DE19852079A1 - Image generating painting arrangement has controller with device that reacts to image information by actuating robot arm, dosing device to reproduce image on painted surface - Google Patents
Image generating painting arrangement has controller with device that reacts to image information by actuating robot arm, dosing device to reproduce image on painted surfaceInfo
- Publication number
- DE19852079A1 DE19852079A1 DE19852079A DE19852079A DE19852079A1 DE 19852079 A1 DE19852079 A1 DE 19852079A1 DE 19852079 A DE19852079 A DE 19852079A DE 19852079 A DE19852079 A DE 19852079A DE 19852079 A1 DE19852079 A1 DE 19852079A1
- Authority
- DE
- Germany
- Prior art keywords
- paint
- spray nozzle
- robot arm
- paint spray
- painted
- 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.)
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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
- 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
- B05B12/1409—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 the selection means being part of the discharge apparatus, e.g. part of the spray gun
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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
- B05B12/1418—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 for supplying several liquids or other fluent materials in selected proportions to a single spray outlet
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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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
- B05B7/02—Spray pistols; Apparatus for discharge
- B05B7/04—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge
- B05B7/0416—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge with arrangements for mixing one gas and one liquid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
Die Erfindung betrifft eine Lackiervorrichtung mit zumindest einer Lack sprühdüse, die an einem von einer Steuervorrichtung programmgesteuerten Roboterarm entlang zumindest zwei Koordinatenachsen über eine zu lackie rende Fläche bewegbar ist und deren Lackausgaberate durch eine von der Steuervorrichtung angesteuerte Lackdosiereinrichtung veränderlich ist. Die Erfindung betrifft ferner ein Lackierverfahren.The invention relates to a painting device with at least one paint spray nozzle on a program-controlled by a control device Robotic arm along at least two coordinate axes over one to paint Rende surface is movable and the paint discharge rate by one of the Control device controlled paint metering device is variable. The The invention further relates to a painting process.
Solche Vorrichtungen werden zum flächigen Lackieren etwa von Kraftfahr zeugkarosserien verwendet.Such devices are used for surface painting, for example by motorists bodywork used.
Ferner bekannt sind manuelle Anwendungen einer Spritzpistole, deren Lack- und Druckluftausgaberate jeweils manuell stufenlos einstellbar ist, zur Her stellung von Bildern (Airbrush-Technik).Also known are manual applications of a spray gun whose paint and compressed air output rate is continuously adjustable manually provision of images (airbrush technique).
Aufgabe der Erfindung ist es, eine programmgesteuerte Lackiervorrichtung anzugeben, welche zur Herstellung von Bildern geeignet ist.The object of the invention is a program-controlled painting device indicate which is suitable for the production of pictures.
Zur Lösung der Aufgabe wird vorgeschlagen, in einer Lackiervorrichtung der eingangs genannten Art die Steuervorrichtung mit einem auf Bilddaten an sprechenden Mittel zu versehen, das nach Maßgabe ihm zugeführter Bild daten den Roboterarm und die Lackdosiereinrichtung zum Erzeugen einer bildlichen Darstellung auf der zu lackierenden Fläche betätigt.To solve the problem, it is proposed in a painting device type mentioned the control device with an image data to provide speaking means, the image supplied to it data the robot arm and the paint metering device to generate a pictorial representation actuated on the surface to be painted.
