WO2017013967A1

WO2017013967A1 - Discharge device

Info

Publication number: WO2017013967A1
Application number: PCT/JP2016/067734
Authority: WO
Inventors: 祐之斎藤; 中村　和人; 高渋谷
Original assignee: 三菱重工業株式会社
Priority date: 2015-07-17
Filing date: 2016-06-15
Publication date: 2017-01-26
Also published as: JP2017023916A

Abstract

The purpose of the present invention is to rapidly discharge a viscous fluid when drive is initiated, continue discharging the viscous fluid at a constant flow rate and rapidly stop the discharge. Provided is a discharge device (1) for discharging the viscous fluid, which fills the inside of a cartridge (10), from a nozzle (11) provided on a container by pressing force of a piston shaft (9), wherein the device is provided with a control unit (3) that, in a first-period after initiating drive of the piston shaft (9), moves the piston shaft (9) in the discharge direction for the viscous fluid at a first speed, and in a second period after completion of the first period, moves the piston shaft (9) in the discharge direction for the viscous fluid at a second speed slower than the first speed. In addition, the device may be provided with a control unit (3) that, in a third period after completion of the second period for moving the piston shaft (9) at the second speed, moves the piston shaft (9) in the reverse direction of the discharge direction for the viscous fluid at a third speed faster than the second speed for the purpose of rapidly stopping the discharge.

Description

Discharging device

The present invention relates to a discharge device.

When applying a sealing material to a corner or a bonding surface of a bonding portion between two members, a discharge device capable of installing a cartridge which is a cylindrical container with a nozzle filled with the sealing material may be used. is there. In the discharge device, the pusher provided at the tip end of the piston shaft pushes the sealing material filled inside the cartridge from the end opposite to the nozzle of the cartridge, and discharges the sealing material from the tip of the nozzle.

The following

Patent Documents

1 and 2 disclose a technique related to a discharge device which is provided with a motor in a discharge device, presses a sealing material by a driving force of the motor, and discharges the sealing material from a nozzle of a container end.

Patent No. 53484853 JP, 2001-252602, A

In the conventional discharge device, the sealing material filled in the container is not discharged from the nozzle instantaneously in response to the start of driving of the piston shaft, and as shown in FIG. A delay of several seconds occurs, and discharge of the sealing material from the nozzle is started. Therefore, there is a delay in the discharge timing even when trying to apply the sealing material while attaching the discharging device to the robot etc. and moving at a constant speed from the designated position, the sealing material can not be applied to the designated position. is there.

In addition, in the conventional discharge device, the moving speed of the piston shaft is constant from the start of driving to the stop of the piston shaft. The nozzle portion is open at its tip and has a tapered shape, which causes resistance when the sealing material is discharged. Further, since the sealing material is a highly viscous fluid having elasticity, the sealing material is elastically deformed in a cylindrical container such as a cartridge, or the container itself is elastically deformed. Therefore, the pressure applied to the sealing material filled inside the cylindrical container tends to increase gradually. In the graph shown in FIG. 7, the pressure related to the sealing material is represented by the thrust of the piston shaft.

Therefore, not only does a delay occur in the discharge timing of the sealing material, but also the discharge flow rate at the time of discharge is not constant, as in the graph shown by the passage of time of the accumulated discharge amount in FIG. As a result, there is a problem that not only the sealing material can not be applied from the designated position, but also a predetermined amount of sealing material can not be applied to the predetermined position.

Moreover, in the conventional discharge device, when stopping the discharge of the sealing material, there is a problem that the sealing material continues to flow out from the tip of the nozzle without stopping the discharge of the sealing material for a while even after the driving of the piston shaft is stopped. . With regard to so-called backlash at the time of stopping, in the above-mentioned Patent Document 1, when discharging is stopped, the motor is reversely rotated for a short time, and the viscous material is moved in the direction opposite to the discharging direction. It is stated that who prevents.

