• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This application device (16) is intended for applying at least one fluid product to a substrate. It comprises an applicator member (30) having an orifice (32) for dispensing the product (s) fluid (s) out of the application device (16) and, for at least one fluid product, an organ for adjustment (36) adapted to set a dosing rate of the fluid product through the outlet (32) according to a control setpoint of said adjustment member (36) provided by a control module (38). The application device (16) also comprises a speed measuring device (34) able to determine a measured speed of the outlet orifice (32) relative to an inertial reference system, the control module (38) being configured to determining the control setpoint as a function of said measured speed.
    公开号:FR3078900A1
    申请号:FR1852232
    申请日:2018-03-15
    公开日:2019-09-20
    发明作者:Philippe De Talhouet；Nicolas Ferrere
    申请人:Exel Industries SA；
    IPC主号:
    专利说明:

    Device for applying a fluid product, the metering rate of which depends on the speed of an outlet orifice for said fluid product
    The present invention relates to an application device for applying at least one fluid product to a substrate, the application device being of the type comprising:
    an application member, for shaping the or each fluid product for its application on the substrate, the application member having an outlet orifice for the fluid product (s) outside the application device, for at least one fluid product, an adjustment member capable of adjusting a metering flow rate of the fluid product through the outlet orifice as a function of a control instruction of said adjustment member, and a module command to determine the command setpoint and supply it to the regulating member.
    By “fluid product” is understood here and hereinafter a product which has a viscosity between 1 mPa.s and 2 kPa.s, this viscosity being for example measured using a Brookfield Plan Cone viscometer in normal temperature and pressure conditions. This expression thus includes products in the liquid state, perfectly deformable and with low viscosity, but also products generally qualified as "pasty", more viscous than liquids and having an intermediate state between the liquid state and the solid state .
    The invention also relates to an applicator robot comprising such an application device, and to a method of applying a fluid product to a substrate by means of such an application device.
    Application devices of the aforementioned type are known. They are generally used to apply fluid products to surfaces such as beads of glue or paint, particularly when it is necessary to precisely control the flow rate of the fluid product leaving the application device. To this end, these application devices are mounted on robotic articulated arms controlled by control bays so as to move the application members of these application devices relative to the surfaces to be covered. These control bays are most often arranged next to said articulated arms, and each application device has its own control cabinet arranged next to the control bay of the articulated arm on which the application device is mounted.
    Generally, the objective sought with the use of this type of application device is to distribute the fluid in the most homogeneous manner possible over the surface to be covered.
    This objective is easily achievable when the speed of the outlet orifice, also called "tool tip speed", is constant: to obtain a homogeneous distribution of the fluid on the surface to be covered, it suffices in this case to maintain a substantially constant dosing flow, which we know how to achieve without difficulty.
    A complication arises, however, when the tool tip speed varies, for example when the direction of movement of the application member changes following the arrival of the application member at the end of the surface to be covered. In this case, the dosing flow must be modified in proportion to the tool tip speed so as to continue applying locally a noted quantity of product; in particular, the dosing flow should be reduced when the movement of the outlet is slower and increased when the movement of the outlet is accelerated.
    So that the dosing flow can thus be adjusted as a function of the tool tip speed, this tool tip speed must be known to the control module. To this end, robotic arms have been developed which are suitable for communicating to the control cabinets of application devices mounted thereon an estimate of the tool tip speed based on the movement instructions communicated by the control bay to the articulated arm. This solution is however unsatisfactory on several points:
    - it poses compatibility problems between the robotic arms and the application devices,
    - it does not allow the metering flow rate to be adjusted as a function of the tool tip speed when the application device is mounted on an older generation robotic arm that does not have the aforementioned function, and
    the delay induced by the processing of the speed information at the level of the control cabinet of the application device then the transmission of the command setpoint to the regulating member generally causes a delay in the correction of the metering rate which makes this correction unsuitable.
    An objective of the invention is thus to allow the homogeneous application of a fluid product on a surface to be covered, whatever the speed of movement of the outlet orifice of the fluid product relative to said surface and whatever the device used to move said outlet.
    To this end, the subject of the invention is an application device of the aforementioned type, in which the application device also comprises a speed measuring device capable of determining a measured speed of the outlet orifice relative to a reference frame. inertial, and the control module is configured to determine the control setpoint as a function of said measured speed.
