JP2500201B2 - Chemical injection control method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a chemical feed control method for feeding a dye, a dyeing aid, and other various liquid chemicals to a dyeing treatment tank or the like. The present invention relates to a chemical injection control method in which plural kinds of chemicals are injected by reversing a chemical container.

[Conventional technology]

Conventionally, in a dyeing process or the like, a chemical injection device that inverts a chemical container and applies it is applied when the chemicals of substantially the same viscosity are applied, and when multiple types of chemicals of different viscosities are input, each type of chemical is applied. The mainstream method is to supply by a large number of pipes provided in the.

[Problems to be Solved by the Invention]

The method of providing piping for each type of chemical has a problem that the piping system is complicated and the equipment cost increases. Also,
In the case of a pipe that supplies a small amount of chemicals, there is a problem in that the accuracy of supply deteriorates due to residual residue of the chemicals that has adhered to the inner surface of the pipe. If the inside of the pipe is washed, it becomes difficult to treat the washing water.

In the charging method by reversing the chemical container, cleaning of the chemical container is easy, deterioration of supply accuracy due to residual dust can be prevented, and equipment is simple.

However, when chemicals having different viscosities are inverted at the same rotation speed and are thrown in, there is a problem in that they are scattered and liquid is desired. That is, in the case of a low-viscosity liquid, if the rotation speed at the time of reversing the chemical container is increased, the charging is completed in a short time, but if the rotation is fast, the chemical receiving tank will drop when the chemical drops on the liquid surface of the chemical receiving tank. The liquid inside may be scattered. In particular,
Scattering easily occurs at the start of charging.

In the case of a high-viscosity chemical, even if the opening of the chemical container is directed downward, it does not immediately flow out. Therefore, if the chemical container is rotated at a speed suitable for a low-viscosity chemical, it takes a long time to add it. Further, when the rotation speed of the medicine container is slow, when the medicine starts to flow out from the medicine container, it may flow down along the outer surface of the medicine container without directly falling. Therefore, the medicine container and the rotating means of the medicine container are dirty.

Furthermore, in the case of highly viscous chemicals, even if the rotational speed of the chemical container is increased and the chemical container is directed downward for a short time, it will not immediately flow out, but after a short delay, a large amount of chemical will suddenly flow out. become. Therefore, the liquid in the chemical receiving tank is scattered.

In addition, in the case of attempting to charge with a constant flow rate, the method of reversing and charging the chemical container does not provide a constant flow rate even when the viscosity of the chemical is low or high, even if the rotation speed is constant. This is because the vertical cross-sectional shape of the chemical container is generally rectangular, and therefore the cross-sectional area of the portion below the lower end of the inclined opening of the chemical container gradually changes even when rotating at a constant speed. In other words, the area of the liquid surface changes depending on the inclination angle of the chemical container.

An object of the present invention is to stably introduce various chemicals having different viscosities by reversing the chemical container without causing problems such as splashing of liquid in the chemical receiving tank and liquid splashing on the outer surface of the chemical container. It is to provide a chemical injection control method that can be performed.

It is an object of the inventions of claims (2) and (3) to provide a chemical injection control method capable of making the injection flow rate constant.

[Means for solving the problem]

The chemical injection control method according to claim (1) is a method in which the degree of change in the rotation speed from the start of reversal of the chemical container to the completion of reversal is different depending on whether the viscosity of the chemical contained in the chemical container is high or low. is there.

If the viscosity of the drug is low, rotate the drug container at a nearly constant speed from the beginning to the end of inversion.

When the viscosity of the chemical is high, the throwing start angle, that is, the rotation speed up to the chemical container inclination angle at which the chemical level in the chemical container reaches the opening of the chemical container, is made faster than the rotational speed in the case of low viscosity, Further, the rotation speed after reaching the angle is made slower than the rotation speed in the case of low viscosity.

The chemical injection control method according to claim (2) is based on the control according to claim (1), regardless of whether the viscosity of the chemical is high or low, until the diagonal line of the vertical cross section of the internal space of the chemical container becomes horizontal. This is a method in which the rotation speed of the chemical container is gradually decreased, and thereafter the rotation speed is gradually increased.