However, if the amount of movement of the piston shaft in the direction opposite to the discharge direction is too large, the sealing material may be returned too much in the nozzle, and the application can not be started accurately and promptly at the next operation.

The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a discharge device capable of rapidly discharging viscous fluid at the start of driving and continuing to discharge viscous fluid at a constant flow rate. To aim.

That is, the discharge device according to the first aspect of the present invention is a discharge device that discharges the viscous fluid filled in the container from the nozzle provided in the container by the pressing force of the piston shaft, and the drive of the piston shaft After the start, in the first period, the piston shaft is moved in the discharge direction of the viscous fluid at a first speed, and after the first period ends, in the second period, the pressure is higher than the first speed. The control unit is configured to move the piston shaft at a slow second speed in the discharge direction of the viscous fluid.

According to this configuration, pressure (pre-load) can be applied to the viscous fluid in the container in the first period, and when the first period ends, discharge of the viscous fluid is started promptly after the end of the first period. And thereafter, the viscous fluid can be continuously discharged at a constant flow rate.

In the first aspect, the control unit causes the piston shaft to move at a third speed higher than the second speed in a third period after the second period in which the piston shaft is moved at the second speed. May be moved in a direction opposite to the discharge direction of the viscous fluid.

According to this configuration, when the discharge of the viscous fluid is completed, the pressure applied to the viscous fluid in the container can be reduced, and the discharge of the viscous fluid can be promptly stopped.

In the first aspect, the control unit may determine the moving amount of the piston shaft in the first period based on the amount of the viscous fluid filled in the container.
According to this configuration, it is possible to apply pressure to the viscous fluid in advance before discharge, according to the amount of the viscous fluid filled in the container.

In the first aspect, the control unit may determine the amount of movement of the piston shaft in the first period based on the viscosity of the viscous fluid filled in the container.
According to this configuration, it is possible to apply pressure to the viscous fluid in advance before discharge, according to the viscosity of the viscous fluid filled in the container.

In the first aspect, the control unit may determine the movement amount of the piston shaft in the third period based on the amount of the viscous fluid filled in the container.
The inventors have tried to find the amount of movement of the piston shaft that optimizes both the responsive stop of the sealing material and the appropriate retraction of the sealing material, but many experiments and measurements are required, It was actually very difficult to find the optimum value. On the other hand, in the present invention, by determining the moving amount of the piston shaft in the third period based on the amount of the viscous fluid filled in the container, the pressure applied in the first period is coped with. It has been found that the pressure can be reduced in the third period, and both the responsive stop of the sealant and the proper retraction of the sealant can be realized.

In the first aspect, the control unit may determine the amount of movement of the piston shaft in the third period based on the viscosity of the viscous fluid filled in the container.
According to this configuration, it is possible to reduce the pressure corresponding to the pressurization applied in the first period in the third period, according to the viscosity of the viscous fluid filled in the container.

In the first aspect, the control unit may determine the third speed based on the first speed.
According to this configuration, the pressure corresponding to the pressure applied in the first period can be reduced from the viscous fluid, and both the stop of the responsive viscous fluid and the appropriate drawing of the viscous fluid can be realized.

According to this configuration, the viscous fluid can be discharged quickly at the start of driving, and the viscous fluid can be continuously discharged at a constant flow rate.

It is a side view showing a discharge device concerning one embodiment of the present invention. It is a block diagram showing the control part of the discharge device concerning one embodiment of the present invention. It is a flowchart which shows operation | movement of the discharge apparatus which concerns on one Embodiment of this invention. It is a graph which shows the thrust of the piston axis | shaft in the discharge device which concerns on one Embodiment of this invention, the moving amount | distance of a piston axis | shaft, the relationship of the cumulative discharge amount of sealing material, and time. It is a graph which shows the relationship between the moving amount | distance of the piston shaft and time in the discharge device which concerns on one Embodiment of this invention. It is a graph which shows the relationship between the moving amount | distance of the piston shaft and time in the discharge device which concerns on one Embodiment of this invention. It is a graph which shows the relationship between the thrust of the piston axis | shaft in the conventional discharge device, the movement amount of a piston axis | shaft, the discharge accumulation amount of a sealing material, and time.