    According to particular embodiments of the invention, the application device also has one or more of the following characteristics, taken in isolation or according to any technically possible combination (s):
    - the control setpoint is adapted so that the ratio between the metering flow rate of the fluid product and the measured speed of the outlet orifice is substantially constant,
    the speed measuring device comprises at least one accelerometer,
    the speed measuring device comprises at least one gyroscope,
    the speed measuring device comprises a magnetometer,
    - the speed measuring device is at a distance from the outlet less than 15 cm,
    - the control module is at a distance from the speed measuring device less than 5 cm,
    - the control module is at a distance from the adjustment device less than 10 cm,
    - the adjuster is at a distance from the outlet less than 15 cm; and
    - the fluid product has a viscosity between 3000 and 300000 mPa.s.
    The invention also relates to an applicator robot for applying a fluid product to a substrate, the robot comprising a frame, an articulated arm formed of a plurality of segments articulated to each other, a wrist mounted to a end of the articulated arm, and an application device as defined above, the application member of which is mounted at a distal end of the wrist.
    According to particular embodiments of the invention, the application device also has one or more of the following characteristics, taken in isolation or according to any technically possible combination (s):
    - the control module is mounted on the wrist or on the segment closest to the wrist,
    - the speed measurement device is mounted on the application member; and
    - the measured speed is constituted by the speed of the outlet orifice relative to the frame.
    The subject of the invention is also a method of applying a fluid product to a substrate, comprising the following successive steps:
    - supply of an application device as described above,
    - dosing of the fluid product through the outlet orifice at a first metering rate, the outlet orifice moving at a first speed,
    - change of speed of the outlet, and
    - dosing of the fluid product through the outlet orifice at a second dosing rate different from the first dosing rate.
    Other characteristics and advantages of the invention will appear on reading the description which follows, given solely by way of example and made with reference to the appended drawings, in which:
    FIG. 1 is a perspective view of an installation for applying a fluid product to a substrate comprising an applicator robot according to the invention,
    - Figure 2 is a schematic view of an application device of the applicator robot of Figure 1, and
    - Figures 3 and 4 are block diagrams illustrating a process implemented by the application installation of Figure 1.
    The installation 2 shown in Figure 1 is intended for the application of a fluid product on substrates 4.
    The fluid product is typically constituted by a high viscosity product, that is to say one whose viscosity is greater than 3000 mPa.s. Examples of such high viscosity products are typically sealants or elastomeric or epoxy adhesives. Advantageously, the fluid product has a viscosity of between 3000 and 300000 Pa.s.
    The substrates 4 are here constituted by preformed plates, typically by stamped sheet metal plates.
    To this end, the installation 2 comprises, in a known manner, a system 6 for moving the substrates 4 and an applicator robot 8 for applying the fluid product to the substrates 4.
    The displacement system 6 is configured to move the substrates 4 inside the installation 2 by immobilizing each substrate 4 relative to the floor 10 of the installation 2, for a predetermined period, within a perimeter of action of the applicator robot 8.
    In the example shown, the displacement system 6 is constituted by a drive belt carrying the substrates 4.
    The applicator robot 8 comprises a multi-axis robot 12, a control bay 14 for controlling the robot 12, an application device 16 for applying the fluid product to the substrates 4, a control cabinet 18 for controlling the device application 12, and a supply system 19 for supplying the application device 16 with the fluid.
    The multi-axis robot 12 comprises, in a known manner, an articulated arm 20 formed from a plurality of segments 22 articulated to each other, and a wrist 24 mounted at one end of the articulated arm 20.
    The wrist 24 includes a proximal end (not shown) by which it is connected to one of the segments 22 of the arm 20, and a distal end (not shown) opposite the proximal end.
    The multi-axis robot 12 also comprises a plurality of motors (not shown), mounted at the interface between the segments 22 of the arm 20 and with the wrist 24, to drive the rotation of said segments 22 and said wrist 24 relative to each other .
    The control bay 14 includes electrical circuits (not shown) for determining a command setpoint for each motor of the robot 12 and supplying this command setpoint to each motor concerned.
    With reference to FIG. 2, the application device 16 comprises an application member 30 intended for shaping the fluid product with a view to its application on the substrate. To this end, the applicator member 30 includes an outlet orifice 32 for the outlet of the fluid product from the application device 16, this outlet orifice 32 typically being constituted by a nozzle.
    The application device 16 also includes a speed measurement device 34, an adjustment member 36 capable of adjusting a metering flow rate of the fluid product through the outlet orifice 32, and a control module 38 for determining a setpoint. for controlling the flow rate of the adjusting member 36 and supplying this control instruction to the adjusting member 36.
