CA2248928A1 - Paint system with color change canisters - Google Patents
Paint system with color change canisters Download PDFInfo
- Publication number
- CA2248928A1 CA2248928A1 CA 2248928 CA2248928A CA2248928A1 CA 2248928 A1 CA2248928 A1 CA 2248928A1 CA 2248928 CA2248928 CA 2248928 CA 2248928 A CA2248928 A CA 2248928A CA 2248928 A1 CA2248928 A1 CA 2248928A1
- Authority
- CA
- Canada
- Prior art keywords
- paint
- container
- arm
- piston
- piston rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
- B05B7/24—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas with means, e.g. a container, for supplying liquid or other fluent material to a discharge device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/1463—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet separate containers for different materials to be sprayed being moved from a first location, e.g. a filling station, where they are fluidically disconnected from the spraying apparatus, to a second location, generally close to the spraying apparatus, where they are fluidically connected to the latter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/16—Arrangements for supplying liquids or other fluent material
- B05B5/1608—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive
- B05B5/1616—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive and the arrangement comprising means for insulating a grounded material source from high voltage applied to the material
- B05B5/1625—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive and the arrangement comprising means for insulating a grounded material source from high voltage applied to the material the insulating means comprising an intermediate container alternately connected to the grounded material source for filling, and then disconnected and electrically insulated therefrom
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
A paint system (20) comprises a paint supply system (22) supplying paint to a paint spray system (24). A transport assembly is provided, such as a rotatable magazine (26) for a multitude of interchangeable containers (28) for a coating machine which containers are filled at a location separated from the coating machine and are removed from the magazine at a discharge point and supplied to the coating machine and, after use, are again returned to the magazine. The coating machine includes a spray device mounted at an outer end of a moveable spray arm (58). The arm includes a housing into which filled containers are inserted and a piston rod which engages a piston in the container to force paint out of the spray device. A meter measuring the relative position of the piston rod determines the volume rate of paint flow based upon the rate of change of the position of the piston rod.
Description
W 097/3~707 PCTAUS97/04209 PAINT ~YSTEM WlTH COLOR CHANGE CAN~
BACKGROUND OF THE ~VENTION
The invention relates to a paint system for supplying paint to a coating device S for the production line coating of ~4o~k~ ~s, particularly vehicle bodies.
A known paint system such as disclosed in EP-PS 0 274 322, incl-l~es an en~mf.lin~ robot which carries the spraying device. Inlcl.;hallgeable cont~iners are filled at ~ pen~ing stations that are ~nn~xPd to paint supply lines and are located in the spray booth in the movement range of the robot, from where they are picked up 10 by the enameling robot itself as nfcçc~-.y. The interc~ ge~hle COIll~hlcl~ can be coupled at different stations to any one of the numerous lines. In a different embodiment, only two containers are provided, of which one cont~iner respectively is mounted to the robot while the other is being filled at a color çh~n~er annexed to connecting lines. A system of this type avoids long tubes between the spraying 15 arr~ngemPnt and the supply lines and permits ele~ u~lic coating with electrically con-l~lctive coating material without the problem of a conductive connPction between the spraying arrangement and the supply lines.
However, this system r~ui,cs a relatively high control cost if each paint supply line is ~!C.~O~ rs~ with its own inlcl~ ng~hle cQI~ r~ because the robot 20 must run to a difrclent ~ ren~ing station for each color change. In addition, when the robot runs to the dispensing station, it must wait for the conf~in~r to be filled.
On the other hand, if only two containers are available for ~ltern~t~ filling and use, they must be rinsed for every color change, which leads to a loss of time in the coating operation as well as a loss of the lr-~--;;l---~g m~tori~l in the container on a 25 reserve basis. In each case, the robot must execute laborious control movements in order to couple the cnnt~inP.rs to the dispensing st~tion~
WO 97/34707 PCT~US97/04209 In order to supply paint to an f n~...~l;.~p robot for vehicle bodies, which has co~ that can be mounted to the robot arm in an int~ lc manner, it is also conventionAlly lcnown to ~ ~, L co--~ ~;f -- ~ filled with the yu~llily l~Uil_d for each body ~-~CCf cc;~ely on a conveying belt to a discharge point, from which S they are removed by an auxiliary robot and delivered to the e-.A..~ ;ng robot.
SUl~JlVrARY OF T~IE INVENTION
The present invention provides a paint system for ~ line coating of workrif~ec, particularly vehicle bodies, having the gl~t~sl possible fleYibility with respect to the paints, spraying allA~g~ nl~ and coating IllAf ~ used. The paint 10 system inf~ltldP$ a paint supply system which, when filling the i~ r~l.A.IgfAh col-lA;I~F ;~, limits the loss due to color change and provides a coating operation which is siEnififAntly free of delay. The paint supply system also ~ Glably manages to limit control effort for the control of 1~ ~uil~d move-mf~ntc The paint system further inflllf~f-~ a paint spray system inrlu~linE a coating 15 mA~hine whose exfhAn~Ahle c~ in~r can be coupled to the valve unit of the spraying device simply and with low contro} effort and which does not impair the dynamic motion behavior of the m~f hine For the paint supply system of the present invention, the f~.lAin- . ~ can each be refilled with m~tPnAl of the same color. The cof.lA;I~ ~ . are rinsed only if a 20 control and mol~ E system ci,labli~l,es that the contAinf-~s were not used for coating for a preset amount of time, or were not e l"~ied completely during coating, or were not refilled after being emptied or in an excG~,onal case, if a COn~A;~
must be fillecl with a ~ rGlellt color. ConsG Iu. nlly, the loss of paint due to regular nnsing is avoided.
-W 097~4707 PCTAUS97/04209 Since color loss by means of rinsing only rarely occurs, the r~ s~fxLive filling qll~ntitiPS also are not critical in this respect. It can be adv~nt~Eeous to fill the co,.l;.;n~-~ only with a ~A~ P~d quantity of m~tPri~l that is l~ui.~;d for a pf~ t~ll.il.~d coating process, e.g., in order to coat one body; it is normal, however, to require a s~lffiri~nt reserve quantity. However, excess paint can remain in the CQ~ fr and be sprayed during the next use of the cor~
Since all co..~ can be refilled and, if nP. f ~y~ rinsed during normal coating "~..,~;OI- ~4iLllouL inltllul~Lion, the system also o~ t~s with the least possible loss of time. Loss of time can be limited to the time required to couple and 10 decouple the co..~ to and from the paint spray system with an adv~nt~gçous prior po~itioninE of the co,.~;n~ .:, of the ~ assembly. For coating, this loss of time can also be avoided if at least two paint spray sy~.l,s that alternate op~ti- n are provided.
The present paint system is suitable for supplying paint to any coating 15 system, e.g., to ele~LIu ,LdLic systems for convention~l enamel or electrically conductive water-based Pn~mPl, or to air al~;""~.~; in fact, not only to robots such as the aÇ~ ;on~l known systems, but to any coating m~rhinPc In this regard, only simple movements must be controlled, which in turn can reduce the control effort conQ;~Ie~hly for robots and other mn1ti~ic coating m~hinPs For 20 move.l.~ nL i which are simple to control, . o~ inserted in the ~ u~ L
assembly are removed at the discharge point by means of a linear movement . ~ ..
assembly that moves the cG~ in~s along a straight path b~lween the coating assembly and the L-culs~oll arrangement. In the case of a mnlti~iQ ~ .,,rli"E
m~rhine, the arm that carries the :.~ldying assembly can be pivoted, on the side of W O 97~4707 PCT~US97/04209 the .,.~C~ P facing the tl~u~ ull ass~"lbly, from or back to the ~ L ~c~Pmhly in order to take over the co~ , said L~ JOlL assembly likewise being simple to control. The sarne advantage ensues if the coating ll~ ~'h;IlF iS con~h~ctF~A, pa~allel to the ll~uu,yul~ di.~lio" of the ~4ul~ieces to the coated, to the discha~ point, in S order to take over and deliver the co"~ s. A con~in-r is ~ ,Çcl~bly inserted Ll~ou~ an o~ cuing of the arrn into its interior space, where it can be cou~ A very easily, on one end, to control valves of the rinsing ~- "...g~ lt, and, on the other end, to an clc~iLlul~p~h~ l drive for a ul~le~cd e "IyLying of the co~
Since the illle~ .f~l-le CQI~ ,,, can be filled relative slowly without 10 causing delays for the coating ~p- ,.I;on due to their int~....-F~ t-F storage on the Lldlls~olL arr~ngelnPnt there is no need for high pl~,S;tul~, in the lines, which ~,otc~Ls the coating material flowing in the lines, which as a rule is pressurc-~e.lsilive. For the same reason, ~ ;,ulG flUctll~tio~c in the lines are far less critical than for systems dPpPn~1ing on the quickest pos;,;blc filling.
In ~<lAitinn~ the invention enab}es a trouble-free coating with practically any color shade, since not only are the colors delivered in previously conventional supply lines available, but rullh~.",ure, all possible ~ Ul~., of these and/or s~(itlitir~ l colors are available. Mixing can be carried out in the c~JIlL~ r by filling it with dirr~.~"- colors, or even prior to filling the cu~ F in qupstion~ and in fact, 20 can be carried out ~1ltnm~ti~1ly or m~nll~lly by guiding to~p-thpr at least two dir~.~nL colors, e.g., from the ~ Pri supply lines. As a rule, any optional ;nn of colors, which can be selF~t~d with flexibility, is carried out fully Iu~ ly; it is ~ ~e~ul~ by means of an electronic control system, accu,ding to the ~ ~;Li~re ~em~ntl~ In special cases, the ~u~ulL assembly can also be W O 97t34707 PCTAUS97/04209 iy~d with cu..Id;..~ ~ filled externally, without being ~ ~ to the supply lines of the filling station of the system de~clibed here.
At the filling station, a device shall be provided which auL(,.~ lly couples a c~,..l;~;... ~ to a device fed by at least one supply line. The ~ - n~ of colors S on the ll~uls~ assembly can be carned out at any optional po~itil~nC acco..l,ng to c~fillnP~c, since the aulu,l,~lic devices provided at the discharge point and at the filling station, in order to supply and remove or to fill the co..'~ , have free access to all l~o~ c on the l-d-- ~ assembly.
The filling station or at least the discharge point could be located within the lû spray booth in which coating conventi~n~lly is carried out. However, a spray booth ~cr~ bly cont~inc as few co-"~nenLs of the overall system as possible, esper~ y in the actual spraying region due to the danger of dirt ~rc~m~ tion by means of the sprayed coating material and due to the ilu~ t of the r,~ed~s", of move..lGnt of the coating m~rhinPc For the system de~wibed here, it is therefore preferable to 15 locate the transport assembly collllJlt,lGly outside of the spray booth. For PY~mple, the ~ assembly in IJlGf~rdbly located in the ~ rl ..A~ e region of the system and is se~A.,.~P41 from the paint spray system by means of a wall, with con~i.in~ .~
being s~ppliPA to the paint spray system and I~IUll~ed to the ~ assembly lluuu~l, an opening in the wall. Since the filling stadon is also located outside the 20 booth, the closed circular supply lines, in which coatdng m~t~ri~l circulates, do not need to be guided as far as into the booth. The lines can ~ fo-G be shorter and u .. _. .
The spray arm of the spray m~.hi~ iS ~-uUght for f~Yf'.l~Al~g;n~, the CQ~
into a position in which a manipulator device, ~e.rùrllling a linear movement W O 97~4707 PCTAUS97/04209 rl;~ r to the ann u~ , can insert and remove the co"ln;~~e-. When inserting the c~nl~ r . with this m~nip~ tor device, it can be col-nf~ very simply to the valve unit of the spraying device, likewise provided in the interior of the arm, and ~ .al~l from it during removal. All supply and control lines leading to the 5 spraying device can run in the interior of the movable ~l-m~nsc of the ,..~ f~ .