Hereinafter, a discharge device 1 according to an embodiment of the present invention will be described with reference to the drawings.
The discharge device 1 is a device that discharges a sealing material as shown in FIG. 1, and the cartridge 10 filled with the sealing material is detachably fixed. The sealing material is pressed by a pusher 12 provided at the tip of the piston shaft 9 of the discharge device 1 and discharged from the nozzle 11. The sealing material is a viscous fluid and is applied to the corner or the joint surface of the joint between the two members. As the sealing material, for example, a polysulfide (POLYSULFIDE) type, a silicone (SILICON) type, a polyurethane (POLYURETHANE) type, a polythioether (POLYTHIOETHER) type or the like is used. The viscosity of the sealing material is, for example, in the range of 250 Pa · s to 1100 Pa · s.

The discharge device 1 includes a discharge unit 2 which discharges the sealing material filled in the cartridge 10, a control unit 3 which controls the discharge unit 2, and an input unit 4 which instructs the start and end of the drive of the discharge unit 2. In the discharge unit 2, the cartridge 10 is detachably installed at a predetermined position. The cartridge 10 is filled in advance with a sealing material, and the sealing material is pressed by the pusher 12 from the rear end opposite to the nozzle 11 and discharged from the nozzle 11 provided at the tip. The cartridge 10 may be discarded when the sealing material is discharged, or may be refillable with the sealing material.

The input unit 4 is, for example, a switch or a lever, and the user inputs an instruction to start the discharge of the sealing material by the discharge device 1 and an instruction to stop the discharge. The input unit 4 transmits a command signal of discharge start or discharge stop to the drive control unit 24 of the control unit 3.

The motor 5 has a configuration capable of controlling the number of rotations and the rotation angle, and is driven based on the drive signal received from the drive control unit 24. That is, the motor 5 starts or stops driving based on the drive signal, and rotates forward at the start of drive or reversely rotates at the stop of drive.

The motor 5 is connected to the ball screw 7 via the coupling 6. A slider 8 is installed on the ball screw 7, and the slider 8 is connected to the piston shaft 9. Thereby, in response to the drive of the motor 5, the slider 8 moves in the axial direction, and the piston shaft 9 also moves in the axial direction.

The piston shaft 9 is provided with a pusher 12 at its tip. The pusher 12 moves in the axial direction by the movement of the piston shaft 9. The pusher 12 presses the sealing material in the cartridge 10 to discharge the sealing material from the nozzle 11 or moves in the direction opposite to the pressing direction to reduce the pressure applied to the sealing material and stop the discharge. .

The discharge device 1 includes, for example, a base stand 13, and the motor 5, the ball screw 7, the fixing portion 14 for fixing the cartridge 10, and the like are fixed to the base stand 13. The fixing portion 14 detachably supports the cartridge 10.

The discharge device 1 may apply the sealing material by holding the hand of the operator or may apply the sealing material by being fixed to an arm or the like of the robot. The robot moves the discharge device 1 to apply the sealing material to the application target of the sealing material. By controlling the discharge start and stop of the sealing material by the discharge device 1 in conjunction with the movement start and stop of the discharge device 1 by the robot, the sealing material is applied to an appropriate place.

The control unit 3 receives the command signal from the input unit 4 and drives the discharge unit 2. Moreover, when driving the discharge part 2, the control part 3 adjusts the drive speed of a piston. As shown in FIG. 2, the control unit 3 includes a remaining amount detection unit 21, a temperature detection unit 22, a movement amount determination unit 23, a drive control unit 24, and the like.

