Dispensing device and hand

Abstract

To provide a technique capable of automating fluid material charging work with higher accuracy.SOLUTION: A charging device for charging a fluid material stored in an objective container having a spout on its upper part from the objective container to a separate container includes a hand for holding the objective container and moving means for moving the hand from an installation position of the objective container to the upper side of the separate container, wherein the hand includes a connection part connected to the moving means, tilting means for holding and tilting the objective container so as to flow the fluid material out from the spout of the objective container, and measurement means which is provided between the connection part and the tilting means and measures a load acting on the connection part.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a technology for charging a fluid material into a container. [Background Art]

[0002] In industries such as the chemical and food industries, it is widely practiced to measure fluid materials such as liquids contained in itokan (18-liter square cans), pails, drums and the like, and charge and mix the materials into tanks. The charging operation of fluid materials is often performed manually, but it is hard labor, and automation is desired. In the charging operation of a fluid material, it is necessary to measure the charging amount. For automation, a method of controlling a robot while measuring a weight change of a tank, or use of a robot provided with a measurement function can be considered. As an example of a robot provided with a measurement function, Patent Document 1 discloses a robot in which a load cell is provided at a base end portion of the robot, the weight of a work is measured together with the robot, and the weight of the work is estimated. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2021-58951 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In general, the accuracy of a sensor that measures a physical quantity is determined according to the measurement scale of the physical quantity of an object, and is, for example, about 1 / 5000. In the case of a method for measuring a weight change of a tank, when the weight of the tank including the content is about 5000 kg, the measurement error of the weight is about ±1 kg. This method is difficult to apply when measurement accuracy on the order of ±several tens of grams is required. Even in a configuration in which a load cell is provided at a base end portion of a robot as in Patent Document 1, the total weight of the robot affects measurement accuracy, and application is difficult when high-precision measurement is required.

[0005] The objective of this invention is to provide a technology that enables the automation of the fluid material feeding process with greater precision. [Means for solving the problem]

[0006] According to the present invention, A dispensing device that dispenses a fluid material contained in a target container, which has a spout at the top, into another container, A handle for holding the aforementioned container, The hand is provided with a means for moving it from the installation position of the target container to above the other container, The aforementioned hand, A connecting part connected to the aforementioned moving means, A tilting means for holding the target container and tilting the target container so that the fluid material flows out from the spout of the target container, A measuring means is provided between the connecting portion and the tilting means for measuring the load acting on the connecting portion. picture, The aforementioned moving means supports the hand in a suspended state above the other container, The measuring means comprises at least one load cell arranged to measure the vertical load acting on the connection portion. A feeding device characterized by the above is provided. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a technology that enables the automation of the process of feeding fluid materials with higher precision. [Brief explanation of the drawing]

[0008] [Figure 1] A schematic diagram of a feeding device according to one embodiment of the present invention. [Figure 2] (A) and (B) are explanatory diagrams of the handle of the feeding device in Figure 1. [Figure 3] (A) and (B) are explanatory diagrams of the handle of the feeding device in Figure 1. [Figure 4] (A) and (B) are explanatory diagrams of the gripping member. [Figure 5] A flowchart showing an example of the control performed by the control panel of the feeding device in Figure 1. [Figure 6] An operation explanatory diagram of the feeding device in Fig. 1 [Figure 7] An operation explanatory diagram of the feeding device in Fig. 1 [Figure 8] A flow chart showing an example of control executed by a control panel of the feeding device in Fig. 1 [Figure 9] (A) to (D) are explanatory diagrams of control of the tilt angle of a target container [Figure 10] (A) and (B) are explanatory diagrams of another example of a hand [Figure 11] An explanatory diagram of another example of a moving unit MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. In addition, the same or similar components are denoted by the same reference numerals, and redundant description is omitted

