Treatment agent supplying device and treatment agent supplying method

Abstract

A processing agent supplying device and a processing agent supplying method for supplying a processing agent to a processing agent storage section of a pressure adding device are provided. [Solution] The treatment agent dosing device (1) comprises a treatment agent dosing section (10), a position adjustment mechanism (12), and a treatment agent dosing section insertion mechanism (12). The treatment agent dosing section (10) is composed of a main body section (101) that contains the treatment agent therein, and an extrusion section (102) that extrudes the treatment agent contained in the main body section (101) out of the main body section (101).

Description

[Technical field]

[0001] The present invention relates to a processing agent supplying device and a processing agent supplying method. [Background technology]

[0002] Patent Document 1 discloses a pressure addition device comprising: a pressure vessel capable of applying pressure to a hollow portion formed by a first vessel and a second vessel while a ladle containing molten metal is accommodated in the hollow portion; a first drive unit that moves the first vessel between an abutment position where the first vessel abuts against the second vessel and an abutment release position where the abutment is released; a second drive unit that moves the second vessel between a pressure application position where the pressure is applied and a ladle installation position different from the pressure application position where the ladle is installed; a fastening unit that fastens the first vessel and the second vessel at the pressure application position while the ladle is accommodated in the hollow portion; and an immersion unit that immerses a treatment agent in the molten metal and stirs the molten metal while the vessel is fastened and the pressure is applied. Furthermore, Patent Document 1 discloses a technology in which, when the molten metal melted in a melting furnace is refiningly turned into ductile cast iron using the pressure-adding device, a treatment agent is stored in a storage section of the immersion section, and the molten metal is desulfurized and graphite spheroidized. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-95366 A Summary of the Invention [Problem to be solved by the invention]

[0004] Since the container of the pressure application device described in Patent Document 1 is located at a high place, the work of adding the treatment agent to the container is done at a high place. If this work is done manually by an operator, it is dangerous and the workability is also poor.

[0005] Therefore, one aspect of the present invention provides a processing agent supplying device and a processing agent supplying method for supplying a processing agent to a processing agent storage section provided in a pressure adding device. [Means for solving the problem]

[0006] In order to solve the above problems, a treatment agent feeding device according to one embodiment of the present invention is a treatment agent feeding device for feeding a treatment agent into a treatment agent storage section provided in a pressure adding device, and the treatment agent feeding device comprises a treatment agent feeding section that is inserted into the treatment agent storage section from an opening of the treatment agent storage section to feed the treatment agent, a position adjustment mechanism that adjusts the position of the tip of the treatment agent feeding section relative to the opening of the treatment agent storage section, and a treatment agent feeding section insertion mechanism that inserts the treatment agent feeding section into the treatment agent storage section, and the treatment agent feeding section is configured to comprise a main body section that contains the treatment agent therein, and an extrusion section that extrudes the treatment agent contained in the main body section out of the main body section.

[0007] According to the above-mentioned configuration, since it is possible to automatically add the processing agent to the processing agent storage unit, the safety and operability of the operation of adding the processing agent to the processing agent storage unit are improved.

[0008] A processing agent supplying device according to one aspect of the present invention, in the above-described configuration, further includes an imaging device that images the opening of the processing agent storage section and generates image data including the opening as a subject, and a processing agent supplying section insertion feasibility determination section that determines whether the processing agent supplying section can be inserted into the processing agent storage section based on the image data, and the imaging device may be configured to be positioned on an extension of the axis of the processing agent supplying section.

[0009] According to the above-described configuration, by performing a process for determining whether or not the processing agent dispenser can be inserted based on an image of the opening, it is possible to insert the processing agent dispenser into the processing agent storage unit with greater accuracy.

[0010] A treatment agent supplying device according to one embodiment of the present invention, in the above-described configuration, may further include a treatment agent set rail for supplying the treatment agent to the treatment agent supplying device, and the treatment agent supplying section may be configured so that the treatment agent is supplied into the main body section via the treatment agent set rail.

[0011] According to the above-mentioned configuration, the treatment agent can be easily supplied into the treatment agent supply section.

[0012] A treatment agent dosing device according to one embodiment of the present invention may be configured as described above, further comprising a light source, the light source being arranged at an angle with respect to the opening surface on which the opening of the treatment agent storage section is provided so that light from the light source can be irradiated obliquely onto the opening surface on which the opening of the treatment agent storage section is provided.