In opP~tion, the cu~ need only p~tici~ak; in the arm ...ul;onc of the ~n~ r" but not in the z~firiitilf n~ cial n,u~ of the spraying device. The ~Q~ . . in the arsn interior is also easily incnl~tF~i when it is ~ul~Je~ d to high voltage in an e~ecl-u:.~Lic coating o~.,.l;ol~ with conductive m:~t~.riz~i. Preferably, 10 the arm of the m~f hinf- consi~L~ of inclll~tin~ m~tfA~i~l over a length s~ffici~nt for incnl~tin~ the spraying device and the c~ inr ~ from grounded parts of the m~f hin An ~rlrlition~l advantage of the invention ccm~ictc in the fact that a c~
CO -sLlu~;led as a ~--f 1'" ~ g cylinder with a movable piston can be easily coupled in the interior of the arm to an ele~Llu~ h~llif~l control drive for metered emptying 15 of the Co~ e~ . In particular, when removing the corl;~ r - from the m~f hine, a piston rod which n ,--~lls in the ...~ c and which can be co~rpl~rl to the inserted corll;.;nr r can be driven by an electric ser~/u--.olol in~t~llf~ in the mzlr~.hinç of a type co,~ .v.-~lh.~ to the motors provided in the ...~ .F for axial driving.
The above, as well as other advantages of the present invention, will become readily a~p~nt to those skilled in the art from the following det~il~
dcs ~ ion of a ~ ~ e-~.ho li,..F..l when con~i~iPred in the light of the acco...~ ying drawings in which:
-= W O 97~4707 PCTfUS97/042~9 Figure 1 is a basic .c~ l;orl of the paint system of the present - invention;
Figure 2 is a s(~ AI;c l~,~e~ l;nn of an ~, ~g~ nl with which a cc!nl;.;..~l can be moved between the paint spray system and the l-, -.cl~.. L assembly S in acconl~ce with Figure l;
Figure 3 is a ~h~ f;~ rL~ ;OIl of a filling station of the system in accorclance with Figure 1;
Figure 4 shows a simplified longitlltiin~l section through the arm of the p~inting robot of Figure l;
Figure ~ shows a s~ ;c l~ c~ ;on of the system for co~n~;l;.. g the PY~h~ngP~hle co~ to the spraying device of Figure l;
Figure 6 is an ~lt~ t~ C.llbO~ t of the paint supply system of Figure 1;
and Figure 7 is a sr~hPm~tic of another alternate paint supply system which can 15 be used in the paint system of Figure 1.
DETAI~ F;D DESCRIPIION OF A PREFERRED EMBODIMENT
The paint system 20 of the present invention is genP~lly shown in Figure 1 COIll~lisillg a paint supply system 22 for supplying paint to a paint spray system 24.
The l.,...~yO.~ assembly itself of the system de~;libed here can be of any 20 optional type, e.g., a belt conveyor or a chain conveyor. The paint supply system - 22 compri~P~ a m~g~7inP 26, which can rotate in either direction. The mzlp~7in.o 26 is provided with devices to accept and hold cartridge-like cGlll~ne~ 28 at a mll1tit~ of ~ iru.~ y distributed positions, as is known and convention~l for tool m~g~7inP.~ in ~ f~ n with tool-ch~nging ~ ng~.. l~; Preferably, the m~g;~7in~
WO 97/34707 PCT~US97tO4209 26 stores a mnitit~ of co~ y~ at least equal to or y~ r~.~bly double the nu~llber of colors which can be s~ t~
Arrow 32 in-iic~t~s a filling station 32 in which the cu~ - ~ . 28 illse-Lcd in the ...~ 26 are aulu..~-l;r~lly filled with the dirre~ll colors desired in each S case. r~ .bly, the cul.~ r~ 28 remain in the ~ r 26 ~uring filling, if a movable filling device 34 is cou~l~ to the co..~-;.... to be filled. Alt~rn~tively, the co~ can be removed from the ..-~ 26 by means of a snit~hllo ~rT~ngem~nt and then likewise ~ntom~tic~lly coo}l-d to the filling device 34 for ~Illing. The filling device 34, co.~l;.;..c a color changer 36 or at least a movable 10 device connPI t~fi to a color challg_., with the color cZlan~cr 36 being ~nn-Ye~ to a ml~ltitnA~ of closed circular pipelines ~ci~n~t~A, in ~ener~l, as 38, in which circulate dirr~ colors of available coating m~t-ori~lc. Individual col~ , e.g., with individually mixed special colors, can be in;~G.L~i m~n--~lly at the manual filling station 40.
At the dischdL~G point in ii-~t~A by arr~w 42, a filled cont~i~er 28a is seized, removed from the m~7ine 26, and s~lrpiie~l along the l~ l~.ese.lL~ d straight path 48 to the paint supply system 24 by means of a linear mov~ .IlGllL assembly 46 which, e.g., has a piston-cylinder driving unit and can be ~"~ "Led on the .~.~g~;nP
26.
The paint spray system 24 co,.. l.. ;ces an F .~".~ g robot 50, which can be moved, as shown by arrow 52, parallel to the L~ ul~ direction of w~,l.c~ir-Ps (not se~lL~d~ supplied with a conv~ntinn~l conveyor. The robot 50 is moved back and forth in this direction between a working position 50a and a co,.l; ;..P~h~nging position 50b, in which a filled cont~in~or is delivered to the former and an empty W O 97~4707 PCTJL'S97/04209 co-~,;n~., iS removed. The con1 ~h-F. 28a shall yl~r.,.~bly be inse.l.:d lhL~)~g11 an opening 54 in the housing 56 of the arm 58 of the robot 50 and there be cou~led to a control valve construction of the spraying ~ ~I For this yulyose~ the robot arm 58is pivoted more than 90 degrees, ~ Ç~ably more than 180 degrees, and S most yl~f~, dbly ayplv}i -~tf-ly 270 degrees in the vertical ~o~ c~ -lc-A., in which the ~v~ ;f nPA ~. n;llg of the arm 58is facing the del*ery z...,..-g~
46 of the m ~a7ine 26, hence, is located in a vertical plane which i~lt~.b~L~ the h~ J~ path 48 roughly at a right angle. The pivoted movement of the robot arm 58.~~ d for this is made possible by the single-sided support of this arm 58 on 10 the robot SQ as .~ fA, Hence, the robot 50 need only eYe~ P a few simple movements to reach the c~ ;.- -ul~ position 50b and to receive a filled cQnt~inPr and deliver an empty cu~ ,.. The arm 58 is pocitionp~d on one side of the paint spray system 24 for spraying paint and on the ~;,ile side of the paint spray system 24 for receiving co. l;~;"~.~ 28.
While the robot 50 is located in the cQ~ ch~nging ~L/alLiOI- 50b, before insertion of a full cQ~ 28a, the cor.l~ f, 28b used before and now empty, sen~d by a dashed line in the figure, first is removed from the robot arm 58.
For this ~u.yose, the linear move,lle,.lassembly 46, only .~ ,se..lt;d 5~ I;f~lly, can be as shown in Figure 2, such that it can hold at least two cu~ ;nl ~ 28 20 ~im~ lf~u~ly~ hold the full c~ 28a ready while it removes the empty co~ ., 28b. In this regard, Figure 2 s~ l;r~11y le~J~L,s~ > that the linear movement assembly 46 also carries out a transverse move,l,ent pf ~y~~ ;cul~r to the h~ ul lz~l path 48; this can also be a rot~tiol-~l movement. After the new co~ ine 28a has been inserted, the robot 50 travels back to its working po~ition 50a.
W O 97/34707 PCT~US97/04209 For the ~ ,lF de,. . ;l-e~, the linear movement assembly 46, which removes the cv~ 28 from the paint supply system 22 and 5u~1ies it to the paint spray system, also returns the Cu..l;~il.f r 28 to the paint supply system 22. The po~ihility also exists of providing two mot~ t ~c~ornblies 46 at the ~I;crl~,..~"
point 42, of which one s--ppii~s co.. ~ . 28 to the paint spray system 24 while the other movement a,se.,~bly 46 returns a different Cf~tU~ 28 to the paint supply system ~.
The robot 50 ulJ~.ral~,S conv -~l;u~lly within a spray booth. Based on, among other reasons, the ~fol~ ...,..I;UI~P~I linear movement of the cu~ n~ ,~ 28 10 along the path 48, the very ad~,~-~g~us possibility exists of ~ the paint supply system 22 in-~lu~in~ the ...~g,.,;.~e 26, fully outside of the booth, and of s~lJala~ , it from the robot by mP~ns of a wall (not .~.~c.lt~d). The co~
28 can be supplied to the paint spray system 24 without trouble and returned to the Tn~7in.q 26 through an o~ening in this wall.
1~ Of course, in pro~luctioTI line coating of wu~k~ c, such as motor vehicle bodies, ~ itions~ "~I;n~ r~ S can be located within the booth; in particular, a second en~mt~ling robot can operate on the c~l osi~e side of the body to be coated, and can obtain its int~,.cl~ Ahle .~ from an additional supply system, of the type ~IF~.~,;I.e~, provided there. It is also possible to provide at least two 20 ,.. t~ .5 or ~.,.. cl,ul~ ~. ,,.. ~.... ~c of the type desc-ilJed, ~- .~ in p~11e~, on the same side of the booth.
1iti(~n, the possibility exists of using one supply system of the type d~ ed here in order to supply two robots or other coating ~ f 5, of which one m~chinp l~ ively works while the paint Co~ are c~ngeA for the other W O 97~4707 PCT~US97/04209 l~;Live l"~ ;"r; such that a cl~ of the co..~ need not int~lu~t the coating o~ n A manual manipulation assembly could be used to fill the CQI~ 28; it is ~ rr.~hlf ~ however, for the cv-~ , 28 to remain in the ",z~ lr 26 during S filling, in accoldance with Figure 1. A control valve, which is both CO.~..f~-l~ to the color ~h~ e~ 36 and is movable, is coL,'-d, e.g., from below, to the valve opPningS provided in an end wall of the co~t~ f-- 28, as f~l.,se.~t~d with greater precision in Figure 3.
In acculdance with Figure 3, the cartridges or cu~ 28 are in the form 10 of cylin-tric~ .;ng co..~ c-~ that contain a piston 60, which can be fli~pl~red within the co.~ f . The ~os;Lion of the piston 60 in the cc,..~ - - defines the volume to be filled and hence, the amount of enamel to be sprayed. The position of the piston 60 can be set by means of a piston rod 66 prior to filling by an electric motor 64, ~l~feldbly a stepping motor, which is controlled by means of the electric 15 control system of the filling station accc,l-ling to the l- ~I,e~;~ive quantity of enamel f~ui~d.
While the piston 60 is ~ .ated from one end of the cu.llaine~ 28, the c~f l;.;.-. ~ valves 70, 72 provided for filling and emptying are located at the o~ile end. The valve 70 serves for filling at the filling station and in order for coating 20 ms~tPriz~l to be removed during coating. The valve 72 serves, if nPr_~. y, to empty the co..l;~;n.~. 28 in the filling station in which the con~ can also be rinsed. A
handle 62 for the aforem~ntit~ned manual manipulation assembly, for inserting the cqu~ in the robot and for re~ g it to the m~g~7inP 26 can be ~tt~rhPci to a W O 97~4707 PCT~US97104209 side wall of the co~ 28. ~ t~ means for ~ nin~ the valves 70, 72 wit'n those of the color çh~ng~r are located at the ends of the co..1;l;nF ~ 28.
