WO2015064271A1 - 吐出システム - Google Patents
吐出システム Download PDFInfo
- Publication number
- WO2015064271A1 WO2015064271A1 PCT/JP2014/076007 JP2014076007W WO2015064271A1 WO 2015064271 A1 WO2015064271 A1 WO 2015064271A1 JP 2014076007 W JP2014076007 W JP 2014076007W WO 2015064271 A1 WO2015064271 A1 WO 2015064271A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- discharge
- replenishment
- fluid
- side connector
- connection tool
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1047—Apparatus or installations for supplying liquid or other fluent material comprising a buffer container or an accumulator between the supply source and the applicator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0225—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work characterised by flow controlling means, e.g. valves, located proximate the outlet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2/00—Rotary-piston machines or pumps
- F04C2/08—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing
- F04C2/10—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing of internal-axis type with the outer member having more teeth or tooth-equivalents, e.g. rollers, than the inner member
- F04C2/107—Rotary-piston machines or pumps of intermeshing-engagement type, i.e. with engagement of co-operating members similar to that of toothed gearing of internal-axis type with the outer member having more teeth or tooth-equivalents, e.g. rollers, than the inner member with helical teeth
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2240/00—Components
- F04C2240/10—Stators
Definitions
- the present invention relates to a discharge system that can be used for applications such as applying fluid such as a sealant or adhesive to various parts or refilling a container with fluid such as grease in an automobile assembly factory or the like. .
- a functional fluid material coating apparatus and coating method disclosed in Patent Document 1 below, or a fluid coupling and coating apparatus disclosed in Patent Document 2 are used in a car assembly plant or the like as a sealant or adhesive. It is used for applications such as applying a fluid such as an agent.
- the coating apparatus according to Patent Document 1 includes a coating unit and a replenishment unit.
- the coating unit includes a discharge gun that discharges the functional fluid material and a feeder that supplies the functional fluid material to the discharge gun.
- the replenishment unit replenishes the functional fluid material from the replenishment port to the replenishment cylinder part.
- Patent Document 2 As for the fluid coupling and coating device disclosed in Patent Document 2, as in Patent Document 1, large-scale piping equipment for supplying fluid from the tank to the discharger, and high pressure for transporting the fluid are used. The purpose is to eliminate the need for a pump.
- the first to third supply parts for supplying a fluid such as a sealant and the first to third supply parts are detachable via fluid couplings.
- the first to third dischargers to be mounted on are provided.
- the first to third dischargers are each provided with a tank for storing the fluid supplied from the supply unit attached thereto, and the fluid in the tank can be discharged.
- the first to third dischargers can be attached to and detached from the robot arm via second joints.
- a replenishing device for ejecting a fluid for ejection and a replenishing device for replenishing a fluid to the ejection device are provided so as to be connectable and disengageable, and the replenishing device is connected by connecting both of them.
- Various discharge systems that can replenish a fluid from the side to the discharge device side are provided.
- the replenishment device and the discharge device are connected via a connector such as a plug and the fluid is replenished, not only the connection device provided on the replenishment device side but also the connection provided on the discharge device side. Fluid may also adhere to the tool.
- the ejection device operates above the workpiece that is the fluid ejection target, at a position close to the workpiece, and the like. For this reason, if a large amount of fluid adheres to the connector on the discharge device side, there is a concern that the adhered fluid may unexpectedly fall on the workpiece, which may cause deterioration in the quality of the workpiece. .
- the amount of fluid adhering to the connection device on the discharge device side in accordance with the fluid replenishment operation on the discharge device is the amount of adhesion to the connection device on the refill device side. It is desirable to make it less. However, in the prior art, no consideration is given from this viewpoint.
- the amount of the fluid attached to the connection device on the discharge device side is made smaller than the amount of the fluid attached to the connection device on the refill device side.
- the present inventors diligently studied, and for connecting the discharge device and the replenishing device, a connector that can be connected by inserting one connector into the other connector. If it is adopted, the amount of fluid attached to the plugging-side connector (hereinafter also referred to as “inserted-side connector”) is transferred to the plugging-side connector (hereinafter also referred to as “insertion-side connector”). It has been found that it is less than the amount of adhering.
- the discharge system of the present invention provided based on such knowledge has a discharge device capable of discharging a fluid, and a replenishment device capable of replenishing the fluid to the discharge device.
- a discharge device capable of discharging a fluid
- a replenishment device capable of replenishing the fluid to the discharge device.
- the discharge system according to the present invention is based on the above-described knowledge, and the replenishment-side connector on the replenishing device side is the above-described insertion-side connector, and the discharge-side connector on the discharge device side is the above-described inserted-side connector.
- the discharge side connector has a receiving portion for receiving the replenishment side connector. Therefore, in the discharge system of the present invention, it is possible to minimize the amount of fluid attached to the discharge-side connector by replenishing the fluid from the refill device side to the discharge device side. Thereby, the malfunction that the fluid adhering to the discharge side connection tool adheres unexpectedly to the workpiece
- a seal member is provided on the outer periphery of the replenishment side connector.
- the discharge-side connector when the fluid is replenished from the replenishing device to the discharge device, the discharge-side connector is provided by the seal member provided on the outer periphery of the refill-side connector when the refill device and the discharge device are separated from each other.
- the effect of scraping off the fluid adhering to the inner peripheral surface can be expected. Thereby, it becomes possible to further reduce the adhesion amount of the fluid to the discharge side connector.
- the discharge-side connector is a female plug
- the replenishment-side connector is a male plug
- the passage formed so that the fluid passes through the discharge side connection tool and the replenishment side connection tool causes a volume change in conjunction with the connection and separation of the discharge side connection tool and the replenishment side connection tool.
- the fluid may leak due to the influence of this volume change. Therefore, even when the discharge side connection tool and the replenishment side connection tool are connected and separated, the volume change of the passage formed inside the discharge side connection tool and the replenishment side connection tool does not occur. It is desirable.
- the discharge system of the present invention provided on the basis of such knowledge is connected to or separated from the discharge side connection tool and the replenishment side connection tool on either or both of the discharge side connection tool and the refill side connection tool.
- an operating section that operates in conjunction with the operating section, and the operating section operates at a position outside the passage through which the fluid passes inside the discharge-side connector and the replenishment-side connector. desirable.
- the discharge device includes a uniaxial eccentric screw pump having a male screw type rotor that rotates eccentrically under power and a stator having an inner peripheral surface formed into a female screw type. Preferably there is.
- ADVANTAGE OF THE INVENTION when connecting a discharge apparatus and a replenishment apparatus for fluid replenishment with respect to a discharge apparatus, it can suppress that air will be mixed in a fluid body, and can suppress the discharge defect accompanying air mixing.
- a dispensing system can be provided.
- FIG. 4 is a perspective view (the bracket is not shown in (e)).