    The speed measuring device 34 is able to determine a measured speed of the outlet orifice 32 relative to an inertial frame of reference, in particular relative to the floor 10 of the installation 2. For this purpose, the speed measuring device 34 typically consists of an inertial unit comprising:
    - three accelerometers 40, each capable of measuring an acceleration in a proper direction orthogonal to the direction of acceleration measurement of each other accelerometer 40,
    a gyroscope 42, capable of measuring an angular speed around each of three axes of rotation orthogonal to one another, and
    - a magnetometer 44 capable of measuring the three components of a magnetic field at the level of said magnetometer 44.
    Each accelerometer 40 and each gyroscope 42 is typically constituted by an inertial electromechanical microsystem.
    The accelerometers 40, the gyroscope 42 and the magnetometer 44 are typically integrated into a common electronic card (not shown).
    The entire speed measuring device 34 is less than 15 cm from the outlet 32. Thus, the movements measured by the speed measuring device 34 are very close to the movements of the outlet orifice 32.
    To this end, the speed measuring device 34 is, as shown, mounted on the application member 30.
    The speed measuring device 34 is configured to transmit the measured speed to the control module 38.
    The adjusting member 36 is able to define the dosing flow rate of the fluid product through the outlet orifice 32, said dosing flow rate being a function of the flow command setpoint supplied by the control module 38. To this end , the adjusting member 36 is typically constituted by a pump supplying the application member 30, the flow rate of the fluid product leaving said pump constituting the metering flow rate.
    For example, the adjusting member 36 is constituted by a single or double-acting pump comprising a chamber and a piston (not shown), the speed of movement of the piston in the chamber determining the metering rate. As a variant, the adjusting member 36 is constituted by an axial piston pump, the speed of rotation of which determines the metering rate.
    The adjusting member 36 is at a distance from the outlet 32 less than 15cm. Thus, variations in the pump outlet flow rate have an almost instantaneous effect on the dosing flow rate.
    The control module 38 is configured to determine the flow control setpoint as a function of the measured speed, and to adapt this setpoint so that the ratio between the metering flow rate of the fluid product and the measured speed of the outlet orifice 32 is substantially constant.
    To this end, the control module 38 is adapted to receive the measured speed from the measuring device 34, and to deduce from this measured speed the flow control command. To do this, the control module 38 is typically produced in the form of programmable logic components and / or dedicated integrated circuits included in the application device 16.
    The entire control module 38 is at a distance from the speed measuring device 34 less than 5 cm and at a distance from the adjusting member 36 less than 10 cm. Thus, the exchange of information between the control module 38 and each of the speed measuring device 34 and adjusting member 36 is almost instantaneous, which allows very great reactivity of the adjusting member 36 following variations in speed. of the outlet orifice determined by the measuring device 34.
    In the example shown, the applicator member 30, the speed measurement device 34, the adjustment member 36 and the control module 38 are all integrated into the same housing 46 mounted on the wrist 24 of the articulated arm. 20. As a variant, at least part of the application device 16 is not mounted on the wrist 24: for example, the adjustment member 36 is mounted on the segment 22 of the articulated arm 20 closest to the wrist 24 .
    Whatever the mounting of the application device 16, the application member 30 is preferably always mounted at the distal end of the wrist 24.
    Returning to FIG. 1, the supply system 19 comprises a tank 50 containing the fluid product, and a fluid transfer system 52 for transferring the fluid product contained in the tank 50 to an inlet 54 (Figure 2) of the adjusting device 36.
    The fluid transfer system 52 is adapted to supply the fluid product to the application device 16 at a pressure greater than 1.1 times atmospheric pressure. To this end, the fluid transfer system 52 comprises an elevating group 56 for pumping the fluid in the tank 50, and a line 58 fluidly connecting an outlet (not shown) of the elevating group 56 to the inlet 54 of the member. adjustment 36.
    A method 100 of applying the fluid product by means of the installation 2 will now be described, with reference to FIG. 3.
    First, during a first step 110, the installation 2 and the substrates 4 are provided.
    This step 110 is followed by an initialization step 120.
    This step 120 includes a first sub-step 122 during which the lifting group 56 is activated. The latter then starts to pump the product into the tank 50 and to discharge it into the pipe 58.
    Step 120 also includes a second sub-step 124, substantially simultaneous with the first sub-step 122, during which the measuring device 34 is activated. From this sub-step 124, the measuring device 34 continuously measures the speed of the outlet orifice 32.
    Then, during a step 130, a substrate 4 is brought by the movement system 6 into the action perimeter of the applicator robot 8, then immobilized in said action perimeter.
    The control bay 14 then controls, during a step 140, the movement of the articulated arm 20 so as to place the outlet orifice 32 of the application device 16 facing a surface to be covered of the substrate 4, at a distance suitable for the application of the fluid product on said surface.
