U.S. patent number RE35,010 [Application Number 08/127,281] was granted by the patent office on 1995-08-08 for method of compensating for changes in the flow characteristics of a dispensed fluid to maintain the volume of dispensed fluid at a setpoint.
This patent grant is currently assigned to Nordson Corporation. Invention is credited to Richard P. Price.
United States Patent |
RE35,010 |
Price |
August 8, 1995 |
**Please see images for:
( Certificate of Correction ) ** |
Method of compensating for changes in the flow characteristics of a
dispensed fluid to maintain the volume of dispensed fluid at a
setpoint
Abstract
Changes in the flow characteristics of a fluid being dispensed
from a nozzle under .[.then.]. .Iadd.the .Iaddend.control of a
metering valve are compensated for in order to maintain the volume
of fluid dispensed over a predetermined time interval substantially
equal to a selected setpoint. The volume of fluid delivered to the
metering valve during a predetermined interval is measured and a
correction factor based on the difference between the measured
volume and the setpoint is calculated. The correction factor is
used to generate a driving signal from which a control signal
applied to the metering valve is generated.
Inventors: |
Price; Richard P. (Parma
Heights, OH) |
Assignee: |
Nordson Corporation (Westlake,
OH)
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Family
ID: |
26935698 |
Appl.
No.: |
08/127,281 |
Filed: |
September 27, 1993 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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243238 |
Sep 7, 1988 |
4922852 |
|
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|
924940 |
Oct 30, 1986 |
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Reissue of: |
494500 |
Mar 8, 1990 |
05054650 |
Oct 8, 1991 |
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Current U.S.
Class: |
222/1; 222/55;
118/688; 73/861.48 |
Current CPC
Class: |
B05B
13/0431 (20130101); G05D 7/0635 (20130101); B05B
12/085 (20130101); B05C 5/0225 (20130101); B05C
5/0216 (20130101) |
Current International
Class: |
B05C
5/02 (20060101); B05B 13/02 (20060101); B05B
13/04 (20060101); B05B 12/08 (20060101); G05D
7/06 (20060101); B67D 005/08 (); B05C 011/00 ();
G01F 001/38 () |
Field of
Search: |
;222/52,55,71,1,504
;137/2,487.5 ;118/679-692 ;73/202,215-217,861.47-861.51 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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0029236 |
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Nov 1979 |
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EP |
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0098719 |
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Jun 1983 |
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EP |
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0104547 |
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Apr 1984 |
|
EP |
|
163069 |
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Apr 1985 |
|
EP |
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2327263 |
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Jan 1974 |
|
DE |
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2924264 |
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Dec 1980 |
|
DE |
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3109303 |
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Mar 1982 |
|
DE |
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3143169 |
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Jan 1983 |
|
DE |
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203236 |
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Oct 1983 |
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DE |
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82276064 |
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Nov 1983 |
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DE |
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WO86/03855 |
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Jul 1986 |
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LU |
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1325091 |
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Aug 1973 |
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GB |
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2049228 |
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Dec 1980 |
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GB |
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2074240 |
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Oct 1981 |
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GB |
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2080574 |
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Feb 1982 |
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GB |
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Other References
Pub. by J. F. Blackburn et al. "Fluid Power Control", the MIT Press
& Wiley, 1960, pp. 401-432. .
Technical Bulletin #141 by Moog, Inc. Controls Division, Jun. 1978,
pp. 1-7. .
Pub. by Badger Meter, Inc. Research Control Valves, "The Small
Valves for Small Flows", date unknown, pp. 1-8. .
Brochure by ASEA Robotics, Inc., Industrial Robot System for Gluing
and Sealing, date unknown. .
Brochure by Omega Pressure and Strain Measurement Handbook, p.
A-22..
|
Primary Examiner: Kashnikow; Andres
Assistant Examiner: DeRosa; Kenneth R.
Attorney, Agent or Firm: Wood, Herron & Evans
Parent Case Text
This is a division of application Ser. No. 07/243,238, filed Sep.
7, 1988, now U.S. Pat. No. 4,922,852 which, in turn, is a file
wrapper continuation of application Ser. No. 06/924,940, filed Oct.
.[.23.]. .Iadd.30.Iaddend., 1986.Iadd.abandoned.Iaddend..
Claims
What is claimed is:
1. A method of compensating for changes in the flow characteristics
of a fluid being dispensed from a nozzle under the control of a
metering valve in order to maintain the volume of fluid dispensed
over a predetermined time interval at a desired setpoint, said
method comprising the steps of:
(a) measuring the volume of fluid delivered to the metering valve
during at least one said interval;
(b) calculating a correction factor correlated to the difference
between said measured volume and said setpoint,
(c) multiplying a signal by said factor to generate a driving
signal, and
(d) controlling said valve in accordance with at least said driving
signal to maintain the volume of fluid dispensed at said desired
setpoint.
2. The method of claim 1 wherein said controlling step includes the
step of applying a signal correlated to said driving signal to a
closed-loop feedback system coupled to said metering valve.
3. The method of claim 1 wherein said correction factor comprises a
quotient whose dividend is said setpoint and whose divisor is said
measured volume of fluid.
4. A method for compensating for changes in the flow
characteristics of a fluid being dispensed from a nozzle, said
method comprising the steps of:
(a) delivering the fluid under pressure to a metering valve located
upstream of the nozzle, said metering valve being operable to
modulate the flow of fluid to the nozzle in response to a control
signal;
(b) measuring the volume of fluid delivered to said metering valve
over an interval of time and generating a corresponding measurement
signal, and
(c) adjusting the control signal in accordance with the difference
between said measurement signal and a setpoint representing a
desired volume of fluid to be dispensed during said interval so
that said valve maintains the volume of fluid dispensed at said
setpoint.