The color r~ gcr 36 with a control valve unit 74 cc~nnF~ to it is cuu~
to the CQ~ 28. In this regard, a line 78 C~ nf~ the c~ ;..F- valve 70, to the S color ~ 6, by means of cv l~vn~ valves Fl-Fn, to a n~,..,b~f of closed circular pi~3in~s or other supply iines for dirr~ colors. T 31 .. isc in a conv~Q~ f~ the color cl.~gcr also co..1~ valves V for a rinsing agent or solvent and ~ 7ition~l valves PL for co~ ed air used to empty and rinse the con~i,.cr 28. Return valves, fie~i~n~t~i RF, are cu....r~t~ to a line 84 which, cunneci~ a drain valve 72 of the co~ 28 to a collprting receiver 84. When ~lP~ , y, rinsing liquid travels through the line 78 and valve 70 mto the co~
28. The control valve unit 74 is dU~ liy rinsed when the cont~inPr is dC~Gi 7 It is ~ lcîc dble tû provide the co~ 28 with readable ",r~ ni~
15 i~1entifier data 90 such as bal~odcs or m~gn~ti~lly stored data, with respect to color shade, quantity of paint, co~ . nu",l~er, co..1;.in~- size, identification of the coating process to be carried out, etc., such that an optimtlm .n<,.~i1olillg and control of the vl~e~ is always ~o;,i,;l,lc. In particular, the clecL,u.lic control system can assign the co..1;.;..F- to a certain w. '~ if ' to be coated. The id~ r data on the 20 ~ can either be ~ en~ or have the ability of being overwritten.
Figure 4 shows the arm 58 of a p~inting robot. It co..~ ; f ,;,F-.I;~11y of an P~ d houQing 56 that is seated at its right end in such a lll~.n~l as to be movable ~not shown), and at its ol.~s;le end 5U~JUll~ ition~l movable c1e~ .t~
clu-iing a wrist or hand axis cu~ lu~lion lO0, on which the ~ld~iug device is W O 97~4707 PCTrUS97/04209 geA The 1~.4Ui-~i lines run Illluu~;,h the interior of the hand axis construction - 100 from the spraying device (not shown in Figure 4) to a valve block 102 inst~ PA
...;-,,. nlly at the end of arm 58 in its ho!.~;..g 56.
The housing 56 of the arm 58 is closed off low~ds the outside with the S eYfeption of the o~enil,g 54 located on one side of the arm and ~lim~n~ior~ed snffirient1y long and wide that the cyti~ ;r~l co~ er 28 can be i~lse,led lllluugll the opening 54 into an interior space of the housing 56 to the ~ t~i ~,~.lion, in which its own axis lies parallel to that of arm 58, and removed after use. In its end face turned toward the valve hlock 102, the cc.~ 28 has the outlet valve 10 opening 106 which lies flush during the emptying process with an inlet o~eni.-g of the valve block 102 facing toward the end face of the co~ inf . The precise nmPnt iS aclli.,~rcd by ce.~ g means 108 that are provided on the valve block and on the end of the cQnl;~inF~ and come into l n~;~gF.. ~l during the axial pressing-lug~ r and coupling of the Cout~ f r 28 to the valve block 102. For 15 pressing the cu..l~ FI- against the valve b}ock 102 and loclcing it there, a pnPIlm~tic locking cylinder 138 is provided.
As stated above, the cu..l;~;..- 28 is consLIu.lGd as a ...- t~ ~;..g cylinder. It co-u~inc a piston 60 movable in the CUl~; ;n in order t~ empty it. As desr~iheA
above, the piston which can be moved during or before the filling of the cu..l;.i~
20 at the remote filling site into a position in which it defines a preset filling volume for the coating m~tPri~l filled Illn~u~ one of the valve o~e.lings 70. In the ~
shown, this is the entire co~ inFr volume, but in other cases, a volume can be set which is just snffiri~nt for a preA~~finrA coating process plus a n~~e~ reserve.
W O 97~4707 PCTAUS97/04209 In case of c~--, ' emptying, the m~t~rinE~ piston 60 co..l~ the i~lt~iUl wall of the end face of the conl~h~ 28, as shown at 60a For the lllet-,.cd e.ll~Lyil~g of the c~ i. er 28, a piston rod 116 seated so as to be axially movable along the hou~;. 56 acts on the mPflorin~ piston 60 through S an opening 114 provided in the rear co~ F ~ end; said rod 116 is not ~.~ uuusly in contact with the piston 60, but remains instead in the h.lu~ , 56 during the ~Yrh:ln~e of the cvn,A;~r. The piston rod 116 is driven, via a clutch 124, a belt of gear tr~ncmic~ion 126, a spindle nut 130 guided at 128 and a spindle 134 seated at 132, by an electric servomotor 122 housed in an enlarged part 118 of the 10 ho..~;..g. An absolute value sensor for the ser~,u,..oLol 122 and an inductive Ipm gauge 136 provide precise control of the ~,~ .~i emptying of the cc,~ 28. The housing part 118 is closed at its rear end by a lid 120.
At its end facing the cnnt~in~r 28, the piston rod 116 is seated in the lJ~ f;r- stop cylinder 138 serving to stop the CQI~ . A l~--P~ ;C contact sensor 142 that generates a pneum~tif~ signal when the piston rod 116 strikes against the metering piston 60 is seated in the end face of the piston rod 116.
The coating . ~ 1 5~ Cd here can work in prin~iple with any a,LiL.dly spraying device. If, however, an e~ u;"dLic i~ldying device is used for ;~ldyillg el~LIu~o-ulllrtive coating m~tf~.ri~l, the valve block 102 and the co~ r 28, which 20 are constructed of ~ .I,e resistant metal, are raised to a high voltage. The,~,rc,.~, it is ne~e~ . y to assure e~ trir~l is~ tion from the normally grounded metal parts of the " ~c~l~;nf For inct~nce7 the ~~Yr~nllin~ houcinE~ part 118 preferably COI ci.ctc of ~1.. ;".,." The honcin~ 56 of the ill~ ~i robot arm 58 ~l~,f~.dl~ly concictc of a m~ n~ 1y-stable plastic or other incnl~ting m~ttori~l from the valve block 102 W O 97~4707 PCTNS97tO4209 up to the hol~cin~ part 118. The length of the i~ ;..g hol~ 56 iS ~ .n~ nr,~
such that the ft~Uil~,d i~nl~tin~ path 144 is created bc;l~n the rear end of the stop cylinder 138, which is met~ and the metal hou~ r part 118. The piston rod 116 likewise con~ictc of incnl~ting m~tPrT~l Figure S s~ lly illnctr~s the supply system of an cl~LluslaLic ayil~g device 148, which can, for ;~ --ce, be a conv~ rotary ~t~".,;~. and iS in~ Aed to spray the coating m~tPri~l from the CQI~ 28 inct~llP~I in the robot arrn accùld~lg to Figure 4. If the cc,..l;~ 28 is in~e.lt;d and coupl~ to the system, the main needle valve of the spraying device 148 is co~n~ A via a line HN and a paint valve F in the control valve block 102 to the inlet o~ ing 150 of the valve block, and cons~..~ ly the valve ù~.lhlg 70 of the cu..l ~;nF. 28.
FulLl~ u~, a rinsing agent line V leads into the valve block 102. A line KS leads from the valve block 102, and serves for brief rinsing of the atomizer bell while circumventing the main needle line EIN and is b,~cl.ed off into the spraying 15 device 148. The rinsing agent con~ ;ng of thinner in the line V reaches the line HN and the spraying device as n~AeA particularly when ~ ..gi--g paint. Through an ~AA;~;on~l line PL, co~ .~d air reaches the valve block 102 and the spraying device 148 via line HN. Finally, a line RF, likewise co.-~ eA to the valve block 102 and in parallel thereto to the spraying device 148. Unsprayed coating m~trri~l 20 and rinsing agent are directed from the other lines, the control valve block and the s~laying device through the line RF into a collP~sting con~ . L S~ particularly during a change of paint. The c~es~,;l.cd lines are located on the inside of the movable m:~htnr r.ll..,,..nl<i W O 97~4707 PCTrUS97/04209 If cun~ fe paints are sprayed in the vicinity of the ~ ~ying device 148 and the valve block 102, the lines can be at a high pot~.-Lial and are tll~.'tr.,l~
constructed in their c(~ -AI;onc to be i~ g. The n~e.~;ly of electrical inclllAti~m iS absent if, for inc~ a ~ l;c A~ 148a, rather than an S cle~L,vsL~Lic spraying device, is C'~ r~l-A to the con~rol valve block and the line RF.
In operation, the COI~IA;~ 28 is filled at a point removed from the paint spray system 24 and ~.~ fe.dbly conveyed outside the conv~ AI .~lAyi..g booth by the paint supply system 22 as ciPs.-.;beA above to a co..l~inf- eYfhAn~e point, 10 where it is gli~>~i by a manipulator device and is inserted Ll,n~ugll an opening of the booth wall along a linear con~ ce path into the u~ ing 114 of the housing 56 of the arm 58 shown in Figure 4. The co..lA;... i- 28 is e~lui~lJ~I, on one side for inctAn~e, with a handle 152 ~Figure 4~ by which it is sei~d by a gripper 154 of the ar~J,. ,.~. .nionPc~ mAnipu~tor device. The process of pressing against and co~pling 15 to the con~i,l~ l 28 occurs A~ AIIy After use, the CO~ ;"CI is again removed from the arm 58 by the manipulator device, which ciml~lt~nP~usly inserts a new col-tA;f~- filled as needed with the same or a dirr ~ paint, unless it is more rrA~tit~l to use S~A~AIt' devices for insertion and removal.
Figure 6 .~ .,.L~ a dirr~.~..t ~ ho.1;"....~t of the paint supply system.
20 Here, a belt or chain conveyor 156 serves as the I~A~''P~IL ArrzmgemPnt, in which the co--lAi..r .~ 28 are held in a hc/..~onL~I position by means of a chain or belt 158, and which revolves about a hc,. ;~ A1 axis.
As with the çmho.li...- -t in acco.dance with ~igures 1 and 3, a color CjlA~Ig~..
160 is c~l~nF~ A by lines 162 to closed ~ ;ul~ ~ elines or, preferably, a movable W O 97~4707 PCTrUS97/n4209 filling coupler 170 with the ability to be rinsed. The movable filling coupler 170 - is fed by the color changc~ 160, is coupl~A to a cQI.t;~ 28 to be filled by means of an ~.I.. _I;.~lly controlled shifting device. In ~ litir~n, ~ ion~l supply lines 164 are con.~ ,b.~ to the color changer 160, and at least some lines lead to ~ ul~
S ch~mhP~s 166 or to other supply tanlcs for special colors or other coating materials that cannot be drawn from the lines 162. For ~ lr, difr~.,nl colors could be mixed in the C~ h~ ~ 166. In each case, the lines 162, 164 include control air lines for valve ~rt~l~tinn As with the embo~imPnt in accoldance with Figure 1, a linear move.,lellt 10 ~..,..-g~ 1 168, e.g., one driven by means of a piston~ linder unit, or a dirr~c~
po~itioning device, is provided in order to remove and reinsert the co~ ;nP.~ g4.
In each case, the conveyor 90 is ~ ~ by means of a drive 172 controlled by the elecllunic control system such that the eo~.';..l-l ~ .~ui.~d in each case are removed and refilled at the correct point in time at the discharge point and filling 15 station.
~ rc,~bly a flow meter 176 is positioned on the line which leads from the color ch~nger 160 into the cu~ s 28. This can be used to lllo~ ul a metered filling or, by means of a cG~Ic~ ing control of the present valves, to control the filling quantity. Hence, the piston control des~,.il,ed with the e..lbodill....l in 20 accoldd,l.,e with Figure 3 is not IC~lUil~d.
With the use of cl~-us~ic spraying ~- ~ e,...~ , the spatial cl~n~ e of the filling station from the discharge point or from the spraying ~ ngemf~nt is at least as great as the ~ n-e re~uired for an electrical in~nl~tion Tn~lepenrlPnt of WO 97~4707 PCT~US97/0420g the type of spraying ~~ g~ ho.._ve,, a filling station shall be located outside the spray booth for the reasons already cited above.
