JP7843489B2 - Dispenser system - Google Patents

Description

This invention relates to a dispenser system for applying or filling fluids such as coatings and fillers.

Conventionally, dispenser systems for applying and filling fluids have been provided. For example, application systems capable of applying a coating material to a workpiece, and filling systems capable of filling a workpiece with a filler, have been proposed as dispenser systems for applying and filling fluids (see, for example, Patent Document 1).

Patent Document 1 discloses a pattern forming apparatus that discharges a paste-like pattern-forming material (coating material) from a nozzle to form a pattern on a substrate, which is the object to be coated. Patent Document 1 describes that the apparatus can form patterns with predetermined pitch and cross-sectional shape (such as pattern height and width), as well as patterns with modified predetermined pitch and cross-sectional shape.

Furthermore, Patent Document 1 describes how, by inputting numerical values such as "pitch 300 μm, width 80 μm, height 150 μm" regarding the desired pattern pitch interval and cross-sectional shape, multiple parameters determining the output to the motor, pump, and light source unit are automatically calculated. Patent Document 1 also describes how the coating pattern is controlled primarily by adjusting the nozzle angle of the discharge port, the relative movement speed between the workpiece and the nozzle, and the UV irradiance. However, Patent Document 1 does not provide detailed information on controlling the amount of pattern-forming material (coating material) discharged from the pump.

Patent No. 4082499

Generally, as described in Patent Document 1 above, users manage the amount of coating material applied by the application dimensions (application shape), such as the application diameter and height. On the other hand, the parameters set in the control device (controller) that controls the operation of the coating system are almost always pump rotation speed, coating material flow rate, application amount, and application time. Setting and adjusting the application pattern to obtain the desired application dimensions requires detailed calculations and expertise.

As an example of a pattern forming apparatus, a dispenser device is used in a coating system that performs a discharge operation by operating the pump mechanism to move the coating material from the pump mechanism toward the discharge port, and a suck-back operation (reverse suction) by operating the pump mechanism to move the coating material from the discharge port toward the pump mechanism. In this case, reverse suction is performed when the system is stopped to eliminate residual pressure in the nozzle and prevent dripping. However, setting the reverse suction is not easy. Specifically, when adjusting the coating amount, changing the rotation speed of the pump mechanism changes the flow rate of the coating material, which in turn changes the discharge pressure and alters the optimal reverse suction setting. Therefore, changing the reverse suction setting then changes the amount of coating material applied. This results in the problem that adjustments must be made repeatedly to obtain the desired amount of coating material applied to the object being coated.

Furthermore, even when using the dispenser device described above in a filling system, liquid dripping is prevented by eliminating residual pressure in the nozzle through reverse suction during stopping. However, as with the use of the dispenser device in a coating system, setting the reverse suction is not easy. Specifically, when adjusting the filling amount, changing the rotation speed of the pump mechanism changes the flow rate of the filler material, which alters the discharge pressure and thus the optimal reverse suction setting. Therefore, changing the reverse suction setting then changes the amount of filler material being filled, which is another problem. As a result, it is necessary to perform adjustments multiple times to obtain the desired amount of filler material being filled into the workpiece.

This invention aims to solve the above-mentioned problems and provides a coating system that can shorten the time required to adjust the amount of fluid applied to an object to be coated, and a filling system that can shorten the time required to adjust the amount of fluid filled into an object to be filled.

To achieve the above objective, the present invention is configured as follows:

(1) The dispenser system according to the present invention comprises a dispenser device having a discharge port for discharging a fluid and a pump mechanism for moving the fluid relative to the discharge port, and capable of performing a discharge operation in which the pump mechanism is operated so that the fluid moves from the pump mechanism toward the discharge port, and a suck-back operation in which the pump mechanism is operated so that the fluid moves from the discharge port toward the pump mechanism, a control device for controlling the operation of the dispenser device, and a display device, and capable of performing either or both of the following: an application operation in which the fluid is applied to a workpiece by performing the suck-back operation after discharging the fluid to the workpiece by discharging the fluid to the workpiece by discharging the fluid to the workpiece and then performing the suck-back operation, and the control device accepts input of application conditions for the fluid to the workpiece, or accepts input of filling conditions for the fluid to the workpiece. The system comprises: an input receiving unit; an operating parameter setting unit that derives and sets operating parameters correlated with the amount of fluid applied to the workpiece based on the fluid application conditions, or an operating parameter correlated with the amount of fluid filled to the workpiece based on the fluid filling conditions; a display control unit that controls the display of the display device; and an operation control unit that controls the operation of the dispenser device according to the operating parameters set in the operating parameter setting unit. The display control unit is characterized by displaying on the display device: a condition display unit that displays the application conditions or filling conditions received by the input receiving unit; and an operating parameter display unit that displays the operating parameters derived and set by the operating parameter setting unit based on the application conditions received by the input receiving unit, or the operating parameters derived and set by the operating parameter setting unit based on the filling conditions received by the input receiving unit.

According to the dispenser system described above, the input receiving unit, which receives input on the application conditions for the fluid to the workpiece, receives the application conditions entered by the user. The operation parameter setting unit then automatically sets appropriate operation parameters, which can be displayed on the operation parameter display unit. In other words, since the operation parameters are automatically set by the operation parameter setting unit based on the application conditions received by the input receiving unit, the user no longer needs to calculate and set operation parameters based on, for example, the dimensions of the application cross-section of the fluid applied to the workpiece. This eliminates the need for complex adjustment know-how. As a result, the time required to adjust the amount of fluid applied can be shortened by automatically setting the motion parameters based on the fluid application conditions. Furthermore, since the operation parameters set by the operation parameter setting unit are displayed on the operation parameter display unit, the user can visually confirm the motion parameters on the display device.

Furthermore, according to the above-described dispenser system, the input receiving unit, which receives input for the fluid filling conditions for the workpiece, receives the filling conditions entered by the user, and the operation parameter setting unit automatically sets appropriate operation parameters, which can then be displayed on the operation parameter display unit. In other words, since the operation parameters are automatically set by the operation parameter setting unit based on the filling conditions received by the input receiving unit, the user no longer needs to calculate and set operation parameters based on, for example, the mass of the fluid to be filled into the workpiece, thus eliminating the need for complex adjustment know-how. As a result, by automatically setting the motion parameters based on the fluid filling conditions, the adjustment time for the fluid filling amount, etc., can be shortened. Also, since the operation parameters set by the operation parameter setting unit are displayed on the operation parameter display unit, the user can visually confirm the motion parameters on the display device.

(2) In the dispenser system according to the present invention, preferably, the operating parameter setting unit derives and sets operating parameters including a discharge parameter correlated with the amount of fluid discharged by the pump mechanism and a suction parameter correlated with the amount of fluid sucked in by the pump mechanism, wherein the discharge parameter is derived and set based on the fluid discharge conditions, and the suction parameter is derived and set based on the fluid suction conditions, and the operating parameter setting unit sets at least one of the operating parameters, namely the discharge parameter and the suction parameter. With this configuration, the operating parameter setting unit automatically derives and sets the discharge parameter based on the fluid discharge conditions, or automatically derives and sets the suction parameter based on the fluid suction conditions, eliminating the need for the user to calculate and set the discharge parameter and suction parameter based on, for example, the dimensions of the cross-sectional area of the fluid applied to the workpiece. This eliminates the need for cumbersome work when setting the discharge parameter and suction parameter.

(3) In a configuration in which the suction parameter is set by the operation parameter setting unit described above, it is preferable that the control device has an application condition setting unit capable of setting at least one of the dimensions of the application cross-section of the fluid applied to the workpiece and the application amount as application conditions, and that the operation parameter setting unit sets the suction parameter based on the application conditions or discharge parameter set in the application condition setting unit. With this configuration, the suction parameter is automatically set by the operation parameter setting unit based on the application conditions or discharge parameter set in the application condition setting unit, so the user does not have to set the suction parameter by trial and error. This eliminates the complicated work required when setting the suction parameter. Note that the dimensions of the application cross-section are a concept that includes both length and area, and the application amount is a concept that includes both mass and volume.

