JPWO2018003396A1 - 状態判定装置、方法、プログラム、記録媒体 - Google Patents
状態判定装置、方法、プログラム、記録媒体 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 18
- 238000001514 detection method Methods 0.000 claims abstract description 114
- 239000011248 coating agent Substances 0.000 claims abstract description 99
- 238000000576 coating method Methods 0.000 claims abstract description 99
- 230000005856 abnormality Effects 0.000 claims abstract description 87
- 239000003973 paint Substances 0.000 claims abstract description 33
- 238000005507 spraying Methods 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims description 54
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 238000010422 painting Methods 0.000 description 21
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- 210000000707 wrist Anatomy 0.000 description 6
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- 238000003786 synthesis reaction Methods 0.000 description 2
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- 238000000889 atomisation Methods 0.000 description 1
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- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
- B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
- B05B5/0415—Driving means; Parts thereof, e.g. turbine, shaft, bearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/004—Arrangements for controlling delivery; Arrangements for controlling the spray area comprising sensors for monitoring the delivery, e.g. by displaying the sensed value or generating an alarm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
- B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
- B05B3/10—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member, i.e. the spraying being effected by centrifugal forces
- B05B3/1035—Driving means; Parts thereof, e.g. turbine, shaft, bearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
- B05B9/0416—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with pumps comprising rotating pumping parts, e.g. gear pump, centrifugal pump, screw-type pump
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
- G01M1/16—Determining imbalance by oscillating or rotating the body to be tested
- G01M1/22—Determining imbalance by oscillating or rotating the body to be tested and converting vibrations due to imbalance into electric variables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/149—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet characterised by colour change manifolds or valves therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
- B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
- B05B3/10—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member, i.e. the spraying being effected by centrifugal forces
- B05B3/1064—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member, i.e. the spraying being effected by centrifugal forces the liquid or other fluent material to be sprayed being axially supplied to the rotating member through a hollow rotating shaft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
- B05B5/043—Discharge apparatus, e.g. electrostatic spray guns using induction-charging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electrostatic Spraying Apparatus (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Nozzles (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
図1は、本発明の第一の実施形態にかかる塗装装置1の正面図である。本発明の実施形態にかかる塗装装置1は、塗装用ツール100を備える。塗装装置1は、さらに周知のホローリスト(Hollow Wrist)200、接続部250、ロボットアーム300、ギヤポンプ310、色替えバルブ320、モータ330、駆動軸340、チューブ402、404、406、肩部410、接続部420を有する。
第二の実施形態にかかる状態判定装置2は、エアモータ102に加えて、ギヤポンプ310および回転部(ホローリスト200および接続部250)の異常を検知できる点が第一の実施形態と異なる。ただし、第二の実施形態にかかる状態判定装置2は、エアモータ102に加えて、ギヤポンプ310または回転部(ホローリスト200および接続部250)の異常を検知できるだけでもよい。