5. The method of claim 4 wherein said adjusting step comprises the
steps of:
calculating a correction factor correlated to the difference
between said measurement signal and said setpoint;
multiplying a driving signal by said correction factor, and
generating Said control signal from at least said driving
signal.
6. The method of claim 5 wherein said generating step comprises the
step of algebraically combining the difference between said driving
signal with a signal correlated to the flow rate of the fluid
dispensed from the nozzle.
7. The method of claim 6 further comprising the step of:
generating said driving signal in accordance with at least a
toolspeed signal of a robot for effecting relative movement between
the nozzle and a workpiece.
8. The step of claim 7 wherein said signal correlated to the flow
rate of the fluid dispensed from the nozzle comprises a signal
representing the pressure drop across said nozzle.
9. The method of claim 4 wherein said interval is a job cycle.
10. The method of claim 4 further comprising the steps of:
locating said valve and said nozzle in sufficiently close proximity
to one another that very little fluid pressure drop occurs between
said valve and said nozzle;
sensing, at a location between said valve and said nozzle, a
parameter correlated to the rate of flow of the fluid discharged
from the nozzle and generating a corresponding flow rate signal,
and
generating said control signal from at least said flow rate signal
and a driving signal.
11. The method of claim 10 further comprising the steps of:
calculating a correction factor correlated to the difference
between said measurement signal and said setpoint;
multiplying a driving signal by said correction factor, and
generating said control signal from at least said driving signal.
.Iadd.
12. A method of compensating for dynamic flow characteristics of a
non-newtonian fluid being dispensed from a nozzle onto a workpiece,
the nozzle being in fluid communication with a metering valve
responsive to a control signal, and the dynamic flow
characteristics representing flow non-linearities introduced by the
non-newtonian fluid, said method comprising the steps of:
generating the control signal to produce a desired flow of the
fluid through the nozzle, said control signal being correlated to
at least a flow rate of the non-newtonian fluid; and
linearizing said control signal to reduce the flow non-linearities
introduced by the non-newtonian fluid. .Iaddend. .Iadd.
13. The method of claim 12 wherein said step of linearizing said
control signal further comprises the steps of:
determining flow linearizing factors based on known flows of the
non-newtonian fluid from the nozzle as a function of the control
signal for a given set of conditions;
selecting a first flow linearizing factor;
altering said control signal as a function of said first flow
linearizing factor. .Iaddend. .Iadd.14. The method of claim 13
wherein the step of determining said flow linearizing factors
further comprises the step of determining a series of flow
linearizing factors based on known flows of the non-newtonian fluid
from the nozzle as a function of said control
signal for given sets of conditions. .Iaddend. .Iadd.15. The method
of claim 14 wherein said step of generating said control signal
further comprises the steps of:
providing a tool speed signal correlated to relative motion between
the nozzle and the workpiece;
selecting said first flow linearizing factor as a function of the
tool speed signal; and
multiplying said tool speed signal by said first flow linearizing
factor to produce a linearized tool speed value. .Iaddend.
.Iadd.16. The method of claim 15 wherein the step of generating
said control signal further comprises the steps of:
producing a feedback signal representing a fluid pressure
correlated to a flow rate of the non-newtonian fluid; and
producing said control signal as a function of said feedback signal
and said linearized tool speed value, thereby compensating said
control signal as a function of the flow non-linearities introduced
by the non-newtonian fluid and causing the metering valve to
dispense the desired flow of the
non-newtonian fluid. .Iaddend. .Iadd.17. A method of compensating
for dynamic flow characteristics and intrinsic viscosity changes of
a fluid being dispensed from a nozzle onto a workpiece, the nozzle
being in fluid communication with a metering valve responsive to a
control signal, and wherein the intrinsic viscosity changes are
caused by phenomena other than shear effects, and the dynamic flow
characteristics representing pressure flow non-linearities
introduced by non-newtonian viscosity characteristics in the fluid,
the method comprising the steps of:
generating the control signal to provide a desired flow of the
fluid through the nozzle, said control signal being correlated to
at least a flow rate of the fluid; and
modifying said control signal to reduce the pressure flow
non-linearities introduced by the dynamic flow characteristics and
to compensate for the
intrinsic viscosity changes of the fluid. .Iaddend. .Iadd.18. The
method of claim 17 wherein the step of modifying said control
signal further comprises the steps of:
providing a tool speed signal correlated to relative motion between
the nozzle and the workpiece;
altering said tool speed signal as a function of the dynamic flow
characteristics of the fluid to produce a linearized tool speed
value; and
adjusting said linearized tool speed value as a function of the
intrinsic viscosity changes of the fluid to produce a driving
signal. .Iaddend. .Iadd.19. The method of claim 18 wherein said
step of generating the control signal further comprises the steps
of:
producing a feedback signal representing a fluid pressure
correlated to a flow rate of the fluid; and
producing said control signal as a function of said feedback
signal, said driving signal and effects of the dynamic flow
characteristics and the intrinsic viscosity changes thereby causing
the metering valve to dispense
the desired flow of fluid. .Iaddend. .Iadd.20. The method of claim
18 wherein said step of adjusting said tool speed signal further
comprises the steps of:
selecting a flow linearizing factor based on a known flow of fluid
from the nozzle as a function of said control signal for a given
set of conditions.; and
multiplying said tool speed signal by said flow linearizing factor
to produce said linearized tool speed value. .Iaddend. .Iadd.21.