(4) In a configuration in which the discharge parameter and suction parameter are set by the operation parameter setting unit described above, it is preferable that the operation parameter setting unit initially sets the suction parameter to a predetermined value and initially sets the discharge parameter based on at least one of the following: the initially set suction parameter, the dimensions of the coating cross-section of the fluid applied to the workpiece, and the application amount. With this configuration, by considering the suction parameter, a more appropriate (closer to the correct) discharge parameter can be set. Therefore, the time required for the user to set the discharge parameter is reduced, and cumbersome work can be eliminated. Note that the dimensions of the coating cross-section are a concept that includes both length and area, and the application amount is a concept that includes both mass and volume.

(5) In this case, preferably, a calibration operation can be performed to optimize the operating parameters according to the coating conditions, and the calibration operation is characterized in that the operation control unit performs a test coating, experimentally executing the coating operation according to the discharge parameters. With this configuration, the user does not need to perform the task of initially setting the discharge parameters related to the calibration operation when performing the calibration operation. Therefore, since the complicated work in the calibration operation is eliminated, test coating can be performed quickly.

(6) In the dispenser system according to the present invention, preferably, the control device has a correction information receiving unit that receives correction information related to the correction of the operating parameters, and the operating parameter setting unit corrects the operating parameters based on the correction information received by the correction information receiving unit. With this configuration, the operating parameters are automatically corrected by the operating parameter setting unit, so the user can obtain the desired amount of fluid to be dispensed without having to perform complicated calculations regarding the correction of the operating parameters.

(7) In this case, preferably, the display control unit causes the display device to display a correction information display unit (correction information display image) that displays the correction information received by the correction information receiving unit. With this configuration, the user can visually confirm the correction information on the correction information display unit.

(8) In a configuration having the above-described correction information receiving unit, preferably the operation parameter setting unit derives and sets operation parameters including a discharge parameter having a correlation with the amount of fluid discharged by the pump mechanism and a suction parameter having a correlation with the amount of fluid suctioned by the pump mechanism, the discharge parameter being derived and set based on the fluid discharge conditions, the suction parameter being derived and set based on the fluid suction conditions, the operation parameter setting unit setting at least one of the operation parameters, the discharge parameter and the suction parameter, and the correction information receiving unit includes a discharge parameter correction information receiving unit that receives input of correction information relating to the correction of the discharge parameter and a suction parameter correction information receiving unit that receives input of correction information relating to the correction of the suction parameter. With this configuration, the discharge parameter is automatically corrected by the operation parameter setting unit based on the correction information received by the discharge parameter correction information receiving unit, and the suction parameter is automatically corrected by the operation parameter setting unit based on the correction information received by the suction parameter correction information receiving unit. Therefore, the user can obtain the desired amount of fluid to be dispensed without having to perform complicated calculations regarding the correction of discharge and suction parameters.

(9) In a configuration in which the discharge parameters are corrected by the operation parameter setting unit described above, preferably, the correction information receiving unit receives the measured coating dimensions and target coating dimensions of the coating cross-section of the fluid applied to the workpiece, and the measured coating amount and target coating amount of the fluid as correction information, and the operation parameter setting unit corrects the discharge parameters using at least one of the relationships between the measured coating dimensions and the target coating dimensions of the fluid, and the relationship between the measured coating amount and the target coating amount of the fluid, which are received by the correction information receiving unit. With this configuration, the discharge parameters are automatically corrected by the operation parameter setting unit based on at least one of the relationships between the measured coating dimensions and the target coating dimensions of the coating cross-section of the fluid, and the relationship between the measured coating amount and the target coating amount of the fluid, which are received as correction information by the correction information receiving unit. Therefore, the user can obtain the desired amount of fluid applied without having to perform complicated calculations regarding the correction of the discharge parameters.

(10) In a configuration in which the suction parameter is corrected by the operation parameter setting unit described above, it is preferable that the operation parameter setting unit corrects the suction parameter based on actual values relating to the combination of the discharge parameter and the suction parameter, utilizing the relationship between the discharge parameter and the suction parameter. With this configuration, the relationship between the two is generated by setting an appropriate suction parameter corresponding to the discharge parameter, so the user does not need to set an appropriate suction parameter corresponding to the discharge parameter through trial and error beforehand.

(11) In a configuration in which the discharge parameter is corrected by the operation parameter setting unit described above, it is preferable that the operation parameter setting unit, when the discharge parameter is corrected, uses the correction result of the separately performed suction parameter to correct the suction parameter to correspond to the discharge parameter. With this configuration, for example, even if the user is aware that they are correcting the discharge parameter, the suction parameter is also automatically corrected by utilizing the correction result of the separately performed suction parameter, thereby reducing the user's burden regarding the correction of the suction parameter.

(12) In a configuration in which the suction parameter is set by the operation parameter setting unit described above, it is preferable that the control device has a filling condition setting unit capable of setting the amount of fluid to be filled into the workpiece as a filling condition, and that the operation parameter setting unit sets the suction parameter based on the filling condition or discharge parameter set in the filling condition setting unit. With this configuration, the suction parameter is automatically set by the operation parameter setting unit based on the filling condition or discharge parameter set in the filling condition setting unit, so the user does not have to set the suction parameter by trial and error. This eliminates the complicated work required when setting the suction parameter. Note that the filling amount is a concept that includes both the mass and volume of the fluid to be filled into the workpiece.

(13) In a configuration in which the discharge parameter and suction parameter are set by the operation parameter setting unit described above, it is preferable that the operation parameter setting unit initially sets the suction parameter to a predetermined value and initially sets the discharge parameter based on at least one of the initially set suction parameter and the amount of fluid to be filled into the workpiece. With this configuration, by considering the suction parameter, a more appropriate (closer to the correct) discharge parameter can be set. Therefore, the time required for the user to set the discharge parameter is reduced, and cumbersome tasks can be eliminated. Note that the amount of fluid to be filled is a concept that includes both the mass and volume of the fluid to be filled into the workpiece.

(14) In this case, preferably, a calibration operation can be performed to optimize the operating parameters according to the filling conditions, and the calibration operation is characterized in that the operation control unit performs a test filling operation in accordance with the discharge parameters. With this configuration, when performing the calibration operation, the user does not need to perform the initial setup of the suction parameters and discharge parameters related to the calibration operation. Therefore, since the complicated work in the calibration operation is eliminated, test filling can be performed quickly.

(15) In a configuration in which the discharge parameters are corrected by the operation parameter setting unit described above, preferably, the correction information receiving unit receives the measured amount of fluid filled into the workpiece and the target amount of fluid as correction information, and the operation parameter setting unit corrects the discharge parameters using the relationship between the measured amount of fluid and the target amount of fluid received by the correction information receiving unit. With this configuration, the discharge parameters are automatically corrected by the operation parameter setting unit based on the relationship between the measured amount of fluid and the target amount of fluid as correction information received by the correction information receiving unit, so that the user can obtain the desired amount of fluid without having to perform complicated calculations regarding the correction of the discharge parameters.

According to an aspect of the present invention, a dispenser system can be provided that comprises a coating system capable of shortening the time required to adjust the amount of fluid applied to a workpiece, and a filling system capable of shortening the time required to adjust the amount of fluid filled into a workpiece.

(a) is a schematic diagram showing the overall configuration of the coating system according to an embodiment of the present invention, and (b) is a schematic diagram showing another overall configuration of the coating system according to an embodiment of the present invention. This is a cross-sectional view showing a dispenser device used in the coating system according to this embodiment. This is a block diagram showing the coating system according to this embodiment. This flowchart shows the procedure for adjusting the coating amount of the coating system according to this embodiment. This flowchart shows the procedure for adjusting the coating amount of the coating system according to this embodiment. This is an illustrative diagram illustrating the method for calculating the rotational speed of the dispenser device in the coating system according to this embodiment. This graph shows the relationship between forward rotation speed and reverse rotation speed to explain the reverse suction setting of the coating system according to this embodiment. This graph shows the relationship between the forward rotation speed and the target coating amount in the dispenser device of the coating system according to this embodiment. This is an illustrative diagram illustrating the correction of the operating parameters of the coating system according to this embodiment. This is a coating shape specification image diagram in the coating system according to this embodiment, where coating conditions and operating parameters are displayed. This is a diagram showing the correction information display that is shown when correcting the operating parameters in the coating system according to this embodiment. This is a diagram showing the correction information display that is shown when correcting the operating parameters in the coating system according to this embodiment. This is a schematic diagram showing the overall configuration of a filling system according to another embodiment of the present invention.