第三の実施形態は、塗装装置1の角加速度に基づき、塗装装置1の異常の有無を判定する点が第一の実施形態と異なる。
102 エアモータ
102a エアモータハウジング
102b ラジアル空気軸受
102c スラスト空気軸受
102d タービン
104 回転軸
106 回転霧化頭
110 フィードチューブ
112 トリガバルブ
120 ハウジング
120a 120b 外部電極
122 リヤプレート
130 振動検出部
132 角加速度検出部
1 塗装装置
200 ホローリスト(Hollow Wrist)
250 接続部
310 ギヤポンプ
402、404、406 チューブ
2 状態判定装置
22 周波数成分取得部
24 異常判定部
Claims (11)
- 気体の供給により回転するエアモータと、前記エアモータの回転中心となる回転軸と、前記回転軸に接続され、塗料を噴霧する回転霧化頭とを有する塗装装置の状態を判定する状態判定装置であって、
該塗装装置は、前記塗装装置の振動を検出する振動検出部をさらに備え、
前記状態判定装置は、
前記振動検出部の検出結果から、前記回転軸と前記エアモータとの接触に起因する周波数成分を取得する周波数成分取得部と、
前記周波数成分取得部の取得結果に基づき、前記エアモータの異常の有無を判定する異常判定部と、
を備えた状態判定装置。 - 請求項1に記載の状態判定装置であって、
前記振動検出部は、加速度センサ、マイクロフォンおよび変位センサのうちのいずれか一つである、
状態判定装置。 - 請求項1に記載の状態判定装置であって、
前記振動検出部が、前記エアモータから見て、前記回転霧化頭とは反対側に配置されている、
状態判定装置。 - 請求項1に記載の状態判定装置であって、
前記塗装装置は、さらに、前記塗料を前記回転霧化頭に向けて送り出すギヤポンプと、前記回転霧化頭の姿勢を変化させる回転部とを有し、
前記周波数成分取得部が、さらに、前記ギヤポンプにおけるギヤの回転の際の接触および/または前記回転部における回転部材の回転の際の接触に起因する周波数成分を取得し、
前記異常判定部が、前記周波数成分取得部の取得結果に基づき、さらに、前記ギヤポンプおよび/または前記回転部の異常の有無を判定する、
状態判定装置。 - 請求項4に記載の状態判定装置であって、
前記振動検出部が、前記エアモータと前記回転部との間に配置されている、
状態判定装置。 - 請求項5に記載の状態判定装置であって、
前記回転部が、前記エアモータと前記ギヤポンプとの間に配置されている、
状態判定装置。 - 請求項1に記載の状態判定装置であって、
前記塗装装置は、前記塗装装置の角加速度を検出する角加速度検出部をさらに備え、
前記異常判定部は、さらに、前記角加速度検出部の検出結果に基づき、前記塗装装置の異常の有無を判定する、
状態判定装置。 - 請求項1ないし7のいずれか一項に記載の状態判定装置であって、
前記周波数成分取得部が、前記振動検出部から、その検出結果を、無線通信により取得している、
状態判定装置。 - 気体の供給により回転するエアモータと、前記エアモータの回転中心となる回転軸と、前記回転軸に接続され、塗料を噴霧する回転霧化頭とを有する塗装装置の状態を判定する状態判定方法であって、
該塗装装置は、前記塗装装置の振動を検出する振動検出部をさらに備え、
前記状態判定方法は、
前記振動検出部の検出結果から、前記回転軸と前記エアモータとの接触に起因する周波数成分を取得する周波数成分取得工程と、
前記周波数成分取得工程の取得結果に基づき、前記エアモータの異常の有無を判定する異常判定工程と、
を備えた状態判定方法。 - 気体の供給により回転するエアモータと、前記エアモータの回転中心となる回転軸と、前記回転軸に接続され、塗料を噴霧する回転霧化頭とを有する塗装装置の状態を判定する状態判定処理をコンピュータに実行させるためのプログラムであって、
該塗装装置は、前記塗装装置の振動を検出する振動検出部をさらに備え、
前記状態判定処理は、
前記振動検出部の検出結果から、前記回転軸と前記エアモータとの接触に起因する周波数成分を取得する周波数成分取得工程と、
前記周波数成分取得工程の取得結果に基づき、前記エアモータの異常の有無を判定する異常判定工程と、
を備えたプログラム。 - 気体の供給により回転するエアモータと、前記エアモータの回転中心となる回転軸と、前記回転軸に接続され、塗料を噴霧する回転霧化頭とを有する塗装装置の状態を判定する状態判定処理をコンピュータに実行させるためのプログラムを記録したコンピュータによって読み取り可能な記録媒体であって、
該塗装装置は、前記塗装装置の振動を検出する振動検出部をさらに備え、
前記状態判定処理は、
前記振動検出部の検出結果から、前記回転軸と前記エアモータとの接触に起因する周波数成分を取得する周波数成分取得工程と、
前記周波数成分取得工程の取得結果に基づき、前記エアモータの異常の有無を判定する異常判定工程と、
を備えた記録媒体。
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PCT/JP2017/020498 WO2018003396A1 (ja) | 2016-06-30 | 2017-06-01 | 状態判定装置、方法、プログラム、記録媒体 |
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JP2021012032A (ja) * | 2019-07-03 | 2021-02-04 | 三菱電機株式会社 | 異常診断装置およびロボット制御装置 |
FR3108046B1 (fr) | 2020-03-11 | 2023-02-10 | Exel Ind | Pulvérisateur, installation comportant un tel pulvérisateur et procédé associé |
KR102619967B1 (ko) * | 2020-05-22 | 2024-01-03 | 세메스 주식회사 | 기판 처리 장치 및 액 공급 유닛 |
DE102020132932A1 (de) | 2020-12-10 | 2022-06-15 | Dürr Systems Ag | Beschichtungseinrichtung mit einem Schwingungssensor und zugehöriges Betriebsverfahren |
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JPH09117696A (ja) * | 1995-10-25 | 1997-05-06 | Toyota Motor Corp | 回転霧化静電塗装装置の回転異常検知装置 |
JP2001198498A (ja) * | 1999-11-08 | 2001-07-24 | Nissan Motor Co Ltd | 塗装ガンの異常検出装置およびその方法 |
JP2002181038A (ja) * | 2000-12-18 | 2002-06-26 | Mitsubishi Heavy Ind Ltd | 異常診断装置 |
JP2004113995A (ja) * | 2002-09-27 | 2004-04-15 | Taisei Kako Co Ltd | スプレーポンプの検査装置及び検査方法 |
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CN109414715B (zh) | 2021-09-14 |
EP3479905A1 (en) | 2019-05-08 |
WO2018003396A1 (ja) | 2018-01-04 |
EP3479905B1 (en) | 2021-08-25 |
JP6804533B2 (ja) | 2020-12-23 |
EP3479905A4 (en) | 2020-03-11 |
US20190314842A1 (en) | 2019-10-17 |
CN109414715A (zh) | 2019-03-01 |
US11014104B2 (en) | 2021-05-25 |
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