The method of claim 20 wherein said step of adjusting said
linearized tool speed value further comprises the steps of:
measuring a first volume of fluid delivered to the metering valve
during an interval of time;
calculating a flow compensation factor as a function of a
difference between the first volume of fluid and a reference;
and
multiplying said linearized tool speed value by said flow
compensation
factor to produce said driving signal. .Iaddend. .Iadd.22. A method
of compensating for intrinsic viscosity changes of a fluid being
dispensed from a nozzle onto a workpiece, the nozzle in fluid
communication with a metering valve responsive to a control signal,
and wherein the intrinsic viscosity changes are caused by phenomena
other than shear effects, said method comprising the steps of:
supplying the fluid under a pressure to the metering valve;
providing a tool speed signal representing a varying relative speed
between the nozzle and the workpiece;
adjusting said tool speed signal as a function of the intrinsic
viscosity changes of the fluid to produce a driving signal;
producing a feedback signal representing a fluid pressure
correlated to a flow rate of the fluid; and
producing the control signal as a function of said feedback signal
and said driving signal to cause the metering valve to dispense a
desired flow of
fluid. .Iaddend. .Iadd.23. The method of claim 22 wherein said step
of adjusting the tool speed signal further comprises the steps
of:
measuring a first volume of fluid delivered to the metering valve
during an interval of time;
calculating a flow compensation factor as a function of a
difference between the first volume of fluid and a reference;
and
adjusting said tool speed signal as a function of said flow
compensation factor. .Iaddend. .Iadd.24. The method of claim 23
wherein said step of adjusting the tool speed signal further
comprises the step of multiplying said tool speed signal by said
flow compensation factor. .Iaddend.
.Iadd. . A method of compensating for effects of pressure flow
non-linearities of a fluid being dispensed from a nozzle onto a
workpiece, the nozzle in fluid communication with a metering valve
responsive to a control signal, said method comprising the steps
of:
supplying the fluid under a pressure to the metering valve;
providing a tool speed signal representing a relative speed between
the nozzle and the workpiece;
determining a flow factor as a function of the effects of the
pressure flow non-linearities of the fluid;
adjusting said tool speed signal as a function of the flow factor
to produce a driving signal;
producing a feedback signal representing a fluid pressure
correlated to a flow rate of the fluid; and
producing the control signal as a function of said feedback signal
and said driving signal to cause the metering valve to dispense a
desired flow of fluid. .Iaddend.
Description
FIELD OF THE INVENTION
The present invention relates to a system for dispensing fluids.
More particularly, the invention relates to an apparatus and method
for dispensing viscous fluid materials such as lubricants, sealants
and adhesives onto a workpiece at a controlled rate of flow which
can be adjusted to compensate for changes in the relative speed
between the dispenser and the workpiece.
BACKGROUND OF THE DISCLOSURE
When dispensing viscous fluids such as certain lubricants,
adhesives sealants and the like, it is often necessary to apply the
material to the surface of a workpiece in a bead containing a
desired amount of material per unit length. In high production
processes or where the bead of material must be positioned with
accuracy, robot arms are often used to apply the material by
rapidly guiding a dispensing nozzle in a programmed pattern over
the surface of the workpiece. Depending on the application, the
fluid being dispensed may either be projected some distance from
the nozzle in a high velocity stream or extruded from the nozzle at
lower velocity with the nozzle located closer to the workpiece. In
either case, the amount of material applied per unit of lineal
distance along the bead will vary according to both the flow rate
of material discharged from the dispensing nozzle and the speed of
the nozzle with respect to the workpiece.
For example, in the automotive industry it is necessary to apply a
uniform bead of sealant around the periphery of the inside surface
of automobile doors before joining the inside panel to the door.
Along long, straight portions of the pattern, a robot arm can move
the nozzle quickly. However, where the desired bead pattern changes
direction abruptly, such as around the corners of a door panel, the
robot arm must be slowed down to achieve a required bead
positioning accuracy. It can be appreciated that if the flow rate
of the dispensed fluid material is held fixed, the amount of
material in the applied bead will increase as the robot arm is
decelerated to negotiate changes in direction and will decrease as
the robot arm is accelerated.
In the prior art, one attempt to deal with this problem has been to
apply a toolspeed signal emanating from the robot controller to a
voltage-controlled D.C. motor drive to control the speed of a ball
screw mechanism driving the plunger of a shot pump filled with
fluid. The shot pump is connected to the dispensing nozzle on the
robot arm by way of a length of flexible hose. The toolspeed signal
applied to the D.C. drive varies with the speed of the nozzle
relative to the workpiece. As the rate of travel of the shot pump
plunger changes, so too does the flow rate from the nozzle. Thus,
the rate at which fluid is dispensed is controlled in open-loop
fashion according to the speed of the nozzle.
Such a system suffers a number of deficiencies. First, it is
inherently slow to respond Therefore, only limited control of bead
size is possible. In addition to the delays associated with the
response of the D.C. drive and mechanical system driving the
plunger, the flexible hose connected between the shot pump and the
nozzle carried by the robot arm introduces significant response lag
into the system. With a hose only 10 feet long, and depending on
supply pressure and the characteristics of the fluid being
dispensed, it may take a second or more for a change in pressure at
the shot pump to be reflected in a corresponding change in flow at
the nozzle. Thus, very precise control of bead size is difficult
particularly during rapid changes in the speed of the robot arm. In
addition to these performance limitations, such systems have other
practical disadvantages. The shot pump itself should be capable of
holding at least as much material as required to be applied to an
entire workpiece. Accordingly, the pump and its associated
mechanical drive are too bulky and massive to be mounted on the
robot arm with the dispensing nozzle. The mechanical components and
D.C. drive controls together may weigh up to several hundred
pounds. Further, such a system is expensive to maintain and
occupies a significant amount of production floor space.