The following describes a coating system, which is one embodiment of the dispenser system of the present invention, with reference to the attached drawings. These drawings are schematic and do not necessarily represent the sizes in precise proportions. Also, similar components are denoted by the same reference numerals in the drawings.

The coating system 100 according to this embodiment will be described with reference to Figures 1 to 12. As shown in Figure 1(a), the coating system 100 mainly comprises a dispenser device 1, a dispenser control device 2, a robot 3, a robot control device 4, and an input/output device 5 (see Figure 3). These devices are electrically connected by wired or wireless communication to enable one-way or bidirectional information communication. The dispenser control device 2 mainly controls the entire dispenser device 1. The robot control device 4 mainly controls the entire robot 3. The dispenser device 1 is attached to the robot 3.

The coating system 100 operates the dispenser device 1 according to the operating parameters derived and set based on the coating conditions specified in the dispenser control device 2, and operates the robot 3 according to the operating parameters derived and set based on the coating conditions specified in the robot control device 4. In this way, the coating system 100 performs a process of applying a fluid coating material to a workpiece (object to be coated) under predetermined coating conditions through a predetermined coating process.

Furthermore, as shown in Figure 1(b), it is possible to control both the dispenser control device 1 and the robot 3 by integrating the control functions of both the dispenser control device 2 and the robot control device 4 into a single control device. Alternatively, it is also possible to divide the above control functions into three or more control devices.

The dispenser device 1 is designed to dispense and apply a fluid (coating material) to a workpiece (object to be coated). The dispenser device 1 is primarily composed of a single-screw eccentric pump 10 for pumping the coating material. The dispenser device 1 operates according to operation commands from the dispenser control device 2, driving the pump mechanism 11 and dispensing the coating material from the discharge port 12 at its tip, enabling spot coating, line coating, and other methods of application to the workpiece.

As shown in Figure 2, the single-screw eccentric pump 10 is a rotary positive displacement pump. The single-screw eccentric pump 10 comprises a male-screw type rotor 13 that rotates eccentrically when powered, a stator 14 with an inner surface 14a formed in a female-screw shape, and a motor 15.

The rotor 13 is a metal shaft with an n-thread (n=1 in this embodiment) male screw shape. The stator 14 is a substantially cylindrical member having a through hole 14b formed on its inner circumferential surface 14a with an n+1-thread (n=1 in this embodiment) female screw shape. The single-screw eccentric pump 10 has a pump mechanism 11, the main part of which is formed by inserting the rotor 13 into the through hole 14b of the stator 14, and this mechanism is housed in a pump casing 17. The pump mechanism 11 has the function of moving the coating material toward the discharge port 12.

The motor 15 serves as the drive source for the single-shaft eccentric screw pump 10. The motor 15 is connected to the base end of the rotor 13 via a power transmission unit and an eccentric rotation unit (not shown). Therefore, by operating the motor 15, the single-shaft eccentric screw pump 10 can freely eccentrically rotate the rotor 13 within the through-hole 14b.

The single-screw eccentric pump 10 can advance the fluid transport path 16 formed between the rotor 13 and the stator 14 in the longitudinal direction by rotating the rotor 13 in the forward direction within the through-hole 14b of the stator 14. Therefore, by rotating the rotor 13, it is possible to draw fluid into the fluid transport path 16 from one end of the stator 14, transport it toward the other end of the stator 14, and discharge it. Furthermore, the amount of fluid transported (discharged) can be controlled according to the rotation amount of the rotor 13 (motor 15). In addition, by switching the rotation direction of the rotor 13 to the reverse direction, the direction of fluid travel within the fluid transport path 16 can be switched.

The dispenser device 1 can perform a discharge operation in which the pump mechanism 11 is operated (forward rotation) so that the coating material moves from the pump mechanism 11 towards the discharge port 12, and a suck-back operation in which the pump mechanism 11 is operated (reverse rotation) so that the coating material moves from the discharge port 12 towards the pump mechanism 11. In other words, the dispenser device 1 can perform a discharge operation in which the coating material is discharged from the discharge port 12 by operating the pump mechanism 11 in the forward direction (forward rotation). Furthermore, the dispenser device 1 can perform a suck-back operation in which the coating material is sucked in by operating the pump mechanism 11 in the reverse direction (reverse rotation). In addition, the dispenser device 1 can perform a coating operation in which the coating material is applied to the workpiece by performing a suck-back operation after discharging the coating material to the workpiece through the discharge operation.

Robot 3 is used to move the dispenser device 1 relative to the workpiece. An example of robot 3 is an industrial robot. Robot 3 can operate its robot arm based on command signals from the robot motion control unit 41 of the robot control device 4. Therefore, the robot motion control unit 41 can control the movement of the dispenser device 1 attached to the tip of the robot arm along a predetermined trajectory.

The input/output device 5 is a device for inputting and displaying coating conditions (coating information), inputting and displaying correction (modification) of discharge parameters and suction parameters, and outputting the input information. Coating conditions refer to information related to the coating pattern of the coating material applied to the workpiece, such as the target coating amount, target coating dimensions (coating diameter of the coating cross-section, coating height), coating time, and coating speed, but are not limited to these conditions. Furthermore, the "amount" mentioned above includes both volume and mass. The input/output device 5 also includes a touch panel. The touch panel handles both the display function (display device 51) and the input function (input device 52) of coating information. The display device 51 is composed of a liquid crystal display device or an organic EL display device, and various images (GUI) described later are displayed on the display device 51.

The input/output device 5 (touch panel) is configured to display and/or input coating conditions, operating parameters, and correction information for various images (GUI: Graphical User Interface) displayed on the display device 51, as shown in Figures 10 to 12.

As shown in Figure 3, the dispenser control device 2 includes an input reception unit 21, a coating condition setting unit 22, an operation parameter setting unit 23, a parameter relationship generation unit 24, an operation control unit 25, a storage unit 26, a correction information reception unit 27, and a display control unit 28.

The input receiving unit 21 receives input from the user regarding the application conditions of the coating material to the workpiece, for example, in response to various images displayed on the display device 51 of the input/output device 5.

The coating condition setting unit 22 can set at least one of the following as coating conditions: the target coating amount applied to the workpiece, the target coating dimensions of the coating cross-section, and operating parameters. The coating dimensions refer to the dimensions related to the coating diameter and coating height of the coating cross-section when the coating applied to the workpiece is considered as a hemisphere of a spheroid. Note that the above setting method is just one example; calculation methods for setting the coating diameter and/or coating height can be prepared separately. Furthermore, in the case of linear coating where the coating material is applied linearly to the workpiece, a value related to the length of the line is relevant, and for example, the volume of the shape (semi-circular) of the linear coating material when viewed in cross-section may be calculated.

The operation parameter setting unit 23 derives and sets operation parameters that correlate with the amount of coating material applied to the workpiece, based on the coating material application conditions. Note that "derives and sets based on the coating material application conditions" includes cases where the operation parameter setting unit 23 sets the operation parameters fully automatically, and cases where the user partially manually operates (inputs conditions) when setting the operation parameters.

The operating parameters include discharge parameters and suction parameters. Discharge parameters are parameters that correlate with the amount of coating material discharged by the pump mechanism 11. Discharge parameters are derived and set based on the discharge conditions of the coating material. Discharge conditions are arbitrary numerical values related to discharge input by the user to the dispenser control device 2, such as "discharge time" and "discharge rotation speed". Discharge parameters are, for example, the output and/or operating time during forward rotation of the dispenser device 1. The "output" refers to the rotation speed of the rotor 13 or motor 15 in the case of a single-screw eccentric type, the movement speed of the plunger in the case of a plunger type, and the air pressure in the case of an air type. Suction parameters are parameters that correlate with the amount of coating material suctioned by the pump mechanism 11. Suction parameters are derived and set based on the suction conditions of the coating material. Suction parameters are, for example, the output and/or operating time during suck-back operation of the dispenser device 1. The suction conditions refer to arbitrary numerical values related to suction input by the user to the dispenser control device 2.

The operation parameter setting unit 23 can derive and set operation parameters using a method described later. For example, the operation parameter setting unit 23 can set operation parameters based on the coating conditions set in the coating condition setting unit 22, and then set the discharge amount of coating material during discharge operation to increase in response to the decrease in the amount of coating material applied due to suck-back operation.

