JP7185475B2 - シール剤吐出装置 - Google Patents
シール剤吐出装置 Download PDFInfo
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- JP7185475B2 JP7185475B2 JP2018192787A JP2018192787A JP7185475B2 JP 7185475 B2 JP7185475 B2 JP 7185475B2 JP 2018192787 A JP2018192787 A JP 2018192787A JP 2018192787 A JP2018192787 A JP 2018192787A JP 7185475 B2 JP7185475 B2 JP 7185475B2
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- sealant
- seal gun
- nozzle
- seal
- discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/004—Arrangements for controlling delivery; Arrangements for controlling the spray area comprising sensors for monitoring the delivery, e.g. by displaying the sensed value or generating an alarm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/082—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to a condition of the discharged jet or spray, e.g. to jet shape, spray pattern or droplet size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1007—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material
- B05C11/1013—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material responsive to flow or pressure of liquid or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C17/00—Hand tools or apparatus using hand held tools, for applying liquids or other fluent materials to, for spreading applied liquids or other fluent materials on, or for partially removing applied liquids or other fluent materials from, surfaces
- B05C17/005—Hand tools or apparatus using hand held tools, for applying liquids or other fluent materials to, for spreading applied liquids or other fluent materials on, or for partially removing applied liquids or other fluent materials from, surfaces for discharging material from a reservoir or container located in or on the hand tool through an outlet orifice by pressure without using surface contacting members like pads or brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N35/1016—Control of the volume dispensed or introduced
- G01N2035/1018—Detecting inhomogeneities, e.g. foam, bubbles, clots
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N35/1016—Control of the volume dispensed or introduced
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Coating Apparatus (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Optics & Photonics (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Description
(1)
なお、Aは、シール済みのシール剤S2の断面積である。Vは、シールガン2の移動速度である。tは、シールガン2を移動させた時間、および、シール剤Sを吐出させた時間である。rtは、t秒後のシール剤溜まりS1の半径である。rは、シール剤溜まりS1の目標半径である。Dは、シール剤Sの単位時間あたりの吐出量である。
V=D/A+(r3-rt3)×2/3π/A/t (2)
Or=50+A×(r3-rt3)×2/3π/A/t/V0×100 (3)
10 移動制御部
12 吐出制御部
16 気泡検出部
24 カートリッジ
26 ノズルアダプタ(ノズル部)
27 ノズル(ノズル部)
Claims (4)
- シール剤を対象物に対して吐出させるシールガンと、
前記シールガンと前記対象物とを相対的に移動させる移動制御部と、
前記シールガンから吐出されるシール剤の吐出量を制御する吐出制御部と、
前記シールガンから吐出され前記対象物をシールする前のシール剤溜まりに向けてレーザーを照射することによって、前記シール剤溜まりまでの距離を計測する計測器と、
前記計測器による計測結果に基づいて、前記シールガンから吐出された前記シール剤への気泡の混入を検出する気泡検出部と、
を備え、
前記シールガンのノズルは、円形断面から先端方向で矩形断面に変わるように形成されており、
シール剤に気泡が混入している場合、当該気泡は、前記ノズルにおいて軸中心に寄せられ、前記シール剤溜まりの表面側に吐出されるシール剤吐出装置。 - 前記気泡検出部は、
前記計測器による計測結果に対してハイパスフィルタを施し、前記ハイパスフィルタが施された値に基づいて、前記シールガンから吐出された前記シール剤への気泡の混入を検出する請求項1に記載のシール剤吐出装置。 - 前記気泡検出部は、