The remaining amount detection unit 21 detects the current volume of the sealing material filled in the cartridge 10. The remaining amount detection unit 21 is, for example, a linear potentiometer provided on the piston shaft 9. Since the cartridge 10 is attached to a predetermined position in the discharge device 1, the position of the pusher 12 provided at the tip of the piston shaft 9 corresponds to the rear end portion of the sealing material in the cartridge 10. Therefore, the volume of the sealing material is determined based on, for example, the position of the piston shaft 9 provided with the pusher 12.

The volume of the sealing material detected by the remaining amount detection unit 21 is transmitted to the movement amount determination unit 23.
The remaining amount detection unit 21 is not limited to the above-described example, and detects the amount of rotation of the motor 5 that drives the piston shaft 9 and detects the capacity of the cartridge 10 when not in use (initial time). The volume of the sealing material may be determined based on the amount and the amount of movement of the piston shaft 9.

The temperature detection unit 22 is installed on the cartridge 10 or the base stand 13 of the discharge unit 2 and detects, for example, the current temperature of the sealing material or the current temperature of the surrounding environment of the discharge device 1.
The temperature detected by the temperature detection unit 22 is transmitted to the movement amount determination unit 23.

The physical properties of the sealing material, such as viscosity, may be input to the above-described input unit 4. The viscosity of the sealing material may be input numerically through the input unit 4 by the user's operation, or may be input at high and low levels of viscosity (for example, levels divided into 3 stages or 5 stages etc.) Good.

In order to calculate the viscosity of the sealing material, a humidity detection unit (not shown) that detects the humidity of the environment around the discharge device 1 may be installed.
The viscosity input by the input unit 4 and the humidity detected by the humidity detection unit are transmitted to the movement amount determination unit 23.

The movement amount determination unit 23 calculates the movement amount of the piston shaft 9 based on the temperature detected by the remaining amount detection unit 21 and the temperature detection unit 22, the viscosity of the sealing material, and the like. The amount of movement of the piston shaft 9 is calculated for each of the preload application time, the application time, and the stop time. The movement amount determination unit 23 calculates the movement amount based on, for example, a table or a calculation formula recorded in advance in the memory.

The drive control unit 24 drives the piston shaft 9 based on the movement amount of the piston shaft 9 calculated by the movement amount determination unit 23. The drive control unit 24 starts or stops the movement of the piston shaft 9 based on the command signal received from the input unit 4. The application amount may be input to the drive control unit 24 via the input unit 4 or the like before the start of driving. In this case, when a predetermined application amount is applied after the start of driving, the drive control unit 24 stops the driving of the piston shaft 9.

The movement amount determination unit 23 may receive the command signal from the input unit 4 and may calculate the movement amount after receiving the command signal, and may transmit the calculation result to the drive control unit 24. While the power of 1 is on, the movement amount may be periodically calculated based on the above detection result etc., and the calculation result may be transmitted to the drive control unit 24 in response to the call of the drive control unit 24. .

Next, the operation of the discharge device 1 according to the present embodiment will be described with reference to FIGS. 3 and 4. Here, the case where the application amount is input to the drive control unit 24 in advance before the start of the drive will be described.
First, when receiving the discharge start command and the application amount of the sealing material (step S1), the movement of the piston shaft 9 is started at the preload applying speed (step S2). Thus, a predetermined pressure can be applied to the sealing material in the cartridge 10 before the sealing material is discharged from the nozzle 11. The preload application speed is higher than the application speed described later.

Next, the piston shaft 9 is continuously moved while applying the sealing material at a coating speed which is slower than the preload application speed (step S3). At this time, since a preload is applied to the sealing material in the cartridge 10, the piston shaft 9 is moved at a speed slower than the preload application speed (for example, the same speed as the application speed) when the preload is not applied. The discharge start of the sealing material can be advanced earlier than when it is started. In addition, since the piston shaft 9 presses the sealing material in a state where a predetermined pressure is already applied to the sealing material inside, the sealing material can be discharged from the nozzle 11 at a constant flow rate.