Figure 7 sc~ lly inAi~ tes a paint supply system according to another embo-iimPnt e~ le of the invention. In this ~-~".p1~, a standard side ...~ 1.;..
5 198 used in auL~>1,1~ile p~inting le~lln~ y can be supplied with dirr.,,~nt color coating material as coating device 200, acco..lin~ to the ;~ J~I;Qm The coating device 200 is located at the h~u~s~. point 42, to which the filled cul~ 28a are Ll~u sy~lltd from the filling site 32 to moving m~g~7in~c 204. The conveyance of these m~g~7inP,s 204 used as moving L~ ulL devices, from the filling site 32 to the transfer site 42, can take place by dirL.Gnt means or conveyors 208, as ..rc.?c~;..y; for Py~mrlP, with a rail-based conveyor or conveyor linked by an inrluctiQn coil, or a chain conveyor, etc., or in special cases, even m~n~ ly, onto the illllctr~t~i cart.
One ~ltern~tive possibility (not ill~ .,.l~) consists in moving the conL~i"e, 15 28 or a suitable m~gp7inP by means of a pnpnnt~tic tube system in a Icnown manner.
When using a number of coating devices, the COnt~illel~ 28, or in the P~ eY~mrle, their m~ 7in~s 204, can be s~pplip~ either directly from the filling site 32 from the individual coating devices, or instead, the m~g7~7.in~c can move the various coating devices one after the other, where one filled co~n;~ is 20 removed and/or an empty co.-~ , can be .GLulned from the coating device into the m~7.inf~ ~
There are several possibilities for filling the col~ 28 at the filling site 32; for ~ , ConnP~ting empty ~ to ring lines or other lines, or to large supply vessels. It is also possible to set up filled co~ u~ , supplied from outside W O 97/34707 PCTAUS97/042~9 of the particular system, in the filling station for ll_lS~Il to the l.~u.sr~. site 42.
According to one particular ~l~A.A~t~ ;c of the invention, a mixing bench 210 can be provided at the filling site, from which various coating s.~ AI~c~s of dirf~,.i"g colors are moved into the co..~;n- " which are mixed in advance, or are mixed in S the co,-lA;n--~, into the desired color tone. Furthermore, the CO~.IA;.~ can be rinsed at the filling site. It is also possible to l~ r e~-- - AI~ the coating m~t~riAl from not co~llylet ly e ~ l ;~1 cu- ~l A; ~e. .~ 28. The col ~ u ~ ~ can be ;,~.L.; e ~ to a quantity check and a yl~ u~ test; they can be shaken to agitate their cont-nt, and they can be positioned aulo~A~ A11Y with respect to the ~llAy~ ,;..e 204 and with respect to the 10 e~ ;..g filling devices.
Both the filling and yo~i~ible emptying and rinsing of the co,-l~in. .~ at the filling site 32, and also the loading of the conveyer 208 ~yl~ented as a cart) can take place mAmlA11y or All~ ..AI;.~ y.
As described above, the co.llA;~.P ~ 28 can be provided with mA~h;nr-readable 15 or visually readable iclentifir~tion data to identify their co~ , in~ iing paint type, filling date, etc. If several mAg~7inrs 204 are used, they are also provided with s~ ~A.AtP i~iPntifi~rs or Cl1A.A- r~ data to identify the CUI~IA;I1~ held therein.
Aecc3.~ g to the illl-~l.,.l;ol~, the ~ .r 204 can be removed with the COr-lA;n~ S 28 to be filled, from a reserve mAg~7inP supply 212, and moved from 20 there, e.g., by means of an aulo~ ic hAn iiin~ unit 216 or another conveyance device, or even m~nnAlly, to the pocitiollC nr~e~A. y for filling, emptying or rinsing.
~he reserve mAg~7in~ supply 212 can be located directly at the filling site 32, in a paint mixing room or at a remote site. The reserve ...AgA7;..e supply 212 can W~ 97~4707 PCTrUS97/04209 contain ~"~,,.,;"r.c 204 and/or single coo~ ... 28. They can be cornrlPtely or partially full, empty, used, or rinsed.
A reserve ll~a~7;llF supply with already filled co~ P,~. could also be provided. Fulll.--...nre, it is po~cihl~ to heat the l~S~.~/oil so that the coating S m~t~ iS first brought to an O~ Ull~ t~ e. In this case the co.. ~;.. are ~f~ably provided with thermal inn~ ti-n during their LlallS~vlL to the coating device 200.
The co..l;~ . 28 removed from the coating device at the ll~,sî~,. site 42 after use can be ~lalls~JulLGd first into the reserve ~ g~ F supply 212, as illustrated, before they are reused at the filling site 32. The m~7ine 204 used for transport into the reserve 111~ 7;i~P- supply 212 can be l~ulsyult~d on similar conveyors 208, as on the path to the coating device 200.
The entire u~_.dlin~, s~u~ e is llllsllilulcd and controlled, plGfeldbly by an ~ligninp and control system 218. This system ensures, in particular by using the 15 mPntionPd ~h~ t~ristic data, that all eYicting coating devices are supplied as quickly as possible and with the sm~ t possible m~t~n~l losses, with the coating m~t~ri:~l needed in the particular case.
The ~.n~ .... used according to this invention have numerous, inherently adv~nt~ge~us plupGl~ies. They are suitable for ll.e~Gl;ng, airtight and ~esign~d as ~ .7:1Ule vessels. They provide plote~l;oll against aging of the coating m~t~ i~l and act as llalls~ul~ cont~in~rs7 paint reservoirs and for decoupling of the coating devices from ring lines or other paint supply systems. They are portable, rinsable and reusable and they can be i-~ntifi~d in a simple manner. FulLh~.lllul~, they are easy to grasp and can be easily centered and locked into position.
BACKGROUND OF THE ~VENTION
The invention relates to a paint system for supplying paint to a coating device S for the production line coating of ~4o~k~ ~s, particularly vehicle bodies.
A known paint system such as disclosed in EP-PS 0 274 322, incl-l~es an en~mf.lin~ robot which carries the spraying device. Inlcl.;hallgeable cont~iners are filled at ~ pen~ing stations that are ~nn~xPd to paint supply lines and are located in the spray booth in the movement range of the robot, from where they are picked up 10 by the enameling robot itself as nfcçc~-.y. The interc~ ge~hle COIll~hlcl~ can be coupled at different stations to any one of the numerous lines. In a different embodiment, only two containers are provided, of which one cont~iner respectively is mounted to the robot while the other is being filled at a color çh~n~er annexed to connecting lines. A system of this type avoids long tubes between the spraying 15 arr~ngemPnt and the supply lines and permits ele~ u~lic coating with electrically con-l~lctive coating material without the problem of a conductive connPction between the spraying arrangement and the supply lines.
However, this system r~ui,cs a relatively high control cost if each paint supply line is ~!C.~O~ rs~ with its own inlcl~ ng~hle cQI~ r~ because the robot 20 must run to a difrclent ~ ren~ing station for each color change. In addition, when the robot runs to the dispensing station, it must wait for the conf~in~r to be filled.
On the other hand, if only two containers are available for ~ltern~t~ filling and use, they must be rinsed for every color change, which leads to a loss of time in the coating operation as well as a loss of the lr-~--;;l---~g m~tori~l in the container on a 25 reserve basis. In each case, the robot must execute laborious control movements in order to couple the cnnt~inP.rs to the dispensing st~tion~
WO 97/34707 PCT~US97/04209 In order to supply paint to an f n~...~l;.~p robot for vehicle bodies, which has co~ that can be mounted to the robot arm in an int~ lc manner, it is also conventionAlly lcnown to ~ ~, L co--~ ~;f -- ~ filled with the yu~llily l~Uil_d for each body ~-~CCf cc;~ely on a conveying belt to a discharge point, from which S they are removed by an auxiliary robot and delivered to the e-.A..~ ;ng robot.
SUl~JlVrARY OF T~IE INVENTION
The present invention provides a paint system for ~ line coating of workrif~ec, particularly vehicle bodies, having the gl~t~sl possible fleYibility with respect to the paints, spraying allA~g~ nl~ and coating IllAf ~ used. The paint 10 system inf~ltldP$ a paint supply system which, when filling the i~ r~l.A.IgfAh col-lA;I~F ;~, limits the loss due to color change and provides a coating operation which is siEnififAntly free of delay. The paint supply system also ~ Glably manages to limit control effort for the control of 1~ ~uil~d move-mf~ntc The paint system further inflllf~f-~ a paint spray system inrlu~linE a coating 15 mA~hine whose exfhAn~Ahle c~ in~r can be coupled to the valve unit of the spraying device simply and with low contro} effort and which does not impair the dynamic motion behavior of the m~f hine For the paint supply system of the present invention, the f~.lAin- . ~ can each be refilled with m~tPnAl of the same color. The cof.lA;I~ ~ . are rinsed only if a 20 control and mol~ E system ci,labli~l,es that the contAinf-~s were not used for coating for a preset amount of time, or were not e l"~ied completely during coating, or were not refilled after being emptied or in an excG~,onal case, if a COn~A;~
must be fillecl with a ~ rGlellt color. ConsG Iu. nlly, the loss of paint due to regular nnsing is avoided.
-W 097~4707 PCTAUS97/04209 Since color loss by means of rinsing only rarely occurs, the r~ s~fxLive filling qll~ntitiPS also are not critical in this respect. It can be adv~nt~Eeous to fill the co,.l;.;n~-~ only with a ~A~ P~d quantity of m~tPri~l that is l~ui.~;d for a pf~ t~ll.il.~d coating process, e.g., in order to coat one body; it is normal, however, to require a s~lffiri~nt reserve quantity. However, excess paint can remain in the CQ~ fr and be sprayed during the next use of the cor~
Since all co..~ can be refilled and, if nP. f ~y~ rinsed during normal coating "~..,~;OI- ~4iLllouL inltllul~Lion, the system also o~ t~s with the least possible loss of time. Loss of time can be limited to the time required to couple and 10 decouple the co..~ to and from the paint spray system with an adv~nt~gçous prior po~itioninE of the co,.~;n~ .:, of the ~ assembly. For coating, this loss of time can also be avoided if at least two paint spray sy~.l,s that alternate op~ti- n are provided.
The present paint system is suitable for supplying paint to any coating 15 system, e.g., to ele~LIu ,LdLic systems for convention~l enamel or electrically conductive water-based Pn~mPl, or to air al~;""~.~; in fact, not only to robots such as the aÇ~ ;on~l known systems, but to any coating m~rhinPc In this regard, only simple movements must be controlled, which in turn can reduce the control effort conQ;~Ie~hly for robots and other mn1ti~ic coating m~hinPs For 20 move.l.~ nL i which are simple to control, . o~ inserted in the ~ u~ L
assembly are removed at the discharge point by means of a linear movement . ~ ..
assembly that moves the cG~ in~s along a straight path b~lween the coating assembly and the L-culs~oll arrangement. In the case of a mnlti~iQ ~ .,,rli"E
m~rhine, the arm that carries the :.~ldying assembly can be pivoted, on the side of W O 97~4707 PCT~US97/04209 the .,.~C~ P facing the tl~u~ ull ass~"lbly, from or back to the ~ L ~c~Pmhly in order to take over the co~ , said L~ JOlL assembly likewise being simple to control. The sarne advantage ensues if the coating ll~ ~'h;IlF iS con~h~ctF~A, pa~allel to the ll~uu,yul~ di.~lio" of the ~4ul~ieces to the coated, to the discha~ point, in S order to take over and deliver the co"~ s. A con~in-r is ~ ,Çcl~bly inserted Ll~ou~ an o~ cuing of the arrn into its interior space, where it can be cou~ A very easily, on one end, to control valves of the rinsing ~- "...g~ lt, and, on the other end, to an clc~iLlul~p~h~ l drive for a ul~le~cd e "IyLying of the co~
Since the illle~ .f~l-le CQI~ ,,, can be filled relative slowly without 10 causing delays for the coating ~p- ,.I;on due to their int~....-F~ t-F storage on the Lldlls~olL arr~ngelnPnt there is no need for high pl~,S;tul~, in the lines, which ~,otc~Ls the coating material flowing in the lines, which as a rule is pressurc-~e.lsilive. For the same reason, ~ ;,ulG flUctll~tio~c in the lines are far less critical than for systems dPpPn~1ing on the quickest pos;,;blc filling.