- FIG. 4 is a figure which shows the discharge side buffer part employ
- FIG. 4 shows the discharge side buffer part employ
- (a) is a front view
- (b) is sectional drawing
- c) is a perspective view
- (d) is a top view.
- FIG. 5 It is a disassembled perspective view of the replenishment apparatus employ
- (A) is explanatory drawing which showed the relationship of the magnitude
- (b) shows an example of the particle size distribution (frequency distribution) of the particulate matter contained in the fluid
- (C) is an explanatory view showing an example of the particle size distribution (cumulative distribution) of the particulate matter contained in the fluid.
- the discharge system 10 includes a discharge device 20, a replenishing device 100, a fluid supply device 160, and a control device 170 as main components.
- the discharge system 10 can replenish the discharge device 20 with the fluid supplied from the fluid supply device 160 by connecting the discharge device 20 to the replenishment device 100.
- the discharge system 10 can be discharged for application or the like by operating the discharge device 20 in a state where it is separated from the replenishment device 100. That is, the discharge system 10 operates the discharge device 20 independently with respect to the replenishment device 100 and the fluid supply device 160 in a state in which a fluid supply pipe or hose is not connected to the discharge device 20.
- the system configuration is such that a fluid can be applied.
- the discharge device 20 includes a discharge side buffer portion 22 (buffer device), a discharge portion 24, a discharge side detachment portion 26, and a bracket 28.
- the discharge-side buffer unit 22 is provided for buffering fluctuations in the internal pressure of the discharge device 20 caused by connecting or disconnecting the discharge device 20 and the replenishment device 100 in order to replenish the discharge fluid to the discharge unit 24. It is a thing.
- the discharge side buffer part 22 can be comprised by containers, such as a tank, in this embodiment, what was equipped with the cylinder mechanism 30 as shown in FIG. 3 as the discharge side buffer part 22 in this embodiment. It has been adopted.
- the discharge-side buffer 22 includes a cylinder mechanism 30 constituted by a so-called air cylinder.
- the cylinder mechanism 30 includes a casing 32 and a piston 34.
- the discharge side buffering section 22 can supply compressed air from an air supply source as a drive source.
- the casing 32 is a container constituted by a combination of a lower casing 38 and an upper casing 40.
- a female screw 38a and a male screw 40a are formed at the connection portion between the lower casing 38 and the upper casing 40, respectively, and the casing 32 is assembled by screwing the two together.
- a connecting portion 38b is provided at the lower end portion of the lower casing 38 (on the side opposite to the female screw 38a).
- the piston 34 can freely slide in the axial direction of the casing 32 inside the casing 32.
- the piston 34 is configured such that a piston rod 34c is connected to a piston main body 34a via a piston adapter 34b.
- the piston 34 partitions the space in the casing 32 into a first chamber 42 on the upper casing 40 side and a second chamber 44 on the lower casing 38 side.
- the first chamber 42 is a section into which compressed air supplied from an air supply source serving as a driving source is introduced via a port 46 provided in the casing 32
- the second chamber 44 is a section into which fluid flows in and out. It is.
- the cylinder mechanism 30 can change the volume of the second chamber 44 by operating the drive source.
- the second chamber 44 communicates with the connection portion 38b, and the fluid can flow into and out of the second chamber 44 through the connection portion 38b.
- the discharge side buffer portion 22 is provided with a replenishment amount detection means (not shown) for detecting the replenishment amount based on the position of the piston 34.
- the replenishment amount detection means may be configured by any means. Specifically, an auto switch that switches the contact point between an on state and an off state when a magnet (not shown) provided in the piston 34 enters and exits within the detection range is adopted as the replenishment amount detection means. It can be set as the structure provided in the upper limit position and lower limit position of the movable range. Further, a pressure sensor capable of detecting the internal pressure of the discharge side buffer 22 can be employed as the replenishment amount detection means.
- the discharge part 24 is constituted by a rotary displacement pump.
- the discharge part 24 is comprised by what is called a uniaxial eccentric screw pump (refer FIG. 4).
- the discharge unit 24 is configured such that a rotor 52, a stator 54, a power transmission mechanism 56, and the like are accommodated in a casing 50.
- the casing 50 is a cylindrical member made of metal, and a first opening 60 is provided on one end side in the longitudinal direction.
- a second opening 62 is provided in the outer peripheral portion of the casing 50. The second opening 62 communicates with the internal space of the casing 50 at an intermediate portion 64 located at the intermediate portion in the longitudinal direction of the casing 50.
- the first opening 60 and the second opening 62 are portions that function as a suction port and a discharge port of the uniaxial eccentric screw pump that forms the discharge unit 24, respectively.
- the discharge unit 24 can function the first opening 60 as a discharge port and the second opening 62 as a suction port by rotating the rotor 52 in the forward direction. Further, by rotating the rotor 52 in the reverse direction for maintenance or the like, the first opening 60 functions as a suction port and the second opening 62 functions as a discharge port, and cleaning of the internal space of the casing 50 or the like is performed. be able to.
- the stator 54 is a member having a substantially cylindrical outer shape formed of an elastic body such as rubber or resin.
- the inner peripheral wall 66 of the stator 54 has a single-stage or multi-stage female screw shape with n strips.
- the stator 54 has a multistage female thread shape with two threads.
- the through hole 68 of the stator 54 is formed so that its cross-sectional shape (opening shape) is substantially oval when viewed in cross section at any position in the longitudinal direction of the stator 54.
- the rotor 52 is a metal shaft, and has a single-stage or multi-stage male screw shape with n-1 strips.
- the rotor 52 has a male screw shape that is eccentric with a single thread.
- the rotor 52 is formed so that its cross-sectional shape is substantially a true circle when viewed in cross section at any position in the longitudinal direction.
- the rotor 52 is inserted into the through hole 68 formed in the stator 54 described above, and can freely rotate eccentrically inside the through hole 68.
- a fluid conveyance path 72 (cavity) is formed between the two.
- the fluid conveyance path 72 extends spirally in the longitudinal direction of the stator 54 and the rotor 52.
- the fluid conveyance path 72 advances in the longitudinal direction of the stator 54 while rotating in the stator 54. Therefore, when the rotor 52 is rotated, the fluid is sucked into the fluid conveyance path 72 from one end side of the stator 54 and is transferred toward the other end side of the stator 54 in a state of being confined in the fluid conveyance path 72. It is possible to discharge at the other end side of the stator 54.
- the power transmission mechanism 56 is for transmitting power from the drive unit 74 to the rotor 52 described above.
- the power transmission mechanism 56 includes a power transmission unit 76 and an eccentric rotation unit 78.
- the power transmission unit 76 is provided on one end side in the longitudinal direction of the casing 50.
- the eccentric rotating part 78 is provided in the intermediate part 64.
- the eccentric rotation part 78 is a part which connects the power transmission part 76 and the rotor 52 so that power transmission is possible.