[0013] According to the above-mentioned configuration, the contrast of the image of the opening of the treatment agent container can be improved, making the position of the opening easier to understand. As a result, the treatment agent dispenser can be inserted into the treatment agent container with greater accuracy.

[0014] In one aspect of the treatment agent dosing device of the present invention, in the above-mentioned configuration, the treatment agent dosing section may further include a slide drive section that slides the main body section in a direction from the tip of the extrusion section toward the base section.

[0015] According to the above-mentioned configuration, the treatment agent can be more reliably dispensed into a predetermined position within the treatment agent container.

[0016] In one embodiment of the treatment agent supply device of the present invention, in the above-mentioned configuration, the position adjustment mechanism may be configured to adjust the relative position of the tip of the treatment agent supply part with respect to the opening of the treatment agent storage part so that the treatment agent supply part can be inserted into the treatment agent storage part based on the determination result by the treatment agent supply part insertion feasibility determination part.

[0017] According to the above configuration, the position of the tip of the processing agent feeding section is adjusted based on the judgment result by the processing agent feeding section insertion possibility judgment section based on the image of the opening, so that the processing agent feeding section can be inserted into the processing agent storage section with greater accuracy.

[0018] In one embodiment of the treatment agent supplying device of the present invention, in the above-mentioned configuration, the position adjustment mechanism adjusts the relative position of the tip of the treatment agent supplying part to the opening of the treatment agent storage part by moving the tip of the treatment agent supplying part in a direction along an opening surface on which the opening of the treatment agent storage part is provided, and the treatment agent supplying part insertion mechanism may be configured to insert the treatment agent supplying part into the treatment agent storage part by moving the tip of the treatment agent supplying part in a direction intersecting with the opening surface.

[0019] According to the above-mentioned configuration, the position adjustment of the treatment agent feeding part in the direction along the opening surface and the position adjustment of the treatment agent feeding part in the direction intersecting the opening surface can be adjusted by a separate mechanism. In addition, since the treatment agent feeding part is inserted in a single axial direction, it is easy to control the treatment agent feeding part insertion mechanism. This treatment agent feeding device is particularly suitable for application to a treatment agent storage part having a shape in which the cross-sectional area of ​​the storage space in the direction perpendicular to the opening surface is constant.

[0020] In the treatment agent supplying device according to one aspect of the present invention, in the above-mentioned configuration, the treatment agent storage section may be configured so that the cross-sectional area of ​​the storage space in a direction perpendicular to an opening surface is constant.

[0021] A treatment agent supplying device according to one aspect of the present invention is particularly suitable for application to a treatment agent storage section having a shape in which the cross-sectional area of ​​the storage space in a direction perpendicular to the opening surface is constant.

[0022] In addition, in order to solve the above-mentioned problems, a treatment agent feeding method according to one embodiment of the present invention is a method of feeding a treatment agent into a treatment agent storage section provided in a pressure adding device using a treatment agent feeding device according to one embodiment of the present invention, and includes a treatment agent supplying step of supplying the treatment agent into the main body section of the treatment agent feeding section, a position adjustment step of adjusting the position of the tip of the treatment agent feeding section relative to the opening of the treatment agent storage section, a treatment agent feeding section inserting step of inserting the treatment agent feeding section into the treatment agent storage section, and a treatment agent feeding step of feeding the treatment agent from the treatment agent feeding section into the treatment agent storage section.

[0023] According to the above-mentioned configuration, since it is possible to automatically add the processing agent to the processing agent storage unit, the safety and operability of the operation of adding the processing agent to the processing agent storage unit are improved. Effect of the Invention

[0024] According to one aspect of the present invention, it is possible to provide a processing agent supplying device and a processing agent supplying method for supplying a processing agent to a processing agent storage section provided in a pressure adding device. [Brief description of the drawings]

[0025] [Figure 1] 1 is a diagram showing a configuration of a main part of a processing agent supplying device according to a first embodiment of the present invention. [Diagram 2] 2 is a diagram illustrating the state of the processing agent feeding section of the processing agent feeding device shown in FIG. 1 after the processing agent has been fed. FIG. [Diagram 3] 3 is a flowchart showing the flow of a processing agent supplying method using the processing agent supplying device according to the first embodiment of the present invention. [Figure 4] 11A and 11B are diagrams illustrating a method of supplying the processing agent to the processing agent supply section via a processing agent set rail. [Diagram 5] FIG. 6 is a diagram showing a configuration of a main part of a processing agent supplying device according to a second embodiment of the present invention. [Figure 6] 5 is a flowchart showing the flow of a processing agent supplying method using a processing agent supplying device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] [Embodiment 1] Hereinafter, a treatment agent supplying device of a pressure adding device according to one embodiment of the present invention will be described in detail. For convenience of explanation, the "treatment agent storage unit of the pressure adding device" may be simply referred to as the "treatment agent storage unit".