In ~<lAitinn~ the invention enab}es a trouble-free coating with practically any color shade, since not only are the colors delivered in previously conventional supply lines available, but rullh~.",ure, all possible ~ Ul~., of these and/or s~(itlitir~ l colors are available. Mixing can be carried out in the c~JIlL~ r by filling it with dirr~.~"- colors, or even prior to filling the cu~ F in qupstion~ and in fact, 20 can be carried out ~1ltnm~ti~1ly or m~nll~lly by guiding to~p-thpr at least two dir~.~nL colors, e.g., from the ~ Pri supply lines. As a rule, any optional ;nn of colors, which can be selF~t~d with flexibility, is carried out fully Iu~ ly; it is ~ ~e~ul~ by means of an electronic control system, accu,ding to the ~ ~;Li~re ~em~ntl~ In special cases, the ~u~ulL assembly can also be W O 97t34707 PCTAUS97/04209 iy~d with cu..Id;..~ ~ filled externally, without being ~ ~ to the supply lines of the filling station of the system de~clibed here.
At the filling station, a device shall be provided which auL(,.~ lly couples a c~,..l;~;... ~ to a device fed by at least one supply line. The ~ - n~ of colors S on the ll~uls~ assembly can be carned out at any optional po~itil~nC acco..l,ng to c~fillnP~c, since the aulu,l,~lic devices provided at the discharge point and at the filling station, in order to supply and remove or to fill the co..'~ , have free access to all l~o~ c on the l-d-- ~ assembly.
The filling station or at least the discharge point could be located within the lû spray booth in which coating conventi~n~lly is carried out. However, a spray booth ~cr~ bly cont~inc as few co-"~nenLs of the overall system as possible, esper~ y in the actual spraying region due to the danger of dirt ~rc~m~ tion by means of the sprayed coating material and due to the ilu~ t of the r,~ed~s", of move..lGnt of the coating m~rhinPc For the system de~wibed here, it is therefore preferable to 15 locate the transport assembly collllJlt,lGly outside of the spray booth. For PY~mple, the ~ assembly in IJlGf~rdbly located in the ~ rl ..A~ e region of the system and is se~A.,.~P41 from the paint spray system by means of a wall, with con~i.in~ .~
being s~ppliPA to the paint spray system and I~IUll~ed to the ~ assembly lluuu~l, an opening in the wall. Since the filling stadon is also located outside the 20 booth, the closed circular supply lines, in which coatdng m~t~ri~l circulates, do not need to be guided as far as into the booth. The lines can ~ fo-G be shorter and u .. _. .
The spray arm of the spray m~.hi~ iS ~-uUght for f~Yf'.l~Al~g;n~, the CQ~
into a position in which a manipulator device, ~e.rùrllling a linear movement W O 97~4707 PCTAUS97/04209 rl;~ r to the ann u~ , can insert and remove the co"ln;~~e-. When inserting the c~nl~ r . with this m~nip~ tor device, it can be col-nf~ very simply to the valve unit of the spraying device, likewise provided in the interior of the arm, and ~ .al~l from it during removal. All supply and control lines leading to the 5 spraying device can run in the interior of the movable ~l-m~nsc of the ,..~ f~ .
In opP~tion, the cu~ need only p~tici~ak; in the arm ...ul;onc of the ~n~ r" but not in the z~firiitilf n~ cial n,u~ of the spraying device. The ~Q~ . . in the arsn interior is also easily incnl~tF~i when it is ~ul~Je~ d to high voltage in an e~ecl-u:.~Lic coating o~.,.l;ol~ with conductive m:~t~.riz~i. Preferably, 10 the arm of the m~f hinf- consi~L~ of inclll~tin~ m~tfA~i~l over a length s~ffici~nt for incnl~tin~ the spraying device and the c~ inr ~ from grounded parts of the m~f hin An ~rlrlition~l advantage of the invention ccm~ictc in the fact that a c~
CO -sLlu~;led as a ~--f 1'" ~ g cylinder with a movable piston can be easily coupled in the interior of the arm to an ele~Llu~ h~llif~l control drive for metered emptying 15 of the Co~ e~ . In particular, when removing the corl;~ r - from the m~f hine, a piston rod which n ,--~lls in the ...~ c and which can be co~rpl~rl to the inserted corll;.;nr r can be driven by an electric ser~/u--.olol in~t~llf~ in the mzlr~.hinç of a type co,~ .v.-~lh.~ to the motors provided in the ...~ .F for axial driving.
The above, as well as other advantages of the present invention, will become readily a~p~nt to those skilled in the art from the following det~il~
dcs ~ ion of a ~ ~ e-~.ho li,..F..l when con~i~iPred in the light of the acco...~ ying drawings in which:
-= W O 97~4707 PCTfUS97/042~9 Figure 1 is a basic .c~ l;orl of the paint system of the present - invention;
Figure 2 is a s(~ AI;c l~,~e~ l;nn of an ~, ~g~ nl with which a cc!nl;.;..~l can be moved between the paint spray system and the l-, -.cl~.. L assembly S in acconl~ce with Figure l;
Figure 3 is a ~h~ f;~ rL~ ;OIl of a filling station of the system in accorclance with Figure 1;
Figure 4 shows a simplified longitlltiin~l section through the arm of the p~inting robot of Figure l;
Figure ~ shows a s~ ;c l~ c~ ;on of the system for co~n~;l;.. g the PY~h~ngP~hle co~ to the spraying device of Figure l;
Figure 6 is an ~lt~ t~ C.llbO~ t of the paint supply system of Figure 1;
and Figure 7 is a sr~hPm~tic of another alternate paint supply system which can 15 be used in the paint system of Figure 1.
DETAI~ F;D DESCRIPIION OF A PREFERRED EMBODIMENT
The paint system 20 of the present invention is genP~lly shown in Figure 1 COIll~lisillg a paint supply system 22 for supplying paint to a paint spray system 24.
The l.,...~yO.~ assembly itself of the system de~;libed here can be of any 20 optional type, e.g., a belt conveyor or a chain conveyor. The paint supply system - 22 compri~P~ a m~g~7inP 26, which can rotate in either direction. The mzlp~7in.o 26 is provided with devices to accept and hold cartridge-like cGlll~ne~ 28 at a mll1tit~ of ~ iru.~ y distributed positions, as is known and convention~l for tool m~g~7inP.~ in ~ f~ n with tool-ch~nging ~ ng~.. l~; Preferably, the m~g;~7in~
WO 97/34707 PCT~US97tO4209 26 stores a mnitit~ of co~ y~ at least equal to or y~ r~.~bly double the nu~llber of colors which can be s~ t~
Arrow 32 in-iic~t~s a filling station 32 in which the cu~ - ~ . 28 illse-Lcd in the ...~ 26 are aulu..~-l;r~lly filled with the dirre~ll colors desired in each S case. r~ .bly, the cul.~ r~ 28 remain in the ~ r 26 ~uring filling, if a movable filling device 34 is cou~l~ to the co..~-;.... to be filled. Alt~rn~tively, the co~ can be removed from the ..-~ 26 by means of a snit~hllo ~rT~ngem~nt and then likewise ~ntom~tic~lly coo}l-d to the filling device 34 for ~Illing. The filling device 34, co.~l;.;..c a color changer 36 or at least a movable 10 device connPI t~fi to a color challg_., with the color cZlan~cr 36 being ~nn-Ye~ to a ml~ltitnA~ of closed circular pipelines ~ci~n~t~A, in ~ener~l, as 38, in which circulate dirr~ colors of available coating m~t-ori~lc. Individual col~ , e.g., with individually mixed special colors, can be in;~G.L~i m~n--~lly at the manual filling station 40.
At the dischdL~G point in ii-~t~A by arr~w 42, a filled cont~i~er 28a is seized, removed from the m~7ine 26, and s~lrpiie~l along the l~ l~.ese.lL~ d straight path 48 to the paint supply system 24 by means of a linear mov~ .IlGllL assembly 46 which, e.g., has a piston-cylinder driving unit and can be ~"~ "Led on the .~.~g~;nP
26.
The paint spray system 24 co,.. l.. ;ces an F .~".~ g robot 50, which can be moved, as shown by arrow 52, parallel to the L~ ul~ direction of w~,l.c~ir-Ps (not se~lL~d~ supplied with a conv~ntinn~l conveyor. The robot 50 is moved back and forth in this direction between a working position 50a and a co,.l; ;..P~h~nging position 50b, in which a filled cont~in~or is delivered to the former and an empty W O 97~4707 PCTJL'S97/04209 co-~,;n~., iS removed. The con1 ~h-F. 28a shall yl~r.,.~bly be inse.l.:d lhL~)~g11 an opening 54 in the housing 56 of the arm 58 of the robot 50 and there be cou~led to a control valve construction of the spraying ~ ~I For this yulyose~ the robot arm 58is pivoted more than 90 degrees, ~ Ç~ably more than 180 degrees, and S most yl~f~, dbly ayplv}i -~tf-ly 270 degrees in the vertical ~o~ c~ -lc-A., in which the ~v~ ;f nPA ~. n;llg of the arm 58is facing the del*ery z...,..-g~
46 of the m ~a7ine 26, hence, is located in a vertical plane which i~lt~.b~L~ the h~ J~ path 48 roughly at a right angle. The pivoted movement of the robot arm 58.~~ d for this is made possible by the single-sided support of this arm 58 on 10 the robot SQ as .~ fA, Hence, the robot 50 need only eYe~ P a few simple movements to reach the c~ ;.- -ul~ position 50b and to receive a filled cQnt~inPr and deliver an empty cu~ ,.. The arm 58 is pocitionp~d on one side of the paint spray system 24 for spraying paint and on the ~;,ile side of the paint spray system 24 for receiving co. l;~;"~.~ 28.
While the robot 50 is located in the cQ~ ch~nging ~L/alLiOI- 50b, before insertion of a full cQ~ 28a, the cor.l~ f, 28b used before and now empty, sen~d by a dashed line in the figure, first is removed from the robot arm 58.
For this ~u.yose, the linear move,lle,.lassembly 46, only .~ ,se..lt;d 5~ I;f~lly, can be as shown in Figure 2, such that it can hold at least two cu~ ;nl ~ 28 20 ~im~ lf~u~ly~ hold the full c~ 28a ready while it removes the empty co~ ., 28b. In this regard, Figure 2 s~ l;r~11y le~J~L,s~ > that the linear movement assembly 46 also carries out a transverse move,l,ent pf ~y~~ ;cul~r to the h~ ul lz~l path 48; this can also be a rot~tiol-~l movement. After the new co~ ine 28a has been inserted, the robot 50 travels back to its working po~ition 50a.
W O 97/34707 PCT~US97/04209 For the ~ ,lF de,. . ;l-e~, the linear movement assembly 46, which removes the cv~ 28 from the paint supply system 22 and 5u~1ies it to the paint spray system, also returns the Cu..l;~il.f r 28 to the paint supply system 22. The po~ihility also exists of providing two mot~ t ~c~ornblies 46 at the ~I;crl~,..~"
point 42, of which one s--ppii~s co.. ~ . 28 to the paint spray system 24 while the other movement a,se.,~bly 46 returns a different Cf~tU~ 28 to the paint supply system ~.