- the eccentric rotating part 78 includes a connecting shaft 98 constituted by a conventionally known coupling rod, screw rod, or the like. Therefore, the eccentric rotating unit 78 can transmit the rotational power generated by operating the drive unit 74 to the rotor 52 and rotate the rotor 52 eccentrically.
- the discharge-side detachment portion 26 is connected to the casing 50 that forms the discharge portion 24 described above.
- the discharge-side detachable portion 26 is configured such that a discharge-side connector 82 and a pin 84 are attached to the discharge-side detachable portion main body 80.
- the discharge-side detachable part main body 80 is configured such that a rectangular connection part 80b is provided at the base end part of the cylindrical tube part 80a.
- a fitting portion 80c for fitting the discharge side connection tool 82 is provided on the distal end side of the cylindrical portion 80a.
- a communication path 80d is formed in the cylindrical portion 80a so as to penetrate from the fitting portion 80c to the connection portion 80b.
- the discharge-side detachable part main body 80 is attached to the casing 50 in a state in which the communication passage 80d and the second opening 62 provided in the discharge part 24 are in communication with each other.
- a seal member 86 such as an O-ring is attached to the outer peripheral portion on the distal end side of the cylindrical portion 80a.
- the discharge-side connector 82 constitutes a connection device 140 for connecting the discharge device 20 and the replenishing device 100 in combination with the replenishment-side connector 134 provided in the replenishing device 100.
- the discharge side connection tool 82 can receive the replenishment side connection tool 134 at the time of connection, and is a female plug having a structure that will be described in detail later.
- the discharge-side connector 82 can suppress the entry of dust and the like by keeping the end portion (the end on the side where the replenishment-side connector 134 is inserted) facing downward. . Thereby, the dust countermeasure in the discharge side connection tool 82 can be made unnecessary or simple.
- the discharge-side connector 82 is fitted into a fitting portion 80c provided in the cylindrical portion 80a of the discharge-side detachable portion main body 80, and communicates with the communication passage 80d.
- the pin 84 constitutes the separation preventing mechanism 150 by a combination with the ridge groove 144 provided on the replenishing device 100 side, and when the discharge device 20 and the replenishing device 100 are connected. It is used to position both of them and suppress the separation between the discharge device 20 and the replenishing device 100.
- the pin 84 is provided so as to protrude in a substantially vertical direction with respect to the outer peripheral surface of the cylindrical portion 80a at a position on the proximal end side (connecting portion 80b side) of the cylindrical portion 80a.
- Two pins 84 are provided with an interval of approximately 180 degrees in the circumferential direction with respect to the cylindrical portion 80a.
- the discharge device 20 is attached to a manipulator 90 having a plurality of degrees of freedom, such as a so-called articulated robot. Therefore, by moving the discharge device 20 with the manipulator 90 and discharging the fluid from the discharge device 20, the fluid can be applied to various parts in accordance with a predetermined fluid application pattern. . Further, the discharge device 20 is moved by the manipulator 90, and the discharge side connector 82 and the replenishment side connector 134, which will be described in detail later, are brought close to each other in an aligned state, thereby connecting the discharge device 20 and the replenishment device 100. can do. Further, by performing the reverse operation, the discharge device 20 and the replenishing device 100 can be separated.
- the discharge-side connector 82 when the fluid is replenished to the discharge device 20, the discharge-side connector 82 is connected to the replenishment-side connector 134 without complicated operation of the manipulator 90. It is desirable to be able to push in reliably. Under such a viewpoint, in the discharge system 10, as shown in FIGS. 1 and 2, the axial direction of the discharge-side connector 82 (fluid flow direction) flows along the axial direction of the discharge portion 24 (in the illustrated state). A discharge-side connector 82 is attached so as to be substantially parallel.
- the arm of the manipulator 90 is connected to the position on the axis line of the discharge-side connector 82 via the bracket 28. Therefore, as shown in FIG. 9, the discharge unit 24 is lowered to the replenishment device 100 side after the discharge unit 24 is in a substantially vertical posture, so that the discharge side connection can be performed without complicated operation of the manipulator 90.
- the fluid 82 can be replenished by pushing the tool 82 into the replenishment-side connector 134 and connecting them together.
- the discharge-side connection tool 82 passes through the center of the base 90a of the manipulator 90 from the connection position between the discharge device 20 and the manipulator 90.
- the distance D from the vertical line L is preferably as short as possible.
- the replenishing device 100 functions as a replenishing station for replenishing the fluid to the discharge device 20.
- the replenishing device 100 includes a replenishing side buffering portion 102 (buffering device), a replenishing side detaching portion 104, and a valve 106.
- the replenishment-side buffer 102 is provided for buffering fluctuations in the internal pressure in the replenishing device 100 due to the connection and separation of the discharge device 20 and the replenishing device 100 for replenishing the fluid to the discharge unit 24. is there.
- the replenishment side buffer 102 may be provided with a cylinder mechanism 30 as in the case of the container such as a tank or the discharge side buffer 22 described above. In this embodiment, as shown in FIG. Such an absorber mechanism 110 is provided.
- the absorber mechanism 110 includes a casing 112, a piston 114, and a spring 116, and can be operated using the elastic force of the spring 116.
- the casing 112 is a cylindrical tube and has a connection portion 118 on one end side in the axial direction.
- the piston 114 can freely slide in the axial direction inside the casing 112.
- the piston 114 is configured such that a piston rod 114b is connected to the piston main body 114a.
- the internal space of the casing 112 is partitioned into a first chamber 120 on one side via a piston body 114a and a second chamber 122 communicating with the connecting portion 118 on the other side.
- the spring 116 is provided in the second chamber 122.
- the piston main body 114a is urged
- the piston main body 114a is pushed back toward the second chamber 122 against the biasing force of the spring 116, and the first chamber 120 expands.
- the replenishment side detachable portion 104 is configured to be integrated by connecting a sealed space forming body 132 to the replenishment side detachable portion main body 130.
- the replenishment-side detachable part main body 130 has a hollow fitting part 130a, and a connection part 130b formed so as to be continuous with the fitting part 130a and project to the top surface side. It has.
- a replenishment side connector 134 which will be described in detail later, is fitted into the fitting portion 130a and integrated.
- a sealing member 136 such as an O-ring is attached to the outer peripheral portion of the connecting portion 130b.
- the replenishment side detachable part main body 130 includes a communication path 130c formed so as to communicate with the fitting part 130a. Furthermore, connection ports 130d and 130e are provided at both ends of the communication path 130c. The connection port 118d is connected to the connection portion 118 of the replenishment side buffer portion 102 by piping. A valve 106 is connected to the connection port 130e by piping.
- the replenishment side connection tool 134 constitutes a connection device 140 for connecting the discharge device 20 and the replenishment device 100 in combination with the discharge side connection tool 82 provided on the discharge device 20 side.
- the replenishment side connector 134 is a male socket into which the discharge side connector 82 is inserted.
- the specific structure of the replenishment side connector 134 will be described in detail later.