The operation parameter setting unit 23 can derive and set discharge parameters using the methods described later. For example, the operation parameter setting unit 23 can derive and set discharge parameters based on discharge conditions of the coating material that correlate with the discharge amount of the coating material by the pump mechanism unit 11; based on the target discharge amount (or target application amount) of the coating material discharged (or applied) to the workpiece during discharge operation; and/or based on the difference between the target discharge amount (or target application amount) and the actual discharge amount (or actual application amount) of the coating material discharged (or applied) to the workpiece during discharge operation.

The operation parameter setting unit 23 can derive and set the suction parameter based on its relationship with the discharge parameter set by the operation parameter setting unit 23.

Furthermore, the coating system 100 can perform a calibration operation (initial setup) to optimize the operating parameters according to the coating conditions. During the calibration operation, the operating parameter setting unit 23 provisionally sets the amount of coating material suctioned during suck-back operation as a provisional suction amount. For example, when the operating parameter setting unit 23 provisionally sets the amount of coating material suctioned during suck-back operation as a provisional suction amount, it is configured to calculate based on at least one of the following: (1) target coating amount and/or target coating dimensions, (2) discharge parameters such as forward rotation speed and/or time, (3) arbitrary values entered by the user, (4) fixed values independent of other conditions or parameters, and (5) suction parameters.

In other words, the operation parameter setting unit 23, during the calibration operation, initially sets the suction amount (preliminary suction amount) to a predetermined value, and also initially sets the discharge parameters (rotation speed) based on the initially set preliminary suction amount, target coating dimensions, target coating amount, and coating time. Subsequently, the operation control unit 25 performs a test coating, experimentally executing the coating operation according to the initially set discharge parameters.

As described above, in this embodiment, the operating parameter setting unit 23, in its initial settings, determines the initial forward rotation speed using a calculation formula that takes into account the reduction in coating amount due to reverse suction. As an example, this is shown by the following formula: Forward rotation speed = ((discharge amount) + (hypothetical reverse suction amount)) / (theoretical discharge amount × forward rotation time). In other words, the numerator of the above formula is set as the provisional coating amount, which is the discharge amount plus a hypothetical reverse suction amount, with the aim of matching the provisional coating amount to the target coating amount. The target coating amount is calculated by assuming a "hemispheric ellipsoid with the desired coating diameter and coating height." As described above, by including the "hypothetical reverse suction amount," it is possible to calculate a more appropriate (closer to the correct) forward rotation speed from the initial stage.

The parameter relationship generation unit 24 generates the relationship between discharge parameters and suction parameters based on actual values related to the combination of discharge and suction parameters. These actual values are derived from past calculation results, simulation results, etc.

The operation control unit 25 controls the operation of the dispenser device 1 according to the operation parameters set in the operation parameter setting unit 23.

The memory unit 26 stores pre-programmed data, information, and various images displayed on the display device 51 that control the entire dispenser device 1. The memory unit 26 also stores the history of application conditions (patterns) entered by the user, as well as the set operating parameters.

The correction information receiving unit 27 receives correction information related to the correction of operating parameters for adjusting the coating amount to obtain the desired coating amount. The correction information receiving unit 27 receives correction information such as the measured coating dimensions and coating amount of the coating cross-section of the coating material applied to the workpiece, as well as the target coating dimensions and target coating amount of the coating cross-section of the coating material.

The correction information receiving unit 27 includes a discharge parameter correction information receiving unit 271 and a suction parameter correction information receiving unit 272. The discharge parameter correction information receiving unit 271 receives input of correction information related to the correction of discharge parameters for adjusting the discharge amount of the coating material. The suction parameter correction information receiving unit 272 receives input of correction information related to the correction of suction parameters for adjusting the suction amount of the coating material.

The operation parameter setting unit 23 corrects the operation parameters based on the correction information received by the correction information receiving unit 27. For example, the operation parameter setting unit 23 corrects the discharge parameter using the relationship between the measured coating dimension and the target coating dimension of the coating material received by the correction information receiving unit 27. Note that this is not limited to the measured coating dimension or target coating dimension; it could also be the measured coating amount or target coating amount. Furthermore, the operation parameter setting unit 23 can correct the suction parameter using the relationship between the discharge parameter and the suction parameter, based on actual values relating to the combination of the discharge parameter and the suction parameter.

The display control unit 28 controls the display of the coating condition display unit 281, the operation parameter display unit 282, and the correction information display unit 283 on the display device 51 of the input/output device 5. The coating condition display unit 281 displays the coating conditions received by the input reception unit 21. This coating condition display unit 281 is, for example, an image related to the "width" and "height" in the coating shape specification image shown in Figure 10(a).

The operation parameter display unit 282 displays the operation parameters (discharge parameters and suction parameters) derived and set by the operation parameter setting unit 23 based on the coating conditions received by the input reception unit 21. This operation parameter display unit 282 displays, for example, images related to the "discharge rotation speed," "discharge time," "suction speed," and "suction time" in the coating shape specification image shown in Figure 10(a).

The correction information display unit 283 displays the correction information received by the correction information reception unit 27. This correction information display unit 283 displays images related to, for example, "suction speed," "suction time," "diameter," and "height," as shown in Figures 11 and 12.

Next, the procedure for adjusting the coating amount of the coating system according to this embodiment will be described with reference to Figures 3 to 12.

As shown in Figure 4, in step S1-1, the user inputs (sets) the coating conditions for the coating material to be applied to the workpiece, such as the coating dimensions and coating time. At this time, for example, an image of the coating shape specification (coating condition display unit 281 and operation parameter display unit 282) as shown in Figure 10(a) is displayed on the display device 51. The user inputs the coating conditions for the coating material to be applied to the workpiece, such as the coating dimensions (width and height shown in Figure 10(a)) and coating time (dispensing time), by operating the touch panel on the coating shape specification image displayed on the display device 51. The information (coating conditions) input by the user is received by the input reception unit 21 of the dispenser control device 2 and set as coating conditions by the coating condition setting unit 22. Also, when the "?" button in the image shown in Figure 10(a) is pressed, an explanatory diagram regarding the coating dimensions of the coating material, as shown in Figure 10(b), is displayed. In this embodiment, the "suction speed" and "suction time" shown in Figure 10(a) are pre-displayed as temporary, fixed values. However, the user may be allowed to input different values. If the user inputs different values, the system may either prevent these values from being reflected in the calculation result of the "discharge rotation speed" in step S1-2 (described later), or it may be controlled to reflect these values in the calculation result.

Furthermore, if the provisional suction time is too long compared to the discharge time entered by the user, the system may be automatically adjusted to shorten the suction time. Note that the "constant value" mentioned above is a provisional value and can be set as appropriate. In addition, the "suction speed" and "suction time" may be automatically set based on application conditions such as the target coating amount and/or target coating dimensions, or discharge parameters such as forward rotation speed and/or time. In this embodiment, suction parameters such as "suction speed" and "suction time" are displayed and/or inputtable, but instead of these, or in addition, "suction volume" and/or "provisional suction volume" may also be displayed and/or inputtable. In this case, the suction volume and provisional suction volume can be various values, such as a constant value, a value entered by the user, or a value automatically calculated based on the application conditions and discharge parameters, similar to the suction speed and suction time.

Next, in step S1-2, the forward rotation speed of the dispenser device 1 is automatically calculated. At this time, the dispenser control device 2 calculates the forward rotation speed by taking into account a provisional reverse suction amount (provisional suction amount). Specifically, in the calibration operation (initial setting), the operation parameter setting unit 23 provisionally sets the amount of coating material suctioned during suck-back operation as the provisional suction amount. Furthermore, the operation parameter setting unit 23 provisionally sets the operation parameter (forward rotation speed) based on the provisional coating amount, which is the amount obtained by adding the provisional suction amount to the amount of coating material discharged during discharge operation, and using the provisional coating amount as the provisional coating amount discharged to the workpiece by the coating operation. At this time, the operation parameter setting unit 23 calculates based on the formula shown as: Forward rotation speed = ((discharge amount) + provisional reverse suction amount) / (theoretical discharge amount × forward rotation time). Note that if suction parameters such as suction speed and suction time are displayed and/or entered on the coating shape specification screen mentioned above, the provisional suction amount can be calculated and used based on those values. On the other hand, if the suction volume or provisional suction volume is displayed and/or entered, those values can be used directly as the provisional suction volume, or a different value calculated based on those values can be used as the provisional suction volume.

