Patent Publication Number: US-2021190049-A1

Title: High pressure pump

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. Ser. No. 15/551,868, filed Aug. 17, 2017, which is herein incorporated by reference in its entirety. U.S. Ser. No. 15/551,868 is a National Stage of PCT Application No. PCT/GB2016/050202 entitled “HIGH PRESSURE PUMP FOR PUMPING A HIGHLY VISCOUS MATERIAL,” filed Jan. 29, 2016, which is herein incorporated by reference in its entirety, and which claims priority to Great Britain Patent Application No. 150268.7, entitled “HIGH PRESSURE PUMP,” filed Feb. 18, 2015, which is herein incorporated by reference in its entirety. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates to a high pressure pump. More particularly, the invention relates to a pump for pumping a thick, highly viscous material such as mastic. 
     BACKGROUND 
     Mastic materials are used increasingly as sealants in product manufacturing facilities, particularly in automotive manufacturing. Typically the mastic material will be applied to a product (e.g. parts of a vehicle) as the product is moved through different stages in the manufacturing process, for example at different stations on a production line. When required to apply the mastic, an operator will simply reach for a mastic application gun, which is connected to an off-take on a mastic circuit that is supplied with the mastic at a high pressure. The high pressure is provided by a pump. Conventionally, the pumps used have been hydraulic or pneumatic positive displacement pumps. 
     However, because mastics are very thick and viscous, the capacity and pressure available from conventional pumps has meant that the circuits have to be short such that the mastic pumps and the reservoirs of the mastic materials being pumped have hitherto had to be located close to the stations where the off-takes are located. A further problem is that the fluids tend to thicken, and may even solidify if left stationary for too long a time, such as overnight or at a week-end when the plant is not being used. On large production lines, these problems have meant that a large number of mastic pumping circuits have been installed close to the points where the mastic is used, with a correspondingly large number of pumps and storage vessels (reservoirs). 
     Another problem with the pumping of mastics in these situations has been difficulty in operating the pump at very low speeds when only a small amount of mastic is being used, while still delivering the pressure required. 
     Similar problems can arise with other high viscosity fluids, such as epoxy materials or other types of adhesive. 
     This invention has therefore been conceived to provide a pump that overcomes or alleviates the foregoing problems. 
     SUMMARY 
     According to a first aspect of the present invention, there is provided a positive displacement pump for pumping a fluid mastic. The pump comprises a plurality of cylinders each having a piston arranged for reciprocal motion within the cylinder. Movement of the piston in a first direction draws the fluid into the cylinder and movement in a second, opposite direction pumps the fluid out of the cylinder. A variable speed electric motor is drivingly coupled to a cam arrangement providing a reciprocating drive to the pistons. The cam arrangement comprises cams shaped and arranged to drive each piston in the first direction over less than half of a rotational cycle and to drive each piston in the second direction over the remainder of the rotational cycle. The cams are arranged to drive the pistons out of phase with one another. 
     In embodiments, the positive displacement pump comprises three or more cylinders, wherein the cams are arranged to drive the pistons such that, at any position of the rotational cycle more than half of the pistons are being driven in the second direction. Having more than half of the pistons being driven in the second direction has the advantage that a greater piston area is used to exert force on the fluid, thereby generating a larger fluid flow. This arrangement also results in lower mechanical forces on the cam than would be the case if an equivalent fluid flow was to be produced by less than half of the pistons. 
     In embodiments, the cams are arranged such that a change in the direction of movement of any piston from the second direction to the first direction occurs at an angle of less than 5 (or even less than 2) degrees of rotation of the cams after another piston has changed direction from the first direction to the second direction. This provides that an increased number of pistons are pumping fluid prior to each change of direction of a piston from the second direction to the first direction. 
     In a piston, the change in direction at the end of a stroke does not occur instantaneously, because the piston must decelerate, before accelerating in the opposite direction. Therefore, in a conventional pump in which two pistons change direction simultaneously, there is a short time during which neither of the pistons is pumping at full pressure. This results in a brief drop in pressure of the outlet fluid. In embodiments of the invention described in the previous paragraph, for a short time, both pistons travel in the second direction, thereby reducing this pressure drop. 