- a valve mechanism such as a stop valve mechanism can be used for the replenishment side connector 134.
- the replenishment side connector 134 is fitted into and integrated with the fitting part 130 a of the replenishment side detachable part main body 130, and communicates with a communication path 130 c formed in the replenishment side detachable part main body 130.
- a seal member 134x such as an O-ring is attached to the outer peripheral portion on the distal end side of the replenishment-side connector 134.
- the sealed space forming body 132 is a cylindrical member that is detachably connected to the top surface side of the replenishment side detachable body 130 described above. Specifically, there are a plurality of sealed space forming bodies 132 in the circumferential direction (four in the present embodiment), and bolts 138 are inserted through bolt insertion holes 132a provided so as to extend in the axial direction.
- the replenishment side detachable part main body 130 is integrated by fastening each bolt 138 to a screw hole 130 f provided on the top surface of 130.
- a pin hole (not shown) provided on the bottom surface (the replenishment side detachable part main body 130 side) of the sealed space forming body 132, and the replenishment side detachable part Positioning pins 142 are mounted over pin holes 130g provided on the top surface side of the main body 130.
- desorption part main body 130 and the sealed space formation body 132 are connected in the state positioned so that it might become a fixed positional relationship in the circumferential direction.
- the space between the replenishment side detachable part main body 130 and the sealed space forming body 132 is sealed by the seal member 136 attached to the outer peripheral part of the connecting part 130b.
- a ridge groove 144 is formed at the upper end of the cylinder forming the sealed space forming body 132 (the end opposite to the replenishment side detachable part main body 130).
- the ridge groove 144 constitutes the separation preventing mechanism 150 by a combination with the pin 84 provided on the discharge device 20 side.
- the separation preventing mechanism 150 is a mechanism for holding the discharge device 20 and the replenishing device 100 so as not to be separated by a force acting when the fluid is replenished from the replenishing device 100 toward the discharge device 20.
- the ridge groove 144 is a groove having a substantially “L” shape when viewed from the front, a groove portion released toward the upper end of the sealed space forming body 132, and the circumferential direction of the sealed space forming body 132 And a groove portion formed so as to extend in a continuous manner. Therefore, in a state where the pin 84 provided in the discharge side detachable portion 26 of the discharge device 20 and the ridge groove 144 are aligned, the discharge side detachable portion 26 is inserted into the sealed space forming body 132 and rotated in the circumferential direction. Thus, the pin 84 can be engaged so as not to come out of the ridge groove 144.
- An exhaust port (not shown) is provided on the outer periphery of the sealed space forming body 132.
- the exhaust port is connected to communicate between the inside and outside of the sealed space forming body 132.
- the sealed space forming body 132 is connected to a decompression device 148 such as a vacuum pump via an exhaust port.
- the fluid supply device 160 can pump up the fluid from the storage tank 162 in which the fluid is stored, and can pump the fluid to the replenishing device 100.
- the fluid supply device 160 is connected by piping to the valve 106 provided in the replenishing device 100. Therefore, the supply control of the fluid to the replenishing device 100 can be performed by opening and closing the valve 106 as appropriate.
- the control device 170 is for performing operation control of each part such as the discharge device 20, the manipulator 90, the replenishing device 100, the fluid supply device 160, etc. constituting the discharge system 10.
- the control device 170 can control the operation of the fluid discharge operation by the discharge device 20, the operation of the manipulator 90, the fluid replenishment operation performed around the discharge device 20 and the replenishment device 100, and the like.
- the discharge device 20 is operated in step 1, and the discharge operation of the fluid is performed.
- the control device 170 determines whether or not there is a fluid replenishment request to the discharge device 20 based on various determination criteria. For example, the internal pressure of the discharge-side buffer 22 provided in the discharge device 20 can be determined.
- the piston 34 On the condition that a pressure sensor (not shown) capable of detecting the pressure becomes equal to or lower than a predetermined pressure, the piston 34 reaches the lower limit position in the discharge side buffer 22 and the fluid replenishment request is turned on. It is possible to judge that it has become. Further, when an auto switch that is turned on / off according to the position of the piston 34 is employed as the supplement amount detection means, when it is determined that the piston 34 has reached the lower limit position based on the detection result of the auto switch, It can be determined that the fluid replenishment request has been turned on.
- step 3 When it is determined that there is a fluid replenishment request in step 2 and the control flow shifts to step 3, the discharge device 20 is moved to the replenisher 100 side by the manipulator 90 as shown in FIGS. 9 (a) and 9 (c). The Thereafter, the cylindrical portion 80a of the discharge side detachable portion main body 80 provided on the discharge device 20 side is inserted from the upper end portion of the cylindrical sealed space forming body 132 provided on the replenishment device 100 side. In this stage (step 3), the discharge-side connector 82 and the replenishment-side connector 134 on the discharge device 20 side are not connected.
- step 4 the decompression device 148 connected to the exhaust port 146 of the sealed space forming body 132 is operated to make the sealed space 135 substantially vacuum, and evacuation is started.
- the detection of the connection state of the cylinder part 80a and the sealed space formation body 132 that triggers the start of evacuation can be performed by various methods.
- a vacuum limit switch (not shown) for detecting that the cylindrical portion 80a is inserted into the sealed space forming body 132 is provided at a position adjacent to the replenishing device 100, and this vacuum limit switch
- the control device 170 can determine that the sealed space 135 is formed by inserting the cylindrical portion 80a into the sealed space forming body 132 based on the signal output from the control device 170.
- Step 6 the discharge device 20 moves in the axial direction of the discharge-side connector 82 by the operation control of the manipulator 90 by the control device 170 and approaches the replenishment device 100.
- a signal (operation speed control signal) for controlling the operation speed is output from the control device 170 to the manipulator 90 so that the discharge device 20 approaches the replenishment device 100 at a predetermined speed V1.
- FIGS. 9B and 9D in the sealed space 135, the discharge side connection tool 82 and the replenishment side connection tool 134 come close to each other at the speed V1, and both the connection tools 82, 134 (connection device) 140) is connected.
- step 7 the separation preventing mechanism 150 is locked.
- the discharge-side connector 82 and the replenishment-side connector 134 are connected in step 6, they are provided on the outer peripheral portion of the discharge-side detachable portion main body 80 as shown in FIG.
- the pin 84 also advances in the axial direction of the sealed space forming body 132 and enters the ridge groove 144 provided in the sealed space forming body 132.
- the discharge device 20 is rotated by the nipulator 90 in the circumferential direction of the sealed space forming body 132, whereby the discharge device 20 is rotated and along the inside of the ridge groove 144 as shown in FIG. 10B.
- the pin 84 is moved and engaged.
- a replenishing device includes a docking completion limit switch (connection state detecting means: not shown) for detecting that the discharge device 20 has rotated to a position where the pin 84 reaches the vicinity of the terminal end of the groove 144. It is provided at a position adjacent to 100, and based on a signal output from the docking completion limit switch, it is detected whether or not the discharge device 20 and the replenishing device 100 are connected and the separation preventing mechanism 150 is locked. it can.
