JP7432992B2 - 供給流量が流体製品がそれを通して排出される開口部の速度に依存する流体製品を適用するための適用装置 - Google Patents
供給流量が流体製品がそれを通して排出される開口部の速度に依存する流体製品を適用するための適用装置 Download PDFInfo
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Classifications
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- 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
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- 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
- B05B12/12—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/126—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B05B12/085—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 flow or pressure of liquid or other fluent material to be discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
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- 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
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0457—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
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- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1023—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to velocity of target, e.g. to web advancement rate
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
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- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
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- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0271—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the object or work standing still during the spraying operation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Coating Apparatus (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
- Feeding, Discharge, Calcimining, Fusing, And Gas-Generation Devices (AREA)
Description
- その流体製品、もしくはそれぞれの流体製品を、基材上へのその適用のために形を整えるための適用部材、この適用部材は、この適用装置の外側に、流体製品のための出口オリフィスを有している
- 少なくとも1つの流体製品のための、出口オリフィスを通る流体製品の供給流量を、調整部材の指令入力に応じて、調整することができる調整部材、ならびに、
- 指令入力を決定し、そしてそれを調整部材に供給するための指令モジュール
- それは、ロボットアームと適用装置との間の適合性の問題を提起する。
- それは、この適用装置が、上記の機能を有しないより古い世代のロボットアームに搭載されている場合には、工具先端速度に応じた、供給流量の調整を可能としない。
- 適用装置の制御室での速度情報の処理によって引き起こされる遅延、次いで、調整部材への指令入力の伝達は、供給流量の修正の遅延の原因となり、それがこの修正を不適切なものとしてしまう。
- 指令入力が適切であり、それによって、流体製品の供給流量と、出口オリフィスの測定された速度の間の比は実質的に一定である。
- 速度測定装置は、少なくとも1つの加速度計を有している。
- 速度測定装置は、少なくとも1つのジャイロスコープを有している。
- 速度測定装置は、磁気計を有している。
- 速度測定装置は、出口オリフィスから15cm未満の距離にある。
- 指令モジュールは、速度測定装置から、5cm未満の距離にある。
- 指令モジュールは、調整装置から、10cm未満の距離にある。
- 調整部材は、出口オリフィスから、15cm未満の距離にある。
- 流体製品は、3000~300000mPa・sの範囲の粘度を有している。
- 指令モジュールが、リストまたはリストに最も近いセグメントに取り付けられている。
- 速度測定装置が、適用部材に取り付けられている。
- 測定された速度は、フレームに対する出口オリフィスの速度で構成されている。
- 上記の適用装置を準備する工程。
- 第1の供給流量で、出口オリフィスを通して流体製品を供給する工程、出口オリフィスは第1の速度で動いている。
- 出口オリフィスの速度を変化させる工程。
- 第1の供給流量とは異なる第2の供給流量で出口オリフィスを通して流体製品を供給する工程。
- 3つの加速度計40、それぞれが、互いに他の加速度計40の加速度測定方向に直交する特定の方向で加速度を測定することができる、
- 互いに直交する3つの回転軸のそれぞれの周りの角速度を測定することができるジャイロスコープ42、ならびに、
- 磁気計44における磁場の3つの成分を測定することができる磁気計44、
を含む、慣性装置で構成されている。
Claims (12)
- 少なくとも1種の流体製品を基材(4)に適用するための適用装置(16)であって、
- 前記少なくとも1種の流体製品を、基材(4)へ適用するために形を整えるための適用部材(30)であって、適用部材(30)は、出口オリフィス(32)を含んでおり、出口オリフィス(32)を通して流体製品が、適用装置(16)を流れ出る適用部材(30)、