     In embodiments, the variable speed electric motor is an ac motor. The ac motor may have an inverter, the inverter having a closed loop vector drive control. The ac motor may have a shaft encoder providing a signal indicating a position of the rotor to the inverter. The ac motor may include a forced convection fan arranged to provide cooling air to windings of the motor. 
     According to a second aspect of the present invention, there is provided a positive displacement pump for pumping a fluid mastic, the pump comprising a plurality of cylinders each having a piston arranged for reciprocal motion within the cylinder. Movement of the piston in a first direction draws the fluid into the cylinder and movement in a second, opposite direction pumps the fluid out of the cylinder. A variable speed ac motor is drivingly coupled to a cam arrangement providing a reciprocating drive to the pistons, wherein the ac motor has an inverter, the inverter having a closed loop vector drive control. 
     Embodiments described in the previous two paragraphs have the advantage that the motor can be run at very low speeds without stalling. This means that the pump can provide and maintain a high pressure to the fluid/mastic even when the quantity of mastic being used is very small (or zero). The pistons of this invention are capable of applying force to the fluid in the pump cylinders even when the pistons are not moving. 
     In embodiments, the ac motor has a shaft encoder providing a signal indicating a position of the rotor to the inverter. 
     In embodiments the ac motor includes a forced convection fan arranged to provide cooling air to windings of the motor. At normal high rotational speeds, the rotation of the windings through the air usually provides sufficient cooling to keep the windings from overheating. When the ac motor is rotating at very low speeds, or is stationary but still applying pressure to the fluid/mastic, the lack of movement means that there is no air flow past the motor windings. However, the windings continue to be supplied with a current to provide the required torque to the cams, and so will generate heat, which is removed by the air blown from the forced convection fan. 
     In embodiments of the first and second aspects of the invention, the cam arrangement includes a first cam and cam follower for each piston and a second cam and cam follower, 180° out of phase with the first cam and cam follower, wherein the first and second cam followers are connected to each other such that the distance between them is always the same, and the cam surfaces are shaped to ensure that the cam followers maintain contact with the respective cams at all times. This is advantageous because if contact between a follower and a cam surface is lost, even for a short time, this can give rise to a bouncing or knocking effect that increases wear of the follower and cam surfaces. Additionally, springs may urge the cam followers to maintain contact with their respective cams. 
     In embodiments, the cams have constant velocity cam surface profiles. An advantage of this is that the same mastic flow is achieved for a given motor rotation, regardless of the position in the cycle. 
     Embodiments of the present invention may comprise any of the above features taken in combination. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration of an embodiment of a high pressure positive displacement pump. 
         FIG. 2  is a cross section of an embodiment of the high pressure positive displacement pump of  FIG. 1 . 
         FIG. 3 a    is a diagram illustrating a principle of operation of a 3-cylinder high pressure pump in a first position of an operating cycle. 
         FIG. 3 b    is a diagram of the 3-cylider high pressure pump in a second position of an operating cycle. 
         FIG. 4 a    is a diagram illustrating one principle of operation of a 5-cylinder high pressure pump. 
         FIG. 4 b    is a diagram illustrating another principle of operation of a 5-cylinder high pressure pump. 
         FIG. 5  is a side elevation of a section through the 3-cylinder high pressure positive displacement pump of  FIGS. 2 a  and 2 b   , demonstrating a cam arrangement. 
         FIG. 6  is a diagram showing cam profiles of the cam arrangement of  FIG. 5 . 
         FIG. 7  is a plot showing a cam orientation diagram for a cam arrangement for the 3-cylinder high pressure pump. 
         FIG. 8  is a schematic diagram of a closed loop vector control system for a three-phase ac motor. 
     
    
    
     DETAILED DESCRIPTION 
     In typical known installations, such as in automotive production plant, a number of positive displacement pumps are used to pump the fluid, such as a mastic or adhesive, to the plant locations where the fluid is to be used. This may involve a first pumping stage that includes a medium pressure pumping station and a second pumping stage that includes a booster station with a number of small capacity high pressure pumps. 