- a docking completion limit switch connection state detecting means: not shown
- step 9 replenishment of fluid from the replenishing device 100 to the discharge device 20 is started.
- the valve 106 provided in the replenishing device 100 is opened, and the fluid pumped from the fluid supply device 160 is discharged from the discharge-side connector 80 and the replenishment-side connector 134. It is pumped to the discharge device 20 side through the connecting device 140. That is, in the present embodiment, one of the conditions is that the connection between the discharge device 20 and the replenishing device is detected by the docking completion limit switch in Step 7 described above, and further, the evacuation in Step 8 is further completed.
- the valve 106 is opened.
- the fluid pumped to the discharge device 20 side is replenished into the casing 50 of the discharge unit 24 via the discharge side desorption unit 26.
- the ejection device 20 and the replenishing device 100 are provided with the ejection side buffer 22 and the replenishment side buffer 102.
- the internal pressure fluctuation accompanying the replenishment of the fluid from the replenishing device 100 to the discharge device 20 is buffered, and the internal pressures of the discharge device 20 and the replenishing device 100 are maintained at a low pressure near atmospheric pressure.
- the control flow proceeds to step 10, and it is confirmed by the control device 170 whether or not the discharge device 20 is replenished until the fluid is full.
- various methods can be used for detecting that the fluid is sufficiently replenished in the discharge device 20. Specifically, the fluid is sufficiently replenished on condition that a pressure sensor (not shown) for detecting the internal pressure of the discharge side buffer 22 of the discharge device 20 detects a predetermined pressure or more, and the replenishment request is turned off. It can be determined that the state has been reached.
- the piston 34 reaches the detection region of the auto switch provided at the upper limit position, and the upper limit position auto switch is turned on. In this case, it can be determined that the fluid replenishment request has been turned off.
- step 10 When it is confirmed in step 10 that the fluid has been replenished until the discharge device 20 is full, the control flow proceeds to step 11 and the valve 106 is closed. Thereby, the replenishment of the fluid from the replenishing device 100 to the discharge device 20 is completed.
- the control flow proceeds to step 12 and the separation preventing mechanism 150 is released. Specifically, by operating the manipulator 90, the discharge device 20 is turned in the direction opposite to the case where the separation preventing mechanism 150 is locked in Step 7, and then the discharge device 20 is removed from the replenishing device 100. Separate in the axial direction. In this way, when the formed pin 84 is in the state of being removed from the groove groove 144, the lock of the separation preventing mechanism 150 is released.
- step 13 the discharge device 20 further moves in a direction away from the replenishing device 100 in the axial direction.
- a signal (operation speed control signal) for controlling the operation speed is output from the replenishing device 100 to the manipulator 90 from the control device 170 so as to separate the discharge device 20 at a predetermined speed V2.
- the separation speed V2 is equal to or lower than the connection speed V1 in the above-described step 6 (
- connection device 140 is configured by a combination of the discharge side connection tool 82 and the replenishment side connection tool 134.
- the structure of each of the discharge-side connector 82 and the replenishment-side connector 134 constituting the connection device 140 will be described, and subsequently, the size of the clearance formed between the two will be described.
- the discharge side connector 82 employs a socket as shown in FIG. More specifically, the discharge-side connector 82 includes a cylinder part 82a, a flow path component part 82b, and a piston part 82c (operation part) that can slide in the axial direction.
- the cylinder part 82a is a cylindrical member, and has an opening diameter into which the insertion part 134f of the replenishment side connector 134 described above can be inserted.
- the flow path constituting part 82b is disposed so as to be substantially concentric with the cylinder part 82a.
- a flow path 82d is formed inside the flow path forming portion 82b. The end part of the flow path 82d is opened on the outer surface of the flow path constituting part 82b.
- the piston part 82c is disposed so as to be substantially concentric with the cylinder part 82a and the flow path constituting part 82b.
- the piston part 82c is slidable along the surface of the flow path constituting part 82b.
- the piston part 82c is urged toward the front end side in the axial direction of the cylinder part 82a and the flow path constituting part 82b by a spring 82e.
- the terminal opening part of the flow path 82d formed in the flow-path structure part 82b is normally obstruct
- the piston part 82c can be slid toward the axial base end side by applying a pressing force in a direction opposite to the biasing direction by the spring 82e.
- the discharge side connection tool 82 can make the flow path 82d open by moving the piston portion 82c to the base end side from the end opening portion of the flow path 82d against the urging force of the spring 82e. Further, in a state where the piston portion 82c is moved to the distal end side by the urging force, the flow path 82d is closed. The piston portion 82c operates not at the passage 82d but at a position outside the passage 82d. Therefore, even if the piston portion 82c slides in the axial direction for opening and closing the flow path 82d, the volume of the flow path 82d does not change.
- the replenishment side connector 134 has a piston part 134b (operation part) slidable in the axial direction inside the cylinder part 134a.
- the cylinder part 134a is formed so that the cross-sectional shape is convex toward the distal end side in the axial direction, and has an insertion part 134f on the distal end side.
- a concave part 134d that forms a flow path 134c is formed between the outer peripheral surface of the piston part 134b.
- the flow path 134c communicates with the communication path 80d.
- the piston part 134b is urged toward the distal end side in the axial direction of the cylinder part 134a by a spring 134e.
- the piston part 134b can be slid toward the axial direction proximal end side by opening and closing the flow path 134c by applying a pressing force in a direction opposite to the biasing direction by the spring 134e. Further, the piston portion 134b does not operate in the passage 134c but operates at a position outside the passage 134c. Therefore, even if the piston part 134b slides in the axial direction when the flow path 134c is opened and closed, the volume of the flow path 134c does not change.
- the flow paths 82d and 134c can be communicated by connecting the discharge side connection tool 82 and the replenishment side connection tool 134.
- the insertion portion 134f of the replenishment side connection tool 134 is received by the cylinder portion 82a of the discharge side connection tool 82. That is, the cylinder part 82 a of the discharge side connection tool 82 functions as a receiving part that receives the insertion part 134 f of the replenishment side connection tool 134.
- the piston portion 82c slides in the direction opposite to the urging direction by the spring 82e.
- the piston part 134b provided on the replenishment side connection tool 134 side is pressed in the axial direction by the tip portion of the flow path constituting part 82b on the discharge side connection tool 82 side. Thereby, the piston part 134b slides in the direction opposite to the biasing direction of the spring 134e.
- the clearance between the discharge side connection tool 82 and the replenishment side connection tool 134 will be described.
- the inner diameter of the discharge-side connector 82 is a
- the outer diameter of the seal member 134x such as an O-ring attached to the tip of the replenishment-side connector 134
- the relationship of c ⁇ a and (ac) 2d
- the relationship b> a needs to be established.
- at least the clearance size d needs to be a positive value (d> 0).
