Fluid application system and fluid application method
A fluid application system includes: an application apparatus that discharges a fluid to a workpiece; a movement apparatus that moves the application apparatus and the workpiece; and a control apparatus. At the time of adjusting the output of a power source to thereby vary the discharge amount of the fluid from the nozzle by a target variation amount F 1 , the control apparatus sets the output of the power source to a value beyond a theoretical output N 1 of the power source obtained from the target variation amount F 1 of the discharge amount, and then sets the output of the power source to the theoretical output N 1 such that the change amount of the internal pressure of the nozzle is coincident with an amount P 1 by which the internal pressure of the nozzle needs to change, the amount P 1 being obtained from the target variation amount F 1 of the discharge amount.
1. A fluid application system comprising:
an application apparatus that discharges a fluid to a workpiece;
a movement apparatus that relatively moves the application apparatus and the workpiece; and
a control apparatus that controls the application apparatus, wherein
the application apparatus includes: a power source; a fluid supply apparatus that changes a supply amount of the fluid per unit time in accordance with an output of the power source; and a nozzle that discharges the fluid supplied from the fluid supply apparatus, to the workpiece, and
from application start up to application end:
at any point when a movement speed of the nozzle with respect to the workpiece is decreasing and the output of the power source is decreasing in accordance with the decrease in the movement speed to thereby decrease the discharge amount of the fluid per unit time from the nozzle by a target variation amount such that the line width of the fluid applied to the workpiece is constant,
the control apparatus decreases the output of the power source beyond a theoretical output of the power source obtained from the target variation amount of the discharge amount, and then sets the output of the power source to the theoretical output such that the change amount of the internal pressure of the nozzle is coincident with an amount by which the internal pressure of the nozzle needs to drop, the amount being obtained from the target variation amount of the discharge amount, and
at any point when the movement speed of the nozzle with respect to the workpiece is increasing and the output of the power source is increasing in accordance with the increase in the movement speed to thereby increase the discharge amount of the fluid per unit time from the nozzle by a target variation amount such that the line width of the fluid applied to the workpiece is constant,
the control apparatus increases the output of the power source beyond a theoretical output of the power source obtained from the target variation amount of the discharge amount, and then sets the output of the power source to the theoretical output such that the change amount of the internal pressure of the nozzle is coincident with an amount by which the internal pressure of the nozzle needs to rise, the amount being obtained from the target variation amount of the discharge amount.
2. A fluid application system comprising:
an application apparatus that discharges a fluid to a workpiece;
a movement apparatus that relatively moves the application apparatus and the workpiece; and
a control apparatus that controls the application apparatus, wherein
the application apparatus includes: a power source; a fluid supply apparatus that changes a supply amount of the fluid per unit time in accordance with an output of the power source; and a nozzle that discharges the fluid supplied from the fluid supply apparatus, to the workpiece, and
from application start up to application end:
at any point when a movement speed of the nozzle with respect to the workpiece is constant and the output of the power source is decreasing to thereby decrease the discharge amount of the fluid per unit time from the nozzle by a target variation amount such that the line width of the fluid applied to the workpiece becomes thinner along with the decrease in the discharge amount,
the control apparatus decreases the output of the power source beyond a theoretical output of the power source obtained from the target variation amount of the discharge amount, and then sets the output of the power source to the theoretical output such that the change amount of the internal pressure of the nozzle is coincident with an amount by which the internal pressure of the nozzle needs to drop, the amount being obtained from the target variation amount of the discharge amount, and
at any point when the movement speed of the nozzle with respect to the workpiece is constant and the output of the power source is increasing to thereby increase the discharge amount of the fluid per unit time from the nozzle by a target variation amount such that the line width of the fluid applied to the workpiece becomes thicker along with the increase in the discharge amount,
the control apparatus increases the output of the power source beyond a theoretical output of the power source obtained from the target variation amount of the discharge amount, and then sets the output of the power source to the theoretical output such that the change amount of the internal pressure of the nozzle is coincident with an amount by which the internal pressure of the nozzle needs to rise, the amount being obtained from the target variation amount of the discharge amount.
3. The fluid application system according to claim 1 , wherein the fluid is a compressible fluid.
4. The fluid application system according to claim 2 , wherein the fluid is a compressible fluid.
5. The fluid application system according to claim 1 , wherein the fluid supply apparatus includes:
a motion element that makes a motion in accordance with the output of the power source; and
a space formation member that forms a space for housing the motion element and sending out the fluid along with the motion of the motion element.
6. The fluid application system according to claim 2 , wherein the fluid supply apparatus includes:
a motion element that makes a motion in accordance with the output of the power source; and
a space formation member that forms a space for housing the motion element and sending out the fluid along with the motion of the motion element.
7. The fluid application system according to claim 5 , wherein
the fluid supply apparatus is a uniaxial eccentric screw pump, and includes: a male-threaded rotor as the motion element; and a female-threaded stator as the space formation member.
8. The fluid application system according to claim 6 , wherein
the fluid supply apparatus is a uniaxial eccentric screw pump, and includes: a male-threaded rotor as the motion element; and a female-threaded stator as the space formation member.
9. The fluid application system according to claim 1 , wherein
the movement apparatus is an articulated robot that moves the application apparatus.
10. The fluid application system according to claim 2 , wherein
the movement apparatus is an articulated robot that moves the application apparatus.
11. The fluid application system according to claim 1 , wherein
the fluid is applied to a surface of the workpiece, and
the line width of the fluid applied to the workpiece is a width of the fluid in a direction parallel to the surface of the workpiece to which the fluid is applied.
12. The fluid application system according to claim 2 , wherein
the fluid is applied to a surface of the workpiece, and
the line width of the fluid applied to the workpiece is a width of the fluid in a direction parallel to the surface of the workpiece to which the fluid is applied.