- 少なくとも1種の流体製品のための、調整部材(36)であって、出口オリフィス(32)を通した流体製品の供給流量を、調整部材(36)の指令入力に応じて調整する調整部材(36)、ならびに、
- 指令入力を決定し、そして前記指令入力を調整部材(36)に供給するための指令モジュール(38)、を含んでなり、
適用装置(16)はまた、出口オリフィス(32)の、慣性基準に対して測定された速度を決定することができる速度測定装置(34)を含み、そして指令モジュール(38)は、指令入力を前記測定された速度に応じて決定するように構成されており、
速度測定装置(34)が、出口オリフィス(32)から15cm未満の距離にあり、指令モジュール(38)が、速度測定装置(34)から5cm未満の距離にあり、指令モジュール(38)が、調整装置(36)から10cm未満の距離にある、
適用装置(16)。 - 前記指令入力は、前記流体製品の前記供給流量と前記出口オリフィスの前記測定された速度との間の比が実質的に一定であるのに好適である、請求項1記載の適用装置(16)。
- 速度測定装置(34)が、少なくとも1つの加速度計(40)を含んでいる、請求項1または2記載の適用装置(16)。
- 速度測定装置(34)が少なくとも1つのジャイロスコープ(42)を含む、請求項1~3のいずれか1項記載の適用装置(16)。
- 速度測定装置(34)が、磁気計(44)を含む、請求項1~4のいずれか1項記載の適用装置(16)。
- 調整部材(36)が、出口オリフィス(32)から15cm未満の距離にある、請求項1~5のいずれか1項記載の適用装置(16)。
- 前記流体製品が、3000~300000mPa・sの範囲の粘度を有している、請求項1~6のいずれか1項記載の適用装置(16)。
- 流体製品を基材(4)に適用するためのアプリケーションロボット(8)であって、固定されたフレーム、互いに対して関節接合された複数のセグメント(22)を有する多関節アーム(20)、多関節アーム(20)の1つの末端に取り付けられたリスト(24)、および請求項1~7のいずれか1項記載の適用装置(16)を、含んでなり、適用部材(30)が、リスト(24)の遠位末端に取り付けられている、
アプリケーションロボット(8)。 - 指令モジュール(38)が、リスト(24)またはリスト(24)に最も近接したセグメント(22)に取り付けられた、請求項8記載のアプリケーションロボット(8)。
- 速度測定装置(34)が、適用部材(30)に取り付けられた、請求項8または9記載のアプリケーションロボット(8)。
- 前記測定された速度が、出口オリフィス(32)の前記固定されたフレームに対する速度からなる、請求項8~10のいずれか1項記載のアプリケーションロボット(8)。
- 流体製品を基材(4)に適用するための方法(100)であって、以下の連続的な工程、
- 請求項1~7のいずれか1項記載の適用装置(16)を準備する工程(110)、
- 前記流体製品を、出口オリフィス(32)を通して第1の供給流量で供給する工程(159)であって、出口オリフィス(32)は、第1の速度で動いている工程(159)、
- 出口オリフィス(32)の前記速度を変化させる工程(160)、ならびに、
- 前記流体製品を、出口オリフィス(32)を通して、前記第1の供給流量とは異なる第2の供給流量で供給する工程(179)、
を含んでなる、方法(100)。
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FR1852232A FR3078900B1 (fr) | 2018-03-15 | 2018-03-15 | Dispositif d'application d'un produit fluide dont le debit de dosage depend de la vitesse d'un orifice de sortie dudit produit fluide |
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US (1) | US20190283062A1 (ja) |
EP (1) | EP3539675B1 (ja) |
JP (1) | JP7432992B2 (ja) |
KR (1) | KR102659282B1 (ja) |
CN (1) | CN110270471B (ja) |
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CN113302001A (zh) * | 2019-01-18 | 2021-08-24 | 瓦格纳喷涂技术有限公司 | 喷涂系统的智能控制 |
US11513602B2 (en) | 2019-09-10 | 2022-11-29 | Wagner Spray Tech Corporation | Gesture control of a fluid application system |
CN111729791A (zh) * | 2020-07-06 | 2020-10-02 | 深圳市巨豪自动化设备有限公司 | 一种机器人自动化喷涂线 |
CN112620002A (zh) * | 2020-11-10 | 2021-04-09 | 江华飞信达科技有限公司 | 全自动点胶生产线 |
CN113477465B (zh) * | 2021-07-02 | 2022-05-20 | 广东嘉尚新能源科技有限公司 | 一种可均匀出胶并对余胶进行清理的软包锂电芯侧边封胶装置 |
CN113477466B (zh) * | 2021-08-12 | 2022-03-22 | 绍兴欧柏斯光电科技有限公司 | 一种晶片点胶装置以及工艺 |
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Also Published As
Publication number | Publication date |
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CN110270471B (zh) | 2022-06-28 |
EP3539675B1 (fr) | 2021-10-13 |
CN110270471A (zh) | 2019-09-24 |
ES2898873T3 (es) | 2022-03-09 |
FR3078900A1 (fr) | 2019-09-20 |
KR20190109268A (ko) | 2019-09-25 |
KR102659282B1 (ko) | 2024-04-22 |
JP2019155360A (ja) | 2019-09-19 |
EP3539675A1 (fr) | 2019-09-18 |
FR3078900B1 (fr) | 2020-09-18 |
US20190283062A1 (en) | 2019-09-19 |
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