    Then, during a step 150, the applicator robot 8 initiates the application of the fluid product on the substrate 4.
    Throughout this step 150, the outlet orifice 32 is moved by the robot 12, relative to the floor 10, at a first speed, following the surface to be covered, and an instruction is communicated by the control cabinet 18 to the application device 16 for applying the fluid product.
    Step 150 includes a first sub-step 152 during which the first speed is measured by the measuring device 34.
    Then, during a sub-step 154, the control module 38 determines a first control instruction for the adjusting member 36 as a function of said first speed and communicates this first control instruction to the adjusting member 36 during 'a sub-step 156.
    This control instruction is received by the adjusting member 36 during a sub-step 158, after which the adjusting member 36 adjusts the metering flow to a first flow during a sub-step 159. This first flow is such that the ratio of said first flow to the first speed is equal to a predetermined constant.
    The fluid is then applied with a metering flow rate equal to the first flow rate throughout the rest of step 150.
    Then, during a step 160, the robot 12 modifies the speed of movement of the outlet orifice 32 relative to the floor 10. This change of speed typically consists of a slowing down occurring during a change in the direction of movement of outlet 32.
    Step 160 is thus followed by a step 170 for continuing to apply the fluid product to the substrate 4 at a modified speed.
    Throughout this step 170, the outlet orifice 32 is moved by the robot 12, relative to the floor 10, at the modified speed, following the surface to be covered, and an instruction is communicated by the control cabinet 18 to the application device 16 for applying the fluid product.
    Step 170 includes a first sub-step 172 during which the modified speed is measured by the measuring device 34.
    Then, during a sub-step 174, the control module 38 determines a new control instruction for the adjusting member 36 as a function of said modified speed and communicates this new control instruction to the adjusting member 36 during 'a substep 176.
    This new control instruction is received by the adjusting member 36 during a sub-step 178, after which the adjusting member 36 adjusts, during a sub-step 179, the metering rate to a new debit. This new flow is such that the ratio of said new flow to the modified speed is equal to said predetermined constant.
    The fluid product is then applied with a metering flow rate equal to the new flow rate throughout the rest of step 170. This results in an application of the fluid product which is homogeneous with the application previously carried out.
    Then, during a step 180, the robot 12 again modifies the speed of movement of the outlet orifice 32. This change in speed typically consists of an acceleration following the change in the direction of movement of the orifice of output 32 occurring during steps 160 and 170.
    Step 180 is thus followed by a new step 190 of continuing to apply the fluid product to the substrate 4 at a modified speed. This step 190 is identical to step 170.
    Steps 160, 170, 180 and 190 are repeated each time the direction of movement of the outlet port 32 changes.
    Finally, once the entire surface to be covered is covered with fluid, the substrate 4 is evacuated by the displacement system 6 from the scope of action of the applicator robot 8 during a step 200.
    Steps 130 to 200 are then repeated until all the substrates 4 have been processed by the applicator robot 8.
    Thanks to the invention described above, it is thus possible to apply a fluid product to a surface to be coated in a homogeneous manner, independently of the speed of movement of the outlet of the fluid product relative to said surface and independently means used to move said outlet.
    This solution is thus versatile. It is also economical, since it allows the reuse of multi-axis robots not equipped with a communication module for the estimated top speed.
    In the example described above, the applicator robot 8 is suitable for applying a single fluid product at a time. Alternatively (not shown), the applicator robot 8 is suitable for the application of several fluid products simultaneously. In this case, the applicator robot 8 comprises, in addition to the supply system 19, at least one other supply system, one per fluid product, for supplying the application device 16 with each of these fluid products. In addition, the application device 16 then comprises an adjustment member 36 for each fluid product, the control module 38 being configured to produce for each of these adjustment members a command setpoint as a function of the speed measured by the speed measurement 34.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    1. - Application device (16) for applying at least one fluid product to a substrate (4), the application device (16) comprising:
    an application member (30), for shaping the or each fluid product with a view to its application to the substrate (4), the application member (30) having an orifice (32) for leaving the or fluid product (s) outside the application device (16), for at least one fluid product, an adjustment member (36) capable of adjusting a metering flow rate of the fluid product through the orifice output (32) as a function of a command setpoint of said adjusting member (36), and a control module (38) for determining the command setpoint and supplying it to the adjusting member (36), characterized in that that the application device (16) also comprises a speed measuring device (34) capable of determining a measured speed of the outlet orifice (32) relative to an inertial reference frame, and in that the control module ( 38) is configured to determine the command setpoint as a function of said measured speed.