Die Steuervorrichtung weist hier einen Bilddateneingang auf, über den von extern, etwa einem Computer, ggf. über dessen Druckerausgang, Bilddaten zugeführt werden, sowie einen Wandler zum Wandeln der Bilddaten in Be wegungsbefehle für den Roboterarm und in Steuerbefehle für die Lackdo siereinrichtung. Der Roboterarm bewegt sich auf der Basis der Bilddaten über die zu lackierende Oberfläche, während gleichzeitig die Lackausgabera te laufend in Abhängigkeit von den Bilddaten und der jeweiligen vom Robo terarm bestimmten Stellung der Lackdüse zur zu lackierenden Oberfläche geändert wird und hierbei allmählich ein den Bilddaten entsprechendes Bild entsteht. Dies kann bildpixelweise gerastert, zeilenweise oder nach einem das Bild geometrisch beschreibenden Algorithmus geschehen. Hierbei kann die Bewegungssteuerung des Roboterarms und die Lackdosiereinrichtung auf der Basis eines gemeinsamen elektrischen Taktsignals arbeiten. Die Lackdosiereinrichtung kann die Lackausgaberate im An/Aus-Modus, mehr stufig oder stufenlos steuern. Die Lackdosiereinrichtung kann ohne Druck luftzufuhr oder bei konstanter Druckluftzufuhr allein die Lackausgaberate ändern, etwa mit Hilfe eines Ventils, oder kann die Druckluftzufuhrrate durch ein Druckluftventil ändern, wobei der Lack durch den Sog des Druck luftstroms mitgenommen wird, oder kann sowohl die Lackzufuhrrate als auch die Druckluftzufuhrrate durch jeweilige separate Ventile ändern. Die Ventile können als im Tastverhältnis über die relative Einschaltdauer oder stromgesteuerte Magnetventile ausgeführt sein, oder auch als durch Schritt motoren angetriebene Stellventile. Die Lackzuführung kann auch durch Zahnradpumpen erfolgen.The control device here has an image data input via which external, such as a computer, possibly via its printer output, image data are supplied, as well as a converter for converting the image data into Be movement commands for the robot arm and control commands for the paint do siereinrichtung. The robot arm moves based on the image data over the surface to be painted, while at the same time the paint dispenser continuously depending on the image data and the respective Robo Terarm determined position of the paint nozzle to the surface to be painted is changed and gradually an image corresponding to the image data is changed arises. This can be screened pixel by pixel, line by line or after one the image geometrically descriptive algorithm happen. This can the motion control of the robot arm and the paint dosing device work on the basis of a common electrical clock signal. The Paint dosing device can increase the paint dispensing rate in on / off mode stepped or stepless control. The paint dosing device can be without pressure air supply or with a constant compressed air supply only the paint discharge rate change, such as with the help of a valve, or the compressed air supply rate change through a compressed air valve, the paint being sucked by the pressure airflow is taken, or both the paint feed rate as also change the compressed air supply rate using separate valves. The Valves can be in duty cycle over the relative duty cycle or current-controlled solenoid valves, or as a step motorized control valves. The paint feed can also be done by Gear pumps are made.
Zur Erzeugung eines einfarbigen Bilds auf einem andersfarbigen Untergrund genügt eine einzige Lacksprühdüse. Zur Erzeugung mehrfarbiger Bilder wer den mehrere Lacksprühdüsen für je eine Lackfarbe in einer Gruppe zusam mengefaßt. Hierbei können jeweils einer Lackfarbe bzw. -art zugeordnete Sprühdüsen mit eigener Lack/Luftzufuhr und Dosierung aneinander befestigt sein, so daß ihre jeweiligen Sprühstrahlen an einem einzigen Punkt zusam mentreffen. Hierbei lassen sich handelsübliche Airbrush-Sprühdüsen ver wenden, denen die Lack- und/oder Druckluftzufuhr durch eine im Gehäuse längsbeweglich geführte Ventilnadel sehr fein dosiert verändert werden kann.For creating a monochrome image on a different colored background a single paint spray nozzle is sufficient. To create multi-colored images which several paint spray nozzles for one paint color together in a group quantified. In this case, a paint color or type can be assigned Spray nozzles with their own paint / air supply and metering attached to each other be so that their respective sprays come together at a single point meeting. Commercially available airbrush spray nozzles can be used here contact the paint and / or compressed air supply through a in the housing longitudinally guided valve needle can be changed very finely dosed can.
Es besteht auch die Möglichkeit, einen gemeinsamen Sprühkopf mit einer einzigen Lacksprühdüse zu verwenden, der über eine gemeinsame Misch kammer von mehreren Lackzuführungen verschiedene Lackfarben zugeführt werden. Bevorzugt verläuft die Druckluftzuleitung zur Mischkammer koaxial zur Mischkammer und koaxial zum Lackstrahl, und die Lackzuleitungen sind im Kreis um die Druckluftzuführung herum angeordnet, wodurch die Lack zuleitungen gleich kurz ausgeführt werden können. Die zugeordneten Venti le können außerhalb des gemeinsamen Sprühkopfs angeordnet sein oder in den Sprühkopf integriert sein, um den Weg zwischen Ventil und Mischkam mer die Ansprechzeit verkürzend zu minimieren.There is also the option of using a common spray head with a single paint spray nozzle to use, which has a common mixing Chamber of several paint feeders fed different paint colors become. The compressed air supply line to the mixing chamber preferably runs coaxially to the mixing chamber and coaxial to the paint jet, and the paint feed lines are arranged in a circle around the compressed air supply, causing the paint supply lines can be short. The assigned venti le can be arranged outside of the common spray head or in the spray head to be integrated the way between the valve and the mixer to minimize the response time.