Here, the method for calculating the rotational speed in the dispenser device 1 will be explained using an illustrative diagram. As shown in Figure 6, with the horizontal axis representing time t and the vertical axis representing rotational speed V, region A represents the discharge amount during forward rotation, region B represents the suction amount during reverse rotation, and region C (shaded area) represents the amount that is not actually applied. In this case, if the target application amount is 100, the conventional calculation method calculates so that A = 100. As a result, the decrease in B is not taken into account, so the application amount becomes, for example, less than expected, such as 97. On the other hand, the calculation method according to this embodiment calculates so that A - B = 100. In the initial calculation stage, since the suction parameter is undetermined and the value of B (suction amount) is not fixed, a provisional value (provisional suction amount) is used in the calculation. This makes it possible to reduce errors compared to the conventional calculation method.

Next, in step S1-3 shown in Figure 4, a test coating (trial coating) is performed, executing the coating operation according to the operating parameters provisionally set by the operating parameter setting unit 23.

Next, in step S2, the suction parameters are corrected to an appropriate level. During the test application in steps S1-3, dripping or excessive suction is common, making it difficult to accurately measure the application amount and dimensions. Therefore, the suction parameters are corrected (corrected) to an appropriate level. The user observes the state of liquid depletion in the coating material and sets the suction parameters related to the suction time and suction speed. For example, the user inputs "suction speed 1" and "suction time" as reverse suction conditions in the correction 1 image (correction information display unit 283) shown in Figure 11(a) on the display device 51. At this time, the information (correction information) input by the user is received by the suction parameter correction information receiving unit 272 of the correction information receiving unit 27 of the dispenser control device 2. Note that if suck-back operation is not performed during the test application, no suction of the coating material occurs. Therefore, the correction (correction) of the suction parameters in step S2 may include cases where new conditions are set when suck-back operation is not performed.

Next, in step S3, the operation parameter setting unit 23 derives and sets the operation parameters based on the coating and suction conditions input in steps S1 and S2, and performs a test coating with reverse suction. For example, the user touches the "Operation 1" switch on the correction 2 image (correction information display unit 283) displayed on the display device 51, as shown in Figure 11(b), to dispense the liquid several times.

Next, in step S4, the user actually measures the application dimensions of the coating material applied to the workpiece using a caliper, ruler, or similar tool. The user inputs the measured application dimensions ("Diameter 1" and "Height 1") into the correction 2 image shown in Figure 11(b) displayed on the display device 51. At this time, the information (correction information) input by the user is received by the correction information receiving unit 27 of the dispenser control device 2. Alternatively, measuring equipment for measuring the application dimensions of the coating material may be installed at an arbitrary position to automatically measure the application dimensions. Furthermore, by providing a communication device to transmit the measurement results from the measuring equipment, both the measurement of application dimensions and parameter setting can be automated.

Next, as shown in Figure 5, in step S5-1, based on the measurement results from step S4, the dispenser control device 2 predicts the range of forward rotation speeds in which the desired coating dimensions can be obtained, and instructs the device to adjust the suction parameters at several points in the forward rotation speed range (displayed on the display device 51). At this time, for example, by touching the switches labeled "Operation 2," "Operation 3," and "Operation 4" as shown in Figure 12(a) to dispense the liquid, a correction 3 image (correction information display unit 283) is displayed on the display device 51, which sets the parameters of "Suction Speed 2," "Suction Speed 3," and "Suction Speed 4" so that the liquid does not run out properly. The display control unit 28 may also control the display device 51 to display an image such as "Please adjust the reverse suction of forward rotation speed x rotations." The adjustment of the reverse suction (automatic setting) described above may also be performed based on a combination of only one forward rotation speed and a reverse rotation speed. In this case, relationships are generated by artificial intelligence (AI) or similar based on the parameters set in step S2, and steps S5-1 and S5-2 may be omitted.

Specifically, in step S4, when the user inputs the measurement result of the coating dimensions into a predetermined item in the correction 2 image shown in Figure 11(b), the operation parameter setting unit 23 estimates (automatically specifies) the forward rotation speed range that will yield the desired coating amount. The method for determining the forward rotation speed range involves multiplying the ratio of the actual coating amount (calculated from the actual coating dimensions) obtained in step S4 to the target coating amount (calculated from the target coating dimensions) by a predetermined margin rate, and setting this as the upper or lower limit of the range. A simpler variation is to omit the actual coating amount from the calculation and specify the range based only on the target coating amount, either through calculation or database use. Furthermore, it is possible to use not only the coating amount but also the coating dimensions, i.e., diameter (width), height, or area (which may be calculated based on diameter or height, or obtained through image processing, etc.), in the calculation.

For example, in the example shown in Figure 7, if the horizontal axis is set to the forward rotation speed [ ^min⁻¹ ] and the vertical axis to the reverse rotation speed [ ^min⁻¹ ], it is estimated that the forward rotation speed range is in the range of 10.0 to 20.9 [ ^min⁻¹ ]. Note that the reverse rotation speed at a forward rotation speed of 10.0 [ ^min⁻¹ ] has already been adjusted and input in step S2, so in the corrected 3 image shown in Figure 12(a), the instructions are to adjust and input the reverse rotation speeds at forward rotation speeds of 13.6 [ ^min⁻¹ ], 17.3 [ ^min⁻¹ ], and 20.9 [ ^min⁻¹ ], respectively. Also, the reverse suction time is to be kept constant and not changed. Note that the reverse suction time may be changed while the rotation speed is kept constant.

Next, in step S5-2, the user pre-adjusts the suction parameters corresponding to the instructed forward rotation speed. For example, the user touches the "Operation 2," "Operation 3," and "Operation 4" switches in the correction 3 image shown in Figure 12(a) displayed on the display device 51 to dispense liquid. Next, the user adjusts the parameters "Suction Speed 2," "Suction Speed 3," and "Suction Speed 4" so that the liquid flow is appropriate. After that, the user inputs the adjusted results from the input/output device 5 (touch panel), and the input results are received by the suction parameter correction information receiving unit 272 of the correction information receiving unit 27 of the dispenser control device 2. In this way, by setting appropriate reverse rotation speeds (suction parameters) corresponding to multiple forward rotation speeds (discharge parameters), the relationship between the two is generated. That is, the parameter relationship generation unit 24 generates the relationship between the discharge parameters and suction parameters based on the actual values related to the combination of forward rotation speed (discharge parameters) and reverse rotation speed (suction parameters). For example, the parameter relationship generation unit 24 can generate the relationship using an approximation curve with multiple points. Specifically, in the example in Figure 7, the relationship is generated by linear interpolation using two points, but linear interpolation using three or more points, or polynomials, exponential approximation, logarithmic approximation, sine waves, etc., may also be used. By generating the relationship in this way, even if the changed forward rotation speed is not the forward rotation speed for which the suction parameters were set in step S2 or step S5-2, it becomes possible to automatically calculate the appropriate suction parameters. In step 5-2, once it is confirmed that proper liquid depletion has been achieved at the three rotation speeds described above, proceed to the next step.

Next, steps S6 and S7 are repeated. In step S6, coating is performed based on the forward and reverse rotation speeds calculated by the operation parameter setting unit 23. In step S7, the coating dimensions (diameter and height) of the coating applied to the workpiece by the user are measured, and the measurement results are input. The processing contents of steps S6 and S7 are described in detail below.

In step S6, the operation parameter setting unit 23 calculates the forward rotation speed based on the setting dimensions set in step S1-1, and also calculates the reverse rotation speed based on the relationship between the forward and reverse rotation speeds obtained in step S5. When calculating the forward rotation speed, a graph is referenced, for example, as shown in Figure 8, where the horizontal axis represents the forward rotation speed and the vertical axis represents the amount of coating material applied (the hemispherical volume of the ellipsoid calculated from the trial application and measured dimensions). In Figure 8, Z(n-2) shows the rotation speed and coating amount applied in the (n-2)th application, and Z(n-1) shows the rotation speed and coating amount applied in the (n-1)th application. Z(0) can be the corrected prediction for the next (n-th) application, representing the rotation speed and target coating amount.

