume of the second flow path 35 is kept small.

  When the pressure air is extracted from the drive chamber 69, the force for urging the rod 67 toward one end side in the γ direction is weakened, and one end portion in the γ direction of the rod 67 is caused by the fluid pressure of the second flow path 35. Due to the balance between the urging force and the urging force of the spring 71, it can move freely in the γ direction. When the fluid pressure increases, the rod 67 is pushed to the other end side in the γ direction and retracts from the second flow path 35, and the volume of the second flow path 35 increases. The operation of the supply source 70 is controlled by the control unit 4 (see FIG. 1).

Further, the rod 67 and the piston 68 are accommodated in a predetermined body 72 that forms the second flow path 35, and are further slidably contacted with the inner periphery of the body 72 and guided to move in the γ direction.
Furthermore, two detectors 73a and 73b are assembled in the volume variable unit 33 apart from each other in the γ direction, and both of them detect the approach of a predetermined detection target magnetically and output a signal. The output signal is input to the control unit 4 and used for various control processes.

  The detection target of the detection units 73 a and 73 b is an annular ridge 67 a provided on the outer periphery of the rod 67. Further, the distance in the γ direction of the detection units 73 a and 73 b corresponds to the diameter of the second flow path 35. When the ridge 67a is opposed to the detection unit 73a, one end of the piston 68 in the γ direction protrudes into the second flow path 35, and when the ridge 67a is opposed to the detection unit 73b, the piston 68 One end portion in the γ direction recedes from the second flow path 35. Thereby, the control part 4 is based on the signal input from the detection parts 73a and 73b, whether the piston 68 has protruded firmly to the 2nd flow path, and is the volume of the 2nd flow path 35 expanded? It is possible to grasp whether or not.

[Operation of Example]
In the coating apparatus 1 of an Example, an example of operation | movement when filling the highly viscous fluid from the 2nd unit 3 to the 1st unit 2 is demonstrated.
First, the axis of the first valve unit 10 is aligned with the axis of the second valve unit 29 by the robot 5, and the first unit 2 is moved closer to the second unit 3. Before connecting the first unit 2 to the second unit 3, the sleeve 57 is previously moved to one end side in the β direction in the coupler 30 (that is, moved to the unlocked position) and the volume is increased. In the variable portion 33, the rod 67 is allowed to move freely.

  Then, the first cylinder tip 17 is fitted into the space 46 to form a locked state, and the first body 14 is abutted against the slider 39 to move the slider 39 to one end side in the β direction. Thus, the first and second valve units 10 and 29 are opened by separating the valve portions 15a and 40a of the first and second valve bodies 15 and 40 from the first and second valve seats 18 and 48, respectively. Let Thereafter, the sleeve 57 is moved to the other end side in the β direction (that is, moved to the lock position) so that the locked state can be maintained. In this state, the high viscosity fluid is supplied from the second unit 3 to the first unit 2 by supplying the high viscosity fluid to the second valve unit 29.

These operations are executed by the control unit 4 outputting various control signals based on signals output from the first and second detection units 31 and 32, the detection units 73a and 73b, and the like.
For example, in the control unit 4, when a signal indicating that the metal body 24 faces the metal body 24 in the radial direction is input from the first detection unit 31, the first tube tip 17 is firmly fitted in the space 46. Is determined. When the control unit 4 determines that the first tube tip 17 is firmly fitted in the space 46, the control unit 4 outputs a control signal for moving the slider 39 to the lock position to the drive source 63.

  Further, the control unit 4 determines that the slider 39 exists at the lock position when a signal indicating that the slider 39 is opposed to the radial direction is input from the second detection unit 32. When the control unit 4 determines that the slider 39 is in the lock position, the control unit 4 outputs a control signal for supplying the highly viscous fluid to the second valve unit 29 to the supply source 37.

  Further, when the signal indicating that the control unit 4 is opposed to the ridge 67a in the radial direction is input from the detection unit 73a, the rod 67 protrudes firmly into the second flow path 35 and the volume variable unit 33. It is determined that the volume can be reduced. Then, when it is determined that the volume can be reduced by the volume variable unit 33, the control unit 4 outputs a control signal for weakening the urging force acting on the rod 67 to the drive source 70.