Another type of system known in the prior art uses a more compact
dispenser having a motor driven metering valve which receives a
continuous supply of material by way of a flexible hose. The
dispenser is mounted on the robot arm and includes a servomotor or
stepper motor which controls the metering valve to adjust the flow
in accordance with the speed of the dispensing nozzle as indicated
by a toolspeed signal emanating from the robot. Closed-loop control
of flow is effected by a feedback signal indicative of material
flow deriving, at some point in the system remote from the
dispensing nozzle. This feedback signal may be derived by sensing
the displacement of the supply pump using an LVDT or potentiometer
connected to the crosshead of the pump or by using a positive
displacement flowmeter connected in line with the flexible hose
which feeds the dispenser. In addition to this main control loop,
such a system can incorporate a pressure sensor at the nozzle of
the dispenser to shut off under specified conditions as described
in European Patent Application No. 85-104,127.7. This reference
discloses the use of one or more pressure sensors located in the
wall of the dispensing nozzle to derive a pair of signals, one of
which is used to indicate the presence of bubbles, the other of
which indicates the flow of the liquid. The patent states that the
latter signal can be derived for example from a pair of contacts
connected to an elastic pressure-transmitting element which keeps
the contacts closed as long as the pressure at the nozzle exceeds a
certain value. In the event a clog develops in the flow channel,
the flow signal can be used to initiate a shutdown of the system or
provide an indication. Similar action can be taken should a bubble
be sensed at the nozzle.
This type of system also has significant performance limitations.
Even though the material being dispensed is metered by a dispenser
mounted on the robot arm rather than from a remote metering device
such as the shot pump system described above, the response time of
the system is still relatively slow. As a consequence, the ability
of the system to control bead size is limited, especially during
rapid changes in the relative speed between the dispenser nozzle
and the workpiece.
SUMMARY OF THE INVENTION
It is an objective of the invention to provide a system for
dispensing viscous fluid materials having improved speed of
response to permit more rapid and precise control of the flow of
material being dispensed.
It is a further objective of the invention to provide such a
dispensing system which is relatively compact and light weight as
to be well suited for use with robots programmed to define a
desired pattern according to which a bead of material is to be
applied to a workpiece.
It is a further objective of the invention to provide a dispensing
system capable of precisely controlling the amount of material
applied to a workpiece per unit of lineal distance along a bead
pattern despite rapid changes in the relative speed between the
robot and the workpiece.
It is yet a further objective of the invention to provide such a
fluid dispensing system which provides for linearizing the flow
response of the system by accounting for the dynamic flow
characteristics of the fluid as it is dispensed.
It is a still further objective of the invention to provide such a
fluid dispensing system which periodically corrects for changes in
the intrinsic viscosity of the fluid being dispensed in order to
dispense a desired amount of material to each workpiece in a
lot.
It is yet another object of the invention to provide an apparatus
for dispensing fluids which provides for selectively locating the
angular orientation of the fluid material supply hose to avoid
interfering with free movement of the dispenser.
To these ends, a preferred embodiment of the invention includes a
dispenser for viscous fluids having a servo actuator comprising an
electropneumatic servo-valve which operates a double-acting piston
actuator. The servo actuator in turn drives a variable fluid
metering valve. The dispenser includes a discharge nozzle located
downstream of and in close proximity to the fluid metering valve. A
pressure sensor disposed at the nozzle and downstream of the needle
valve generates a pressure signal which is correlated to the
instantaneous flow rate of the dispensed fluid.
Continuous precise control over flow is achieved utilizing the
dispenser in a closed-loop control system whereby the
electro-pneumatic servovalve is driven by a control current derived
in accordance with the difference between the pressure signal and a
driving signal representing a desired flow. In robotic
applications, the driving signal is preferably related to a
toolspeed signal emanating from the robot carrying the dispenser so
that the control current will vary as required to maintain a
uniform bead even during relatively rapid changes in the relative
speed between the dispenser and the workpiece onto which material
is dispensed.
Advantageously, such a system includes means for generating a
"pressure overrange" signal when the pressure in the nozzle exceeds
a predetermined value as may occur for example should the nozzle
becomed clogged. Also provided are means for generating a "valve
overrange" signal when the valve is fully opened and cannot open
further. Such a signal is useful for determining that an
insufficient amount of material may be being dispensed.
Another preferred embodiment of the invention includes an
intelligent controller which monitors the amount of material being
dispensed and compares it to a desired set point amount. If a
deviation is sensed, the magnitude of the setpoint signal is
periodically readjusted to zero out the difference, thereby
compensating for changes in the intrinsic viscosity of the fluid.
As used herein, the term "intrinsic" refers to changes in viscosity
caused by phenomena other than shear effects. For example,
intrinsic viscosity changes include variations due to temperature
changes. Preferably, the intelligent controller is programmed to
linearize the flow response of the dispenser to the toolspeed
signal emanating from the robot thereby compensating for pressure
flow non-linearities introduced by non-newtonian viscosity
characteristics in the fluid being dispensed.
A preferred dispenser assembly includes a frame securable to a
robot tool mounting face. One side of the frame supports the servo
actuator while the opposite side carries the metering valve
assembly which includes the pressure sensor. According to the
invention, the metering valve assembly is secured to the frame in a
rotatably adjustable manner so that the material supply hose may be
routed to avoid interfering with free movement of the
dispenser.
These and other advantages will be readily apparent from the
following detailed description of a preferred embodiment of the
invention and from the accompanying drawings wherein like reference
numerals designate like items.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic cross sectional view illustrating a preferred
embodiment of a dispensing apparatus constructed according to the
invention.
FIG. 2 is a block diagram illustrating a preferred embodiment
.[.cf.]. .Iadd.of .Iaddend.a system for dispensing fluid materials
according to the invention.
FIG. 3 is a block diagram illustrating a portion of a second
preferred embodiment of a system for dispensing fluid materials
according to the invention.
FIG. 4 is a flow chart illustrating the operation of the embodiment
of FIG. 3.