Sollen nur ebene Flächen, wie etwa LKW-Aufbauten oder Hauswände, lac kiert werden, kann es genügen, die zu lackierende Fläche mittels einer Hal terung starr relativ zur ortsfesten Basis des Roboters zu fixieren und die Lacksprühdüse am Roboter einstellbar starr zu fixieren.If only flat surfaces, such as truck bodies or house walls, are lac be coated, it may be sufficient to use a Hal to paint the surface fixation rigidly relative to the fixed base of the robot and the Fix the paint spray nozzle rigidly on the robot.
Zur Lackierung dreidimensional zylindrisch oder sphärisch gekrümmter Flä chen, etwa von KFZ-Karosserien, Motorradtanks oder dergleichen, ist die Lacksprühdüse am Ende des Roboterarms zumindest über zwei Achsen über Stellglieder beweglich angebracht, derart, daß der Lacksprühwinkel zum momentan lackierten Flächenbereich zur Verbesserung der Bildschärfe kon stant, insbesondere orthogonal hierzu, gehalten werden kann.For painting three-dimensional cylindrical or spherically curved surfaces Chen, such as car bodies, motorcycle tanks or the like, is Paint spray nozzle at the end of the robot arm over at least two axes Actuators attached movably, such that the paint spray angle to currently painted surface area to improve image sharpness con can be kept constant, in particular orthogonal to this.
Um den Abstand der Sprühdüse zur Fläche und den Sprühwinkel konstant halten zu können, können am Sprühkopf um den Sprühstrahl mit Umfangs abstand verteilt mehrere, zumindest drei, etwa optisch oder akustisch wir kende Abstandssensoren angeordnet sein, deren Ausgänge mit der gemein samen Steuereinrichtung verbunden sind, um die Bewegung des Roboters und der den Sprühkopf bewegenden Stellglieder entsprechend nachzure geln.Constant around the distance of the spray nozzle to the surface and the spray angle To be able to hold the spray head around the spray jet with circumference distance distributed several, at least three, for example optically or acoustically kende distance sensors may be arranged, the outputs of which are common to the same control device are connected to the movement of the robot and the actuators moving the spray head accordingly apply.
Je nach Anwendungsfall sind statt Druckluft auch andere Gase und Gasge mische verwendbar.Depending on the application, other gases and gas are instead of compressed air mix usable.
Soll ein mehrfarbiges Bild erzeugt werden, wählt man, je nach der Unter grundfarbe, bevorzugt die Grundfarben Rot, Blau und Gelb, aus denen sich auch andere Farben und beliebige Abtönungen mischen lassen. Eine weitere Sprühdüse für die Farbe Weiß ermöglicht auch Pastelltöne. Die Farbe Schwarz erhält man entweder durch das Mischen der Farben Rot, Blau und Gelb bei voll geöffneten Sprühdüsen oder unter Verwendung einer zusätzli chen Sprühdüse für Schwarz. Die Farbintensität läßt sich beeinflussen durch die Öffnungsweite des jeweiligen Farbventils, die jeweilige Druckluft zufuhrrate sowie die Bewegungsgeschwindigkeit der Sprühdüse über die zu lackierende Fläche. Je größer der Abstand der Sprühdüse von der zu lackie renden Oberfläche ist, desto breiter und heller wird der Farbauftrag, und es lassen sich auch relativ große Flächen vergleichsweise schnell lackieren, allerdings mit geringerer Bildschärfe. Zur Herstellung größerer Bilder verwen det man größere Sprühdüsen als für kleinere Bilder. Bevorzugt werden zur Erzeugung eines Bilds Düsengröße, Düsenabstand von der zu lackierenden Fläche, Sprühdauer einer zu lackierenden Flächeneinheit und Luftzufuhr konstant gehalten, während die jeweilige Lackzufuhr zur Sprühdüse oder zu den Sprühdüsen bildgebend variiert wird.If a multicolored image is to be created, one chooses, depending on the sub primary color, prefers the primary colors red, blue and yellow, which make up let other colors and any tints mix. Another Spray nozzle for the color white also enables pastel shades. The color Black is obtained either by mixing the colors red, blue and Yellow when the spray nozzles are fully open or using an additional Chen spray nozzle for black. The color intensity can be influenced through the opening width of the respective color valve, the respective compressed air feed rate and the speed of movement of the spray nozzle over the painting surface. The greater the distance between the spray nozzle and the paint surface, the wider and brighter the paint application, and it relatively large areas can be painted relatively quickly, however with less sharpness. Use to make larger pictures you can use larger spray nozzles than for smaller pictures. Are preferred for Creation of an image nozzle size, nozzle distance from the to be painted Area, spraying time of a surface unit to be painted and air supply kept constant while the respective paint supply to the spray nozzle or the spray nozzles are varied imaging.