  Further, when the signal indicating that the control unit 4 faces the ridge 67a in the radial direction is input from the detection unit 73b, the rod 67 does not protrude firmly into the second flow path 35 and the volume is variable. It is determined that volume reduction by the unit 33 is impossible. Then, when it is determined that the volume reduction by the volume variable unit 33 is impossible, the control unit 4 outputs a control signal for increasing the urging force acting on the rod 67 to the drive source 70.

[Effects of Examples]
According to the coating apparatus 1 of the embodiment, the second unit 3 includes the coupler 30 having the following sphere 43 and sleeve 57, and first and second detection units 31 and 32.
First, the sphere 43 can be engaged with both the first cylinder tip 17 and the outer cylinder tip 42 in a state where the first unit 2 is connected to the second unit 3. Further, the sleeve 57 maintains the locked state by covering and supporting the spherical body 43 from the outer peripheral side.

The first detector 31 detects the approach of the first unit 2 to the second unit 3 by sensing the metal body 24, and the second detector 32 senses the sleeve 57 by sensing the sleeve 57. Detect position.
Then, the control unit 4 moves the sleeve 57 between the lock position and the non-lock position based on signals from the first detection unit 31 and the second detection unit 32.

  First, by providing the coupler 30 in the coating apparatus 1, the first unit 2 and the second unit 3 are brought into contact with each other by the pressure of the highly viscous fluid when the highly viscous fluid is filled from the second unit 3 to the first unit 2. Separation can be suppressed. Further, the coating device 1 is equipped with the first and second detection units 31 and 32, and the sleeve 57 is moved based on the signals of the first and second detection units 31 and 32, so that the sphere 43 and the sleeve 57 are automatically controlled. Can be reliably functioned to prevent separation of the first and second units 2 and 3.

  Further, the coating apparatus 1 includes a volume variable unit 33 that changes the volume of the second flow path 35. Further, the rod 67 of the variable volume portion 33 is urged by the pressure air and protrudes into the second flow path 35. Then, the controller 4 controls the power source to reduce the urging force against the rod 67 before opening the first valve unit 10 and the second valve unit 29 when filling the highly viscous fluid.

  Thereby, when the first and second valve units 10 and 29 are opened, the volume reduction of the second flow path 35 accompanying the movement of the slider 39 can be compensated by the retreat of the rod 67 from the second flow path 35. . That is, before the slider 39 is moved, the slider 39 can be moved smoothly by reducing the biasing force applied to the rod 67 so that the rod 67 can be easily retracted from the second flow path 35. For this reason, it can be avoided that the movement of the slider 39 is hindered by the highly viscous fluid existing at the destination of the slider 39 and the opening of the first and second valve units 10 and 29 is hindered.

Further, an O-ring 50 is attached to the tip of the slider 39, and the first body 14 moves the slider 39 while abutting against the O-ring 50 when the first and second valve units 10 and 29 are opened.
Thereby, it is possible to suppress leakage of the highly viscous fluid from the contact portion between the first body 14 and the slider 39.

[Modification]
Various modifications of the present invention can be considered without departing from the gist thereof.
For example, according to the coating apparatus 1 of the embodiment, the outer cylinder tip 42 is a female cylinder tip and the first cylinder tip 17 is a male tube tip, but the second unit 3 side cylinder tip is a male side. The coupler 30 may be provided so that the first tube tip 17 becomes the female tube tip.