[0027] FIG. 1 is a diagram showing the configuration of the main parts of the treatment agent supplying device 1 of this embodiment. FIG. 2 is a diagram for explaining the state of the treatment agent supplying section 10 after the treatment agent is supplied for the treatment agent supplying device 1 shown in FIG. 1. In FIG. 1 and FIG. 2, the tip of the treatment agent supplying section 10 of the treatment agent supplying device 1 is shown being inserted into the treatment agent storage section 2 through the opening 20 of the treatment agent storage section 2. In addition, the drawings also show three-dimensional coordinates of the XYZ system, in which the reference axis (the direction perpendicular to the surface 21 on which the opening 20 of the treatment agent storage section 2 is provided) is the X-axis, the horizontal plane is defined as the XY plane, and the vertical direction is the Z-axis, as necessary. In addition, in FIG. 1 and FIG. 2, for convenience of explanation, the treatment agent storage section 2 is shown in a cross-sectional view along the X-axis, and the inside of the main body section 101 of the treatment agent supplying section 10 is shown in a see-through manner.

[0028] <Treatment agent supply device 1> The processing agent supplying device 1 comprises a processing agent supplying section 10, a slide driving section 11, a robot arm 12, a robot control device 13, and a processing agent setting rail 14.

[0029] The treatment agent supplying section 10 is inserted into the treatment agent storage section 2 through an opening 20 of the treatment agent storage section 2 in order to supply the treatment agent Mg into the treatment agent storage section 2 .

[0030] The treatment agent supplying section 10 is composed of a main body section 101 and an extrusion section 102. The main body section 101 has a storage space for storing the treatment agent Mg therein and an opening. The shape of the main body section 101 can be appropriately set based on the shape of the storage space of the treatment agent storage section 2 so that it can be inserted into the treatment agent storage section 2. For example, since the treatment agent storage section 2 shown in FIG. 1 is a square pipe-shaped member extending in one direction, it is preferable that the main body section 101 also has a shape extending in one direction from the viewpoint of ease of insertion into the treatment agent storage section 2. For example, the main body section 101 shown in FIG. 1 is a rectangular tubular member with at least a part of the upper surface being open. Since the main body section 101 has a shape with at least a part of the upper surface being open, there are advantages such as making it easier to install the treatment agent Mg and making it easier to determine work defects such as missed installation of the treatment agent Mg.

[0031] The pushing part 102 is a member that slides within the main body part 101 in the extension direction of the main body part 101 to push out the treatment agent Mg contained within the main body part 101 to the outside of the main body part 101. The shape of the pushing part 102 can be appropriately set based on the shape of the storage space of the main body part 101 so that it can slide within the main body part 101. For example, the pushing part 102 shown in Fig. 1 is a rod-shaped member. The tip of the rod of the pushing part 102 is the part that comes into contact with the treatment agent Mg during extrusion, and is flat so that the treatment agent Mg can be successfully pushed out.

[0032] An end portion (hereinafter referred to as a “base portion”) opposite to the tip of the push-out portion 102 is attached to the arm tip portion of the robot arm 12.

[0033] The slide drive unit 11 is a part that applies a driving force for sliding the push-out unit 102 and the main body unit 101. The main body unit 101 and the push-out unit 102 are connected by the slide drive unit 11. As shown in FIG. 2, in the treatment agent supply unit 10 of this embodiment, the tip of the slide drive unit 11 is pushed out in the direction of the arrow A2, so that the thrust of the slide drive unit 11 is applied to the main body unit 101, and the main body unit 101 slides in the direction from the tip of the push-out unit 102 toward the base (the direction of the arrow A1 in FIG. 2). In the example shown in FIG. 1, an air cylinder is used as the slide drive unit 11, but it is not limited to this as long as it can apply a driving force for the slide movement. For example, a driving force for the slide movement can be applied by a hydraulic cylinder, an electric drive by a motor, or the like.