     Typically the booster station will comprise four or five or more small capacity booster pumps, each capable of delivering a relatively small amount of fluid at a high pressure, with a varying number of these pumps pumping, to match demand. The high pressure pumps are normally located close to the plant locations where the fluid is to be used. 
     The high pressure pumps that are described below have been developed, in part, to improve upon the known booster pumping station arrangement. 
     Referring to  FIGS. 1 and 2 , there are shown isometric and cross section views, respectively, of a positive displacement pump  50 , according to an embodiment of the present invention. Positive displacement pump  50  is of a type particularly suitable as a replacement for the high pressure booster pumps described above. As shown in  FIGS. 1 and 2 , the positive displacement pump  50  has 3 cylinders  52   a ,  52   b ,  52   c , each of which has a respective piston  64   a ,  64   b ,  64   c  arranged for reciprocal movement inside it. The cylinders  52   a ,  52   b ,  52   c  are formed in a pump body  54 , in which is formed an inlet passage  58  for connection to a supply of fluid to be pumped, and an outlet passage  56  out of which the fluid is pumped. Also housed within the pump body  54  is an arrangement of check valves  55  that ensure that the fluid flows into and out of the pump in one direction as the pistons are moved within the cylinders. 
     The positive displacement pump  50  is shown mounted to a frame  59 , which also supports a variable speed electric motor drive  60  providing a rotational drive to a cam shaft  74  of a cam arrangement  62 , via a gearbox  63 , and a control panel  65 . The control panel  65  houses a controller configured to control the motor drive  60 , including controlling the motor speed. Variable speed electric motor drive  60  also includes a forced convection fan  61 . The cam arrangement  62  provides a reciprocating drive to the pistons in the cylinders  52   a ,  52   b ,  52   c , in a manner explained in more detail below. 
       FIGS. 3 a  and 3 b    illustrate a principle of operation of the 3-cylinder positive displacement pump  50 . As shown in  FIGS. 3 a  and 3 b   , the positive displacement pump  50  has 3 cylinders  52   a ,  52   b ,  52   c , each of which has a respective piston  64   a ,  64   b ,  64   c  arranged for reciprocal motion within the cylinder. Each of the cylinders  52   a ,  52   b ,  52   c  is connected via an inlet check valve  66   a ,  66   b ,  66   c  to an inlet passage  58 , and via an outlet check valve  68   a ,  68   b ,  68   c  to an outlet passage  56 . 
     During the reciprocal cycle, the pistons go through a drawing stroke and a pumping stroke. These strokes are described in more detail below with respect to  FIG. 3 a   , in which one piston  64   a  is in the drawing stroke and two pistons  64   b ,  64   c  are in the pumping stroke. 
     During the drawing stroke, the piston  64   a  moves upwards within the cylinder  52   a  in the direction indicated by arrow  63 . The suction of the piston  64   a  opens the inlet check valve  66   a  and closes the outlet check valve  68   a . Fluid is drawn along the inlet passage  58 , through the inlet check valve  66   a  and into the cylinder  52   a.    
     During the pumping stroke, the pistons move downwards within the cylinders  52   b ,  52   c  in the direction indicated by arrow  65 . The pistons  64   b ,  64   c  increase the pressure of the fluid, which causes the inlet check valves  66   b ,  66   c  to close and the outlet check valves  68   b ,  68   c  to open. Fluid is pumped out of the cylinders  64   b    64   c , through the outlet check valves and along the outlet passage  56 . 
     The pistons are driven by a variable speed electric motor ( 60 ) coupled to a cam arrangement ( 62 ). For the 3-cylinder pump system, the cams are shaped such that the drawing stroke occurs over a time period which is less than half the time period of the pumping stroke. The cams are arranged to drive the pistons out of phase with one another such that at any position during the rotation cycle, at least two of the pistons are pumping. This means that twice the piston area is used to exert force on the fluid, thereby generating twice the fluid flow than for a single cylinder. This arrangement also results in lower mechanical forces on the cam than would be the case if an equivalent fluid flow was to be produced by a single piston. A detailed description of the cams is given below with reference to  FIG. 6 . 