In the chemical injection control method according to claim (3), when the viscosity of the chemical contained in the chemical container is low, the internal volume of the chemical container below the lower end of the inclined opening of the chemical container changes at a constant rate of change. Control the rotation speed of the chemical container. When the viscosity of the chemical is high, the rotation speed until reaching the injection start angle is faster than the rotation speed when the viscosity is low, and the rotation speed after reaching the injection start angle is higher than the rotation speed when the viscosity is low. The rotation speed is slower and the volume change rate is constant.

[Action]

According to the chemical feed control method of claim (1), the chemical container is rotated at a speed close to a constant from the start to the end of the reversal, but in this case, the rotation speed is such that the liquid in the chemical receiving tank is not scattered during the charging. If so, a large amount of chemicals will not flow down due to inertia even at the start of charging.

When the viscosity of the chemical is high, the rotation speed until the charging start angle is reached is made faster than the rotation speed in the case of low viscosity, so that the delay in the start of charging due to the viscosity is alleviated. In addition, since the medicine is given an inertial force by the rapid rotation of the medicine container, the medicine is prevented from flowing down to the outer surface of the medicine container. The rotation speed after the start of feeding is slower than in the case of low viscosity, but therefore, when the medicine container is directed downward, the medicine is prevented from being suddenly charged as a solid.

Moreover, it is not necessary to change the medicine container for medicines having different viscosities, only the setting of the rotation speed of the medicine container is changed, and it is easy to deal with medicines having different viscosities.

According to the method of claim (2), the fluctuation of the outflow rate due to the inclination angle is reduced. That is, when the chemical container is rotated at a constant speed, the rate of change in the volume under the chemical level gradually increases until the angle at which the vertical cross-section of the internal space becomes horizontal. Get smaller. Therefore, the outflow rate becomes substantially constant by gradually decreasing the rotation speed of the medicine container before reaching the increasing / decreasing direction inversion angle and gradually increasing the rotation speed after reaching the increase / decrease direction inversion angle.

According to the method of claim (3), since the rotation speed of the chemical container is controlled so that the internal volume of the chemical container below the lower end of the inclined opening of the chemical container changes at a constant rate of change, the outflow rate is claimed. It is more stable than the method of item (2).

〔Example〕

An embodiment of the present invention will be described with reference to FIGS. 1 to 7.

2 to 4 show an example of an apparatus for carrying out the method of the present invention. A grasping tool 2 for grasping the medicine container 1 is installed in the lateral movement device 6 so as to be capable of lateral movement from above the holder 3 of the gantry 5 to above the medicine receiving tank 4. The chemical receiving tank 4 sends the input chemicals to, for example, a dyeing processing tank (not shown).

The holder 3 is of a portable type, and is placed on the rotary table 7 of the gantry 5 and rotated. The holder 3 is provided with a vertically extending central shaft 3a for fitting into the hole of the rotary table 7 and for gripping during transportation. The holder 3 has a plurality of drug container locking holes 3b (Fig. 4), and the drug container 1 is fitted into the drug container locking hole 3b and locked to the upper surface of the holder 3 by the flange portion 1a at the outer periphery of the upper end. It

The gantry 5 intermittently rotates the rotary table 7 at the pitch of the medicine container locking holes 3b of the holder 3, and is provided with a push-up cylinder 8 for pushing up the medicine container 1 from the holder 3.

As shown in FIG. 4, the gripping tool 2 includes an L-shaped rotating member 9
It is composed of a pair of arms 2a attached to each other so as to be openable and closable, and is opened and closed by an opening and closing cylinder 10. Rotating member 9
Is attached to a rotating shaft of a motor 12 installed on the lateral movement member 11, and is rotated up and down by driving the motor 12. The motor 12 uses an AC servomotor, and a voltage is applied by an inverter. Further, an angle sensor (not shown) such as a rotary encoder for detecting the rotation angle of the rotating member 9 is provided on the lateral moving member 11. The lateral movement member 11 is movably installed on a horizontal guide bar 13 of the lateral movement device 6 and is moved forward and backward by a lateral movement cylinder 14.