[0034] The robot arm 12 functions as a position adjustment mechanism and a treatment agent input section insertion mechanism. As a position adjustment mechanism, the robot arm 12 adjusts the position of the tip of the treatment agent input section 10 relative to the opening 20 of the treatment agent storage section 2. In addition, the robot arm 12 serves as a treatment agent input section insertion mechanism and inserts the treatment agent input section 10 into the treatment agent storage section 2.

[0035] More specifically, when the direction perpendicular to surface 21 on which opening 20 is provided (hereinafter referred to as "opening surface 21") is defined as the X-axis direction, and the direction along opening surface 21 is defined as the YZ plane, robot arm 12, as a position adjustment mechanism, moves the position of the tip of processing agent dispenser 10 on the YZ plane to adjust the position of the tip of processing agent dispenser 10 relative to opening 20. Also, robot arm 12, as a processing agent dispenser insertion mechanism, moves the position of the tip of processing agent dispenser 10 in the X-axis direction to insert processing agent dispenser 10 into processing agent storage unit 2.

[0036] As the robot arm 12, a conventionally known industrial robot arm can be used, for example, a six-axis vertical articulated robot arm as shown in FIG.

[0037] The robot control device 13 controls the operation of the robot arm 12. For example, the robot control device 13 controls the operation of the robot arm 12 in accordance with the position of the tip of the treatment agent input part 10 relative to the opening 20 of the treatment agent storage part 2, and adjusts the relative position of the tip of the treatment agent input part 10 relative to the opening 20 of the treatment agent storage part 2 so that the treatment agent input part 10 can be inserted into the treatment agent storage part 2. For example, at least the position on the YZ plane of the tip of the treatment agent input part 10 relative to the opening 20 of the treatment agent storage part 2 is adjusted.

[0038] Position information of the tip of the treatment agent supplying part 10 relative to the opening 20 of the treatment agent storage part 2 can be obtained by a conventionally known position detection sensor, such as a distance sensor using laser light. Here, the position information is, for example, information indicating where on the YZ plane the tip of the treatment agent supplying part 10 is located, for example, coordinate data on the YZ plane.

[0039] According to the treatment agent dosing device 1 of this embodiment, it is possible to automatically dispense the treatment agent Mg into the treatment agent storage section 2, thereby improving the safety and ease of operation of dispensing the treatment agent Mg into the treatment agent storage section 2.

[0040] The treatment agent setting rail 14 is a guide rail that guides the treatment agent Mg to the position of the opening of the main body 101. The treatment agent Mg is supplied into the main body 101 via the treatment agent setting rail 14. The treatment agent Mg can be easily supplied into the treatment agent input section 10 by setting the treatment agent Mg on the treatment agent setting rail 14 and sliding the treatment agent Mg along the treatment agent setting rail 14. Since the treatment agent input section 10 is located at a high position, supplying the treatment agent Mg into the main body 101 via the treatment agent setting rail 14 improves the safety and operability of the operation of supplying the treatment agent Mg to the main body 101.

[0041] <Method of adding processing agent using processing agent adding device 1> Next, an example of a processing agent supplying method using the processing agent supplying device 1 will be described below with reference to Figures 3 and 4. Figure 3 is a flow chart showing the flow of processing agent supplying method S1. Figure 4 is a diagram explaining a method of supplying processing agent Mg to processing agent supplying section 10 via processing agent set rail 14.

[0042] First, in a treatment agent supply step of step S11, treatment agent Mg is supplied into main body 101 of treatment agent input section 10. Step S11 is performed via treatment agent setting rail 14, as shown in Fig. 4. In step S11, robot control device 13 controls the operation of robot arm 12 to adjust the position of the tip of treatment agent input section 10 so that the position of the bottom end of treatment agent setting rail 14 matches the position of the opening of main body 101 at the tip of treatment agent input section 10.

[0043] The treatment agent Mg set on the treatment agent setting rail 14 slides along the treatment agent setting rail 14 and is supplied into the treatment agent input section 10 from the opening of the main body 101 .

[0044] The entire process from setting the treatment agent Mg on the treatment agent setting rail 14 to supplying the treatment agent Mg into the main body 101 may be performed manually, or only a portion of the process (for example, setting the treatment agent Mg on the treatment agent setting rail 14) may be performed manually, or the entire process may be performed automatically by the treatment agent supplying device 1.

[0045] Next, in the position adjustment step of step S12, the robot control device 13 adjusts the relative position of the tip of the treatment agent supplying section 10 with respect to the opening 20 of the treatment agent storage section 2 by controlling the operation of the robot arm 12 according to the position of the tip of the treatment agent supplying section 10.