[0010] <Configuration of Feeding Device> A feeding device 1 according to an embodiment of the present invention will be described with reference to Fig. 1. In each drawing, arrows X and Y indicate horizontal directions orthogonal to each other, and arrow Z indicates a vertical direction. The feeding device 1 is a device that feeds a flowable material contained in a target container 101 into a tank 201 which is another container. In the present embodiment, the target container 101 is a square cylindrical metal can, typically an itto-kan (18-liter metal can). The target container 101 is provided with a spout (opening) 102 at an upper portion (top portion) thereof. A plurality of target containers 101 are arranged in a preparation area 100. The flowable material includes liquids and powders. In the present embodiment, a liquid is assumed. The tank 201 has an opening 202 at a top portion thereof

[0011] The feeding device 1 comprises a moving unit 2, a hand 3, and a control panel 4. The moving unit 2 is a mechanism that moves the hand 3 from the preparation area 100, which is the installation position of the target container 101, to above the tank 201, and is a vertical articulated robot in the present embodiment. Specifically, the moving unit 2 comprises a base portion 21 and an articulated arm portion 22. The base portion 21 is installed on a work floor, and is capable of pivoting the arm portion 22 around the Z axis. The base end of the arm portion 22 is supported by the base portion 21, and the hand 3 is detachably attached to the distal end portion 23 of the arm portion 22. The moving unit 2 can move the hand 3 in a three-dimensional space.

[0012] The hand 3 will be described with reference to FIGS. 2 to 4 in addition to FIG. 1. The hand 3 is a mechanism that holds the target container 101 and causes a fluid material to flow out from a spout 102 of the target container 101 by tilting the target container 101. FIGS. 2(A) and 2(B) show front views of the hand 3, wherein FIG. 2(A) shows a released state and FIG. 2(B) shows a gripping state. FIGS. 3(A) and 3(B) show side views of the hand 3, wherein FIG. 3(A) shows a state where a gripping member 64 is in an initial posture, and FIG. 3(B) shows a state where the gripping member 64 is in a tilted posture. FIG. 4(A) is a cross-sectional view taken along line A-A in FIG. 2(A), and FIG. 4(B) is a cross-sectional view taken along line B-B in FIG. 2(B).

[0013] The hand 3 comprises a connecting portion 5, a tilting unit 6, and a measuring unit 7 provided therebetween. The connecting portion 5 comprises a fixing portion 51 detachably fixed to the distal end portion 23 of the arm portion 22, and a frame 52 that supports the fixing portion 51. A method for fixing the fixing portion 51 to the distal end portion 23 is, for example, fastening with bolts.

[0014] The tilting unit 6 includes a gripping mechanism that grips the target container 101 and a tilting mechanism that tilts the target container 101, which are supported by a frame 61. The gripping mechanism includes two sets of an actuator 63, an arm member 62, and a gripping member 64, one set on the left and one on the right. The tilting mechanism includes two sets of the arm members 62, the gripping members 64, and rotation shafts 62a, a connecting member 65, and an actuator 66.

[0015] The actuator 63 is a linear motion device that moves the arm member 62 in parallel in the D2 direction (X direction in Figure 2(A)), and is, for example, an air cylinder, an electric cylinder, or a motor and ball screw mechanism. Two sets of actuators 63 are supported on the frame 61 in the D2 direction, and the upper end of the corresponding arm member 62 is supported by the movable part of each actuator 63.

[0016] The arm member 62 is an L-shaped member, and a pivot shaft 62a is supported at its lower end. The two sets of arm members 62 are spaced apart in the D2 direction. The left and right pivot shafts 62a are coaxially arranged shafts extending in the D3 direction (X direction in Figure 2(A)), and a gripping member 64 corresponding to each pivot shaft 62a is fixed to them. The gripping member 64 is rotatably supported on the arm member 62 via the pivot shaft 62a and is rotatable about the pivot shaft 62a as the center of rotation.

[0017] The two sets of gripping members 64 are spaced apart in the D4 direction (X direction in Figure 2(A)) and connected by a connecting member 65. The connecting member 65 is a telescopic member that can extend and retract in the D4 direction and extends and retracts in accordance with the approaching and separating movements of the two sets of gripping members 64. The two sets of gripping members 64 rotate together as a single unit by the connecting member 65. An actuator 66 that rotates the pivot axis 62a is supported on one of the arm members 62. The actuator 66 is, for example, a servo motor. When one gripping member 64 rotates due to the drive of the actuator 66, the other gripping member 64 connected by the connecting member 65 also rotates.