DETAILED DESCRIPTION OF THE INVENTION
Referring now to FIG. 1 a preferred embodiment of a dispensing gun
10 constructed according to the invention is shown. Gun 10 includes
a C-shaped frame 11 having a mounting plate 12 adapted to be
secured to the tool mounting face 13 of a robot arm by means of one
or more cap screws 14 and alignment pins 15. Frame 10 is preferably
constructed of a rigid light weight material such as aluminum alloy
and further includes, extending outwardly from mounting plate 12,
an upper portion 16, and an opposed lower portion 17. The upper
portion 16 of frame 11 carries a servo actuator 20 which may
consist of any of a number of types of compact, light weight linear
actuators offering rapid response. Preferably, actuator 20
comprises a double-acting air cylinder 22 having a piston rod 23
whose degree of extension is controlled by an electrically actuated
pneumatic servo-valve 24 disposed atop air cylinder 22. The lower
portion 17 of frame 11 carries a metering valve assembly 26 having
a needle valve 27 located between a fluid inlet 28 and a dispensing
nozzle 29 which includes a nozzle end 30 having a nozzle inlet 29a
and a nozzle outlet 31. Valve 27 includes a valve inlet 27a and a
valve outlet 27b. For best control, needle valve 27 is located as
close to nozzle 29 as practical and includes a valve stem 32 having
a generally conical end 33 and a valve seat 34. Valve stem 32 is
connected to piston rod 23 so that the position of its conical end
33 relative to valve seat 34 and hence, the flow rate of fluid
discharged from nozzle 29 is controlled in accordance with the
electrical input of electro-pneumatic servovalve 24. A transducer
36 located just downstream of needle valve 27 generates an
electrical signal 37 correlated to the rate of flow of fluid
discharged from nozzle 29. As will be described in further detail
below, signal 37 is preferably used as a feedback signal to control
the rate of flow of fluid dispensed from nozzle 29 in accordance
with a desired driving signal. In robotic applications, the driving
signal can vary with the relative speed between nozzle 29 and the
workpiece 39 to accurately control the amount of fluid per unit
length contained in the bead deposited on the surface of the
workpiece 39.
Linear actuator 20 may incorporate any of a number of suitable
types of fast responding electrically actuated servovalves
including jetpipe, nozzle and flapper or spool types. The details
of the construction of actuator 20 are within the purview of those
skilled in the art, and accordingly, do not constitute the claimed
invention. In the preferred embodiment illustrated in FIG. 1,
actuator 20 comprises a jet-pipe electropneumatic servovalve 24
which operates a double-acting air cylinder 22. Servo-valve 24
includes a housing 42 which supports a threaded, electrical
connector 43 secured thereto by screws 44. Wired to connector 43 by
way of leads 45 are a pair of series-connected coils 46 surrounding
opposing ends 49 of an armature 50 which is mounted to pivot about
pivot point 51. A hollow, inverted U-shaped jet pipe 52 has one leg
connectable to a regulated air supply of about 100 PSI nominal
pressure through a threaded inlet 53 in air cylinder 22 by way of
filter 54. The opposite leg of jet-pipe 52 is secured near its
center to armature 50 so that when armature 50 is pivoted clockwise
by energizing coils 46 in one polarity, the flow emanating from jet
pipe 52 is diverted toward a first port 60. Similarly, when coils
46 are energized in the opposite polarity, armature 50 pivots
counter-clockwise to direct the flow from jet pipe 52 toward a
second port 61 of air cylinder 22. In either polarity, the degree
of the deflection of jet pipe 52 and hence, the pressure in ports
60 and 61 is proportional to the magnitude of the current flowing
in coils 46. Armature 50 is spring centered and magnetically biased
such that when coils 46 are in a de-energized state, jet pipe 52 is
centered in a neutral position as shown so that the pressures in
ports 60 and 61 tend to be equally balanced. Magnetic bias is
provided by a pair of permanent magnets 63 each of which
communicate with the armature field by way of a flux across air
gaps 65. This flux is conducted to gaps 65 by way of four
magnetically permeable members 66 arranged as shown.
Double acting air cylinder 22 includes an aluminum alloy cylinder
body 70, the end of which is received in a hole 71 in the upper
portion 16 of frame 11. A flange 72 is used to secure the body 70
of air cylinder 22 to the upper portion 16 of frame 11 using cap
screws 73. Cylinder body 70 includes first and second ports 60, 61,
threaded air supply inlet 53 and filter 54 as well as a cylinder
bore 75. Received within bore 75 is a piston 76 provided with a
pair of seals 78 as well as piston rod 23 which extends axially
from bore. The portion of bore 75 located above piston 76
communicates with first port 60 while the portion beneath piston 76
is connected to second port 61. The force with which piston 76
drives needle valve 27 depends upon the differential pressure
between ports 60 and 61 which, as explained above, is determined by
the deflection of jet pipe 50 due to the current flowing in coils
46. Piston is retained within cylinder bore 75 by a cap 80 through
which passes piston rod 23. To prevent air leakage cap 80 is
provided with a seal 81 in the area of piston rod 23 and an
external O-ring seal 82 between the outer circumference of cap 80
and the surface of cylinder bore 75. Cap 80 is itself retained in
the end of cylinder bore 75 by a snap-ring 83.
Metering valve assembly 26 includes a rigid, non-resilient valve
body 85 constructed as shown in FIG. 1 preferably of metal. The
lower end of valve body 85 includes a passage 84 whose lower end is
threaded to accept the flow restricting nozzle 29 of a desired
configuration having a discharge outlet 31. Passage 84 is
intersected by one or more radial threaded holes, one of which
receives transducer 36 and the others of which are sealed by means
of plugs 90. Located immediately upstream of passage 84 and as
closely adjacent thereto as practicable, valve body 85 houses
needle valve 27. For long life, both valve stem 32 and valve seat
34 are preferably fabricated of a hard material such as sintered
tungsten carbide. A fluid supply inlet 28 enters valve body 85
upstream of needle valve 27. Inlet 28 is threaded so that a hose
can be attached to supply under pressure the fluid material to be
dispensed.