The robot 50 ulJ~.ral~,S conv -~l;u~lly within a spray booth. Based on, among other reasons, the ~fol~ ...,..I;UI~P~I linear movement of the cu~ n~ ,~ 28 10 along the path 48, the very ad~,~-~g~us possibility exists of ~ the paint supply system 22 in-~lu~in~ the ...~g,.,;.~e 26, fully outside of the booth, and of s~lJala~ , it from the robot by mP~ns of a wall (not .~.~c.lt~d). The co~
28 can be supplied to the paint spray system 24 without trouble and returned to the Tn~7in.q 26 through an o~ening in this wall.
1~ Of course, in pro~luctioTI line coating of wu~k~ c, such as motor vehicle bodies, ~ itions~ "~I;n~ r~ S can be located within the booth; in particular, a second en~mt~ling robot can operate on the c~l osi~e side of the body to be coated, and can obtain its int~,.cl~ Ahle .~ from an additional supply system, of the type ~IF~.~,;I.e~, provided there. It is also possible to provide at least two 20 ,.. t~ .5 or ~.,.. cl,ul~ ~. ,,.. ~.... ~c of the type desc-ilJed, ~- .~ in p~11e~, on the same side of the booth.
1iti(~n, the possibility exists of using one supply system of the type d~ ed here in order to supply two robots or other coating ~ f 5, of which one m~chinp l~ ively works while the paint Co~ are c~ngeA for the other W O 97~4707 PCT~US97/04209 l~;Live l"~ ;"r; such that a cl~ of the co..~ need not int~lu~t the coating o~ n A manual manipulation assembly could be used to fill the CQI~ 28; it is ~ rr.~hlf ~ however, for the cv-~ , 28 to remain in the ",z~ lr 26 during S filling, in accoldance with Figure 1. A control valve, which is both CO.~..f~-l~ to the color ~h~ e~ 36 and is movable, is coL,'-d, e.g., from below, to the valve opPningS provided in an end wall of the co~t~ f-- 28, as f~l.,se.~t~d with greater precision in Figure 3.
In acculdance with Figure 3, the cartridges or cu~ 28 are in the form 10 of cylin-tric~ .;ng co..~ c-~ that contain a piston 60, which can be fli~pl~red within the co.~ f . The ~os;Lion of the piston 60 in the cc,..~ - - defines the volume to be filled and hence, the amount of enamel to be sprayed. The position of the piston 60 can be set by means of a piston rod 66 prior to filling by an electric motor 64, ~l~feldbly a stepping motor, which is controlled by means of the electric 15 control system of the filling station accc,l-ling to the l- ~I,e~;~ive quantity of enamel f~ui~d.
While the piston 60 is ~ .ated from one end of the cu.llaine~ 28, the c~f l;.;.-. ~ valves 70, 72 provided for filling and emptying are located at the o~ile end. The valve 70 serves for filling at the filling station and in order for coating 20 ms~tPriz~l to be removed during coating. The valve 72 serves, if nPr_~. y, to empty the co..l;~;n.~. 28 in the filling station in which the con~ can also be rinsed. A
handle 62 for the aforem~ntit~ned manual manipulation assembly, for inserting the cqu~ in the robot and for re~ g it to the m~g~7inP 26 can be ~tt~rhPci to a W O 97~4707 PCT~US97104209 side wall of the co~ 28. ~ t~ means for ~ nin~ the valves 70, 72 wit'n those of the color çh~ng~r are located at the ends of the co..1;l;nF ~ 28.
The color r~ gcr 36 with a control valve unit 74 cc~nnF~ to it is cuu~
to the CQ~ 28. In this regard, a line 78 C~ nf~ the c~ ;..F- valve 70, to the S color ~ 6, by means of cv l~vn~ valves Fl-Fn, to a n~,..,b~f of closed circular pi~3in~s or other supply iines for dirr~ colors. T 31 .. isc in a conv~Q~ f~ the color cl.~gcr also co..1~ valves V for a rinsing agent or solvent and ~ 7ition~l valves PL for co~ ed air used to empty and rinse the con~i,.cr 28. Return valves, fie~i~n~t~i RF, are cu....r~t~ to a line 84 which, cunneci~ a drain valve 72 of the co~ 28 to a collprting receiver 84. When ~lP~ , y, rinsing liquid travels through the line 78 and valve 70 mto the co~
28. The control valve unit 74 is dU~ liy rinsed when the cont~inPr is dC~Gi 7 It is ~ lcîc dble tû provide the co~ 28 with readable ",r~ ni~
15 i~1entifier data 90 such as bal~odcs or m~gn~ti~lly stored data, with respect to color shade, quantity of paint, co~ . nu",l~er, co..1;.in~- size, identification of the coating process to be carried out, etc., such that an optimtlm .n<,.~i1olillg and control of the vl~e~ is always ~o;,i,;l,lc. In particular, the clecL,u.lic control system can assign the co..1;.;..F- to a certain w. '~ if ' to be coated. The id~ r data on the 20 ~ can either be ~ en~ or have the ability of being overwritten.
Figure 4 shows the arm 58 of a p~inting robot. It co..~ ; f ,;,F-.I;~11y of an P~ d houQing 56 that is seated at its right end in such a lll~.n~l as to be movable ~not shown), and at its ol.~s;le end 5U~JUll~ ition~l movable c1e~ .t~
clu-iing a wrist or hand axis cu~ lu~lion lO0, on which the ~ld~iug device is W O 97~4707 PCTrUS97/04209 geA The 1~.4Ui-~i lines run Illluu~;,h the interior of the hand axis construction - 100 from the spraying device (not shown in Figure 4) to a valve block 102 inst~ PA
...;-,,. nlly at the end of arm 58 in its ho!.~;..g 56.
The housing 56 of the arm 58 is closed off low~ds the outside with the S eYfeption of the o~enil,g 54 located on one side of the arm and ~lim~n~ior~ed snffirient1y long and wide that the cyti~ ;r~l co~ er 28 can be i~lse,led lllluugll the opening 54 into an interior space of the housing 56 to the ~ t~i ~,~.lion, in which its own axis lies parallel to that of arm 58, and removed after use. In its end face turned toward the valve hlock 102, the cc.~ 28 has the outlet valve 10 opening 106 which lies flush during the emptying process with an inlet o~eni.-g of the valve block 102 facing toward the end face of the co~ inf . The precise nmPnt iS aclli.,~rcd by ce.~ g means 108 that are provided on the valve block and on the end of the cQnl;~inF~ and come into l n~;~gF.. ~l during the axial pressing-lug~ r and coupling of the Cout~ f r 28 to the valve block 102. For 15 pressing the cu..l~ FI- against the valve b}ock 102 and loclcing it there, a pnPIlm~tic locking cylinder 138 is provided.
As stated above, the cu..l;~;..- 28 is consLIu.lGd as a ...- t~ ~;..g cylinder. It co-u~inc a piston 60 movable in the CUl~; ;n in order t~ empty it. As desr~iheA
above, the piston which can be moved during or before the filling of the cu..l;.i~
20 at the remote filling site into a position in which it defines a preset filling volume for the coating m~tPri~l filled Illn~u~ one of the valve o~e.lings 70. In the ~
shown, this is the entire co~ inFr volume, but in other cases, a volume can be set which is just snffiri~nt for a preA~~finrA coating process plus a n~~e~ reserve.
W O 97~4707 PCTAUS97/04209 In case of c~--, ' emptying, the m~t~rinE~ piston 60 co..l~ the i~lt~iUl wall of the end face of the conl~h~ 28, as shown at 60a For the lllet-,.cd e.ll~Lyil~g of the c~ i. er 28, a piston rod 116 seated so as to be axially movable along the hou~;. 56 acts on the mPflorin~ piston 60 through S an opening 114 provided in the rear co~ F ~ end; said rod 116 is not ~.~ uuusly in contact with the piston 60, but remains instead in the h.lu~ , 56 during the ~Yrh:ln~e of the cvn,A;~r. The piston rod 116 is driven, via a clutch 124, a belt of gear tr~ncmic~ion 126, a spindle nut 130 guided at 128 and a spindle 134 seated at 132, by an electric servomotor 122 housed in an enlarged part 118 of the 10 ho..~;..g. An absolute value sensor for the ser~,u,..oLol 122 and an inductive Ipm gauge 136 provide precise control of the ~,~ .~i emptying of the cc,~ 28. The housing part 118 is closed at its rear end by a lid 120.
At its end facing the cnnt~in~r 28, the piston rod 116 is seated in the lJ~ f;r- stop cylinder 138 serving to stop the CQI~ . A l~--P~ ;C contact sensor 142 that generates a pneum~tif~ signal when the piston rod 116 strikes against the metering piston 60 is seated in the end face of the piston rod 116.
The coating . ~ 1 5~ Cd here can work in prin~iple with any a,LiL.dly spraying device. If, however, an e~ u;"dLic i~ldying device is used for ;~ldyillg el~LIu~o-ulllrtive coating m~tf~.ri~l, the valve block 102 and the co~ r 28, which 20 are constructed of ~ .I,e resistant metal, are raised to a high voltage. The,~,rc,.~, it is ne~e~ . y to assure e~ trir~l is~ tion from the normally grounded metal parts of the " ~c~l~;nf For inct~nce7 the ~~Yr~nllin~ houcinE~ part 118 preferably COI ci.ctc of ~1.. ;".,." The honcin~ 56 of the ill~ ~i robot arm 58 ~l~,f~.dl~ly concictc of a m~ n~ 1y-stable plastic or other incnl~ting m~ttori~l from the valve block 102 W O 97~4707 PCTNS97tO4209 up to the hol~cin~ part 118. The length of the i~ ;..g hol~ 56 iS ~ .n~ nr,~
such that the ft~Uil~,d i~nl~tin~ path 144 is created bc;l~n the rear end of the stop cylinder 138, which is met~ and the metal hou~ r part 118. The piston rod 116 likewise con~ictc of incnl~ting m~tPrT~l Figure S s~ lly illnctr~s the supply system of an cl~LluslaLic ayil~g device 148, which can, for ;~ --ce, be a conv~ rotary ~t~".,;~. and iS in~ Aed to spray the coating m~tPri~l from the CQI~ 28 inct~llP~I in the robot arrn accùld~lg to Figure 4. If the cc,..l;~ 28 is in~e.lt;d and coupl~ to the system, the main needle valve of the spraying device 148 is co~n~ A via a line HN and a paint valve F in the control valve block 102 to the inlet o~ ing 150 of the valve block, and cons~..~ ly the valve ù~.lhlg 70 of the cu..l ~;nF. 28.
FulLl~ u~, a rinsing agent line V leads into the valve block 102. A line KS leads from the valve block 102, and serves for brief rinsing of the atomizer bell while circumventing the main needle line EIN and is b,~cl.ed off into the spraying 15 device 148. The rinsing agent con~ ;ng of thinner in the line V reaches the line HN and the spraying device as n~AeA particularly when ~ ..gi--g paint. Through an ~AA;~;on~l line PL, co~ .~d air reaches the valve block 102 and the spraying device 148 via line HN. Finally, a line RF, likewise co.-~ eA to the valve block 102 and in parallel thereto to the spraying device 148. Unsprayed coating m~trri~l 20 and rinsing agent are directed from the other lines, the control valve block and the s~laying device through the line RF into a collP~sting con~ . L S~ particularly during a change of paint. The c~es~,;l.cd lines are located on the inside of the movable m:~htnr r.ll..,,..nl<i W O 97~4707 PCTrUS97/04209 If cun~ fe paints are sprayed in the vicinity of the ~ ~ying device 148 and the valve block 102, the lines can be at a high pot~.-Lial and are tll~.'tr.,l~
constructed in their c(~ -AI;onc to be i~ g. The n~e.~;ly of electrical inclllAti~m iS absent if, for inc~ a ~ l;c A~ 148a, rather than an S cle~L,vsL~Lic spraying device, is C'~ r~l-A to the con~rol valve block and the line RF.