[0018] Each gripping member 64 is provided with a plurality of engaging portions 64a. As shown in Figures 2(A) and 4(B), the engaging portions 64a have recesses that conform to the shape of the target container 101. In this embodiment, the recesses have a triangular cross-section corresponding to the corners of the target container 101. The engaging portions 64a are made of an elastic material such as rubber.

[0019] The gripping and tilting operations of hand 3 will now be described. As shown in Figures 2(A) and 4(A), hand 3 is positioned so that the gripping members 64 are on both sides of the target container 101 in a released state with the left and right gripping members 64 separated. By driving each actuator 63, the left and right gripping members 64 are brought closer together as shown in Figures 2(B) and 4(B), and the target container 101 is gripped by the left and right gripping members 64 (gripping state). The target container 101 is held in place. When actuator 66 is driven in the gripping state, the two sets of gripping members 64 rotate synchronously from the initial position in Figure 2(A) to the tilted position in Figure 2(B). The target container 101, gripped by the two sets of gripping members 64, also rotates.

[0020] Next, the measurement unit 7 will be described. The measurement unit 7 is installed between the connection part 5 and the tilting unit 6, and measures the load acting on the connection part 5. The weight of the tilting unit 6 and the weight of the target container 101 act on the connection part 5 in the direction of gravity. The weight of the tilting unit 6 is known and constant. When the fluid material is poured from the target container 101 into the tank 201, the weight of the target container 101 decreases. By monitoring the measurement results of the measurement unit 7, the amount of fluid material poured in can be determined.

[0021] In this embodiment, the measurement unit 7 is composed of a plurality of strain gauge load cells 7a fixed between frame 52 and frame 61. In this embodiment, the measurement unit 7 is composed of two load cells 7a, but there may be three or more load cells 7a, or there may be just one. Line D1 in Figure 2(A) indicates the load detection direction of the load cells 7a, and in the posture of hand 3 in Figure 2(A), the load detection direction D1 is the Z direction. The load cells 7a are arranged side by side in a direction perpendicular to the load detection direction D1. The load acting on the connection part 5 is configured to be evenly distributed to the two load cells 7a.

[0022] The measurement scale of the physical quantities measured by the measurement unit 7 corresponds to the weight range of the tilting unit 6 and the target container 101. Since the moving unit 2 is not included in the measurement target, a lighter range is sufficient for the measurement scale. For example, assuming a measurement scale of 60 kg and an accuracy of 1 / 5000, an accuracy of approximately ±12 g can be obtained. When two load cells 7a are arranged in parallel as in this embodiment, the measurement scale is halved, further improving accuracy. This makes it possible to automate the process of loading fluid materials with higher precision.

[0023] In this embodiment, the hand 3 is supported in a suspended state by the moving unit 2 as shown in Figure 1, and the posture of the hand 3 is maintained so that the load detection direction D1 is in the Z direction. The measurement unit 7 measures the vertical load (tilting unit 6 + target container 101) acting on the connection part 5. During measurement, the load detection direction D1 of the load cell 7a coincides with the load direction (vertical direction) acting on the connection part 5, so the measurement accuracy can be improved.

[0024] Referring to Figure 1, the control panel 4 will be described. The control panel 4 is a microcomputer that controls the entire feeding device 1, and includes a processor (CPU) that executes control processing, storage devices such as ROM, RAM, and HDD that store control programs, an interface between the processor and external devices, an input device that receives input from the operator, and a display device that displays information to the operator. The input device and display device may be combined into a single touch panel.

[0025] The control panel 4 acquires detection results from various sensors installed on the mobile unit 2 (sensors that detect the amount of movement of each part, cameras that detect the position of the object, etc.) and various sensors installed on the hand 3 (measurement unit 7, sensors that detect the amount of movement of each part, etc.), and controls the driving of the actuators of the mobile unit 2 and the actuators (63, 66) of the hand 3.