[0046] For example, first, robot control device 13 rotates the orientation of robot arm 12 toward opening 20 of treatment agent storage unit 2. In step S11, as shown by a solid line in Fig. 4, the tip of treatment agent dispenser 10 faces the lower end of treatment agent setting rail 14, but by rotating the orientation of robot arm 12, for example, in the direction of arrow A3 shown in Fig. 4, the tip of treatment agent dispenser 10 is directed toward opening 20 of treatment agent storage unit 2, as shown by a dotted line in Fig. 4.

[0047] Next, the operation of the robot arm 12 is controlled based on position information on the YZ plane of the tip of the treatment agent feeding section 10 relative to the opening 20 of the treatment agent storage section 2 obtained from a position detection sensor or the like, and at least the position on the YZ plane of the tip of the treatment agent feeding section 10 relative to the opening 20 of the treatment agent storage section 2 is adjusted so that the treatment agent feeding section 10 can be inserted into the treatment agent storage section 2.

[0048] In step S12, the position of the tip of the treatment agent feeding section 10 around the axis of the rod 22 to which the treatment agent storage section 2 is connected may be adjusted so that the tip of the treatment agent feeding section 10 is directly in front of the opening 20, depending on the position of the tip of the treatment agent feeding section 10 after the orientation of the robot arm 12 is rotated.

[0049] Next, in step S13, a treatment agent dispenser insertion step, robot control device 13 controls the operation of robot arm 12 to insert treatment agent dispenser 10 into treatment agent storage unit 2. Specifically, treatment agent dispenser 10 is inserted into treatment agent storage unit 2 by moving the tip of treatment agent dispenser 10 in the X-axis direction (for example, the direction of arrow A4 shown in FIG. 4).

[0050] Next, in a treatment agent dispensing step of step S14, the robot control device 13 drives the slide drive section 11 to slide the main body section 101 in a direction from the tip of the push-out section 102 toward the base, thereby dispensing the treatment agent Mg in the treatment agent dispensing section 10 into the treatment agent storage section 2. The adoption of a treatment agent dispensing method in which the main body section 101 slides in a direction from the tip of the push-out section 102 toward the base has the following advantages. For example, the advantage is that the treatment agent Mg can be more reliably dispensed into a predetermined position in the treatment agent storage section 2. The slide drive section may be controlled by a control device other than the robot control device.

[0051] The above-described processing agent supplying method S1 makes it possible to automatically supply the processing agent Mg into the processing agent storage unit 2, thereby improving the safety and ease of operation of supplying the processing agent Mg into the processing agent storage unit 2. Furthermore, in the processing agent supplying method S1, the insertion direction of the processing agent supplying unit 10 into the processing agent storage unit 2 is in one axial direction (X-axis direction), so that the insertion operation of the processing agent supplying unit 10 by the robot arm 12 can be easily controlled.

[0052] <Treatment agent storage unit 2 into which the treatment agent is to be added> In FIG. 1 and the like, as an example of the treatment agent storage section 2 to which the treatment agent is added by the treatment agent dosing device 1 of this embodiment, a square pipe-shaped member having an opening 20 at one end and a storage space for storing the treatment agent inside is shown, but the shape of the treatment agent storage section 2 to which the treatment agent is added by the treatment agent dosing device 1 of this embodiment is not limited to this. Any treatment agent storage section that is a part of a pressure adding device and has a structure in which an opening and a storage space for storing the treatment agent are provided can be a treatment agent to which the treatment agent is added by the treatment agent dosing device 1 of this embodiment. An example of such a treatment agent storage section 2 can be a storage section provided at the lower end of the dosing rod of the immersion section of the pressure adding device of Patent Document 1 (JP Patent Publication 2022-95366 A).

[0053] 1 and the like, the treatment agent storage section 2 preferably has a shape in which the cross-sectional area of ​​the storage space in a direction perpendicular to the opening surface 21 is constant. Since the treatment agent feed section 10 of the treatment agent feed device 1 that is inserted into the treatment agent storage section 2 is a member that has a shape that extends in one direction, the above-mentioned shape makes it easy to insert and remove the treatment agent feed section 10 into and from the interior. Furthermore, the treatment agent feed section 10 of the treatment agent feed device 1 can be inserted and removed into the interior by a simple operation of moving the treatment agent feed section 10 back and forth in one axial direction within the treatment agent storage section 2. For this reason, the treatment agent feed device 1 of this embodiment is particularly suitable for application to a treatment agent storage section 2 having the above-mentioned shape.