    [2" id="c-fr-0002]
    2, - Application device (16) according to claim 1, wherein the control setpoint is adapted so that the ratio between the metering flow rate of the fluid and the measured speed of the outlet orifice is substantially constant.
    [3" id="c-fr-0003]
    3. - Application device (16) according to claim 1 or 2, wherein the speed measuring device (34) comprises at least one accelerometer (40).
    [4" id="c-fr-0004]
    4, - Application device (16) according to any one of the preceding claims, in which the speed measuring device (34) comprises at least one gyroscope (42).
    5.- Device Application (16) according to Moon any of the claims previous, in which the device measurement of speed (34) includes a magnetometer (44). 6.- Device Application (16) according to Moon any of the claims
    previous, wherein the speed measuring device (34) is at a distance from the outlet (32) less than 15 cm.
    [5" id="c-fr-0005]
    7, - Application device (16) according to any one of the preceding claims, in which the control module (38) is at a distance from the speed measuring device (34) less than 5 cm.
    [6" id="c-fr-0006]
    8. - Application device (16) according to any one of the preceding claims, in which the control module (38) is at a distance from the adjustment member (36) less than 10 cm.
    [7" id="c-fr-0007]
    9. - Application device (16) according to any one of the preceding claims, in which the adjustment member (36) is at a distance from the outlet orifice (32) less than 15 cm.
    [8" id="c-fr-0008]
    10. - Application device (16) according to any one of the preceding claims, in which the fluid product has a viscosity of between 3000 and 300000 mPa.s.
    [9" id="c-fr-0009]
    11. - Applicator robot (8) for applying a fluid product to a substrate (4), the applicator robot (8) comprising a frame (10), an articulated arm (20) formed of a plurality of segments (22) articulated to each other, a wrist (24) mounted at one end of the articulated arm (20), and an application device (16) according to any one of the preceding claims, including the application member ( 30) is mounted at a distal end of the wrist (24).
    [10" id="c-fr-0010]
    12. - Applicator robot (8) according to claim 11, wherein the control module (38) is mounted on the wrist (24) or on the segment (22) closest to the wrist (24).
    [11" id="c-fr-0011]
    13. - Applicator robot (8) according to claim 11 or 12, wherein the speed measuring device (34) is mounted on the applicator member (30).
    [12" id="c-fr-0012]
    14. - Applicator robot (8) according to any one of claims 11 to 13, in which the measured speed is constituted by the speed of the outlet orifice (32) relative to the frame (10).
    [13" id="c-fr-0013]
    15. - Method (100) of applying a fluid product to a substrate (4), characterized in that it comprises the following successive steps:
    supply (110) of an application device (16) according to any one of claims 1 to 10, metering (159) of the fluid product through the outlet orifice (32) at a first metering rate, l outlet (32) moving at a first speed, changing (160) the speed of the outlet (32), and dosing (179) of the fluid through the outlet (32) to a second dosing flow different from the first dosing flow.
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    同族专利:
    公开号 | 公开日
    EP3539675A1|2019-09-18|
    CN110270471A|2019-09-24|
    US20190283062A1|2019-09-19|
    EP3539675B1|2021-10-13|
    JP2019155360A|2019-09-19|
    KR20190109268A|2019-09-25|
    FR3078900B1|2020-09-18|
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    法律状态:
    2019-03-29| PLFP| Fee payment|Year of fee payment: 2 |
    2019-09-20| PLSC| Publication of the preliminary search report|Effective date: 20190920 |
    2020-03-31| PLFP| Fee payment|Year of fee payment: 3 |
    2021-03-30| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1852232|2018-03-15|
    FR1852232A|FR3078900B1|2018-03-15|2018-03-15|APPLICATION DEVICE FOR A FLUID PRODUCT WHOSE DOSING RATE DEPENDS ON THE SPEED OF AN OUTLET OF THE SAID FLUID PRODUCT|FR1852232A| FR3078900B1|2018-03-15|2018-03-15|APPLICATION DEVICE FOR A FLUID PRODUCT WHOSE DOSING RATE DEPENDS ON THE SPEED OF AN OUTLET OF THE SAID FLUID PRODUCT|
    KR1020190028640A| KR20190109268A|2018-03-15|2019-03-13|Application device for applying a fluid product whose dosing flow depends on the speed of an opening through which said fluid product is output|
    US16/352,289| US20190283062A1|2018-03-15|2019-03-13|Application device for applying a fluid product whose dosing flow depends on the speed of an opening through which the fluid product is output|
    EP19162989.8A| EP3539675B1|2018-03-15|2019-03-14|Device for applying a liquid product in which the dispensing flow rate depends on the speed of an output opening of said fluid product|
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