[0026] <Control Example> Figure 5 is a flowchart showing an example of a process performed by the control panel 4, and in particular, it is a flowchart showing an example of control for introducing fluid material from the target container 101 to the tank 201. Figures 6 and 7 show examples of the operation of the input device 1 when this control is executed.

[0027] In S1, the conditions for the loading operation are accepted. The operator inputs the conditions to the control panel 4. The conditions include the target loading amount WT of the fluid material, as well as operating conditions related to the tilting motion of the target container 101 during loading. In this embodiment, the user can set the number of changes in the posture of the gripping member 64 (number of changes in the tilting angle) in a single loading operation. The number of changes may be one or multiple times. If there are multiple changes, the tilting angle of the gripping member 64 can be changed multiple times during loading so that it decreases in stages. Therefore, the operating conditions include the number of changes t in the tilting angle of the target container 101, each tilting angle θ1, θ2...θt, and the loading amount thresholds W1, W2...Wt (=WT). The tilting angle and intermediate value are denoted as θn and Wn, respectively, where n is the variable for the number of changes. The threshold Wn is a threshold that defines the timing for changing the tilting angle. After setting, control is started.

[0028] In S2, hand 3 is moved to the target container 101, and hand 3 grasps the target container 101. This operation is shown by a dashed line in Figure 6. The movement unit 2 moves hand 3 to the target container 101, and hand 3 is controlled to a gripping state, thereby holding the target container 101 in hand 3.

[0029] In S3 of Figure 5, the target container 101, which was grasped in S2, is raised from the preparation area 100 by the upward movement of the moving unit 2, and the target container 101 is brought to a rest in the air. Then, the initial weighing is performed. Here, the measurement result of the measurement unit 7 is acquired and stored in the memory device as the initial remaining amount value w. The amount to be poured from the target container 101 into the tank 201 is calculated as: pouring amount = initial remaining amount value w - latest weighing value.

[0030] In S4, the target container 101 is moved above the tank 201. This movement is shown by a solid line in Figure 6. Next, the filling operation takes place in S5 of Figure 5. The filling operation is shown in Figure 7. The gripping member 64 is rotated, causing the target container 101 to tilt, and the fluid material 103 inside is poured into the tank 201 from the spout 102. Details of the control during the filling operation will be described later.

[0031] Once the loading operation is complete, in S6 of Figure 5, the target container 101 is moved from above the tank 201 to another location, and the grip of the hand 3 is released.

[0032] Figure 8 shows the details of the input operation of S5 in Figure 5. Figures 9(A) to 9(D) show examples of the operation of hand 3 in that case, and one example is shown where the number of changes t=3. In this case, the thresholds are, for example, W1=0.90×WT, W2=0.98×WT, and W3=WT. If the number of changes t=1, then W1=WT.

[0033] At the start of the dispensing operation, the gripping member 64 of the hand 3 is in its initial position, as shown in Figure 9(A). The initial position is a vertical position in which the longitudinal direction of the gripping member 64 is oriented in the Z direction, and each engaging portion 64a is aligned in the Z direction (Figure 3(A)). The target container 101 is also in a vertical position with its top pointing upward and its bottom pointing downward, and the spout 102 is oriented upward, so that the fluid material inside does not leak out.

[0034] In S11 of Figure 8, the variable n for the number of changes is set to 1. In S12, the actuator 66 is driven to tilt the gripping member 64 by a tilt angle θn. This causes the target container 101 to tilt by a tilt angle θn. When n=1, the gripping member 64 is rotated from its initial position by a predetermined tilt angle θ1 with the axis 62a as the pivot point. Figure 9(B) shows this state. The tilt angle θ1 is, for example, the angle at which the fluid material flows smoothly out of the target container 101 at a relatively large flow rate.

[0035] Note that, instead of immediately rotating the gripping member 64 from the initial posture to the inclination angle θ1, the rotation may be temporarily stopped at an angle slightly before the flowable material flows out from the spout 102 of the target container 101, and after a time period (about 10 seconds) for the flow of the flowable material inside to stabilize, the rotation may be performed to the tilting angle θ1. This can prevent the flowable material from scattering when the flowable material starts to flow out.