The corrected prediction described above will be explained with reference to the image in Figure 9. In Figure 9, similar to Figure 8, the horizontal axis represents the forward rotation speed, and the vertical axis represents the amount of coating material applied. In Figure 9(a), the first application is represented as "○" and the second as "△". If the relationship between the application amount and rotation speed is linear, it is estimated that applying at the calculated rotation speed will result in an amount of "□". The actual amount applied is represented as "◇". Next, in Figure 9(b), since the correction uses data from the past two applications, "△" is replaced with "○" and "◇" is replaced with "△" for the calculation. By repeating the above calculation multiple times, as shown in Figure 9(c), "○" and "△" will approach each other.

As described above, corrections based on the relationship between the two previous measured values (actual values) (by connecting the two points with a line) can only be made from the third test application onwards. Therefore, in the first application, the first point is plotted by performing calculations and measurements as shown in steps S1 to S4. In the second application, the rotation speed for the second application is calculated by multiplying the difference (ratio) between the measured application dimension from the first application and the desired application dimension by the rotation speed from the first application. By performing a test application and measurement at this rotation speed, the second point is plotted. In the third application, the rotation speed corresponding to the desired application dimension is derived by connecting the first and second points with a line. This process is repeated in the manner described above until the target application amount is achieved.

Next, in step S7, the application dimensions (diameter and height) of the coating material applied to the workpiece by the user are measured, and the measurement results are input. For example, if there are multiple coating materials applied to the workpiece, the average value of each application dimension may be input. At this time, for example, the user inputs "diameter 2" and "height 2" as the measurement results of the application dimensions in the correction 4 image (correction information display unit 283) shown in Figure 12(b) displayed on the display device 51. At this time, the information (correction information) input by the user is received by the discharge parameter correction information reception unit 271 of the correction information reception unit 27 of the dispenser control device 2, and the operation parameter setting unit 23 corrects the operation parameters based on the correction information. Steps S6 and S7 are repeated. At this time, in step S6, as described above, each time, the operation parameter setting unit 23 calculates the forward rotation speed based on the relationship between the measured dimensions measured in steps S4 and S7 and the set dimensions set in step S1-1, and also calculates the reverse rotation speed based on the relationship between the forward rotation speed and the reverse rotation speed obtained in step S5.

According to the embodiments described above, the following effects (1) to (11) can be obtained.

(1) In the coating system 100 according to the above embodiment, the operating parameter display unit 282, which displays the operating parameters derived and set by the operating parameter setting unit 23 based on the coating conditions received by the input reception unit 21, is displayed on the display device 51. According to the above embodiment, as the input reception unit 21, which receives input of coating conditions for the coating material on the workpiece, receives the coating conditions entered by the user, the operating parameter setting unit 23 automatically sets appropriate operating parameters, and these operating parameters can be displayed on the operating parameter display unit 282. In other words, since the operating parameters are automatically set by the operating parameter setting unit 23 based on the coating conditions received by the input reception unit 21, it is no longer necessary for the user to calculate and set operating parameters based on, for example, the dimensions of the coating cross-section of the coating material applied to the workpiece, thus eliminating the need for difficult adjustment know-how. As a result, by automatically setting the motion parameters based on the coating conditions of the coating material, the time required to adjust the amount of coating material applied can be shortened. Furthermore, since the operating parameters set by the operating parameter setting unit 23 are displayed on the operating parameter display unit 282, the user can visually confirm the motion parameters on the display device 51.

(2) In the coating system 100 according to the above embodiment, the discharge parameters are derived and set based on the discharge conditions of the coating material, and the suction parameters are derived and set based on the suction conditions of the coating material. As a result, the operation parameter setting unit 23 automatically derives and sets the discharge parameters based on the discharge conditions of the coating material, or automatically derives and sets the suction parameters based on the suction conditions of the coating material. This eliminates the need for the user to calculate and set the discharge and suction parameters based on, for example, the dimensions of the coating cross-section of the coating material applied to the workpiece. This eliminates the need for cumbersome work when setting the discharge and suction parameters.

(3) In the coating system 100 according to the above embodiment, the operation parameter setting unit 23 sets the suction parameter based on the coating conditions or discharge parameter set in the coating condition setting unit 22. As a result, the suction parameter is automatically set by the operation parameter setting unit 23 based on the coating conditions (at least one of the dimensions of the coating cross-section of the fluid and the coating amount) or discharge parameter set in the coating condition setting unit 22, eliminating the need for the user to set the suction parameter through trial and error beforehand. This eliminates the cumbersome process of setting the suction parameter.

(4) In the coating system 100 according to the above embodiment, the operation parameter setting unit 23 initially sets the suction parameter to a predetermined value and also initially sets the discharge parameter based on at least one of the following: the initially set suction parameter, the dimensions of the coating cross-section of the coating material applied to the workpiece, and the coating amount. This allows for the setting of a more appropriate (closer to the correct) discharge parameter by considering the suction parameter. Therefore, the time required for the user to set the discharge parameter is reduced, and cumbersome tasks can be eliminated.

(5) In the coating system 100 according to the above embodiment, the operation control unit 25 performs a test coating, executing the coating operation experimentally according to the initially set discharge parameters. This eliminates the need for the user to initially set the discharge parameters related to the calibration operation when performing the calibration operation. Therefore, since the complicated work involved in the calibration operation during initial setup is eliminated, test coating can be performed quickly.

(6) In the coating system 100 according to the above embodiment, the operation parameter setting unit 23 corrects the operation parameters based on the correction information received by the correction information receiving unit 27. As a result, the operation parameter setting unit 23 automatically corrects the operation parameters, allowing the user to obtain the desired coating amount without having to perform complicated calculations regarding the correction of operation parameters.

(7) In the coating system 100 according to the above embodiment, the correction information display unit 283, which displays the correction information received by the correction information receiving unit 27, is displayed on the display device 51 by the display control unit 28. This allows the user to visually confirm the correction information on the correction information display unit 283 (the correction information display image diagram shown in Figures 11 and 12).

(8) In the coating system 100 according to the above embodiment, the discharge parameter correction information receiving unit 271 receives input of correction information related to the correction of discharge parameters, and the suction parameter correction information receiving unit 272 receives input of correction information related to the correction of suction parameters. As a result, the discharge parameters are automatically corrected by the operation parameter setting unit 23 based on the correction information received by the discharge parameter correction information receiving unit 271, and the suction parameters are automatically corrected by the operation parameter setting unit 23 based on the correction information received by the suction parameter correction information receiving unit 272. Therefore, the user can obtain the desired amount of coating material without having to perform complicated calculations regarding the correction of discharge and suction parameters.

(9) In the coating system 100 according to the above embodiment, the operation parameter setting unit 23 corrects the discharge parameters using at least one of the following: the relationship between the measured coating dimensions and the target coating dimensions of the coating material, and the relationship between the measured coating amount and the target coating amount, which are received by the correction information receiving unit 27. As a result, the discharge parameters are automatically corrected by the operation parameter setting unit 23 based on at least one of the following: the relationship between the measured coating dimensions and the target coating dimensions of the coating cross-section of the coating material, and the relationship between the measured coating amount and the target coating amount, which are correction information received by the correction information receiving unit 27. Therefore, the user can obtain the desired coating amount without having to perform complicated calculations regarding the correction of the discharge parameters.

(10) In the coating system 100 according to the above embodiment, the operation parameter setting unit 23 corrects the suction parameter based on actual values relating to the combination of the discharge parameter and the suction parameter, utilizing the relationship between the discharge parameter and the suction parameter. As a result, the relationship between the two is generated by setting an appropriate suction parameter corresponding to the discharge parameter, eliminating the need for the user to pre-set an appropriate suction parameter corresponding to the discharge parameter through trial and error.

(11) In the coating system 100 according to the above embodiment, when the discharge parameter is corrected, the operation parameter setting unit 23 corrects the suction parameter so that it changes to correspond to the discharge parameter, using the correction result of the suction parameter that was performed separately. This reduces the user's burden regarding suction parameter correction, as the suction parameter is automatically corrected by utilizing the correction result of the suction parameter that was performed separately.

(Other embodiments)
Next, with reference to Figure 13, a filling system 110 according to another embodiment will be described.

As shown in Figure 13, the filling system 110 mainly comprises a dispenser device 1, a dispenser control device 2, a robot 3, and a robot control device 4. These devices are electrically connected by wired or wireless communication to enable one-way or two-way information communication. The dispenser control device 2 primarily controls the entire dispenser device 1. The robot control device 4 primarily controls the entire robot 3. The dispenser device 1 is attached to the robot 3.