The carrying and loading method by the loading device having the above configuration will be described. A medicine container 1 containing various kinds of medicines is set in each medicine container locking hole 3b of the holder 3, and the medicine container 1 is conveyed by a conveying device (not shown) and placed on the rotary table 7 of the gantry 5. The chemical container 1 of the holder 3 placed on the rotary table 7 is held by the push-up cylinder 8 in the gripping tool 2
To the height (position indicated by the chain line in FIG. 2) and gripped by the gripping tool 2. After gripping, the gripping tool 2 moves the lateral movement device 6
By driving the lateral movement cylinder 14, the lateral movement member 11 laterally moves to a position above the chemical receiving tank 4 (the position indicated by the solid line in FIG. 2).

Above the medicine receiving tank 4, the grip 2 is rotated together with the rotating member 9 by the drive of the motor 12, and the medicine container 1 is inverted. By reversing, the medicine in the medicine container 1 is put into the medicine receiving tank 4. When the charging is completed, the grasping tool 2 is rotated to return the medicine container 1 to the original upward posture, and the grasping tool 2 is returned to above the holder 3. Here, the push-up cylinder 8 is moved up and down to receive the empty drug container 1 and return it to the original drug container locking hole 3b of the holder 3. After that, the holder 3 is rotated by one pitch,
The above-mentioned carrying and loading operations are repeated.

The present invention is a method of controlling the rotation speed when reversing the medicine container 1 in the above-mentioned charging operation. The medicine container 1 is inverted from the upright angle in FIG. 5 (A) to the oblique downward angle in FIG. 5 (E). In this case, the speed is controlled according to the viscosity of the medicine in the medicine container 1 as shown by the curve a or the curve b in FIG.

When the viscosity is low, control is performed as shown by the curve a. Curve a
Is a container inclination velocity change curve a _{0 which} will be described later in detail with FIG.
Is a curve proportional to.

In the case of high viscosity, as shown by the curve b, the rotation speed from the start of rotation to the injection start angle P is higher than the rotation speed in the case of low viscosity, and after the injection start angle P, the rotation speed in the case of low viscosity. Curve a _{0 in} FIG. 7 as in the case of slower and lower viscosity
The rotation speed is proportional to. The charging start angle P is an angle at which the medicine can flow out, and indicates the angle at which the medicine level reaches the lower end 1c of the inclined opening of the medicine container 1 as shown in FIG. 5 (B). In the case of high viscosity, the rate of changing the rotation speed as compared with that of low viscosity varies depending on the viscosity of the chemical.

The curves a and b in FIG. 1 show that the ratio h / d of the diameter d of the bottom surface of the medicine container 1 to the height h is 1.2, and the amount of medicine to be put in the medicine container 1 is 60% of the height h. This is the optimum curve in the case of.

The container inclination speed change curve a ₀ of FIG. 7 is a change when the medicine container 1 is rotated so that the medicine container inner volume below the lower end 1c of the inclined opening of the medicine container 1 changes at a constant change rate. It is a curve. After the chemical container 1 is rotated 90 ° (while W), it is rotated at a constant speed.

The container inclination speed change curve a ₀ will be described with reference to FIGS. 5 and 6. As shown in FIG. 6, when the chemical container 1 is rotated, the liquid level changes from S _{1 to} S ₆ , but the liquid level S _{1 to} S ₆
The area of changes gradually. Therefore, when the medicine container 1 is rotated at a constant speed, the rate of change of the volume below the lowest end 1c of the inclined opening of the medicine container 1 (that is, the volume below the liquid surface) varies depending on the inclination angle. The rotation speed of the medicine container 1 where the rate of change of the volume is constant is the speed indicated by the curve a ₀ . The liquid levels S _{1 to} S ₆ gradually increase up to an inclination angle (liquid level S ₃ , FIG. 5 (C)) where the diagonal line passing through the corners 1c and 1d of the vertical cross section of the chemical container 1 becomes horizontal, and thereafter. Gradually decreases. Therefore, the curve a ₀ is curved such that the rotation speed gradually decreases until the increasing / decreasing direction reversal angle Q and gradually increases after the increasing / decreasing direction reversal angle Q.