- the size of the clearance d based on the particle size distribution of the particulate matter. Specifically, by setting the size of the clearance d to the median value C or more, wear of the discharge side connection tool 82 and the replenishment side connection tool 134 can be suppressed (see FIG. 13B).
- the mode diameter M, the median diameter d50 shown in FIG. It is also possible to employ the average diameter Av shown in 13 (c) as an index and set the clearance d to a value equal to or larger than the index value (diameter). Further, as the index for adjusting the size of the clearance d based on the particle size distribution of the particulate matter, the largest one among the median C, the mode diameter M, the median diameter d50, and the average diameter Av is adopted as an index. It is also possible to set the clearance d to a value equal to or larger than a value (diameter) used as an index.
- the particle size distribution is comprehensively evaluated from the viewpoint of the median C, the mode diameter M, the median diameter d50, and the average diameter Av, the clearance d is optimized, and the discharge side connection tool 82 and the replenishment side connection tool 134 are optimized. It is possible to further reduce the wear of the steel plate more reliably.
- the clearance d may be set to n ⁇ ⁇ or more corresponding to a predetermined multiple of the standard deviation ⁇ . More specifically, the above-described wear can be eliminated by setting the clearance d to a size equal to or larger than the particle size corresponding to + 6 ⁇ .
- the particle size distribution of the fluid is not a normal distribution in many cases. Therefore, by comparing the particle sizes corresponding to the median C and n ⁇ ⁇ , and setting the clearance size d to be larger than the larger particle size, the above-described wear can be more reliably suppressed.
- the size d is set. Specifically, it is set in consideration of the median C of the particle size distribution, the mode diameter M, the median diameter d50, the average diameter Av, or the n ⁇ ⁇ value corresponding to a predetermined multiple of the standard deviation ⁇ . Therefore, according to the discharge system 10 described above, the discharge-side connector 80 and the discharge-side connector 82 are worn due to the influence of the particulate matter even when a fluid containing particulate matter is handled. Can be minimized.
- the largest value among the median value C, the mode diameter M, the median diameter d50, and the average diameter Av of the particle size distribution is used as a reference, and the clearance size d is set to be larger than this reference.
- the particle size distribution is comprehensively evaluated from various viewpoints to optimize the clearance.
- the clearance size d is set to be larger than the larger one of the median C of the particle size distribution and the n ⁇ ⁇ value, the particle size distribution can be evaluated from various angles, and the optimum clearance can be obtained. Can be achieved.
- the replenishment side connector 134 on the replenisher 100 side is the insertion side (male), and the discharge side connector 82 on the discharge device 20 side is the insertion side (female). Type).
- the seal member 134x is provided on the outer peripheral portion of the replenishment side connector 134, so that the replenishment device 100 and the discharge device are replenished after the fluid is replenished from the replenishment device 100 to the discharge device 20.
- the effect of scraping off the fluid adhering to the inner peripheral surface of the discharge-side connector 82 by the seal member 134x can be expected. Thereby, it is possible to further reduce the amount of fluid adhering to the discharge-side connector 82 after replenishment of the fluid to the discharge device 20.
- the cylinder portions 82a and 134a of the discharge side connection tool 82 and the replenishment side connection tool 134 pass through the fluid inside the discharge side connection tool 82 and the replenishment side connection tool 134. It is structured to operate at a position outside of 82c and 134d. Therefore, even if the connection operation and the separation operation of the discharge side connection tool 82 and the replenishment side connection tool 134 are performed, it is possible to suppress the volume change of the passages 82c and 134d through which the fluid passes. Thereby, it becomes possible to further reduce the leakage of the fluid when the discharge-side connector 82 and the replenishment-side connector 134 are connected and separated.
- the supply of the fluid by the fluid supply device 160 is allowed on condition that the connection between the discharge device 20 and the replenishing device 100 is detected by the connection state detection unit.
- control for opening the valve 106 (fluid supply control) is performed.
- the replenishment device 100 includes the replenishment side detachable portion 104 and the valve 106, and the replenishment side detachable portion 104 includes the communication path 130 c communicating with the replenishment side connector 134.
- the valve 106 is built in the replenishing device 100, but the present invention is not limited to this, and a pipe line connecting the replenishing device 100 and the fluid supply device 160 is not limited thereto.
- the valve 106 may be disposed at a position upstream of the replenishment side connector 134 in the flow direction of the fluid, such as midway.
- the supply of the fluid by the fluid supply device 160 is blocked. 106 is closed. This can prevent the fluid from leaking unexpectedly when the discharge device 20 is disconnected from the replenishment device 100 after the discharge device 20 is replenished with the fluid.
- the connection operation for connecting the discharge-side connector 82 on the discharge device 20 side and the replenishment-side connector 134 on the refill device 100 side to replenish the fluid is performed. This is carried out in the sealed space 135 that is brought into a negative pressure state by the decompression device 148.
- the discharge failure of the fluid accompanying air mixing can be suppressed to the minimum.
- the discharge system 10 of this embodiment showed the example which can make the sealed space 135 into a negative pressure state with the decompression device 148, this invention is not limited to this.
- the configuration of the sealed space forming body 132, the decompression device 148, and the like for configuring the sealed space 150 can be omitted.
- the condition (step 8) relating to the completion of evacuation is omitted from the condition for opening the valve 106 in step 9 and starting the fluid pumping, and connecting the discharge device 20 and the replenishing device.
- the valve 106 may be opened when the condition of the detection is detected (step 7).
- the discharge system 10 includes a discharge-side buffer section as a buffer device for buffering fluctuations in internal pressure due to connection and separation of the discharge device 20 and the refill device 100 to the discharge device 20 and the refill device 100. 22 and the replenishment side buffer part 102 are provided. This suppresses negative pressure in the discharge device 20 and the replenishment device 100 during the connection / separation operation between the discharge device 20 and the replenishment device 100, and the flow accompanying the ingress of air into the both devices 20, 100. It is possible to more reliably suppress the discharge failure of the body.
- the discharge side buffer part 22 provided with the cylinder mechanism is provided as a buffer device on the discharge device 20 side.
- the piston 34 rises as the fluid flows into the second chamber 44 during the replenishment operation, and the volume of the second chamber 44 increases.
- the replenishment side buffer portion 102 including the absorber mechanism that operates by using the urging force of the spring 116 is provided as a shock absorber on the replenishment device 100 side.
- a shock absorber provided with a cylinder mechanism is employed as the discharge-side shock absorber 22 on the discharge device 20 side, and a shock absorber provided with an absorber mechanism is provided as the refill-side shock absorber 102 on the refill device 100 side.
- a buffer device provided on the discharge device 20 side may be provided corresponding to the replenishment buffer unit 102 provided with an absorber mechanism.
- a shock absorber corresponding to the discharge side shock absorber 22 having a cylinder mechanism may be provided as a shock absorber provided on the replenishing device 100 side.