In operation, the COI~IA;~ 28 is filled at a point removed from the paint spray system 24 and ~.~ fe.dbly conveyed outside the conv~ AI .~lAyi..g booth by the paint supply system 22 as ciPs.-.;beA above to a co..l~inf- eYfhAn~e point, 10 where it is gli~>~i by a manipulator device and is inserted Ll,n~ugll an opening of the booth wall along a linear con~ ce path into the u~ ing 114 of the housing 56 of the arm 58 shown in Figure 4. The co..lA;... i- 28 is e~lui~lJ~I, on one side for inctAn~e, with a handle 152 ~Figure 4~ by which it is sei~d by a gripper 154 of the ar~J,. ,.~. .nionPc~ mAnipu~tor device. The process of pressing against and co~pling 15 to the con~i,l~ l 28 occurs A~ AIIy After use, the CO~ ;"CI is again removed from the arm 58 by the manipulator device, which ciml~lt~nP~usly inserts a new col-tA;f~- filled as needed with the same or a dirr ~ paint, unless it is more rrA~tit~l to use S~A~AIt' devices for insertion and removal.
Figure 6 .~ .,.L~ a dirr~.~..t ~ ho.1;"....~t of the paint supply system.
20 Here, a belt or chain conveyor 156 serves as the I~A~''P~IL ArrzmgemPnt, in which the co--lAi..r .~ 28 are held in a hc/..~onL~I position by means of a chain or belt 158, and which revolves about a hc,. ;~ A1 axis.
As with the çmho.li...- -t in acco.dance with ~igures 1 and 3, a color CjlA~Ig~..
160 is c~l~nF~ A by lines 162 to closed ~ ;ul~ ~ elines or, preferably, a movable W O 97~4707 PCTrUS97/n4209 filling coupler 170 with the ability to be rinsed. The movable filling coupler 170 - is fed by the color changc~ 160, is coupl~A to a cQI.t;~ 28 to be filled by means of an ~.I.. _I;.~lly controlled shifting device. In ~ litir~n, ~ ion~l supply lines 164 are con.~ ,b.~ to the color changer 160, and at least some lines lead to ~ ul~
S ch~mhP~s 166 or to other supply tanlcs for special colors or other coating materials that cannot be drawn from the lines 162. For ~ lr, difr~.,nl colors could be mixed in the C~ h~ ~ 166. In each case, the lines 162, 164 include control air lines for valve ~rt~l~tinn As with the embo~imPnt in accoldance with Figure 1, a linear move.,lellt 10 ~..,..-g~ 1 168, e.g., one driven by means of a piston~ linder unit, or a dirr~c~
po~itioning device, is provided in order to remove and reinsert the co~ ;nP.~ g4.
In each case, the conveyor 90 is ~ ~ by means of a drive 172 controlled by the elecllunic control system such that the eo~.';..l-l ~ .~ui.~d in each case are removed and refilled at the correct point in time at the discharge point and filling 15 station.
~ rc,~bly a flow meter 176 is positioned on the line which leads from the color ch~nger 160 into the cu~ s 28. This can be used to lllo~ ul a metered filling or, by means of a cG~Ic~ ing control of the present valves, to control the filling quantity. Hence, the piston control des~,.il,ed with the e..lbodill....l in 20 accoldd,l.,e with Figure 3 is not IC~lUil~d.
With the use of cl~-us~ic spraying ~- ~ e,...~ , the spatial cl~n~ e of the filling station from the discharge point or from the spraying ~ ngemf~nt is at least as great as the ~ n-e re~uired for an electrical in~nl~tion Tn~lepenrlPnt of WO 97~4707 PCT~US97/0420g the type of spraying ~~ g~ ho.._ve,, a filling station shall be located outside the spray booth for the reasons already cited above.
Figure 7 sc~ lly inAi~ tes a paint supply system according to another embo-iimPnt e~ le of the invention. In this ~-~".p1~, a standard side ...~ 1.;..
5 198 used in auL~>1,1~ile p~inting le~lln~ y can be supplied with dirr.,,~nt color coating material as coating device 200, acco..lin~ to the ;~ J~I;Qm The coating device 200 is located at the h~u~s~. point 42, to which the filled cul~ 28a are Ll~u sy~lltd from the filling site 32 to moving m~g~7in~c 204. The conveyance of these m~g~7inP,s 204 used as moving L~ ulL devices, from the filling site 32 to the transfer site 42, can take place by dirL.Gnt means or conveyors 208, as ..rc.?c~;..y; for Py~mrlP, with a rail-based conveyor or conveyor linked by an inrluctiQn coil, or a chain conveyor, etc., or in special cases, even m~n~ ly, onto the illllctr~t~i cart.
One ~ltern~tive possibility (not ill~ .,.l~) consists in moving the conL~i"e, 15 28 or a suitable m~gp7inP by means of a pnpnnt~tic tube system in a Icnown manner.
When using a number of coating devices, the COnt~illel~ 28, or in the P~ eY~mrle, their m~ 7in~s 204, can be s~pplip~ either directly from the filling site 32 from the individual coating devices, or instead, the m~g7~7.in~c can move the various coating devices one after the other, where one filled co~n;~ is 20 removed and/or an empty co.-~ , can be .GLulned from the coating device into the m~7.inf~ ~
There are several possibilities for filling the col~ 28 at the filling site 32; for ~ , ConnP~ting empty ~ to ring lines or other lines, or to large supply vessels. It is also possible to set up filled co~ u~ , supplied from outside W O 97/34707 PCTAUS97/042~9 of the particular system, in the filling station for ll_lS~Il to the l.~u.sr~. site 42.
According to one particular ~l~A.A~t~ ;c of the invention, a mixing bench 210 can be provided at the filling site, from which various coating s.~ AI~c~s of dirf~,.i"g colors are moved into the co..~;n- " which are mixed in advance, or are mixed in S the co,-lA;n--~, into the desired color tone. Furthermore, the CO~.IA;.~ can be rinsed at the filling site. It is also possible to l~ r e~-- - AI~ the coating m~t~riAl from not co~llylet ly e ~ l ;~1 cu- ~l A; ~e. .~ 28. The col ~ u ~ ~ can be ;,~.L.; e ~ to a quantity check and a yl~ u~ test; they can be shaken to agitate their cont-nt, and they can be positioned aulo~A~ A11Y with respect to the ~llAy~ ,;..e 204 and with respect to the 10 e~ ;..g filling devices.
Both the filling and yo~i~ible emptying and rinsing of the co,-l~in. .~ at the filling site 32, and also the loading of the conveyer 208 ~yl~ented as a cart) can take place mAmlA11y or All~ ..AI;.~ y.
As described above, the co.llA;~.P ~ 28 can be provided with mA~h;nr-readable 15 or visually readable iclentifir~tion data to identify their co~ , in~ iing paint type, filling date, etc. If several mAg~7inrs 204 are used, they are also provided with s~ ~A.AtP i~iPntifi~rs or Cl1A.A- r~ data to identify the CUI~IA;I1~ held therein.
Aecc3.~ g to the illl-~l.,.l;ol~, the ~ .r 204 can be removed with the COr-lA;n~ S 28 to be filled, from a reserve mAg~7inP supply 212, and moved from 20 there, e.g., by means of an aulo~ ic hAn iiin~ unit 216 or another conveyance device, or even m~nnAlly, to the pocitiollC nr~e~A. y for filling, emptying or rinsing.
~he reserve mAg~7in~ supply 212 can be located directly at the filling site 32, in a paint mixing room or at a remote site. The reserve ...AgA7;..e supply 212 can W~ 97~4707 PCTrUS97/04209 contain ~"~,,.,;"r.c 204 and/or single coo~ ... 28. They can be cornrlPtely or partially full, empty, used, or rinsed.
A reserve ll~a~7;llF supply with already filled co~ P,~. could also be provided. Fulll.--...nre, it is po~cihl~ to heat the l~S~.~/oil so that the coating S m~t~ iS first brought to an O~ Ull~ t~ e. In this case the co.. ~;.. are ~f~ably provided with thermal inn~ ti-n during their LlallS~vlL to the coating device 200.
The co..l;~ . 28 removed from the coating device at the ll~,sî~,. site 42 after use can be ~lalls~JulLGd first into the reserve ~ g~ F supply 212, as illustrated, before they are reused at the filling site 32. The m~7ine 204 used for transport into the reserve 111~ 7;i~P- supply 212 can be l~ulsyult~d on similar conveyors 208, as on the path to the coating device 200.
The entire u~_.dlin~, s~u~ e is llllsllilulcd and controlled, plGfeldbly by an ~ligninp and control system 218. This system ensures, in particular by using the 15 mPntionPd ~h~ t~ristic data, that all eYicting coating devices are supplied as quickly as possible and with the sm~ t possible m~t~n~l losses, with the coating m~t~ri:~l needed in the particular case.
The ~.n~ .... used according to this invention have numerous, inherently adv~nt~ge~us plupGl~ies. They are suitable for ll.e~Gl;ng, airtight and ~esign~d as ~ .7:1Ule vessels. They provide plote~l;oll against aging of the coating m~t~ i~l and act as llalls~ul~ cont~in~rs7 paint reservoirs and for decoupling of the coating devices from ring lines or other paint supply systems. They are portable, rinsable and reusable and they can be i-~ntifi~d in a simple manner. FulLh~.lllul~, they are easy to grasp and can be easily centered and locked into position.
Claims (25)
1. A method for supplying paint to a coating device comprising the steps of:
a) seizing a first container from a plurality of containers of paint on a transport assembly;
b) installing said first container into a paint spray system;
c) spraying said paint from said first container onto a workpiece;
d) removing said first container from said paint spray system;
e) returning said first container to said transport assembly;
f) filling said first container with paint while said first container is in said transport assembly;
g) seizing a second container from said plurality of containers; and h) installing said second container into said paint spray system.
a) seizing a first container from a plurality of containers of paint on a transport assembly;
b) installing said first container into a paint spray system;
c) spraying said paint from said first container onto a workpiece;
d) removing said first container from said paint spray system;
e) returning said first container to said transport assembly;
f) filling said first container with paint while said first container is in said transport assembly;
g) seizing a second container from said plurality of containers; and h) installing said second container into said paint spray system.
2. The method according to Claim 1 further including the steps of:
moving a color changer to a position adjacent said first container on said transport assembly, said color changer including a plurality of valves each connected to a supply line of different colors of paint;
connecting said color changer to said first container during said step f); and filling said first container with paint through one of said plurality of valves from said color changer.
moving a color changer to a position adjacent said first container on said transport assembly, said color changer including a plurality of valves each connected to a supply line of different colors of paint;
connecting said color changer to said first container during said step f); and filling said first container with paint through one of said plurality of valves from said color changer.
3. The method according to Claim 1 wherein said step g) is performed before said step d), and said step h) is performed before said step e).
4. The method according to Claim 1 wherein said container includes an axially moveable piston within said container, said step c) further including the steps of:
moving said piston axially; and measuring the movement of said piston to measure the volume of paint sprayed.
moving said piston axially; and measuring the movement of said piston to measure the volume of paint sprayed.
5. The method according to Claim 1 wherein said paint spray system includes a paint sprayer mounted on an outer end of a moveable spray arm, said spray arm including a housing having an opening, said steps b) and h) each including the step of inserting said container through said opening into said housing.
6. The method according to Claim 5 wherein said spray arm is moveable rotatably about a generally horizontal axis, said step c) performed while said spray arm is operating on a first side of said paint spray system, said steps b) and h) performed while said spray arm is rotated about said generally horizontal axis to an opposite side of said paint spray system.
7. The method according to Claim 1 wherein said step c) further includes the step of removing said paint from said first container through a first valve in said first container, said step f) further including the step of filling said first container through said first valve.
8. The method according to Claim 7 further including the step of aligning said first valve of said first container with a valve block disposed in said paint spray system.
9. The method according to Claim 8 wherein said step f) further includes the steps of:
rinsing said first container with a rinsing agent introduced into said first container through one of said first valve or a second valve in said first container; and simultaneously removing any remaining amount of said paint from said first container through the other of said first valve and said second valve.
rinsing said first container with a rinsing agent introduced into said first container through one of said first valve or a second valve in said first container; and simultaneously removing any remaining amount of said paint from said first container through the other of said first valve and said second valve.