Then, when the discharge of the sealing material of the predetermined application amount is finished, the piston is moved at the stop speed in the direction opposite to the discharge direction (step S4), and the drive of the piston shaft 9 is stopped (step S5). Thereby, the pressure applied to the sealing material is reduced, and the discharge of the sealing material from the nozzle 11 is stopped. The stop speed is a speed higher than the application speed, for example, the same speed as the preload application speed. Unlike the present embodiment, when the movement of the piston shaft 9 is simply stopped, pressure is applied to the sealing material, so discharge of the sealing material from the nozzle continues, but according to the present embodiment, the piston After the change of the moving direction of the shaft 9, the discharge of the sealing material can be stopped in a short time.

As described above, the discharge stop command of the sealing material may be generated based on the predetermined application amount of the sealing material, or may be generated based on the stop operation at the input unit 4 of the user.

By moving the piston shaft 9 by the control described above, the application of the sealing material can be started almost simultaneously with the command to start the discharge of the sealing material, and the application of the sealing material is stopped almost simultaneously with the command to stop the discharge of the sealing material. it can. Moreover, the discharge flow rate of the sealing material during the application period is substantially constant. Therefore, since the discharge start and discharge end of the sealing material can be predicted, and the discharge amount of the scene material in the application period can be grasped in advance, the necessary amount of the sealing material can be accurately discharged.
Furthermore, when the sealing material is applied while moving the discharge device 1 by a robot or the like, the sealing material can be accurately applied to a predetermined place where the application of the sealing material is required.

Next, a method of determining the amount of movement of the piston will be described.
First, the amount of movement in the preload application period will be described. The preload application period is a period in which the piston shaft 9 is moved at the above-described preload application speed.

It is desirable that the preloading period be ended before the discharge of the sealing material starts by the movement of the piston shaft 9. The time of the preload application period and the moving amount of the piston shaft 9 in that period are determined by, for example, the remaining amount of the sealing material in the cartridge 10, the viscosity of the sealing material, and the like. If the remaining amount of sealing material is large, it is determined that the moving amount of piston shaft 9 is large. Conversely, if the remaining amount of sealing material is small, it is determined that the moving amount of piston shaft 9 is small. Ru. Also, when the viscosity of the sealing material is high, it is determined that the movement of the piston shaft 9 is large, and conversely, when the viscosity of the sealing material is low, the movement of the piston shaft 9 is small. Ru.

The remaining amount of the sealing material is detected based on the amount of movement of the piston shaft 9 and the position of the piston shaft 9 as described above. In addition, the viscosity of the sealing material changes depending on the temperature, humidity, and the material, so the viscosity is estimated based on the temperature, humidity, and material of the sealing material or the usage environment, and the piston movement amount is determined according to the viscosity of the sealing material Be done.

Next, the amount of movement of the piston during the application period will be described. The application period is a period in which the piston shaft 9 is moved at the application speed described above.
The application period is determined based on the predetermined application amount of the sealing material and the moving speed of the piston shaft 9. The higher the moving speed of the piston shaft 9 during the application period, the shorter the working time. However, the moving speed of the piston shaft 9 is determined within a range in which the sealing material is discharged from the tip of the nozzle 11 at a constant speed.

Note that depending on the application site, the application may be instructed to stop by the operation of the user. In this case, the application period is not determined based on the predetermined application amount of the sealing material, but the application period is determined by the operation of the user. The moving speed of the piston shaft 9 at this time is also a value determined within a range in which the sealing material is discharged from the tip of the nozzle 11 at a constant speed, as described above.

Next, the amount of movement of the piston at the end of application, that is, during the stop period will be described. The stop period is a period in which the piston shaft 9 is moved at the above-described stop speed.