Based on this container inclination speed change curve a ₀ , the viscosity / container inclination speed change curves a and b of FIG. 1 are obtained. In addition to the curves a and b, optimum viscosity / container inclination velocity change curves for various viscosities are obtained and stored in a computer table. .

When the chemicals are charged, the viscosity / container inclination speed change curves a, b of the medicine to be charged are selected from the table, and the current inclination angle of the medicine container 1 measured by an angle sensor and the curve a, Obtain the rotation speed from b and always control to the optimum rotation speed. This rotation speed control is
It is possible to control with high accuracy by using an AC servomotor for 12 and speed control with an inverter.

In this way, when the viscosity is low, it can be charged at a stable flow rate by rotating it according to the viscosity / container inclination speed change curve a depending on the inclination angle of the chemical container. At the start of charging (Fig. 5 (B)), it was feared that chemicals would jump out due to inertia, but at the start of rotation (Fig. 5 (A)).
From the experiment, it was found from the experiment that by performing the velocity control according to the viscosity / container inclination velocity change curve a, stable dosing can be realized without applying a large inertia to the chemical.

In the case of highly viscous chemicals, it is rotated at high speed up to the throwing start angle P and then slowed down.
At this time, an appropriate inertia is obtained for the medicine in the medicine container 1, and the introduction is started without much delay time due to viscosity. Therefore, the medicine is prevented from being transmitted to the outer surface of the medicine container 1 and flowing, and the outer surface of the medicine container 1 and the gripping tool 2 are prevented.
It is possible to prevent the chemicals from being soiled. After the charging start angle P is reached, it is rotated at a low speed, but because of a delay due to viscosity, the chemicals do not solidify at once and flow out, and stable charging can be performed. Angle at which charging is completed (5th
(E)) may be constant regardless of the viscosity,
For high viscosities, a steep angle is desirable.

As described above, according to this chemical injection control method, various chemicals having different viscosities can be stably injected. In addition, since the method of reversing and putting in the medicine container 1,
Compared with the case of using a large number of pipes, the equipment is simpler and the equipment cost is reduced.

In the embodiment, the rotation speed is controlled so that the volume under the liquid surface in the chemical container 1 changes at a constant rate of change. However, even if the rotation speed is not changed accurately, the increasing / decreasing direction reversal angle Q is reached. The rotation speed may be controlled so that the rotation speed is gradually decreased before that, and is gradually increased after reaching it. Even in such a case, it is possible to perform stable charging at a substantially constant flow rate.

When the viscosity is low, the chemical container 1 is rotated at a substantially constant speed, and when the viscosity is high, the charging start angle P
Alternatively, the control may be performed so as to change the rotation speed before and after the above. In that case, although the flow rate is not constant, it is possible to prevent the liquid in the chemical receiving tank 4 from scattering, to prevent the liquid on the outer surface of the chemical container 1 from getting wet, and to prevent the chemical from solidifying and flowing out at once. .

〔The invention's effect〕

The chemical injection control method according to claim (1) is such that, when the viscosity of the chemical is high, the rotational speed up to the inclination angle of the chemical container at which the chemical level in the chemical container reaches the opening of the chemical container is low. Since the viscosity is faster than the above, it is possible to shorten the charging time without delaying the start of charging due to the viscosity, and it is possible to prevent the medicine from being transmitted and falling to the outer surface of the medicine container. The rotation speed after the start of feeding is slower than in the case of low viscosity, but therefore when the chemical container is facing downward, it is prevented that the chemical suddenly flows out like a lump,
It is put in stably.

When the viscosity is low, the chemical container is rotated at a nearly constant speed from the start to the end of reversing, but if the rotation speed is set to an appropriate speed, a large amount of chemical will not flow down due to inertia at the start of charging, and it will stabilize. Can be thrown in.

Further, it is not necessary to change the medicine container for medicines having different viscosities, only the setting of the rotation speed of the medicine container needs to be changed, and it is easy to deal with medicines having different viscosities.