Valve body 85 threads onto the lower end of a bonnet 97 and is
sealed with respect thereto by means of an O-ring seal 98. Bonnet
97 includes an internal packing gland 99 which holds a plurality of
annular PTFE packing seals 100. Seals 100 are retained in sealing
but non-binding compression about valve stem 32 by means of any
adjustable gland nut 101. To attach metering valve assembly 26 to
frame 11, bonnet 97 is threadably received by the extending lower
portion 17 of frame 11 and secured thereto at a desired angular
orientation by means of a locknut 102. Metering valve assembly 26
is connected to actuator 20 by means of a coupling 105 which is
fixedly attached to the upper end of valve stem 32 and threaded
onto the lower end of piston rod 23 and held in place by a second
locknut 106.
Transducer 36 may comprise any suitable transducer capable of
generating a signal 37 indicative of the rate of flow of the fluid
dispensed from nozzle 30. Preferably, transducer 36 is a strain
gauge pressure transducer operably disposed to sense the
instantaneous fluid pressure at a location inside passage 84
immediately downstream of needle valve 27. One pressure transducer
suitable for this purpose is model A205 manufactured by Sensotec of
Columbus, Ohio. The flow of a viscous newtonian fluid at low
Reynolds numbers is substantially linearly proportional to the
pressure drop across a nozzle or tubular restrictor placed in the
flow path. It can be appreciated that a pressure transducer 36
located as described will sense the pressure drop across nozzle 29.
This is so because the outlet 31 of nozzle 29 is at atmospheric
pressure and there is very little pressure drop across passage 84
in relation to the pressure drop across nozzle 30. Thus, transducer
36 generates a pressure signal 37 which represents the
instantaneous rate of flow from outlet 31. As previously noted, due
to the proximity of needle valve 27 this flow is closely correlated
to the flow through needle valve 27. Since flow rate is sensed by
pressure transducer 37 and controlled by needle valve 27 both in
close proximity to nozzle 29, precise control over flow rate, and
hence, the amount of fluid per unit length deposited by gun 10 on
workpiece 39 can be achieved by connecting dispensing gun 10 to
form a fast responding closed-loop servo control system as
described now with particular reference to FIG. 2.
Dispensing gun 10 is carried by the tool mounting surface 13 of a
robot having a controller (not shown) programmed to guide nozzle 29
over the surface of a workpiece to dispense a bead of fluid thereon
in a desired pattern. The metering valve assembly 26 of gun 10
communicates at its fluid inlet 28 with a continuous pressurized
supply of fluid. Transducer 36 continuously senses the pressure
drop across nozzle 29 to generate a pressure signal 37 correlated
to the rate of flow of fluid discharged from the outlet 31 of
nozzle end 30. Signal 37 is received and amplified by a preamp 110
which generates an output signal 111 appearing at the minus input
112 of a summing junction 113 as well as at a first input 114 of a
comparator 115 whose second input 116 receives a fixed, selectable
voltage reference, VREF1 and whose output 117 generates a digital
PRESSURE OVERRANGE signal 118 which is received by the robot
controller. If the magnitude of output signal 1ll exceeds VREF1,
digital PRESSURE OVERRANGE signal assumes a logical 1 value. This
can occur for example if needle valve 27 opens too far. In such
event, the robot controller can be programmed to present a fault
indication, shut down the system or take other appropriate action.
Summing junction 113 also includes a plus input 119 which receives
a driving signal 122. In the embodiment of FIG. 2, driving signal
122 is generated an amplifier 1:17 in accordance with a toolspeed
signal 128 from the robot. Toolspeed signal 128 is an analog
voltage signal available from the robot controller which varies
according to the speed of travel of gun 10 relative to workpiece
39. Through the robot controller, the gain of signal 128 can be
adjusted by way of a toolspeed multiplier selected to provide a
desired flow rate as a function of speed of travel. Amplifier 127
is an operational amplifier whose gain is selected to properly
scale toolspeed signal 128 so that driving voltage 122 will be
within a range compatible with the rest of the circuit. Amplifier
127 is preferably connected as a precision limiter such that for
inputs between zero volts and an adjustable threshold voltage, the
voltage of driving signal executes a decisive step in a direction
proper to close needle valve 27. Typically, the threshold voltage
would be adjusted so that when toolspeed signal 128 is about 50 mV
or less, needle valve 27 is driven positively closed. This prevents
needle valve 27 from leaking by providing a negative bias current
to servovalve 24, effective to drive needle valve 27 positively
closed at times when toolspeed signal 128 is not present or quite
small. Summing junction 113 produces an analog error signal 130
whose magnitude and polarity is equal to the algebraic difference
between the output signal Ill of preamp 110 and driving signal 122.
Error signal 130 is received by an amplifier 131 whose gain is
adjusted for optimum system stiffness. The output signal 132 from
amplifier 131 is received by a lead/lag compensation network 134
designed and adjusted according to standard control technique to
stabilize closed-loop system response and maximize response speed
with minimum overshoot. A second summing junction 135 then adds a
dither signal 136 from a dither generator 137 to the output signal
138 of lead/lag network 134. Dither signal 136 is an A.C. signal
whose magnitude preferably several percent of the fullscale value
of signal 138. Dither signal 136 improves system resolution by
overcoming static friction effects. Dither signal 136 accomplishes
this by causing air cylinder 22 to oscillate very slightly during
system operation, as is commonly practiced in the art. Summing
junction 135 provides an analog voltage signal 139 whose magnitude
and polarity is determined by the algebraic sum of signal 138 and
dither signal 136. Signal 139 is received by a current driver 140
as well as by the first input 141 of a comparator 142 whose second
input 143 receives a fixed, selectable voltage reference, VREF2 and
whose output 144 generates a digital VALVE OVERRANGE SIGNAL 145. In
the event the magnitude of signal 139 exceeds VREF2, digital VALVE
OVERRANGE signal assumes a logical 1 state. Such a condition may
arise for example if the supply of fluid to dispensing gun 10 is
cutoff or if supply pressure is inadequate to meet the demand
imposed by driving signal 122. Like PRESSURE OVERRANGE signal 118,
VALVE OVERRANGE signal 145 is directed to the robot controller
which may be programmed to generate a fault indication, shut the
system down or otherwise initiate corrective action.