Nachfolgend werden bevorzugte Ausführungen der Erfindung anhand der beigefügten Zeichnungen erläutert.Preferred embodiments of the invention are described below with reference to attached drawings explained.
Fig. 1 zeigt ein Schema einer bildgebenden Lackiervorrichtung; Fig. 1 shows a schematic of an imaging painting device;
Fig. 2 zeigt einen Längsschnitt durch einen Sprühkopf einer ersten Ausfüh rung und Fig. 2 shows a longitudinal section through a spray head of a first embodiment and
Fig. 3 zeigt einen Längsschnitt durch einen Sprühkopf einer zweiten Aus führung. Fig. 3 shows a longitudinal section through a spray head from a second implementation.
Ein mehrachsig beweglicher Roboterarm 1 trägt an seinem freien bewegli chen Ende einen Lacksprühkopf 3 zum Lackieren einer flachen oder beliebig gewölbten Fläche 5. Der Roboterarm 1 umfaßt hier, ausgehend von einem ortsfesten Sockel 7, ein am Sockel 7 um die Hochachse drehbares Grund element 9, an dem ein unteres Armglied 11 um eine Horizontalachse schwenkbar gelagert ist. Das obere freie Ende des Armglieds 11 trägt um eine weitere Horizontalachse drehbar ein oberes Armglied 13, dessen freies Oberende über einen Mehrgelenkkopf oder Kreuzkopf 15 mit horizontaler und vertikaler Schwenkachse, und ggf. auch längsverschiebbar, den Sprüh kopf 3 trägt. Der Roboterarm kann je nach Anwendungsfall auch weniger oder mehr Gelenke und Freiheitsgrade und zugeordnete Verstelleinrichtun gen aufweisen. Die Bewegungen der einzelnen Roboterteile zueinander er folgt durch nicht dargestellte Stellmotoren, die von einer gemeinsamen Steuereinheit 17 angesteuert werden. Die Stellmotoren können etwa mittels Harmonic-drive-Getrieben untersetzte Schrittmotoren sein.A multi-axis movable robot arm 1 carries at its free movable end a paint spray head 3 for painting a flat or curved surface 5 . The robot arm 1 here comprises, starting from a stationary base 7 , a base element 9 rotatable on the base 7 about the vertical axis, on which a lower arm member 11 is pivotally mounted about a horizontal axis. The upper free end of the arm member 11 rotates about a further horizontal axis, an upper arm member 13 , the free upper end of a multi-joint head or cross head 15 with horizontal and vertical pivot axis, and possibly also longitudinally displaceable, carries the spray head 3 . Depending on the application, the robot arm can also have fewer or more joints and degrees of freedom and associated adjustment devices. The movements of the individual robot parts to one another are followed by servomotors, not shown, which are controlled by a common control unit 17 . The servomotors can be stepper motors that are geared down by means of harmonic drive gears.
Der Sprühkopf 3 ist mit mehreren Farbzufuhrleitungen 19-22 für unter schiedliche Lacke aus jeweils zugeordneten Lackbehältern 23-26 verbun den. Die Lackzufuhr erfolgt durch Schwerkraft oder nicht gezeigte Förder pumpen. Ferner vorgesehen ist eine Druckluftzuleitung 27 für Druckluft zum Fördern und Zerstäuben des den Sprühkopf verlassenden Lacks. In den Lack- und Druckluftzufuhrleitungen sind elektrisch betriebene, stufenlos oder feinstufig einstellbare Drosselventile 29, 30 bzw. 31 enthalten, ins besondere fein dosierbare Nadelventile, die über Steuerleitungen 33-36 bzw. 37 von der Steuereinheit 17 angesteuert werden.The spray head 3 is connected to a plurality of paint supply lines 19-22 for under different paints from respectively assigned paint containers 23-26 . The paint is supplied by gravity or feed pumps, not shown. Also provided is a compressed air supply line 27 for compressed air for conveying and atomizing the paint leaving the spray head. The paint and compressed air supply lines contain electrically operated, continuously or finely adjustable throttle valves 29 , 30 and 31 , in particular finely metered needle valves, which are controlled by control unit 17 via control lines 33-36 and 37 .