The amount of movement of the piston shaft 9 during the stop period is a distance that can release the pressurization applied in the preload application period and return it to the pressure before the pressurization application. Specifically, it is determined in advance by the remaining amount of the sealing material in the cartridge 10, the viscosity of the sealing material, and the like. If the remaining amount of sealing material is large, it is determined that the moving amount of piston shaft 9 is large. Conversely, if the remaining amount of sealing material is small, it is determined that the moving amount of piston shaft 9 is small. Ru. Also, when the viscosity of the sealing material is high, it is determined that the movement of the piston shaft 9 is large, and conversely, when the viscosity of the sealing material is low, the movement of the piston shaft 9 is small. Ru. Thereby, the sealing material is not returned too much into the nozzle 11, and the discharge of the sealing material from the nozzle 11 can be stopped promptly after the end of the application period.

For example, as shown in FIG. 5, the moving amount of the piston shaft 9 is larger as the viscosity is higher and smaller as the viscosity is lower within a predetermined preload application period after the start of driving. And, also in the stop period at the time of the drive stop, the moving amount of the piston shaft 9 is made larger as the viscosity is higher and smaller as the viscosity is lower, as in the preload application period after the drive start. In this case, the higher the viscosity, the faster the moving speed of the piston shaft 9.
Alternatively, as shown in FIG. 6, the moving amount of the piston shaft 9 is larger as the viscosity is higher and smaller as the viscosity is lower, but the moving speed may be constant regardless of the viscosity. In this case, the preload application period varies depending on the viscosity, and is longer as the viscosity is higher and shorter as the viscosity is lower. And also in the stop period at the time of drive stop, the moving speed of the piston shaft 9 is constant as in the preload application period after the start of drive, and the stop period becomes longer as the viscosity is higher.

The timing at which the piston movement amount in the preload application period, the application period, and the stop period is determined is, for example, when the discharge device 1 receives a command to start discharging the sealing material. When the discharge start command is received, the remaining amount of the sealing material, the temperature of the sealing material and the like are detected, and the moving amount of the piston is calculated and determined based on the detected remaining amount, temperature and the like.

DESCRIPTION OF SYMBOLS 1 Discharge device 2 Discharge part 3 Control part 4 Input part 5 Motor 6 Coupling 7 Ball screw 8 Slider 9 Piston shaft 10 Cartridge 11 Nozzle 12 Pusher 13 Base stand 14 Fixing part 21 Remaining amount detection part 22 Temperature detection part 23 Movement amount determination Unit 24 Drive control unit

Claims

A discharge device that discharges a viscous fluid filled in a container from a nozzle provided in the container by a pressing force of a piston shaft,
In the first period after the start of driving of the piston shaft, the piston shaft is moved in the discharge direction of the viscous fluid at a first speed in a first period, and in the second period after the first period ends. A discharge device comprising a control unit for moving the piston shaft in the discharge direction of the viscous fluid at a second speed that is lower than the first speed.
The control unit is configured to move the piston shaft at a third speed that is higher than the second speed during a third period after the second period for moving the piston shaft at the second speed. The discharge device according to claim 1, wherein the discharge device is moved in a direction opposite to the discharge direction.
The discharge device according to claim 1, wherein the control unit determines the movement amount of the piston shaft in the first period based on the amount of the viscous fluid filled in the container.
The discharge according to any one of claims 1 to 3, wherein the control unit determines the amount of movement of the piston shaft in the first period based on the viscosity of the viscous fluid filled in the container. apparatus.
The discharge device according to claim 2, wherein the control unit determines the movement amount of the piston shaft in the third period based on the amount of the viscous fluid filled in the container.
The discharge device according to claim 2 or 5, wherein the control unit determines the movement amount of the piston shaft in the third period based on the viscosity of the viscous fluid filled in the container.
The discharge device according to claim 2, wherein the control unit determines the third speed based on the first speed.