       FIG. 3 b    shows a different point in the same 3-cylinder pump cycle, in which the three pistons  64   a ,  64   b ,  64   c  are all pumping. This occurs shortly after a piston (in this case  64   a ) finishes drawing and begins pumping. The cams are arranged in such a way that a change in direction of movement of any piston (in this case  64   b ) from pumping to drawing occurs a small angle of rotation of the cams after another piston (in this case  64   a ) has changed direction of movement from drawing to pumping. This small angle of rotation of the cams is typically less than 5 degrees and may be less than 2 degrees in some cases. Further illustration of this feature of the invention is given later in the description with reference to  FIGS. 6 and 7 . 
     In a piston, the change in direction at the end of a stroke does not occur instantaneously, because the piston must decelerate, before accelerating in the opposite direction. Therefore, in a conventional pump in which two pistons change direction simultaneously, there is a short time during which neither of the pistons is pumping at full pressure. This results in a brief drop in pressure drop of the outlet fluid. The feature of the invention described in the previous paragraph reduces the amount of this pressure drop. 
     The above description is for a 3-cylinder/piston pumping arrangement and (as will become clear) it is usually preferable for pumps to include three or more cylinders/pistons. However, the principles of operation could also be applied to a two-cylinder/piston arrangement, where each piston is driven by a cam having a cam profile in which more than half of the cam rotation cycle is used to drive the piston in the pumping stroke, and the remainder (less than half) of the cam rotation is used for the return stroke. For the two-cylinder arrangement this means that for part of the rotational cycle both pistons will be pumping. At other times in the cycle only one piston will be pumping while the other piston is on its return stroke. This means that the pressure or flow rate will vary throughout the cam cycle and give rise to a cyclical or “pulsing” type of flow. In many applications such types of flow are not desirable, and can be avoided using pumps with three or more cylinders/pistons as described above and below. However, there may be applications where this type of flow does not cause a problem. Therefore embodiments may also include pumps with just two cylinders/pistons. A two-cylinder arrangement of this type may still produce a higher average pressure than a two-cylinder pump in which the pistons are always 180 degrees out of phase such that only one piston is pumping at any given time. 
       FIGS. 4 a  and 4 b    illustrate some principles of operation of a 5-cylinder positive displacement pump, as one alternative to the 3-cylinder arrangement of  FIGS. 3, 3   a  and  3   b . In both of these embodiments, the individual cylinders  52 , pistons  64 , inlet check valves  66  and outlet check  68  operate in the same manner as described above with respect to  FIGS. 3 a    and  3   b.    
       FIG. 4 a    illustrates a 5-cylinder positive displacement pump  70 , in which the cams (not shown) are shaped such that the drawing stroke occurs over a time period which is less than a quarter the time period of the pumping stroke. The cams are arranged to drive the pistons out of phase with one another such that at any position during the rotation cycle, at least four of the pistons are pumping. At the point in the cycle shown by  FIG. 4 a   , piston  64   a  is in the drawing stroke while pistons  64   b ,  64   c ,  64   d ,  64   e  are in the pumping stroke. 
       FIG. 4 b    illustrates a 5-cylinder positive displacement pump  72 , in which the cams (not shown) are shaped such that the drawing stroke occurs over a time period which is less than two thirds the time period of the pumping stroke. The cams are arranged to drive the pistons out of phase with one another such that at any position during the rotation cycle, at least three of the pistons are pumping. At the point in the cycle shown by  FIG. 5 , pistons  64   a ,  64   b  are in the drawing stroke while pistons  64   c ,  64   d ,  64   e  are in the pumping stroke. 
     As in the 3-cylinder positive displacement pump arrangement, the cams in the 5-cylinder positive displacement pump  70 ,  72  may be arranged in such a way that a change in direction of movement of any piston from pumping to drawing occurs a small angle of rotation of the cams after another piston has changed direction of movement from drawing to pumping. Again, this small angle of rotation of the cams is typically less than 5 degrees and may be less than 2 degrees in some cases. As described above, this feature avoids the brief pressure drop in the outlet fluid which occurs when two pumps change direction simultaneously. 