Die Ventile 29-31 können von Schrittmotoren angetrieben sein oder durch über die relative Einschaltdauer tastverhältnisgesteuerte Elektromagnete angetrieben sein.The valves 29-31 can be driven by stepper motors or driven by electromagnets controlled by the duty cycle.
Fig. 2 zeigt eine erste Ausführung eines Sprühkopfs 3A zur Befestigung an dem Mehrgelenkkopf 15. In einem Gehäuseblock 39 münden ringförmig angeordnet die Lackzuführungen 19-22 sowie eine zentrale gemeinsame, zum Sprühstrahl S koaxiale Druckluftzufuhrleitung 27, die alle in einem zen tralen Mischraum 41 münden. Von dort gelangt das in dem Mischraum 41 erzeugte Lack/Luftgemisch durch einen Düsenkanal 43 einer Sprühdüse 44 ins Freie und von dort auf die zu lackierende Fläche 5. Die Ventile 23-30 können außerhalb oder innerhalb des Gehäuseblocks 39 angeordnet sein. Im Hinblick auf die schnelle Ansprechzeit sollte der jeweilige Weg zwischen Ventil und Mischkammer 41 so kurz wie möglich sein. Fig. 2 shows a first embodiment of a spray head 3 A for attachment to the multi-joint head 15 . In a housing block 39 , the paint feeds 19-22 and a central common compressed air supply line 27 coaxial to the spray jet S open, all of which open into a central mixing space 41 . From there, the paint / air mixture generated in the mixing space 41 reaches the outside through a nozzle channel 43 of a spray nozzle 44 and from there onto the surface 5 to be painted. The valves 23-30 can be arranged outside or inside the housing block 39 . In view of the fast response time, the respective path between valve and mixing chamber 41 should be as short as possible.
Rings um den Sprühstrahl S herum sind mit Umfangsabstand zumindest drei optische oder akustische Abstandssensoren 45, 47 angeordnet, welche den jeweiligen Abstand zur zu lackierenden Fläche 5 erfassen und mit der zen tralen Steuervorrichtung 17 über zugeordnete Leitungen 49-51 gekoppelt sind.Around the spray jet S are arranged at a circumferential distance at least three optical or acoustic distance sensors 45 , 47 which detect the respective distance from the surface 5 to be painted and are coupled to the central control device 17 via associated lines 49-51 .
Zum Betrieb werden der Steuervorrichtung 17 etwa aus einem Computer über eine Bildsignalleitung 53 Bildsignaldaten zugeführt, welche ein in Pixel aufgelöstes Farbbild beschreiben. Die Steuervorrichtung enthält einen Wandler zum Wandeln dieser Bilddaten in Steuersignale zum Antrieb cles Roboters und der Lack- bzw. Luftventile 29-30 derart, daß der Roboter den Sprühkopf 3A zeilenweise über die zu lackierende Fläche bewegt und die Sprühdüse 44 pixelweise aufgelöst die einzelnen Farben gleichzeitig gemischt oder zeitversetzt ausgibt. Gleichzeitig wird mittels der Abstands sensoren 45-47 und einer Rückkopplungsschleife auf die Stellmotoren des Roboterarms und des Mehrgelenkkopfs 15 der Abstand des Sprühkopfs 39 zur zu lackierenden Fläche 5 konstant gehalten. Ferner ermittelt die Steuer einrichtung aus den einzelnen Signalen der Abstandssensoren den Winkel zwischen Sprühstrahl und zu lackierender Fläche 5 und regelt die Bewegung des Roboterarms 1 und des Mehrgelenkkopfes derart, daß der Sprühwinkel α im wesentlichen konstant bleibt. Die Steuervorrichtung 17 kann auch in dem die Bilddaten liefernden Computer integriert sein.For operation, the control device 17 is supplied, for example from a computer, via an image signal line 53 with image signal data which describe a color image resolved in pixels. The control device contains a converter for converting this image data into control signals for driving the robot and the paint or air valves 29-30 such that the robot moves the spray head 3 A line by line over the area to be painted and the spray nozzle 44 resolves the individual colors pixel by pixel outputs mixed or delayed at the same time. At the same time, the distance from the spray head 39 to the surface 5 to be painted 5 is kept constant by means of the distance sensors 45-47 and a feedback loop on the servomotors of the robot arm and the multi-joint head 15 . Furthermore, the control device determines the angle between the spray jet and the surface to be painted 5 from the individual signals of the distance sensors and controls the movement of the robot arm 1 and the multi-joint head such that the spray angle α remains substantially constant. The control device 17 can also be integrated in the computer providing the image data.