10. The method according to Claim 1 wherein said transport assembly is a rotatable magazine rotating generally about a vertical axis, said containers disposed circumferentially about said vertical axis.
11. The method according to Claim 1 wherein said transport assembly is a conveyor rotating generally about a generally horizontal axis, said containers disposed circumferentially about said horizontal axis.
12. The method according to Claim 1 wherein said steps a) and d) each include the step of seizing a handle formed on said first container.
13. The method according to Claim 1 wherein a plurality of containers including said first container are disposed within a magazine, said step b) including the step of installing said magazine into said paint spray system.
14. A coating machine comprising:
a moveable arm having an axial inner end and an opposite axial outer end;
a spray device mounted on said outer end of said arm;
a piston rod disposed in said arm;
a meter operably connected to said piston rod, said meter indicating relative position of said piston rod; and a removable container removably mounted on said arm, said container including an axially moveable piston moveable from an axial inner end of said piston to an axial outer end of said piston, said piston rod engaging said piston, said meter indicating the relative position of said piston rod, said spray device determining the volume flow of paint through said spray device based upon a change in said relative position of said piston rod.
a moveable arm having an axial inner end and an opposite axial outer end;
a spray device mounted on said outer end of said arm;
a piston rod disposed in said arm;
a meter operably connected to said piston rod, said meter indicating relative position of said piston rod; and a removable container removably mounted on said arm, said container including an axially moveable piston moveable from an axial inner end of said piston to an axial outer end of said piston, said piston rod engaging said piston, said meter indicating the relative position of said piston rod, said spray device determining the volume flow of paint through said spray device based upon a change in said relative position of said piston rod.
15. The coating machine of Claim 14 wherein said arm further includes a housing having an axial outer end and opposite inner end, said housing having an opening located between said outer end and said inner end, said container insertable and removable through said opening in said housing.
16. The coating machine of Claim 14 wherein said arm further includes a valve block, said spray device in fluid communication with said valve block, said container further including a valve in commication with said valve block, paint being supplied to said spray device through said valve and said valve block.
17. A coating machine comprising:
a moveable arm including a housing having an axial outer end and opposite inner end, said housing having an opening located between said outer end and said inner end;
a spray device mounted on said outer end of said arm; and a container selectively insertable and removable through said opening in said housing.
a moveable arm including a housing having an axial outer end and opposite inner end, said housing having an opening located between said outer end and said inner end;
a spray device mounted on said outer end of said arm; and a container selectively insertable and removable through said opening in said housing.
18. The coating machine of Claim 17 wherein said arm is moveable rotatably about a generally horizontal axis, said container supplying paint to said spray device while said arm is in a first rotation position about said horizontal axis, said arm being rotated more than 90 degrees about said generally horizontal axis from said first rotation position to a second rotation position, said container being removed and inserted into said arm while said arm is in said second rotation position.
19. The coating machine of Claim 17 wherein said arm further includes a piston rod disposed in said arm, a meter operably connected to said piston rod, said meter indicating relative position of said piston rod, said container including an axially moveable piston moveable from an axial inner end of said piston to an axial outer end of said piston, said piston rod engaging said piston in said arm, said meter indicating the relative position of said piston rod, said spray device determining the volume flow of paint through said spray device based upon a change in said relative position of said piston rod.
20. The coating machine of Claim 17 wherein said arm further includes a valve block, said spray device in fluid communication with said valve block, said container further including a valve in commication with said valve block, paint being supplied to said spray device through said valve and said valve block.
21. A paint system comprising:
a transport assembly removably receiving a plurality of paint container;
a paint spray system including a moveable arm having a spray device mounted on an axial outer end of said arm, said spray device receiving paint from a first container of said plurality of paint containers;
a moveable paint filling device including a plurality of valves each connected to a supply line each supplying a different color paint, said filling device filling said plurality of paint containers with said different color paints while said containers are located in said transport assembly;
a movement assembly seizing said first container from said arm of said paint spray system after said spray device receives said paint from said first container, said movement assembly returning said first container to said transport assembly and seizing a second container from said plurality of containers, said movement assembly inserting said second container into said arm of said paint spray system, said paint filling device filling said first container with paint while said container is located in said transport assembly.
a transport assembly removably receiving a plurality of paint container;
a paint spray system including a moveable arm having a spray device mounted on an axial outer end of said arm, said spray device receiving paint from a first container of said plurality of paint containers;
a moveable paint filling device including a plurality of valves each connected to a supply line each supplying a different color paint, said filling device filling said plurality of paint containers with said different color paints while said containers are located in said transport assembly;
a movement assembly seizing said first container from said arm of said paint spray system after said spray device receives said paint from said first container, said movement assembly returning said first container to said transport assembly and seizing a second container from said plurality of containers, said movement assembly inserting said second container into said arm of said paint spray system, said paint filling device filling said first container with paint while said container is located in said transport assembly.
22. The paint system of Claim 21 wherein said moveable arm includes a housing having an axial outer end and opposite inner end, said housing having an opening located between said outer end and said inner end, said containers being insertable and removable into said arm through said opening.
23. The paint system of Claim 21 wherein said arm is moveable rotatably about a generally horizontal axis, said container supplying paint to said spray device while said arm is in a first rotation position about said horizontal axis, said arm being rotated more than 90 degrees about said generally horizontal axis from said first rotation position to a second rotation position, said container being removed and inserted into said arm while said arm is in said second rotation position.
24. The paint system of Claim 21 wherein said arm further includes a piston rod disposed in said arm, a meter operably connected to said piston rod, said meter indicating relative position of said piston rod, said container including an axially moveable piston moveable from an axial inner end of said piston to an axial outer end of said piston, said piston rod engaging said piston in said arm, said meter indicating the relative position of said piston rod, said spray device determining the volume flow of paint through said spray device based upon a change in said relative position of said piston rod.
25. The paint system of Claim 21 wherein said arm further includes a valve block, said spray device in fluid communication with said valve block, said container further including a valve in commication with said valve block, paint being supplied to said spray device through said valve and said valve block.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19610588A DE19610588B4 (en) | 1996-03-18 | 1996-03-18 | Coating machine with replaceable container |
| DE19610589A DE19610589A1 (en) | 1996-03-18 | 1996-03-18 | Process and system for supplying paint to a coating system |
| DE19610589.7 | 1996-03-18 | ||
| DE19610588.9 | 1996-03-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2248928A1 true CA2248928A1 (en) | 1997-09-25 |
Family
ID=26023902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2248928 Abandoned CA2248928A1 (en) | 1996-03-18 | 1997-03-18 | Paint system with color change canisters |
Country Status (3)
| Country | Link |
|---|---|
| AU (1) | AU2582997A (en) |
| CA (1) | CA2248928A1 (en) |
| WO (1) | WO1997034707A1 (en) |
Families Citing this family (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE220957T1 (en) | 1996-08-10 | 2002-08-15 | Du Pont | APPARATUS AND METHOD FOR PAINTING |
| EP1422170B1 (en) * | 1997-05-30 | 2006-07-26 | Hino Jidosha Kogyo Kabushiki Kaisha | Multi-color small amount painting system |
| DE19803638A1 (en) | 1998-02-02 | 1999-08-05 | Kuesters Eduard Maschf | Device for processing a material web with ultrasound |
| JP3299206B2 (en) * | 1998-12-18 | 2002-07-08 | エービービー株式会社 | Paint filling equipment for cartridges |
| JP3299205B2 (en) | 1998-12-18 | 2002-07-08 | エービービー株式会社 | Automatic coating method and apparatus |
| JP3263373B2 (en) | 1998-12-18 | 2002-03-04 | エービービー株式会社 | Automatic coating equipment |
| JP3306024B2 (en) * | 1999-05-06 | 2002-07-24 | エービービー株式会社 | Method and apparatus for filling paint for cartridge |
| JP3648134B2 (en) | 1999-07-13 | 2005-05-18 | Ａｂｂ株式会社 | Automatic painting equipment |
| DE19940542A1 (en) * | 1999-08-26 | 2001-03-01 | Abb Patent Gmbh | Method and arrangement for transporting electrically conductive paint |
| FR2815555B1 (en) * | 2000-10-19 | 2003-07-18 | Sames Technologies | DEVICE AND METHOD FOR POWERING PROJECTORS AND PROJECTION SYSTEM EQUIPPED WITH SUCH A DEVICE |
| US6945483B2 (en) | 2000-12-07 | 2005-09-20 | Fanuc Robotics North America, Inc. | Electrostatic painting apparatus with paint filling station and method for operating same |
| DE60232875D1 (en) * | 2001-05-16 | 2009-08-20 | Fanuc Robotics North America | POTENTIAL SEPARATION AND COLOR CHANGER FOR AN ANTIQUE COATING MATERIAL SPREADING ROTATIONAL SCRUBBERS |
| US20030175443A1 (en) * | 2002-03-14 | 2003-09-18 | Ghaffar Kazkaz | Method and apparatus for dispensing coating materials |
| DE102004059870B4 (en) | 2004-12-13 | 2011-06-22 | EISENMANN Anlagenbau GmbH & Co. KG, 71032 | Method and installation for coating objects |
| DE102007003489A1 (en) * | 2007-01-24 | 2008-07-31 | LacTec Gesellschaft für moderne Lackiertechnik mbH | painting equipment |
| CN101426587B (en) | 2007-02-06 | 2011-01-05 | Abb株式会社 | Coating system |
| JP4357552B2 (en) | 2007-08-31 | 2009-11-04 | トヨタ自動車株式会社 | Paint filling device |
| JP4812871B2 (en) | 2009-10-21 | 2011-11-09 | トヨタ自動車株式会社 | Paint filling device |
| JP4850944B2 (en) | 2009-10-21 | 2012-01-11 | トヨタ自動車株式会社 | Paint supply method |
| DE102011050208A1 (en) * | 2011-05-09 | 2012-11-15 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Agricultural spray system |
| DE102011050209A1 (en) * | 2011-05-09 | 2012-11-15 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Tracking system for an agricultural field spray system |
| IT201900023613A1 (en) | 2019-12-11 | 2021-06-11 | Geico Spa | Flexible painting system |
| DE102020105098A1 (en) | 2020-02-27 | 2021-09-02 | Bayerische Motoren Werke Aktiengesellschaft | Method for setting an application device for applying an application material |
| JP7392595B2 (en) | 2020-07-10 | 2023-12-06 | トヨタ自動車株式会社 | Painting system and method |
| CN114210479A (en) * | 2021-11-16 | 2022-03-22 | 丰汉电子(上海)有限公司 | Novel spraying system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4798341A (en) * | 1987-09-28 | 1989-01-17 | The Devilbiss Company | Spray gun for robot mounting |
| US5230739A (en) * | 1990-08-31 | 1993-07-27 | Honda Of America Manufacturing, Inc. | Controlled apparatus for painting vehicles |
| DE4107094A1 (en) * | 1991-03-06 | 1992-09-10 | Ransburg Gmbh | DEVICE FOR AUTOMATIC SPRAY COATING OF OBJECTS |
| US5217238A (en) * | 1991-05-09 | 1993-06-08 | Wagner Spray Tech Corporation | Convertible cart for paint sprayers |
| US5415352A (en) * | 1993-05-20 | 1995-05-16 | May; Michael W. | Spray system manifold apparatus and method |
-
1997
- 1997-03-18 AU AU25829/97A patent/AU2582997A/en not_active Abandoned
- 1997-03-18 CA CA 2248928 patent/CA2248928A1/en not_active Abandoned
- 1997-03-18 WO PCT/US1997/004209 patent/WO1997034707A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO1997034707A1 (en) | 1997-09-25 |
| AU2582997A (en) | 1997-10-10 |
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