1 Coating device
2 First unit 3 Second unit 4 Control unit 5 Robot 17 First tube tip (male side tube tip)
31 1st detection part 32 2nd detection part 42 Outer side cylinder tip (cylinder tip of female side)
43 Sphere (locking parts)
57 sleeve

Claims (3)

A high-viscosity fluid having a viscosity of 10,000 cp or more is filled, and the filled high-viscosity fluid is discharged. The first is attached to a predetermined robot (5) and moves three-dimensionally to change the discharge position. Unit (2);
A second unit (3) for supplying and filling the highly viscous fluid to the first unit;
A control unit (4) for controlling the operation of the robot,
By controlling the operation of the robot by the control unit and moving the first unit three-dimensionally, the first unit is connected to the second unit, and the second unit is transferred to the first unit. A coating apparatus that fills a high-viscosity fluid, further disengages the first unit from the second unit, moves the first unit to a predetermined position, and discharges the high-viscosity fluid from the first unit to apply to a predetermined site. In (1),
A female tube tip (42) provided on one side of the first unit or the second unit in a state of being provided on the second unit side and connecting the first unit to the second unit; and A locking part (43) that can be engaged with both the male tube tip (17) provided on the other side,
By covering and supporting the lock part from the outer peripheral side, the male side cylinder tip is fitted to the female side cylinder tip, and the lock part is engaged with both the female side cylinder tip and the male side cylinder tip. A sleeve (57) for maintaining a locked state,
A first detector (31) for detecting the approach of the first unit to the second unit;
A second detector (32) for detecting the position of the sleeve,
Based on the signals of the first detection unit and the second detection unit, the control unit is between a locked position where the locked state can be maintained and a non-locked position where the locked state cannot be maintained. An applicator for moving the sleeve. A first unit that is filled with a high-viscosity fluid having a viscosity of 10000 cp or more and that discharges the filled high-viscosity fluid, is mounted on a predetermined robot, and moves three-dimensionally to change the discharge position;
A second unit for supplying and filling the high viscosity fluid to the first unit;
A control unit for controlling the operation of the robot,
By controlling the operation of the robot by the control unit and moving the first unit three-dimensionally, the first unit is connected to the second unit, and the second unit is transferred to the first unit. A coating apparatus that fills a high-viscosity fluid, further disengages the first unit from the second unit, moves the first unit to a predetermined position, and discharges the high-viscosity fluid from the first unit to apply to a predetermined site. In
The first unit includes a first body (14) that forms a flow path (12) and a receiving port (13) for the highly viscous fluid, and a first valve body (15) that opens and closes the receiving port. A first valve unit (10) provided;
A second body (38) that forms the flow path (35) for the highly viscous fluid, and a flow path and supply port (36) for the highly viscous fluid that are movably accommodated in the flow path formed in the second body. A second valve unit (29) provided in the second unit having a slider (39) forming a second valve body (40) for opening and closing the supply port;
A volume variable section (33) for changing the volume of the flow path of the highly viscous fluid formed in the second unit;
With the first unit connected to the second unit, the first valve unit and the second valve unit are opened by moving the slider by abutting the first body against the slider,
The volume variable section includes a rod (67) that is urged by a predetermined drive source (70) and protrudes into a flow path formed in the second body,
The controller controls the driving source to reduce the urging force to the rod before opening the first valve unit and the second valve unit when the high-viscosity fluid is filled. Coating device. A first unit that is filled with a high-viscosity fluid having a viscosity of 10000 cp or more and that discharges the filled high-viscosity fluid, is mounted on a predetermined robot, and moves three-dimensionally to change the discharge position;
A second unit for supplying and filling the high viscosity fluid to the first unit;
A control unit for controlling the operation of the robot,
By controlling the operation of the robot by the control unit and moving the first unit three-dimensionally, the first unit is connected to the second unit, and the second unit is transferred to the first unit. A coating apparatus that fills a high-viscosity fluid, further disengages the first unit from the second unit, moves the first unit to a predetermined position, and discharges the high-viscosity fluid from the first unit to apply to a predetermined site. In
A first valve unit that is provided in the first unit and has a first body that forms a flow path and a receiving port for the highly viscous fluid, and a first valve body that opens and closes the receiving port;
A second body that forms a flow path for the high-viscosity fluid; a slider that is movably accommodated in a flow path formed in the second body to form a flow path and a supply port for the high-viscosity fluid; and the supply port A second valve unit that opens and closes the second valve unit provided in the second unit,
With the first unit connected to the second unit, the first valve unit and the second valve unit are opened by moving the slider by abutting the first body against the slider,
An O-ring (50) is attached to the tip of the slider, and the first body moves the slider in a state where it abuts against the O-ring.

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