[0054] <Treatment agents to be added> In FIG. 1, magnesium bullion is shown as an example of a treatment agent to be added by the treatment agent adding device 1 of the present embodiment, which is a treatment agent added for desulfurization and graphite spheroidization, but the type of treatment agent to be added is not limited to this. The treatment agent may be, for example, a conventionally known treatment agent that is added when molten metal melted in a melting furnace using a pressure adding device is melted into ductile cast iron, and may be, for example, misch metal, calcium chloride, etc. Misch metal is a treatment agent that is added to assist in graphite spheroidization. Calcium chloride is a treatment agent that is added to improve slag removal properties.

[0055] In addition, in FIG. 1, the processing agent is exemplified as having an ingot shape, but the shape of the processing agent is not limited to this.

[0056] <Modifications of the position adjustment mechanism> 1 illustrates an example in which the robot arm 12 adjusts the position of the processing agent dispenser as a position adjustment mechanism, but the present invention is not limited to this. Processing agent dispenser 1 may be configured to include a known movement mechanism such as a rack and pinion, linear rail, etc., as a position adjustment mechanism instead of robot arm 12.

[0057] <Modification of the treatment agent supply section insertion mechanism> 1, an example is described in which robot arm 12 performs the inserting operation as the processing agent supplying section inserting mechanism, but the present invention is not limited to this. For example, by providing a mechanism such as a slide drive mechanism on the base side (the side attached to robot arm 12) of extrusion section 102, it is possible to realize the inserting operation of processing agent supply section 10 into processing agent storage section 2 without relying on the inserting operation by robot arm 12.

[0058] <Modification of the method of supplying the processing agent to the processing agent supply section 10> 1 illustrates an example in which the treatment agent Mg is supplied into the main body 101 via the treatment agent setting rail 14, but the present invention is not limited to this. The treatment agent dosing device according to one aspect of the present invention may be configured without the treatment agent setting rail 14. In that case, the treatment agent Mg may be supplied to the main body 101 by a means other than the treatment agent setting rail 14, or the treatment agent Mg may be supplied directly to the main body 101 by manual operation.

[0059] <Modification of the treatment agent injection method> 1 illustrates an example in which the processing agent Mg in the processing agent input section 10 is input into the processing agent storage section 2 by sliding the main body section 101 without changing the position of the pushing section 102 after insertion into the processing agent storage section 2 (i.e., by pulling the main body section 101 out of the processing agent storage section 2), but the present invention is not limited to this. The processing agent Mg in the processing agent input section 10 may be input into the processing agent storage section 2 by sliding the pushing section 102 from the base to the tip of the main body section 101 without changing the position of the main body section 101 after insertion into the processing agent storage section 2 (i.e., by pushing the pushing section 102 into the processing agent storage section 2).

[0060] [Embodiment 2] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals are given to members having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0061] Fig. 5 is a diagram showing the configuration of the main parts of the processing agent dispenser 1a of this embodiment. As shown in Fig. 5, the processing agent dispenser 1a includes an imaging device 15, a processing agent dispenser insertion availability determination unit 16, and a light source 17 in addition to the components included in the processing agent dispenser 1 of embodiment 1. For ease of explanation, Fig. 5 shows the processing agent storage unit 2 in a cross-sectional view taken along the X-axis, and shows a see-through view of the inside of the main body 101 of the processing agent dispenser 10. Also, an arrow A5 in Fig. 5 indicates the irradiation direction of light from the light source 17.

[0062] Of the components of the processing agent supplying device 1a, the components other than the imaging device 15, the processing agent supplying section insertion feasibility determination section 16, and the light source 17 are similar to the components of the processing agent supplying device 1 of embodiment 1, so they will not be described here.

[0063] The imaging device 15 images the opening 20 of the processing agent storage section 2 to generate image data including the opening 20 as a subject. The imaging device 15 is disposed at a position on an extension line of the axis of the processing agent input section 10. This makes it possible to obtain image data showing the positional relationship between the tip of the processing agent input section 10 and the opening 20. As the imaging device 15, for example, a conventionally known imaging device such as a camera can be used.

