Two-component adhesive dispenser with mixing unit replacement system
A two-component adhesive system pumps a first adhesive component and a second adhesive component into a replaceable mixing unit that can be periodically replaced when the adhesive has cured in the mixing unit. The adhesive system may have a robotic arm coupled to a gripper unit which has an open configuration and a closed configuration. In the open configuration, the gripper unit releases the mixing unit allowing the mixing unit to be replaced. The robotic arm may moves the gripper unit to install a replacement mixing unit. The gripper unit can be moved to the closed configuration and the adhesive can be pumped through the mixing unit.
1. A mixing system for a robotic system, the mixing system comprising:
a mixing unit having:
a mixing block having a first component inlet and a second component inlet and internal passageways which connect the first component inlet and the second component inlet to a mixing block outlet; and
a static mixing nozzle attached to the mixing block outlet;
a gripper device having:
a first component coupling;
a second component coupling;
a first gripper jaw; and
a second gripper jaw;
wherein, when the mixing unit is held in the gripper device by the first gripper jaw and the second gripper jaw, the gripper device has a closed configuration in which the first gripper jaw and the second gripper jaw contact the static mixing nozzle, the first component coupling is compressed against the first component inlet and the second component coupling is compressed against the second component inlet, and an open configuration in which the first gripper jaw and the second gripper jaw are in an open position, the first component coupling is removed from the first component inlet and the second component coupling is removed from the second component inlet; and
a robotic arm coupled to the gripped device.
2. The mixing system as claimed in claim 1 , wherein the first component inlet and the second component inlet are axially aligned.
3. The mixing system as claimed in claim 1 , wherein the mixing block is a T shaped structure.
4. The mixing system as claimed in claim 1 , wherein the gripper device is configured to release the mixing unit from the gripper device after the mixing unit has been used and the gripper device is further configured to subsequently grasp a replacement mixing unit from a mixing unit storage device.
5. The mixing system as claimed in claim 1 , wherein the first component inlet and the second component inlet of the mixing unit each have a concave surface or a concave conical surface.
6. The mixing system as claimed in claim 1 , wherein the first component coupling and the second component coupling each have a convex surface or a convex spherical surface.
7. The mixing system as claimed in claim 1 , wherein the first component inlet and the second component inlet of the mixing unit are made of an elastic material.
8. The mixing system as claimed in claim 1 , wherein in the open configuration the gripper device has an opening which is wider than the mixing block of the mixing unit.
9. The mixing system as claimed in claim 1 , wherein the first component coupling is attached to a first tube configured to transmit a first component liquid and the second component coupling is attached to a second tube configured to transmit a second component liquid.
10. The mixing system as claimed in claim 9 , further comprising:
a first valve coupled to the first tube; and
a second valve coupled to the second tube;
wherein the first valve and the second valve are closed when the gripper unit is in the open configuration and the first valve and the second valve are opened when the gripper unit is in the closed configuration.
11. The mixing system as claimed in claim 10 , further comprising:
a timer that is configured to monitor a duration of time from when the first component liquid and the second component liquid are initially delivered from the gripper device to the mixing unit when the gripper device is in the closed position.