In this embodiment, the only difference between the filling system 110 and the coating system 100 described above is that the filling system 110 fills the object to be filled 130, such as a container, with the filler material 120 discharged from the dispenser device 1. Therefore, the configuration provided in the coating system 100 can be replaced in the filling system 110.

According to the embodiments described above, the following effects (12) to (22) can be obtained.

(12) In the filling system 110 according to the above embodiment, the operating parameter display unit 282, which displays the operating parameters derived and set by the operating parameter setting unit 23 based on the filling conditions received by the input receiving unit 21, is displayed on the display device 51. According to the above embodiment, when the input receiving unit 21, which receives input of the filling conditions for the filler material 120 to be filled 130, receives the filling conditions entered by the user, the operating parameter setting unit 23 automatically sets appropriate operating parameters and displays the operating parameters on the operating parameter display unit 282. In other words, since the operating parameters are automatically set by the operating parameter setting unit 23 based on the filling conditions received by the input receiving unit 21, for example, the user does not need to calculate and set the operating parameters based on the mass of the filler material 120 to be filled into the object 130, thus eliminating the need for difficult adjustment know-how. As a result, by automatically setting the motion parameters based on the filling conditions of the filler material 120, the adjustment time for the amount of filler material 120 to be filled can be shortened. Furthermore, the operating parameters set by the operating parameter setting unit 23 are displayed on the operating parameter display unit 282, allowing the user to visually confirm the motion parameters on the display device 51.

(13) In the filling system 110 according to the above embodiment, the discharge parameters are derived and set based on the discharge conditions of the filler material 120, and the suction parameters are derived and set based on the suction conditions of the filler material 120. As a result, the operation parameter setting unit 23 automatically derives and sets the discharge parameters based on the discharge conditions of the filler material 120, or automatically derives and sets the suction parameters based on the suction conditions of the filler material 120. Therefore, for example, the user does not need to calculate and set the discharge parameters and suction parameters based on the amount of filler material 120 filled into the object to be filled 130. This eliminates the need for cumbersome work when setting the discharge parameters and suction parameters.

(14) In the filling system 110 according to the above embodiment, the operation parameter setting unit 23 sets the suction parameter based on the filling conditions or discharge parameters set in the filling condition setting unit (which has the same configuration as the coating condition setting unit 22 in the coating system 100). As a result, the suction parameter is automatically set by the operation parameter setting unit 23 based on the filling conditions or discharge parameters set in the filling condition setting unit, eliminating the need for the user to manually set the suction parameter beforehand. This eliminates the cumbersome process of setting the suction parameter.

(15) In the filling system 110 according to the above embodiment, the operation parameter setting unit 23 initially sets the suction parameter to a predetermined value and also initially sets the discharge parameter based on the initially set suction parameter and the amount of filler material 120 to be filled into the object to be filled 130. This allows for the setting of a more appropriate (closer to the correct) discharge parameter by considering the suction parameter. Therefore, the time required for the user to set the discharge parameter is reduced, and cumbersome tasks can be eliminated.

(16) In the filling system 110 according to the above embodiment, the operation control unit 25 performs a test filling operation, which is executed experimentally according to the initially set discharge parameters. This eliminates the need for the user to initially set the discharge parameters related to the calibration operation when performing the calibration operation. Therefore, since the complicated work involved in the calibration operation during initial setup is eliminated, test filling can be performed quickly.

(17) In the filling system 110 according to the above embodiment, the operation parameter setting unit 23 corrects the operation parameters based on the correction information received by the correction information receiving unit 27. As a result, the operation parameter setting unit 23 automatically corrects the operation parameters, allowing the user to obtain the desired amount of filler material 120 without having to perform complicated calculations regarding the correction of operation parameters.

(18) In the filling system 110 according to the above embodiment, the correction information display unit 283, which displays the correction information received by the correction information receiving unit 27, is displayed on the display device 51 by the display control unit 28. This allows the user to visually confirm the correction information on the correction information display unit 283 (the correction information display image diagram shown in Figures 11 and 12).

(19) In the filling system 110 according to the above embodiment, the discharge parameter correction information receiving unit 271 receives input of correction information related to the correction of discharge parameters, and the suction parameter correction information receiving unit 272 receives input of correction information related to the correction of suction parameters. As a result, the discharge parameters are automatically corrected by the operation parameter setting unit 23 based on the correction information received by the discharge parameter correction information receiving unit 271, and the suction parameters are automatically corrected by the operation parameter setting unit 23 based on the correction information received by the suction parameter correction information receiving unit 272. Therefore, the user can obtain the desired amount of filler material 120 without having to perform complicated calculations regarding the correction of discharge and suction parameters.

(20) In the filling system 110 according to the above embodiment, the operating parameter setting unit 23 corrects the discharge parameters using the relationship between the measured amount of filler material 120 and the target amount of filler material 120 received by the correction information receiving unit 27. As a result, the discharge parameters are automatically corrected by the operating parameter setting unit 23 based on the relationship between the measured amount of filler material 120 and the target amount of filler material 120, which is correction information received by the correction information receiving unit 27. Therefore, the user can obtain the desired amount of filler material 120 without having to perform complicated calculations regarding the correction of the discharge parameters.

(21) In the filling system 110 according to the above embodiment, the operating parameter setting unit 23 corrects the suction parameter based on actual values relating to the combination of the discharge parameter and the suction parameter, utilizing the relationship between the discharge parameter and the suction parameter. As a result, the relationship between the two is generated by setting an appropriate suction parameter corresponding to the discharge parameter, eliminating the need for the user to pre-set an appropriate suction parameter corresponding to the discharge parameter through trial and error.

(22) In the filling system 110 according to the above embodiment, when the discharge parameter is corrected, the operating parameter setting unit 23 corrects the suction parameter so that it changes to correspond to the discharge parameter, using the correction result of the suction parameter that was performed separately. This reduces the user's burden regarding suction parameter correction, as the suction parameter is automatically corrected by utilizing the correction result of the suction parameter that was performed separately.

(Other variations)
The above embodiment can also be configured with the following modifications.

In the above embodiment, an example of a dispenser device using a single-screw eccentric type was shown, but the present invention is not limited to this. In the present invention, any dispenser device capable of suck-back operation, such as plunger type (piston type), valve type, screw type, and air type, can be used.

In the above embodiment, the coating conditions mainly consisted of the coating diameter, coating height, and coating time, but the present invention is not limited to these. In the present invention, conditions other than the coating diameter, coating height, and coating time may also be included in the coating conditions.

The above embodiment described the case of spot coating, where the coating material is applied to the workpiece in a dot pattern. However, the present invention is not limited to this. In the case of linear coating, where the coating material is applied to the workpiece in a linear pattern, the coating condition can be a value related to the coating length (length of the line). For example, it may be necessary to calculate the volume of the shape (semi-circular) when the linear coating material is viewed in cross-section. Furthermore, in the case of linear coating, the coating speed (relative movement speed of the dispenser device relative to the workpiece) can be used as a coating condition instead of the coating time.

In the above embodiment, an example of controlling the coating conditions by coating dimensions was shown, but it is also possible to control them by coating amount (volume or mass).

In the above embodiment, an example was shown in which the user determines the suction parameters through a coating test and inputs them to the dispenser control device when the suction parameters are set by the operation parameter setting unit. However, the present invention is not limited to this. In the present invention, by automating the measurement of the dimensions of the coated material, etc., the control device can automatically set the suction parameters without the user having to input them to the control device.

In the above embodiment, an example of operating parameters (discharge parameters and suction parameters) was shown where the discharge parameter was the output and/or operating time during forward rotation of the dispenser device, and the suction parameter was the output and/or operating time during suck-back operation of the dispenser device. However, the present invention is not limited to this. In the present invention, the operating parameters only need to correlate with the amount of coating material applied to the workpiece, and for example, the robot's movement speed or movement distance may also be included as operating parameters.

The above embodiment shows an input/output device (touch panel) in which the display device and input device are integrated, but the present invention is not limited to this. In the present invention, the display device (e.g., a display or monitor) and the input device (e.g., a keyboard, numeric keypad, and mouse) can also be configured as separate components. Furthermore, the control device housing may include an input/output device such as a touch panel, or the touch panel on the control device housing may be eliminated, and a completely separate PC or tablet may be used for data input and display.