Fig. 3 zeigt eine weitere Ausführungsform des Sprühkopfs 3B, bei dem mehrere, etwa vier oder fünf, je einer Farbe zugeordnete Sprühdüsen 101-103 mit jeweils eigener Lack- und Luftzufuhr 33, 27 (hier vereinfacht nur für die untere Sprühdüse 101 dargestellt) im Kreis herum angeordnet sind, derart, daß ihre jeweiligen Sprühstrahlen S, S sich an einem einzigen Punkt treffen. Die Sprühdüsen 101-103, etwa handelsübliche, normalerweise von Hand zu haltende und zu bedienende Airbrush-Sprühdüsen, sind iiber Gelenke 105-107 an einem gemeinsamen Trägergestell 110 justierbar be festigt. Die Sprühdüsen können auch parallel zueinander angeordnet sein, zur Herstellung einer Bildpunktmatrix. Fig. 3 shows a further embodiment of the spray head 3 B, in which a plurality, such as four or five, one color associated spray nozzles 101-103 each with its own paint and air supply 33, 27 (here simplified shown only for the lower spray nozzle 101) are arranged in a circle such that their respective sprays S, S meet at a single point. The spray nozzles 101-103 , such as commercially available airbrush spray nozzles that are normally to be held and operated by hand, are fastened via joints 105-107 to a common support frame 110 in an adjustable manner. The spray nozzles can also be arranged parallel to one another to produce a pixel matrix.
Neben dem Sprühkopf 3 kann eine Videokamera (nicht gezeigt) angebracht sein, welche auf den momentan oder den zuletzt lackierten Bereich gerich tet und mit der Steuervorrichtung 17 verbunden ist. Die Steuervorrichtung 17 vergleicht das von der Videokamera aufgenommene Bild mit den über die Leitung 53 zugeführten Bilddaten und korrigiert den Betrieb des Sprüh kopfs oder/und des Roboterarms derart, daß das von der Videokamera auf genommene Bild mit den Bilddaten möglichst genau übereinstimmt.In addition to the spray head 3 , a video camera (not shown) can be attached, which is directed towards the currently or last painted area and is connected to the control device 17 . The control device 17 compares the image recorded by the video camera with the image data supplied via line 53 and corrects the operation of the spray head or / and the robot arm such that the image recorded by the video camera matches the image data as closely as possible.
Als Lacke kommen sämtliche sprühfähige Lacke, insbesondere glänzende, matte, metallic-Effekt erzeugende, lösungsmittelhaltige oder lösungsmittel arme, elektrisch neutrale oder elektrostatische geladene Lacke und Farben in Frage.All sprayable paints, in particular glossy, matt, metallic effect, solvent-based or solvent poor, electrically neutral or electrostatically charged lacquers and paints in question.
Claims (25)
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DE19852079A DE19852079A1 (en) | 1998-11-11 | 1998-11-11 | Image generating painting arrangement has controller with device that reacts to image information by actuating robot arm, dosing device to reproduce image on painted surface |
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DE19852079A DE19852079A1 (en) | 1998-11-11 | 1998-11-11 | Image generating painting arrangement has controller with device that reacts to image information by actuating robot arm, dosing device to reproduce image on painted surface |
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DE19852079A Withdrawn DE19852079A1 (en) | 1998-11-11 | 1998-11-11 | Image generating painting arrangement has controller with device that reacts to image information by actuating robot arm, dosing device to reproduce image on painted surface |
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DE (1) | DE19852079A1 (en) |
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