     Referring to  FIG. 5 , there is shown a side elevation of a section through the 3-cylinder high pressure positive displacement pump  50  of  FIGS. 1 and 2 , demonstrating the cam arrangement  62  that provides actuating movement of the pistons  64 , as described above with reference to  FIGS. 2 a , 2 b , 3 a  and 3 b   . The cam arrangement  62  includes, for each of the three cylinders  52   a - c , a main cam  76   a - c , a return cam (not shown in  FIG. 5 ), and a follower assembly  75   a - c . The cam arrangement  62  further includes a cam shaft  74 . In  FIG. 5 , most of the components shown relate to one of the three cylinders,  52   b , although parts of some components that relate to another of the cylinders,  52   c , are also visible. 
     Follower assemblies  75   a - c  each include a main follower wheel  78   a - c , a return follower wheel  80   a - c , a slider  79   a - c , a follower frame  81   a - c  and a pair of springs  83   a - c  (see also  FIGS. 1 and 2 ). The springs  83   a - c  ensure that the respective follower wheels  78   a - c  are urged against the surface of the rotating cams at all times and that no backlash arises as a result of any wear to the contacting surfaces. Rotation of cam shaft  74  causes translation of main follower wheel  78   a - c  and return follower wheel  80   a - c , as is described below with reference to  FIG. 6 . The axes of each of the main follower wheels  78   a - c  and return follower wheels  80   a - c  are fixed to the respective slider  79   a - c , which is fixed to piston  64 . Follower frames  81   a - c  constrain the sliders  79   a - c  to translate linearly, resulting in axial translation of pistons  64   a - c  within cylinder  52 . 
     Referring to  FIG. 6 , there is shown a diagram of the cam profiles of the cam arrangement  62 . The cam arrangement  62  includes a cam shaft  74 , to which three main cams  76   a - c  and three return cams  82   a - c  are fixed. Each of the main cams  76   a - c  includes a main cam surface  88   a - c , which is in rolling contact with a main follower wheel  78   a - c . The main follower wheels  78   a - c  are positioned in between the main cams  76   a - c  and the cylinders  52   a - c . Each of the return cams  82   a - c  includes a return cam surface  90   a - c , which is in rolling contact with one of the return follower wheels  80   a - c . The return cams  82   a - c  are positioned in between the return follower wheels  80   a - c  and the cylinders  52   a - c . In some embodiments, each of the main cams  76   a - c  is integrally formed with its corresponding return cam  82   a - c . This results in three integral cam components, one for each piston/cylinder, each of which has a main cam surface  88   a - c  and a return cam surface  90   a - c , with the surfaces offset from each other along the direction of the axis of the cam shaft  74 . 
     The main cam surfaces  88   a - c  includes a main cam top displacement point  86   a - c  and a main cam bottom displacement point  98   a - c . Each of the return cam surfaces  90   a - c  includes a return cam top displacement point  94   a - c  and a return cam bottom displacement point  100   a - c.    
     At the point in the cycle shown in  FIG. 6 , piston  64   a , which is associated with main cam  76   a  and return cam  82   a , is at its top position in cylinder  52   a . This means that piston  64   a  is about to begin its pumping phase. At this point, the main cam top displacement point  86   a  is in contact with the main follower wheel  78   a , and at this point the main cam radius is at its minimum. The return cam top displacement point  94   a  is in contact with return follower wheel  80   a , and at this point the return cam radius is at its maximum. 
     During the pumping phase of the piston  64   a , the main cam surface  88   a  remains in contact with main follower wheel  78   a . The cam shaft  74 , and the main cams  76   a - c  and return cams  82   a - c  rotate in the direction shown by the arrow A. 