[0064] The processing agent input section insertion feasibility determination section 16 acquires image data captured by the imaging device 15 and determines, based on the image data, whether the processing agent input section 10 can be inserted into the processing agent storage section 2. By the processing agent input section insertion feasibility determination section 16 performing processing to determine whether the processing agent input section can be inserted based on an image of the opening 20, it is possible to more accurately grasp the orientation and position of the opening 20 of the processing agent storage section 2 relative to the tip of the processing agent input section 10, so that the processing agent input section 10 can be inserted into the processing agent storage section 2 with more accuracy. Here, the orientation of the opening 20 refers to data regarding the direction in which the opening 20 faces relative to the tip of the processing agent input section 10.

[0065] The light source 17 irradiates light onto the opening surface 21 of the treatment agent storage unit 2. The light source 17 is disposed at an angle to the opening surface 21 so that the light can be irradiated obliquely onto the opening surface 21 of the treatment agent storage unit 2. With the above-described configuration, the contrast of the image of the opening 20 of the treatment agent storage unit 2 can be improved, making the orientation and position of the opening 20 in the image data easier to understand. As a result, the treatment agent input unit can be inserted into the treatment agent storage unit 2 with greater accuracy.

[0066] 5 illustrates an embodiment in which light source 17 irradiates light onto opening surface 21 of treatment agent-containing section 2 from a downward oblique direction (the direction of arrow A5 in FIG. 5), but the present invention is not limited to this. Light source 17 may irradiate light onto opening surface 21 of treatment agent-containing section 2 from an upward oblique direction as long as it can irradiate light onto opening surface 21 of treatment agent-containing section 2 from an upward oblique direction.

[0067] Robot control device 13 controls the operation of robot arm 12 based on the determination result by processing agent input unit insertion feasibility determination unit 16. Specifically, robot control device 13 adjusts the relative position of the tip of processing agent input unit 10 with respect to opening 20 of processing agent storage unit 2 so that processing agent input unit 10 can be inserted into processing agent storage unit 2 based on the determination result by processing agent input unit insertion feasibility determination unit 16 which is based on an image of the opening 20. According to the above configuration, the position of the tip of processing agent input unit 10 is adjusted based on the determination result by processing agent input unit insertion feasibility determination unit 16 which is based on an image of the opening 20, so that processing agent input unit 10 can be inserted into processing agent storage unit 2 with greater accuracy.

[0068] 5 shows an example in which processing agent dispenser insertion feasibility determination unit 16 is provided separately from robot control device 13, but the present invention is not limited to this configuration. For example, the function of processing agent dispenser insertion feasibility determination unit 16 may be realized by robot control device 13.

[0069] <Method of adding processing agent using processing agent adding device 1a> Next, an example of a processing agent supplying method using the processing agent supplying device 1a will be described below with reference to Fig. 6. Fig. 6 is a flow chart showing the flow of the processing agent supplying method S2. First, in a processing agent supplying step S21, the processing agent Mg is supplied into the main body 101 of the processing agent supplying section 10. The processing agent supplying step is the same as that described in the first embodiment, and therefore will not be described here.

[0070] Next, in an image data acquisition step of step S22, the processing agent dispenser insertion permission determination section 16 acquires image data captured by the imaging device 15.

[0071] Next, in a processing agent input section insertion feasibility determination step of step S23, processing agent input section insertion feasibility determination section 16 determines whether processing agent input section 10 can be inserted into processing agent storage section 2 based on the acquired image data. The determination in step S23 is made, for example, as follows. If the acquired image data shows that processing agent input section 10 is in a position where it can be inserted without interfering with parts other than opening 20 of processing agent storage section 2, it is determined that processing agent input section 10 can be inserted into processing agent storage section 2. On the other hand, if the acquired image data shows that processing agent input section 10 is in a position where it will interfere with parts other than opening 20 of processing agent storage section 2, it is determined that processing agent input section 10 cannot be inserted into processing agent storage section 2.

[0072] The robot control device 13 executes the following process in accordance with the result of the determination by the processing agent input unit insertion feasibility determination unit 16. In step S23, if the processing agent input unit insertion feasibility determination unit 16 determines that the processing agent input unit 10 can be inserted into the processing agent storage unit 2, the robot control device 13 executes a processing agent input unit inserting step in step S24, and then executes a processing agent input step in step S25.

[0073] On the other hand, if in step S23 processing agent dispenser insertion feasibility determination section 16 determines that processing agent dispenser 10 cannot be inserted into processing agent storage section 2, robot control device 13 executes a position adjustment step of step S26, and then executes a processing agent dispenser insertion step of step S24 and a processing agent dispense step of step S24. Note that the position adjustment step, processing agent dispenser insertion step and processing agent dispense step are as described in embodiment 1, and therefore will not be described here.