前記ハイパスフィルタが施された値が所定の閾値以下の場合、前記シールガンから吐出された前記シール剤に気泡が混入していると判定する請求項2に記載のシール剤吐出装置。 - 前記シールガンは、
移動方向の前方側に前記シール剤を吐出する請求項1から3のいずれか1項に記載のシール剤吐出装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018192787A JP7185475B2 (ja) | 2018-10-11 | 2018-10-11 | シール剤吐出装置 |
US16/589,832 US11103885B2 (en) | 2018-10-11 | 2019-10-01 | Sealant discharging apparatus |
CN201910954184.8A CN111036457B (zh) | 2018-10-11 | 2019-10-09 | 密封剂喷出装置 |
EP19202416.4A EP3639933B1 (en) | 2018-10-11 | 2019-10-10 | Sealant discharging apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018192787A JP7185475B2 (ja) | 2018-10-11 | 2018-10-11 | シール剤吐出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020058992A JP2020058992A (ja) | 2020-04-16 |
JP7185475B2 true JP7185475B2 (ja) | 2022-12-07 |
Family
ID=68242568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018192787A Active JP7185475B2 (ja) | 2018-10-11 | 2018-10-11 | シール剤吐出装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11103885B2 (ja) |
EP (1) | EP3639933B1 (ja) |
JP (1) | JP7185475B2 (ja) |
CN (1) | CN111036457B (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20210237116A1 (en) * | 2020-02-03 | 2021-08-05 | Ross-Hime Designs, Inc. | Robotic marking system |
JP7464453B2 (ja) | 2020-06-15 | 2024-04-09 | 株式会社Subaru | 塗布装置 |
CN112517325A (zh) * | 2020-11-17 | 2021-03-19 | 合肥艾迪康医学检验实验室有限公司 | 滴胶盒和滴胶装置及滴胶方法 |
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JP2007054727A (ja) | 2005-08-24 | 2007-03-08 | Mazda Motor Corp | 塗布状態の検出方法及び検出装置 |
JP2009072696A (ja) | 2007-09-20 | 2009-04-09 | Toshiba Corp | 噴射異常検出装置、液滴噴射装置及び表示装置の製造方法 |
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JP2015129683A (ja) | 2014-01-08 | 2015-07-16 | 株式会社エムケイティタイセー | 異物質・気泡検出装置及び物体検出装置 |
JP2015226900A (ja) | 2014-05-30 | 2015-12-17 | ザ・ボーイング・カンパニーTheBoeing Company | 物質を表面上に散布するためのシステム及び方法 |
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-
2018
- 2018-10-11 JP JP2018192787A patent/JP7185475B2/ja active Active
-
2019
- 2019-10-01 US US16/589,832 patent/US11103885B2/en active Active
- 2019-10-09 CN CN201910954184.8A patent/CN111036457B/zh active Active
- 2019-10-10 EP EP19202416.4A patent/EP3639933B1/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2002207014A (ja) | 2001-01-10 | 2002-07-26 | Fuji Fine Kk | 欠点検出装置 |
JP2007054727A (ja) | 2005-08-24 | 2007-03-08 | Mazda Motor Corp | 塗布状態の検出方法及び検出装置 |
JP2009072696A (ja) | 2007-09-20 | 2009-04-09 | Toshiba Corp | 噴射異常検出装置、液滴噴射装置及び表示装置の製造方法 |
JP2012514751A (ja) | 2009-01-06 | 2012-06-28 | シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレーテッド | 画像化を使用して容器内の液体レベルを測定するための方法および装置 |
JP2015129683A (ja) | 2014-01-08 | 2015-07-16 | 株式会社エムケイティタイセー | 異物質・気泡検出装置及び物体検出装置 |
JP2015226900A (ja) | 2014-05-30 | 2015-12-17 | ザ・ボーイング・カンパニーTheBoeing Company | 物質を表面上に散布するためのシステム及び方法 |
Also Published As
Publication number | Publication date |
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CN111036457B (zh) | 2022-06-17 |
EP3639933A3 (en) | 2020-04-29 |
US20200114383A1 (en) | 2020-04-16 |
EP3639933A2 (en) | 2020-04-22 |
EP3639933B1 (en) | 2022-01-05 |
US11103885B2 (en) | 2021-08-31 |
CN111036457A (zh) | 2020-04-21 |
JP2020058992A (ja) | 2020-04-16 |
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