     At the beginning of the pumping phase of the piston  64   a , when the piston is at its top position within cylinder  52   a , the translational velocities of the piston  64   a  and the main follower wheel  78   a  are instantaneously zero. For the majority of the pumping phase, the main cam radius at the point of contact with main follower wheel  78   a  increases linearly with rotation of the cam shaft  74 , resulting in constant downwards translational velocity of the main follower wheel  78   a , and corresponding motion of the piston  64   a  within the cylinder  52   a . However, the linear increase in main cam radius cannot be achieved close to the main cam top displacement point  86   a , as the main cam surface  88   a  is shaped to accommodate the main follower wheel  78   a  (which has a finite radius) at this point. Therefore, at the beginning of the pumping phase, the piston  64   a  accelerates over a short time period from zero to the constant velocity described above. 
     Following the acceleration described in the previous paragraph, the piston  64   a  continues to travel at constant velocity until close to the end of the pumping phase, when the cam shaft  74  has rotated through approximately 240 degrees and the main cam bottom displacement point  98   a  has almost reached the main follower wheel  78   a . The piston  64   a  decelerates from its constant velocity to zero over a short time period, until the main cam bottom displacement point  98   a  has reached the main follower  78   a , at the end of the pumping phase of piston  64   a . The main cam radius is at its maximum when the follower wheel is in contact with main cam bottom displacement point  98   a.    
     At the end of the pumping phase of the piston  64   a , the piston  64   a  is at its bottom position within cylinder  52   a , and has instantaneously zero velocity. The return cam bottom displacement point  100   a  is in contact with return follower wheel  80   a , and the return cam radius is at its minimum. 
     Following the pumping phase of the piston  64   a , the drawing phase begins. During the drawing phase, return cam surface  90   a  remains in contact with return follower wheel  80   a . The cam shaft  74 , and the main cams  76   a - c  and return cams  82   a - c  continue to rotate in the direction shown by the arrow A. 
     At the beginning of the drawing phase of the piston  64   a , when the piston is at its bottom position within cylinder  52   a , the translational velocities of the piston  64   a  and the return follower wheel  82   a  are instantaneously zero. For the majority of the drawing phase, the return cam radius  96   a  at the point of contact with return follower wheel  80   a  increases linearly with rotation of the cam shaft  74 , resulting in constant velocity upwards translation of the return follower wheel  80   a , and corresponding upwards motion of the piston  64   a  within the cylinder  52   a . However, constant velocity cannot be maintained close to the return cam bottom displacement point  100   a , as the return cam surface  88   a  is shaped to accommodate the return follower wheel  80   a  (which also has finite radius) at this point. Therefore, instantaneous deceleration and acceleration cannot be achieved. Therefore, at the beginning of the drawing phase, the piston  64   a  accelerates over a short time period from zero to the constant velocity described above. 
     Following the acceleration described in the previous paragraph, the piston  64   a  continues to travel at this constant velocity until near to the end of the drawing phase, when the cam shaft  74  has rotated through a further approximately 120 degrees and the return cam top displacement point  94   a  has almost reached the return follower wheel  80   a . The piston  64   a  decelerates from the constant velocity to zero over a short time period, until the return cam top displacement point  94   a  is in contact with the return follower wheel  80   a , at the end of the drawing phase of piston  64   a , in the position shown in  FIG. 6 . Again, an instantaneous deceleration cannot be achieved at the return cam top displacement point  94   a.    
     The main cams  76   a - c  and return cams  82   a - c  are shaped such that the constant speed at which the pistons  64   a - c  travel during the pumping phase is approximately half of the constant speed at which the pistons travel during the drawing phase. Main cams  76   b ,  76   c  and return cams  82   b ,  82   c  operate in the same manner as main cam  76   a  and return cam  82   a  described above. At all points during the cycle, main cam  76   a  and return cam  82   a  are 120 degrees out of phase with main cam  76   b  and return cam  82   b , respectively. Main cam  76   b  and return cam  82   b  are 120 degrees out of phase with main cam  76   c  and return cam  82   c , respectively. This gives the actuating movement of the pistons  64   a ,  64   b ,  64   c  described above with reference to  FIGS. 3 a    and  3   b.    