[0036] In S13 of Fig. 8, measurement is performed by the measurement unit 7. In S14, the measurement result obtained in S13 is acquired, and it is determined whether or not the input amount calculated from the initial remaining amount w and the measurement result is equal to or greater than a threshold value Wn. If the input amount is less than Wn, the process returns to S13 to repeat the measurement. If the input amount is equal to or greater than Wn, the process proceeds to S15. For example, when the variable n=1, if the input amount is equal to or greater than W1, the process proceeds to S15, otherwise the process returns to S13. Further, for example, when the variable n=3 (=number of changes t), if the input amount is equal to or greater than W3 (=WT), the process proceeds to S15, otherwise the process returns to S13.

[0037] In S15, it is determined whether or not the variable n is equal to the number of changes t. If n=t, the process proceeds to S17, and if n<t, the process proceeds to S16. In S16, 1 is added to the variable n, the process returns to S12, and the same processing is repeated.

[0038] Fig. 9(C) shows an example of the processing of S12 when the variable n=2. If the input amount is equal to or greater than the threshold value W1, the completion of input is near, so as shown in Fig. 9(C), the tilting angle of the gripping member 64 is returned to θ2 (<θ1) by driving the actuator 66. By returning the target container 101 slightly toward the vertical posture side, the outflow speed of the flowable material is reduced, and the target value can be achieved more accurately.

[0039] Further, Fig. 9(D) shows an example of the processing of S12 when the variable n=3 (=number of changes t). If the input amount is equal to or greater than the threshold value W2, the input is substantially completed, so as shown in Fig. 9(D), the tilting angle of the gripping member 64 is returned to θ3 (<θ2) by driving the actuator 66. By further returning the target container 101 toward the vertical posture side, a time period for the dripping component to fall into the tank 201 is secured.

[0040] In S17, since the loading is complete, the actuator 66 is driven to return the gripping member 64 to its initial position and the process is terminated. This completes the loading operation.

[0041] In this embodiment, the process of adding fluid materials can be automated. During the adding process, the amount of fluid material added can be monitored with high precision by the measuring unit 7, enabling more accurate automated adding.

[0042] Figures 9(A) to 9(C) illustrate the case where the number of changes t = 3, but in this embodiment, the number of changes t can be set to any number, and may be 1, 2, or 4 or more. In another embodiment, the setting of the number of changes t may be limited to a minimum of 2. In this case, the tilt angle of the target container 101 will change in steps at least twice.

[0043] <Another example of a hand configuration> Figures 10(A) and 10(B) show hand 3A, which replaces hand 3. Below, we will describe the components of hand 3A that differ from those of hand 3, and components that are substantially the same will be denoted by the same reference numerals and their descriptions will be omitted.

[0044] Hand 3A differs from Hand 3 mainly in the configuration of its tilting mechanism. The tilting unit 6A of Hand 3A is equipped with a frame 61A. A drive shaft 67b is rotatably supported on the frame 61A. A sprocket 67c is fixed to a portion of the drive shaft 67b. A motor 66A, which is the drive source for the tilting mechanism, is supported on the frame 52. A sprocket 67a is fixed to the output shaft of the motor 66A, and a belt 67f is wound between the sprockets 67a and 67c. The drive shaft 67b rotates when the motor 66A is driven.

[0045] The left and right arm members 62A have a T-shape, and a sprocket 67e connected to a rotating shaft 62a is supported at the lower end of each. A sprocket 67d is rotatably supported at the upper end of the left and right arm members 62A. A drive shaft 67b passes through the upper end of the left and right arm members 62A, and the sprocket 67d engages with the drive shaft 67b in the rotational direction but slides freely without engaging with the drive shaft 67b in the axial direction. For example, the drive shaft 67b and the sprocket 67d may be spline-coupled, or the drive shaft 67b may have a D-shaped cross-section, and the sprocket 67d may have a D-shaped hole through which the drive shaft 67b is inserted.

[0046] A belt 67g is wound between sprocket 67d and sprocket 67e. When the drive shaft 67b rotates, the left and right rotating shafts 62a rotate, and the left and right gripping members 64 rotate synchronously.