Current driver 140 generates an analog control current signal 146
which is applied to the coils 46 of servo-valve 24. This causes jet
pipe 52 to be diverted toward first port 60 or second port 61,
depending on the magnitude and direction of control current signal
146, to move the piston 76 of air cylinder 22 either downward or
upward, respectively. Downward movement of piston 76 tends to close
needle valve 27 of metering valve assembly 26 thereby reducing the
flow of fluid while upward movement of piston 76 tends to open
needle valve 27 thereby increasing the flow of fluid.
In operation, the system functions as a closed loop servo system
responsive to the pressure drop across nozzle 29 as sensed by
pressure transducer 36. With needle valve 27 initially closed, no
flow occurs and the pressure drop across nozzle 29 is zero.
Assuming tool speed signal 128 is less than the threshold voltage
associated with amplifier 127, amplifier 127 generates a driving
signal 122 of the proper polarity and of sufficient magnitude to
generate a control current 146 to deflect jet pipe 52 toward first
port 60. This holds piston 76 down so that needle valve 27 is held
closed under force thereby preventing leakage. This condition is
maintained until toolspeed signal 128 rises above the threshold
voltage of amplifier 127 indicating that flow should commence. When
this occurs, driving signal reverses polarity. Since there is
initially no flow, pressure signal 137 is at its zero value.
Accordingly, an error signal 130 whose magnitude is determined by
the difference between pressure signal 37 and driving signal 122
will cause a control current 146 to be applied to coils 46 in such
a polarity as to cause jet pipe 52 to deflect toward second port
61. In response, piston 76 moves upward causing needle valve 27 to
open by lifting the conical end of valve stem 32 away from valve
seat 34. As the pressure signal 37 generated by pressure transducer
36 increases error signal 130 and control current 146 both decrease
and jet pipe 52 moves toward its null position. As the pressure
drop across nozzle 29 approaches a value corresponding to a desired
flow rate jet pipe 52 causes needle valve .[.52.]. .Iadd.27
.Iaddend.to remain open by an amount just sufficient to maintain
the pressure drop across nozzle 29 at that value.
In some dispensing applications, the flow characteristics of the
fluid supplied to dispensing gun 10 may be subject to change over
time. For example if gun 10 is supplied fluid from a drum, the
viscosity of the fluid can vary with changes in temperature as the
drum sits in a warm production area after having been moved from a
cold warehouse. Viscosity may also vary from one drum of fluid to
the next or from the top of a given drum to the bottom. Without
some means for compensating for such changes, the amount of
material dispensed onto a workpiece 39 would be subject to
undesirable variations. Also, when dispensing non-newtonian fluids,
the overall instantaneous viscosity of the fluid varies with shear
rate in a non-linear fashion. Thus, absent correction, shear
induced by the geometry of nozzle 29 will result in a non-linear
flow rate versus pressure signal 37 flow characteristic. This in
turn would render the flow rate venus applied toolspeed signal 128
response nonlinear. According to the invention, these problems are
effectively addressed by deriving driving signal 122 in an
alternate fashion as described now with additional reference to
FIGS. 3 and 4.
FIG. 3 illustrates a second preferred embodiment of the invention
which is similar to the embodiment described above except for the
manner in which driving signal 122 is generated. As illustrated in
FIG. 3, the system of FIG. 2 is modified by adding a positive
displacement flow meter 150 to the fluid supply line connected to
the inlet 28 of dispensing gun 10. While it is desirable to locate
flow meter 150 as dose to gun 10 as possible it is not required to
be mounted with the gun 10 on the robot arm. Flow meter 150
includes an incremental encoder 152 which produces an electrical
output signal 153 comprising a series of pulses 155. Each pulse 155
represents a predetermined volume of fluid. Signal 153 is input to
a pulse counter 156 which counts pulses 155 and is resettable to
zero by a reset signal 158 which is generated by a microprocessor
based controller 160 which, if desired may be part of the robot
controller (not shown). However, to provide maximum system
frequency response, controller 160 should run at high speed and is
preferably dedicated principally to performing the operations
described below. In addition to a microprocessor and associated
hardware, controller 160 includes all necessary program and data
memory as well as an analog to digital converter (A/D) 163 which
receives the toolspeed signal 128 from the robot controller. Pulse
counter 156 outputs its pulse count 165 to controller 160.
Controller 160 also receives from the robot controller (not shown),
a digital cycle status signal 168 and a digital job status signal
170. Cycle status signal assumes a logical 1 value whenever
dispensing gun 10 should be operating. Job status signal 170
assumes a logical 1 .[.valve.]. .Iadd.value .Iaddend.when a
production run is at an end. Controller 160 also communicates by
way of an interface 172 with an input/output device 175 such as a
keyboard terminal from which control commands and setpoint data are
entered. Controller 160 also communicates by way of an output 176
with a digital to analog D/A converter 177 which generates an
analog signal 178. Signal 178 is received by amplifier 127 which
operates as described above with reference to FIG. 2. Amplifier 127
in turn generates driving signal 122 which is applied to the plus
input 119 of summing junction 113 as described above to generate
error signal 130. The manner in which driving signal 122 is derived
may be further understood with additional reference now to FIG. 4
which illustrates the software program stored in controller 160
responsible for outputting the required data to D/A converter
177.