     Note that there are constant velocity profiles for both stroke directions of both the main cams and the return cams. It might seem that a constant velocity profile is unnecessary for the return cam when the main cam is driving the piston on the pumping stroke (or equally that a constant velocity profile is unnecessary for the main cam during the return stroke). However the constant velocity profiles ensure that the followers maintain contact with the cam surfaces for the entire 360-degree rotational cycle, because the springs  83   a - c  urge each of the followers to their cam. This is advantageous because if contact between a follower and a cam surface is lost, even for a short time, this can give rise to a bouncing or knocking effect that increases wear of the follower and cam surfaces. 
     Referring to  FIG. 7 , there is shown a cam orientation diagram  102  for a cam arrangement  62  for the 3-cylinder high pressure pump  50 . Cam orientation diagram  102  plots cam displacement  104  against cam rotation  106 . In  FIG. 7 , the direction of rotation of the cams is from left to right along the graph axis of cam rotation  106 . A positive cam displacement corresponds to downward motion of pistons  64  within cylinders  52 . A single curve  108   a ,  108   b ,  108   c  is given for each combination of main cam  76   a ,  76   b ,  76   c  and return cam  82   a ,  82   b ,  82   c  associated with each piston  64   a ,  64   b ,  64   c.    
     At first cam rotation angle  109 , curve  108   a  has a negative gradient, indicating that piston  64   a  is travelling upwards in cylinder  52   a , in its drawing phase. Curves  108   b  and  108   c  have positive gradients, indicating that pistons  64   b  and  64   c  are both travelling downwards in cylinders  52   b ,  52   c , during their pumping phases. This is as described above with respect to  FIG. 3   a.    
     As all of the curves  108   a - c  have constant gradients at first cam rotation angle  109 , all of the pistons  64  are travelling at constant velocities. The magnitude of the gradient of curve  108   a  is double that of curves  108   b ,  108   c , indicating that piston  64   a  is travelling at double the speed of pistons  64   b ,  64   c.    
     As cam rotation angle increases from first cam rotation angle  109 , pistons  64   a ,  64   b ,  64   c  continue to travel at the same constant velocities until second cam rotation angle  110  is reached. At this angle, the negative gradient of curve  108   a  begins to increase, indicating that the speed of piston  64   a  is falling. The reason for this is explained above with respect to  FIG. 6 . 
     As cam rotation angle increases from second cam rotation angle  110 , the speed of piston  64   a  continues to fall, while pistons  64   b ,  64   c  continue travelling at the same constant velocities, until third cam rotation angle  111  is reached. At this angle, the positive gradient of curve  108   c  begins to decrease, indicating that the speed of piston  64   c  is also falling. Again, the reason for this is explained above with respect to  FIG. 6 . 
     As cam rotation angle increases from third cam rotation angle  111 , piston  64   b  continues travelling at the same constant velocity, while the speeds of pistons  64   a ,  64   c  continue to fall, until fourth cam rotation angle  112  is reached. At this angle, curve  108   a  is at its minimum cam displacement, indicating that piston  64   a  is instantaneously stationary at the top of cylinder  52   a , having just completed its drawing phase. Again, curves  108   b  and  108   c  have positive gradients, indicating that pistons  64   b    64   c  are in their pumping phases. 
     As cam rotation angle increases from fourth cam rotation angle  112 , the gradient of curve  108   a  begins to increase, indicating that piston  64   a  is accelerating in the downwards direction at the beginning of its pumping phase, while piston  64   b  continues travelling at the same constant velocity. The gradient of curve  108   c  remains positive until fifth cam rotation angle  114  is reached. At fifth cam rotation angle  114 , curve  108   c  is at its maximum cam displacement, indicating that piston  64   c  is instantaneously stationary at the bottom of cylinder  52   c , having just completed its pumping phase. This means that in between fourth cam rotation angle  112  and fifth cam rotation angle  114 , all three curves  108   a ,  108   b ,  108   c  have positive gradients, indicating that all three pistons  64   a    64   b    64   c  are pumping, as is described above with respect to  FIG. 3 b   . This occurs in this case because the pumping phase takes place over 244 degrees of cam rotation, while the drawing phase takes place over 116 degrees of cam rotation. 