[0074] In the above-described processing agent supplying method S2, a step S25 of determining whether or not the processing agent supplying part can be inserted is performed based on an image of the opening 20. Therefore, in addition to the effects of the processing agent supplying method S1, the orientation and position of the opening 20 of the processing agent storage part 2 relative to the tip of the processing agent supplying part 10 can be grasped more accurately, so that the processing agent supplying part 10 can be inserted into the processing agent storage part 2 more accurately.

[0075] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0076] 1, 1a Processing agent supply device 2 Processing agent storage section 10 Processing agent input section 11 Slide drive unit 12 Robot arm (position adjustment mechanism and processing agent injection mechanism) 13 Robot control device 14 Treatment agent set rail 15 Imaging device 16 Processing agent insertion determination section 17 Light source 101 Main body 102 Extrusion section

Claims

1. a treatment agent supplying device for supplying a treatment agent to a treatment agent storage section of the pressure adding device; The processing agent supply device is a treatment agent supplying section that is inserted into the treatment agent storage section through an opening of the treatment agent storage section to supply the treatment agent; a position adjustment mechanism for adjusting a position of a tip of the treatment agent input portion with respect to the opening of the treatment agent storage portion; a treatment agent supply unit insertion mechanism that inserts the treatment agent supply unit into the treatment agent storage unit; Equipped with The treatment agent supplying section is composed of a main body section that accommodates the treatment agent therein, and an extrusion section that extrudes the treatment agent accommodated in the main body section to the outside of the main body section. A processing agent supplying device comprising:

2. an imaging device that captures an image of the opening of the treatment agent container and generates image data including the opening as a subject; a processing agent input unit insertion possibility determination unit that determines whether or not the processing agent input unit can be inserted into the processing agent storage unit based on the image data; Further equipped with The imaging device is disposed on an extension line of the axis of the processing agent supply unit.

2. The processing agent supplying device according to claim 1, wherein the processing agent supplying device is a processing agent supplying device.

3. a treatment agent supply rail for supplying the treatment agent to the treatment agent supply device, 2. The treatment agent supplying device according to claim 1, wherein the treatment agent supplying section supplies the treatment agent into the main body through the treatment agent set rail.

4. Further comprising a light source; The treatment agent supplying device according to claim 2, characterized in that the light source is arranged at an angle with respect to the opening surface on which the opening of the treatment agent storage section is provided so that light from the light source can be irradiated obliquely onto the opening surface on which the opening of the treatment agent storage section is provided.

5. 2. The treatment agent supplying device according to claim 1, wherein the treatment agent supplying section further comprises a slide driving section that slides the main body section in a direction from the tip of the pushing section toward the base section.

6. The treatment agent supply device described in claim 2, characterized in that the position adjustment mechanism adjusts the relative position of the tip of the treatment agent supply portion with respect to the opening of the treatment agent storage portion so that the treatment agent supply portion can be inserted into the treatment agent storage portion based on the judgment result by the treatment agent supply portion insertion feasibility judgment portion.

7. the position adjustment mechanism adjusts the relative position of the tip of the treatment agent input part with respect to the opening of the treatment agent storage part by moving the tip of the treatment agent input part in a direction along an opening surface on which the opening of the treatment agent storage part is provided; the treatment agent supplying portion insertion mechanism inserts the treatment agent supplying portion into the treatment agent storage portion by moving the tip of the treatment agent supplying portion in a direction intersecting with the opening surface; 2. The processing agent supplying device according to claim 1, wherein the processing agent supplying device is a processing agent supplying device.

8. 8. The treatment agent supplying device according to claim 7, wherein the treatment agent storage section has a shape in which a cross-sectional area of ​​a storage space in a direction perpendicular to an opening surface is constant.

9. A method for introducing a treatment agent into a treatment agent storage section of a pressure adding device using the treatment agent introduction device according to any one of claims 1 to 8, a treatment agent supplying step of supplying the treatment agent into the main body of the treatment agent input part; a position adjusting step of adjusting a position of a tip of the treatment agent input part with respect to an opening of the treatment agent storage part; a treatment agent supply unit inserting step of inserting the treatment agent supply unit into the treatment agent storage unit; a processing agent supplying step of supplying the processing agent from the processing agent supplying portion into the processing agent storage portion; A method for adding a processing agent, comprising:

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