In addition, since the chemical container is charged by reversing it, there is an effect that the facility is simple as compared with the case of using a large number of pipes.

According to the chemical injection control method of claims (2) and (3), the following effect can be obtained in addition to the effect of claim (1).

The method of controlling chemical injection according to claim (2) is such that the rotation speed of the chemical container is gradually decreased before reaching the chemical container inclination angle at which the diagonal line of the vertical cross section of the chemical container is horizontal, and then rotated. Since the speed is gradually increased, fluctuations in the outflow rate due to the inclination angle of the chemical container can be alleviated, and the outflow rate can be kept constant for stable injection.

According to the chemical injection control method of claim (3), the rotation speed is changed so that the internal volume of the chemical container below the lower end of the inclined opening of the chemical container changes at a constant rate of change. This has the effect of making it possible to further reduce the unevenness caused by the discharge and stabilize the outflow rate.

[Brief description of drawings]

FIG. 1 is an explanatory view showing a change in rotation speed of a chemical container in a control method of an embodiment of the present invention, FIG. 2 is a schematic front view of an example of a charging device for carrying out the present invention, and FIG. FIG. 4 is a plan view of the same apparatus, FIG. 5 is a cross-sectional view showing the reversing process of the chemical container, FIG. 6 is an explanatory view of the liquid surface position, and FIG. 7 is the chemical container. FIG. 3 is an explanatory diagram of a container inclination speed change curve of FIG. 1 ... chemical container, 1c ... bottom of opening, 2 ... gripping tool,
4 ... Chemical receiving tank, 6 ... Lateral movement device, a ... Viscosity / container inclination speed change curve for low viscosity, b ... Viscosity / container inclination speed change curve for high viscosity, P. Corner, Q
...... Increment / reverse direction reversal angle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Akira Aikawa 550-33 Haramachi, Hikone City, Shiga Prefecture (72) Inventor Osamu Ishimaru 6-25-31 (72) Inventor Masami Takigawa Osaka Toyonaka, Osaka Prefecture 5-7-1-415, Kasuga-cho, Kasuga-shi (72) Inventor Fumiro Shirai 28-31, Ikuse, Shiose-cho, Nishinomiya-shi, Hyogo (56) References: 60-104242 (JP, U) JP 63-37313 (JP) JP, B2)

Claims (3)

(57) [Claims] 1. A chemical injection control method in which a chemical container having a liquid-state chemical and having an upper surface opening is inverted downward and charged into a chemical receiving tank, where the viscosity of the chemical contained in the chemical container is low. Is to rotate the medicine container at a constant speed from the start to the end of inversion, and when the viscosity of the medicine is high, the inclination angle of the medicine container from the start of inversion until the medicine level in the medicine container reaches the opening of this medicine container. Rotation speed up to
A method for controlling chemical injection, characterized in that the rotational speed is made higher than that in the case of low viscosity, and the rotational speed after reaching the angle is made slower than that in the case of low viscosity. 2. In both cases of low viscosity and high viscosity, the rotational speed of the chemical container is gradually increased before the diagonal angle of the vertical cross section of the internal space of the chemical container reaches a horizontal inclination angle of the chemical container. The chemical injection control method according to claim 1, wherein the rotation speed is gradually increased after the rotation speed is slowed down and reached. 3. A chemical injection control method in the process of reversing a chemical container having an upper opening containing a liquid chemical downward and pouring it into a chemical receiving tank, wherein the viscosity of the chemical contained in the chemical container is low. Controls the rotation speed of the chemical container so that the internal volume of the chemical container below the lower end of the inclined opening of the chemical container changes at a constant rate of change, and when the viscosity of the chemical is high, inversion starts. From the above, the rotation speed from the medicine level in the medicine container to the inclination angle of the medicine container reaching the opening of this medicine container is made faster than the rotation speed in the case of low viscosity, and the rotation speed after reaching the angle is low viscosity. The method for controlling chemical injection is characterized in that the rotation speed is slower than the rotation speed in the case of 1, and the rate of change of the container is constant.