     Cam rotation angle increases further up to sixth cam rotation angle  116 . At this angle, curves  108   a ,  108   b  have constant positive gradients, indicating that pistons  64   a ,  64   b  are both travelling downwards at constant velocity in cylinders  52   a ,  52   b , as part of their pumping phases. Curve  108   c  has a constant negative gradient, indicating that piston  64   c  is travelling upwards at constant velocity in cylinder  52   c , in its drawing phase. 
     The variable speed electric motor  60 , which drives the cam arrangement as described above so as to provide a reciprocating drive to the pistons, may be any type of electric motor capable of being controlled to vary its speed. However, embodiments may utilise a variable speed ac motor. A particularly advantageous arrangement utilises a variable speed ac motor. As shown in  FIG. 8 , the variable speed ac motor drive may be controlled by the controller, which has an inverter  118  with a closed loop vector drive control  120 . When an ac motor runs at relatively high speed, although there is some slippage between the stator and rotor positions relative to the phase angle of the ac drive current, this slippage can be tolerated because it is usually only a small angle provided the drive torque is not excessive. Thus, in the vast majority of ac motor drive applications no adjustment needs to be made for this slippage, and the inverter used to control the current supplied to the motor windings operates using an open-loop vector control. However, such motors are not suitable for operation at very low speeds, as the slippage can cause the motor to stall. For most applications this is not a problem, but for the pumps described above, such as pumps for pumping mastic, it is required to provide and maintain a high pressure to the fluid/mastic even when the quantity of mastic being used is very small (or zero). This means that the pumps  24 ,  26  must be capable of maintaining a high pressure—or in other words that the pistons of the positive displacement pumps continue to apply force to the fluid in the pump cylinders even when the pistons are not moving. Therefore the ac motor  60  must maintain a torque on the cam shaft even when this is not rotating, and this can only happen if the ac motor does not stall. Accordingly, the ac motor  60  inverter uses a closed loop vector control. 
     Referring to  FIG. 8 , there is shown a schematic diagram of a closed loop vector control system  120  for a three-phase ac motor  60 , which may be used to drive the pump  50 ,  70 . The closed loop vector control system  120  includes an inverter  118  connected to the three phases of the motor  60 . The motor  60  includes a feedback device  124 , which is connected to the inverter  118  by a feedback loop  126 . 
     In closed loop vector control  120 , a reference signal  122  is passed to inverter, to specify the desired motor speed. The feedback device  124  measures the position and speed of the motor  60 . This measured speed and position is passed to inverter  118  via feedback loop  126 . The inverter  118  uses the position measurement to determine which phase of the motor  60  requires current at a particular time. The inverter  118  also compares the measured motor speed to the desired speed, to determine the current to be provided to the motor  60 . There are a number of different ways that feedback device  124  can determine the motor position and speed. As but one example, the ac motor  60  may have a shaft encoder that provides a signal to the inverter. 
     Another beneficial feature of the ac motor  60  is a forced convection fan arranged to provide cooling air to windings of the motor. At normal high rotational speeds, the rotation of the windings through the air usually provides sufficient cooling to keep the windings from overheating. When the ac motor  60  is rotating at very low speeds, or is stationary but still applying pressure to the fluid/mastic, the lack of movement means that there is no air flow past the motor windings. However, the windings continue to be supplied with a current to provide the required torque to the cams, and so will generate heat, which is removed by the air blown from the forced convection fan  61 . 
     Embodiments of the invention may provide for a particularly advantageous arrangement in that a single high pressure pump may be used, rather than the four or more low capacity high pressure pumps which are typically used in known systems. This is because the high pressure pump can operate over a much larger range of flow rates than existing pumps, allowing the single high pressure pump to provide all of the flow rates required. 
     The pump  50  and its controller keep the pressure at the outlet of the pump  50  at a pre-set value, independent of the flow rate of the pump, as in a true pressure closed loop control system. For example, a pressure sensor (not shown) may be used to provide a pressure signal to the controller for this purpose. In the known systems referred to above, the smaller capacity pumps only start to pump when the pressure in the line at the outlet of the pumps drops, with flow increasing as the pressure continues to drop. This leads to the dynamic pressure in the system being much lower than the static pressure, which has a detrimental effect on the system and the process.