- the discharge device 20 may have a configuration including two or more shock absorbers forming the discharge-side buffer portion 22.
- the discharge side shock absorber 22 provided with the cylinder mechanism and the discharge side shock absorber 22 provided with the absorber mechanism are exemplified.
- the present invention is not limited to this, and the shock absorber may be constituted by other types of accumulators or tanks that can allow the fluid to flow in and out. Even with this configuration, it is possible to suppress negative pressure inside the discharge device 20 and the replenishment device 100 in connection with the connection / separation work, and to avoid fluid discharge failure due to air mixing.
- this invention is not limited to this. That is, when it is not necessary to consider the entry of air accompanying the connection / separation work between the discharge device 20 and the refill device 100, one or both of the discharge-side buffer portion 22 and the refill-side buffer portion 102 are omitted. It is possible.
- the discharge system 10 of this embodiment includes a separation prevention mechanism 150 including a positioning pin 142 and a groove groove 144. Accordingly, it is possible to reliably prevent the discharge device 20 from being separated from the replenishing device 100 in a state where it is connected to the replenishing device 100 for replenishing the fluid.
- the separation prevention mechanism 150 illustrated in the present embodiment is merely an example, and a catch including a conventionally known ball catch, a hook, a fastener, or the like can be used as the separation prevention mechanism 150. Further, when replenishment of the fluid to the discharge device 20 does not cause a problem such as separation of the discharge device 20 from the replenishment device 100, the separation prevention mechanism 150 may not be provided.
- the discharge system 10 described above employs a uniaxial eccentric screw pump for the discharge unit 24 of the discharge device 20. Therefore, the fluid replenished from the replenishing device 100 to the ejection device 20 can be quantitatively and stably ejected without causing pulsation or the like. Moreover, in the discharge system 10, the discharge failure of the fluid accompanying mixing of air hardly arises. Therefore, the discharge system 10 has extremely high fluid discharge performance, and can be suitably used for applications such as applying fluid such as a sealant or adhesive to various parts in an automobile assembly factory or the like.
- maintenance such as cleaning of the replenishment side connector 134 by removing the sealed space forming body 132 from the replenishment side detachable part main body 130 by removing the bolt 138 on the replenishing device 100 side. It can be performed.
- the sealed space forming body 132 is detachable has been shown.
- the present invention is not limited to this, and the replenishment side attaching / detaching portion main body 130 and the sealed space forming body 132 are provided. It may be integrally formed.
- the operation speed during the separation operation is the same as that during the connection operation.
- the connecting device 140 does not scrape off the fluid and leaks to the outside and adheres
- the separation speed V2 between the discharge device 20 and the replenishing device 100 is determined as the connecting speed.
- the separation speed V2 between the discharge device 20 and the replenishing device 100 is set. It may be faster than the connection speed V1.
- connection between the discharge device 20 and the replenishment device 100 is detected by the docking completion limit switch, and the discharge from the replenishment device 100 side is performed on the condition that the connection between the discharge device 20 and the replenishment device 100 is detected.
- the example in which the fluid is replenished on the apparatus 20 side is illustrated, but the present invention is not limited to this.
- the above embodiment has a configuration in which the separation prevention mechanism 150 is provided. Therefore, in the above-described embodiment, not only the discharge-side connector 82 and the replenishment-side connector 134 are connected, but also the discharge device 20 and the replenishment device 100 are in a positional relationship that is locked by the separation preventing mechanism 150.
- the fluid replenishment start condition for the discharge device 20 was set. However, if there is no problem such as liquid leakage even if fluid replenishment is started before locking by the separation prevention mechanism 150 is completed, or if the separation prevention mechanism 150 is not provided, the discharge side connection The fluid replenishment may be started when the tool 82 and the replenishment side connection tool 134 are connected. Therefore, when the lock by the separation preventing mechanism 150 is not essential when starting replenishment of the fluid, or when the separation preventing mechanism 150 is not provided, the discharge side connection tool 82 and the replenishment side connection tool 134 are replaced with the docking completion limit switch. A connection state detection means for detecting the connection may be provided, and detection of the connection by this may be used as a fluid replenishment start condition.
- the position (movement coordinate) of the manipulator 90 can be detected instead of the docking completion limit switch, and the connection between the discharge side connection tool 82 and the replenishment side connection tool 134 is detected using the detected position (movement coordinate) as an index. Also good.
- the operation can be controlled by the control device 170 as shown in the flowchart of FIG. That is, in step 101 of FIG. 12, the discharge device 20 is operated and the fluid discharge operation is performed.
- step 103 the control flow proceeds to step 103.
- the presence or absence of the replenishment request in step 102 can be the same as in step 2 of the control flow shown in FIG. That is, whether or not there is a replenishment request based on various conditions such as a pressure sensor (not shown) capable of detecting the internal pressure of the discharge-side buffer 22 provided in the discharge device 20 being equal to or lower than a predetermined pressure. Can be judged. If it is determined in step 102 that there is a fluid replenishment request, the flow proceeds to step 103.
- step 103 the operation of the manipulator 90 is controlled by the control device 170 so that the discharge device 20 moves to a predetermined position on the replenishing device 100 side.
- step 104 the operation control for moving the discharge-side connector 82 toward the connection direction (in the present embodiment, the axial direction lower side of the replenishment-side connector 134) is performed by the control device. Executed by 170. Thereby, the connection of the discharge side connection tool 82 to the replenishment side connection tool 134 is started. The movement of the discharge device 20 in the connection direction is continued until the connection of the discharge side connection tool 82 to the replenishment side connection tool 134 is confirmed by a connection state detection means (not shown) in Step 105.
- step 105 When the connection of the discharge side connection tool 82 to the replenishment side connection tool 134 is confirmed in step 105, the control flow proceeds to step 106, and the valve 106 is opened. Thereafter, in step 107, supply of the fluid from the fluid supply device 160 to the replenishing device 100 side is started. Thereafter, replenishment of the fluid to the discharge device 20 is continued until it is confirmed in step 108 that the replenishment amount detection means is full.
- the replenishment amount detection means for detecting the replenishment status of the fluid in step 108 can be various as in step 10 of FIG. 7 described above.
- step 109 the valve 106 is closed. Thereafter, in step 110, the supply of the fluid from the fluid supply device 160 to the replenishing device 100 side is stopped.
- step 111 the control device 170 executes operation control for moving the discharge side connection tool 82 in the separation direction (in this embodiment, the upper side in the axial direction of the replenishment side connection tool 134). Thereby, the operation
- the movement of the discharge device 20 in the disconnection direction is continued until the connection state detection means (not shown) is turned off in step 112.
- operation control for moving the ejection device 20 to a predetermined position in step 113 is executed by the control device 170. Thereby, the fluid replenishment operation shown in FIG. 12 is completed.
- the discharge side connector 82 is a female plug, and the replenishment side connector 134 is a male plug.