In the above embodiment, the coating shape specification image (Figure 10) is configured to allow the user to input coating conditions, etc. In addition, when the user inputs coating conditions, etc., a graphic reflecting those conditions may be displayed on the coating shape specification image of the display device. This allows the user to visually confirm the coating shape of the coating material to be applied.

In the above embodiment, the application shape specification image (Figure 10) is configured to allow the user to input application conditions, etc. However, in addition to this, drawing methods such as AutoShapes may also be used, allowing for shape input and resizing through operations such as dragging with a mouse or pinching in (zooming in) and pinching out (zooming in) on a touch panel, where the thumb and index finger are brought closer together and further apart, and these changes are automatically reflected in the dimension values.

In the above embodiment, the coating shape specification image (Figure 10) is configured to allow the user to input coating conditions, etc. However, in addition to this, an input section for inputting a "magnification ratio" for enlarging or reducing the coating dimensions, and selectable selection buttons, may be provided, allowing the user to adjust the coating dimensions by inputting (selecting) a "magnification ratio."

In the above embodiment, the coating shape specification image (Figure 10) is configured to allow the user to input coating conditions, etc. However, in addition to this, a numerical value for enlarging or reducing the coating dimensions may be displayed in advance, allowing the user to adjust the coating dimensions by selecting a numerical value button (or performing a touch operation in the case of a touch panel).

Furthermore, the modifications described above for the coating system can also be applied to the filling system described above as similar modifications.

The embodiments described above are all illustrative examples of the application of the present invention, and it goes without saying that any other embodiments within the scope of the claims are also included in the technical scope of the invention.

1: Dispenser device 11: Pump mechanism 12: Discharge port 2: Dispenser control device (control device)
21: Input reception unit 22: Coating condition setting unit 23: Operation parameter setting unit 24: Parameter relationship generation unit 25: Operation control unit 27: Correction information reception unit 271: Discharge parameter correction information reception unit 272: Suction parameter correction information reception unit 28: Display control unit 281: Coating condition display unit (condition display unit)
282: Operating parameter display unit 283: Correction information display unit 51: Display device 100: Coating system (dispenser system)
110: Filling system (dispenser system)
120: Filler 130: Workpiece

Claims (15)

A dispenser device having a discharge port for discharging a fluid and a pump mechanism for moving the fluid relative to the discharge port, capable of performing a discharge operation in which the pump mechanism is operated so that the fluid moves from the pump mechanism toward the discharge port, and a suck-back operation in which the pump mechanism is operated so that the fluid moves from the discharge port toward the pump mechanism,
A control device for controlling the operation of the dispenser device,
A display device,
By performing the suck-back operation after discharging a fluid onto a workpiece using the discharge operation, it is possible to perform either an application operation in which the fluid is applied to the workpiece, or a filling operation in which the fluid is filled into the workpiece by performing the suck-back operation after discharging a fluid onto the workpiece using the discharge operation, or both.
The control device,
An input receiving unit that receives input for the application conditions of the fluid to the workpiece, or input for the filling conditions of the fluid to the workpiece,
An operating parameter setting unit that derives and sets operating parameters having a correlation with the amount of fluid applied to the workpiece based on the fluid application conditions, or derives and sets operating parameters having a correlation with the amount of fluid filled to the workpiece based on the fluid filling conditions,
A display control unit that controls the display of the aforementioned display device,
An operation control unit that controls the operation of the dispenser device in accordance with the operation parameters set in the operation parameter setting unit,
It has,
The display control unit,
A condition display unit that displays the coating conditions or filling conditions received in the input receiving unit,
An operating parameter display unit that displays the operating parameters derived and set by the operating parameter setting unit based on the coating conditions received in the input receiving unit, or the operating parameters derived and set by the operating parameter setting unit based on the filling conditions received in the input receiving unit,
A dispenser system characterized by displaying the above on the display device. The aforementioned operating parameter setting unit derives and sets operating parameters including a discharge parameter that correlates with the amount of fluid discharged by the pump mechanism, and a suction parameter that correlates with the amount of fluid sucked in by the pump mechanism.
The aforementioned discharge parameters are derived and set based on the discharge conditions of the fluid,
The aforementioned suction parameters are derived and set based on the suction conditions of the fluid,
The dispenser system according to claim 1, characterized in that the operating parameter setting unit sets at least one of the operating parameters, namely the discharge parameter and the suction parameter. The control device has a coating condition setting unit that can set at least one of the dimensions of the coating cross-section of the fluid applied to the workpiece and the amount applied as coating conditions,
The dispenser system according to claim 2, characterized in that the operating parameter setting unit sets the suction parameter based on the coating conditions or discharge parameter set in the coating condition setting unit. The dispenser system according to claim 2, characterized in that the operating parameter setting unit initially sets the suction parameter to a predetermined value and initially sets the discharge parameter based on at least one of the following: the initially set suction parameter, the dimensions of the coating cross-section of the fluid applied to the workpiece, and the coating amount. This system can perform a calibration operation to optimize the operating parameters according to the aforementioned coating conditions.
The dispenser system according to claim 4, characterized in that, in the calibration operation, the operation control unit performs a test application in which the application operation is experimentally executed in accordance with the dispensing parameters. The control device has a correction information receiving unit that receives correction information related to the correction of the operating parameters,
The dispenser system according to any one of claims 1 to 5, characterized in that the operating parameter setting unit corrects the operating parameters based on correction information received by the correction information receiving unit. The dispenser system according to claim 6, characterized in that the display control unit causes the display device to display a correction information display unit that displays the correction information received by the correction information receiving unit. The aforementioned operating parameter setting unit derives and sets operating parameters including a discharge parameter that correlates with the amount of fluid discharged by the pump mechanism, and a suction parameter that correlates with the amount of fluid sucked in by the pump mechanism.
The aforementioned discharge parameters are derived and set based on the discharge conditions of the fluid,
The aforementioned suction parameters are derived and set based on the suction conditions of the fluid,
The operation parameter setting unit sets at least one of the operation parameters, namely the discharge parameter and the suction parameter.
The dispenser system according to claim 6 or 7, characterized in that the correction information receiving unit includes a discharge parameter correction information receiving unit that receives input of correction information relating to the correction of the discharge parameter, and a suction parameter correction information receiving unit that receives input of correction information relating to the correction of the suction parameter. The correction information receiving unit can receive the measured coating dimensions and target coating dimensions of the coating cross-section of the fluid applied to the workpiece, and the measured coating amount and target coating amount of the fluid as correction information.
The dispenser system according to claim 8, characterized in that the operating parameter setting unit corrects the discharge parameter using at least one of the following: the relationship between the measured coating dimension and the target coating dimension of the coating cross-section of the fluid, and the relationship between the measured coating amount and the target coating amount of the fluid, which are received by the correction information receiving unit. The dispenser system according to claim 8 or 9, characterized in that the operating parameter setting unit corrects the suction parameter based on actual values relating to the combination of the discharge parameter and the suction parameter, utilizing the relationship between the discharge parameter and the suction parameter. The dispenser system according to claim 10, characterized in that, when the discharge parameter is corrected, the operating parameter setting unit uses the result of a separate correction of the suction parameter to correct the suction parameter to correspond to the discharge parameter. The control device has a filling condition setting unit that can set the amount of fluid to be filled into the workpiece as a filling condition,
The dispenser system according to claim 2, characterized in that the operating parameter setting unit sets the suction parameter based on the filling conditions or discharge parameter set in the filling condition setting unit. The dispenser system according to claim 2, characterized in that the operating parameter setting unit initializes the suction parameter to a predetermined value and initializes the discharge parameter based on at least one of the initialized suction parameter and the amount of fluid to be filled into the workpiece. This system can perform a calibration operation to optimize the operating parameters according to the aforementioned filling conditions.
The dispenser system according to claim 13, characterized in that, in the calibration operation, the operation control unit performs a test filling, in which it experimentally executes the filling operation in accordance with the discharge parameters. The control device has a correction information receiving unit that receives correction information related to the correction of the operating parameters,
The correction information receiving unit can receive the measured amount of fluid filled into the workpiece and the target amount of fluid as correction information.
The dispenser system according to claim 14, characterized in that the operating parameter setting unit corrects the discharge parameter using the relationship between the measured amount of fluid and the target amount of fluid received by the correction information receiving unit.