[0047] To describe the gripping operation, the left and right arm members 62A have portions that protrude in the left and right directions, to which the actuator 63 is connected. When the actuator 63 is driven, the arm members 62A, sprockets 67d and 67e, belt 67g, rotating shaft 62a, and gripping member 64 move together as a single unit. Therefore, as shown in Figure 10(A), after positioning the hand 3 so that the gripping members 64 are on both sides of the target container 101 in a released state with the left and right gripping members 64 separated, the actuators 63 are driven to bring the left and right gripping members 64 closer together as shown in Figure 10(B), allowing the target container 101 to be gripped by being sandwiched between the left and right gripping members 64 (gripping state). This holds the target container 101.

[0048] To explain the tilting operation, when the motor 66A is driven in the state shown in Figure 10(B), the driving force is transmitted to the drive shaft 67b, and further transmitted to the left and right rotation shafts 62a. As a result, the left and right gripping members 64 rotate, allowing the target container 101 to tilt.

[0049] In hand 3A, the motor 66A is supported on the side of the connection part 5 and is therefore not included in the weighing target of the measuring unit 7. As the weighing unit 7, a load cell 7a with a lighter range of measurement scale can be used, allowing for more accurate measurement of the input amount.

[0050] <Another example of a mobile unit configuration> In the example in Figure 1, a vertical articulated robot is shown as the mobile unit 2, but other types of robots may be used. Figure 11 shows one such example. The illustrated mobile unit 2A is a Cartesian coordinate robot, with a beam-shaped rail member 25 installed between a pair of support columns 24. A mobile body 26 can move along the rail member 25. The mobile body 26 also has a lifting function of a lifting shaft 27, and a hand 3 is supported at the lower end of the lifting shaft 27. The hand 3 may be moved by such a robot to perform a loading operation.

[0051] Although embodiments of the invention have been described above, the invention is not limited to the embodiments described above, and various modifications and changes are possible within the scope of the gist of the invention. [Explanation of Symbols]

[0052] 1. Dispensing device, 2. Moving unit, 3. Hand, 7. Measurement unit, 101. Target container, 201. Tank (another container)

Claims

1. A dispensing device that dispenses a fluid material contained in a target container, which has a spout at the top, into another container, A handle for holding the aforementioned container, The hand is provided with a means for moving it from the installation position of the target container to above the other container, The aforementioned hand, A connecting part connected to the aforementioned moving means, A tilting means for holding the target container and tilting the target container so that the fluid material flows out from the spout of the target container, The device comprises a measuring means provided between the connecting portion and the tilting means for measuring the load acting on the connecting portion, The aforementioned moving means supports the hand in a suspended state above the other container, The measuring means comprises at least one load cell arranged to measure the vertical load acting on the connection portion. A feeding device characterized by the following features.

2. The feeding device according to claim 1, The system includes a control means for controlling the tilting motion of the target container by the tilting means based on the measurement results of the measurement means. A feeding device characterized by the following features.

3. The feeding device according to claim 2, In a single insertion operation, the user can set the number of times the tilting angle of the target container is changed by the tilting means. The control means tilts the orientation of the target container from its initial orientation using the tilting means, and returns it to its initial orientation so that the tilt angle decreases according to the number of changes set by the user. A feeding device characterized by the following features.

4. The feeding device according to claim 1, The tilting means is A gripping mechanism for releasingly gripping the target container, The frame supporting the gripping mechanism is provided, The measuring means is provided between the connecting portion and the frame, A feeding device characterized by the following features.

5. A hand that is moved by means of a moving mechanism from the installation position of a target container having a spout on top to above another container, A connecting part connected to the aforementioned moving means, A tilting means for holding the target container and tilting the target container so that the fluid material contained in the target container flows out from the spout of the target container into the other container, at a position above the other container, The device comprises a measuring means provided between the connecting portion and the tilting means for measuring the load acting on the connecting portion, The hand is supported in a suspended state above the other container. The measuring means comprises at least one load cell arranged to measure the vertical load acting on the connection portion. A hand characterized by the following features.

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