The program begins running by clearing all data memory and
initializing all variables including a set-point representing a
desired total volume of fluid to be applied to a single workpiece
39. An appropriate set of pre-programmed flow linearizing factors
(FLFs) are also initialized at this point. The FLF's are constants
which represent factors by which toolspeed signal 128 must be
multiplied in order to linearize system flow response such that
when a given percentage of the full scale value of toolspeed signal
128 is applied to summing junction 113, the needle valve 27 of
metering valve assembly 26 is positioned so that the same
percentage of the full scale flow of fluid is discharged from
nozzle outlet 31. FLF's are determined empirically from a measured
curve of actual flow from outlet 31 of nozzle 30 versus voltage
applied at input 119 of summing junction 113. Since the actual flow
curve may vary depending on the geometry of needle valve 27 and
nozzle 29 including nozzle end 30 as well as the flow
characteristics of the particular type of fluid being dispensed and
the supply pressure, the program loads a series of FLF's
appropriate to account for a particular set of these
conditions.
The program also sets a flow compensation factor (FCF) to an
arbitrarily selected initial value. The FCF is a variable which
compensates for changes in the flow characteristics which occur
over time such as changes in intrinsic viscosity due to changes in
temperature or other factors as discussed earlier. The FCF is
recomputed once each job cycle that is, once per dispensing
operation on a given workpiece 39. The FCF is defined as a factor
by which the linearized toolspeed signal must be multiplied so that
the total volume of fluid dispensed onto a workpiece 39 is
substantially equal to the selected setpoint. Deviation from
setpoint cannot be determined at the beginning of the first job
cycle because there is no basis for comparison. Accordingly, FCF is
preferably initialized at unity. The manner in which FCF is
recomputed will be described below.
During initialization, the program resets pulse counter 156 to zero
by outputting an appropriate reset signal 158 from controller 160
to counter 158. Next, the program causes controller 160 to read the
total pulse count 165. The value of pulse count 165 represents the
total volume of fluid dispensed during the previous job cycle. If
pulse count is not zero, as will be the case except prior to the
first job cycle, the program recomputes the flow compensation
factor FCF as a quotient whose dividend is equal to the setpoint
and whose divisor is equal to total pulse count 165. After the FCF
is recomputed counter 156 is again reset in the manner described
above. If pulse count 165 is equal to zero, as it will be at the
beginning of the first job cycle, the FCF remains at its
initialized .[.valve.]..Iadd.value.Iaddend..
Next, the program enters a loop in which it waits for the robot
controller signal that a job cycle is in progress. In the wait
loop, the program continuously reads cycle status signal 168 and
tests to determine whether it has assumed a logical 1 value. If
not, the program stays in the loop. By changing status signal 168
from a logical zero value to a logical 1 value, the robot
controller indicates that dispensing should commence. At that
point, the program directs controller 160 to read the digital value
180 representing the magnitude of toolspeed signal 128 from the
output of A/D converter 163. Based on the magnitude of the digital
value, the program selects from a look-up table the corresponding
flow linearizing factor FLF from the set of FLF values loaded
during initialization. Digital value 180 is then multiplied by the
selected FLF value to yield a linearized toolspeed value 181. To
adjust driving signal 122 so that the actual volume of fluid to be
dispensed during the job cycle conforms to the setpoint despite
changes in the flow characteristics of the fluid, such as changes
in viscosity, the program next causes the linearized toolspeed
value 181 to be multiplied by the flow compensation factor FCF to
yield a corrected digital value 182 which is then output to D/A
converter 177 whose output 178 is fed to amplifier 127 to generate
driving signal 122.
Next, the program again reads cycle status signal 168 to determine
whether dispensing should continue. If not, job status signal 168
will not be a logical 1 value, indicating the present cycle has
ended. In that case the program causes controller 160 to read job
status signal 170 emanating from the robot controller. If job
status signal 170 is not a logical 1 value, this indicates that the
last workpiece 39 in a given production lot has been finished and
the program is stopped. If the production run is not complete, job
status signal 170 will remain at a logical 1 value and the program
will loop back to the point at which pulse count 165 is read.
Although the program described recomputes a flow compensation
factor once per job cycle, it should be noted that such periodic
adjustments can be made more or less frequently depending on how
rapidly the flow characteristics of the dispensed fluid can be
expected to undergo significant change.
The advantages realized by the invention are numerous. Most
notably, the dispensing systems described provide rapid and precise
control of fluid flow rate. Such systems have been found to have an
upper 3 dB frequency response cutoff point exceeding 10 hertz.
While the dispensing gun 10 can be directed by any desired means
including manually the invention is particularly well adapted for
use with robots. Dispensing gun 10 is light weight, compact and
easy to maintain. Further, the dispensing systems of the invention
provide for automatic flow rate adjustment in accordance with the
relative speed between the dispensing gun 10 on the robot arm and
the workpiece.
Thus, the invention permits close control over the volume per unit
length of the dispensed bead of fluid even during rapid
acceleration and deceleration as normally occurs as the robot arm
changes its direction of movement. The invention also provides
means for periodically compensating for perturbations in the flow
characteristic of the fluid being dispensed to insure that the
volume of fluid dispensed always conforms closely with a desired
setpoint.
While the above descriptions constitute preferred embodiments of
the apparatus and method of the invention, it is to be understood
that the invention is not limited thereby and that in light of the
present disclosure of the invention various alternative embodiments
will be apparent to persons skilled in the art. Accordingly, it is
to be understood that changes can be made to the embodiments
described without departing from the full legal scope of the
invention which is particularly pointed out and distinctly claimed
in the claims set forth below.
* * * * *