- the adhesion of the fluid to the discharge side connection tool 82 is minimized, and the fluid attached to the discharge side connection tool 82 during the operation of the discharge device 20 can be prevented from unexpectedly dropping onto the workpiece.
- the discharge side connection tool 82 is a female plug, as shown in FIG. 1 and the like, by mixing the discharge side connection tool 82 with the end side facing downward, it is possible to suppress the entry of dust and the like. . Thereby, it is possible to omit or simplify dust countermeasures in the discharge-side connector 82.
- a seal member 134x such as an O-ring is attached to the outer periphery of the replenishment-side connector 134 made of a male plug. It is desirable. In this way, even if the fluid adheres to the inner peripheral surface of the discharge side connection tool 82, the fluid flows by the seal member 134x when the discharge side connection tool 82 and the replenishment side connection tool 134 are connected or separated. The effect of scraping the body from the inner peripheral surface of the discharge-side connector 82 can be expected. Therefore, it is desirable to provide the seal member on the male plug constituting the replenishment side connector 134.
- the seal member 134x may be attached to any place, but in order to enhance the above-described scraping effect, it should be attached to the distal end side rather than the proximal end side of the male plug constituting the replenishment side connector 134. Is desirable.
- the coating system of the present invention can be suitably used in applications such as applying fluids such as sealants and adhesives to various parts, or refilling containers with fluids such as grease in automobile assembly factories and the like. is there.
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Abstract
Description
以下、本発明の一実施形態に係る吐出システム10について、図面を参照しつつ詳細に説明する。図1に示すように、吐出システム10は、吐出装置20と、補充装置100と、流動体供給装置160と、制御装置170とを主要な構成として備えている。吐出システム10は、吐出装置20を補充装置100に対して接続することにより、流動体供給装置160から供給されてきた流動体を吐出装置20に対して補充可能とされている。また、吐出システム10は、吐出装置20を補充装置100から分離させた状態で作動させることにより、補充されている流動体を塗布等のために吐出可能とされている。すなわち、吐出システム10は、吐出装置20に対して流動体供給用の配管あるいはホース等を非接続の状態において、補充装置100や流動体供給装置160に対して独立的に吐出装置20を作動させ、流動体を塗布等することができるシステム構成とされている。
以下、図7に示すフローチャート、及び図8に示すタイミングチャートを参照しつつ、上述した吐出システム10の動作について吐出装置20に対する流動体の補充動作を中心に説明する。吐出システム10は、ステップ1において吐出装置20が作動し、流動体の吐出動作が実施される。吐出装置20の作動後、ステップ2において流動体を吐出装置20に対して補充すべきであるとの要求が出力されたとの判断が制御装置170によってなされた場合には、制御フローがステップ3に移行する。ここで、吐出装置20への流動体の補充要求の有無についての判断は種々の判断基準に基づいて実施することが可能であるが、例えば吐出装置20に設けられた吐出側緩衝部22の内圧を検知可能とされた圧力センサ(図示せず)が所定の圧力以下になることを条件として、吐出側緩衝部22内においてピストン34が下限位置に到達し、流動体の補充要求がオン状態になったものと判断することが可能である。また、ピストン34の位置に応じてオンオフするオートスイッチを補充量検出手段として採用した場合には、このオートスイッチの検知結果に基づきピストン34が下限位置に到達したとの判断がなされた場合に、流動体の補充要求がオン状態になったものと判断することができる。
接続装置140は、上述したように、吐出側接続具82及び補充側接続具134の組み合わせによって構成されている。以下、接続装置140をなす吐出側接続具82及び補充側接続具134のそれぞれの構造について説明し、続いて両者の間に形成されるクリアランスの大きさについて説明する。
本実施形態では、吐出装置20と補充装置100との接続をドッキング完了リミットスイッチにより検知し、これにより吐出装置20と補充装置100との接続が検知されることを条件として補充装置100側から吐出装置20側に流動体が補充される例を例示したが、本発明はこれに限定されるものではない。具体的には、上記実施形態は、離反防止機構150を設けた構成である。そのため、上記実施形態では、吐出側接続具82と補充側接続具134とが接続されるだけでなく、吐出装置20及び補充装置100が離反防止機構150によりロック状態になる位置関係になることを吐出装置20に対する流動体の補充開始条件とした。しかしながら、離反防止機構150によるロックが完了する前に流動体の補充を開始しても液漏れ等の問題が生じない場合や、離反防止機構150を設けない構成とした場合には、吐出側接続具82と補充側接続具134とが接続された時点で流動体の補充を開始しても良い。従って、離反防止機構150によるロックが流動体の補充開始に際して必須でない場合や、離反防止機構150を設けない場合には、ドッキング完了リミットスイッチに代えて吐出側接続具82及び補充側接続具134の接続を検知するための接続状態検知手段を設け、これにより接続が検知されることを流動体の補充開始条件としても良い。また、ドッキング完了リミットスイッチに代えてマニピュレータ90の位置(移動座標)を検出可能とし、検出された位置(移動座標)を指標として吐出側接続具82及び補充側接続具134の接続を検出しても良い。
20 吐出装置
52 ロータ
54 ステータ
82 吐出側接続具
82a シリンダ部(受容部)
82c 通路
100 補充装置
134 補充側接続具
134d 通路
134x シール部材
Claims (5)
- 流動体を吐出させることが可能な吐出装置と、
流動体を前記吐出装置に補充可能な補充装置とを有し、
前記補充装置側に設けられた補充側接続具、及び前記吐出装置側に設けられた吐出側接続具の一方を他方と接続することで、前記補充装置側から前記吐出装置側に流動体を補充可能なものであり、
前記吐出側接続具が、前記補充側接続具を受容する受容部を有するものであることを特徴とする吐出システム。 - 前記補充側接続具の外周部に、シール部材が設けられていることを特徴とする請求項1に記載の吐出システム。
- 前記吐出側接続具が雌型のプラグであり、前記補充側接続具が雄型のプラグであることを特徴とする請求項1又は2に記載の吐出システム。
- 前記吐出側接続具及び前記補充側接続具のいずれか一方又は双方に、前記吐出側接続具及び前記補充側接続具の接続及び離反に連動して動作する動作部が設けられており、
前記動作部が、前記吐出側接続具及び前記補充側接続具の内部において流動体が通過する通路を外れた位置において動作することを特徴とする請求項1~3のいずれかに記載の吐出システム。 - 前記吐出装置が、動力を受けて偏心回転する雄ねじ型のロータと、内周面が雌ねじ型に形成されたステータとを有する一軸偏心ねじポンプを備えたものであることを特徴とする請求項1~4のいずれかに記載の吐出システム。
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US15/033,079 US10160003B2 (en) | 2013-10-29 | 2014-09-30 | Discharge system |
CN201480055727.8A CN105612008B (zh) | 2013-10-29 | 2014-09-30 | 吐出系统 |
KR1020167013860A KR20160079021A (ko) | 2013-10-29 | 2014-09-30 | 토출 시스템 |
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