EP0288877B1 - Système de commande pour pulvérisateur commandé par un programme - Google Patents

Système de commande pour pulvérisateur commandé par un programme Download PDF

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Publication number
EP0288877B1
EP0288877B1 EP88106215A EP88106215A EP0288877B1 EP 0288877 B1 EP0288877 B1 EP 0288877B1 EP 88106215 A EP88106215 A EP 88106215A EP 88106215 A EP88106215 A EP 88106215A EP 0288877 B1 EP0288877 B1 EP 0288877B1
Authority
EP
European Patent Office
Prior art keywords
valve
time
fnv
control system
main valve
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.)
Expired - Lifetime
Application number
EP88106215A
Other languages
German (de)
English (en)
Other versions
EP0288877A2 (fr
EP0288877A3 (en
Inventor
Kurt Dipl.-Ing. Vetter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mahle Behr Industry GmbH and Co KG
Original Assignee
Behr Industrieanlagen GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Behr Industrieanlagen GmbH and Co KG filed Critical Behr Industrieanlagen GmbH and Co KG
Publication of EP0288877A2 publication Critical patent/EP0288877A2/fr
Publication of EP0288877A3 publication Critical patent/EP0288877A3/de
Application granted granted Critical
Publication of EP0288877B1 publication Critical patent/EP0288877B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/85954—Closed circulating system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/85978—With pump
    • Y10T137/86171—With pump bypass
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/86389—Programmer or timer
    • Y10T137/86445—Plural, sequential, valve actuations
    • Y10T137/86461—Variable cycle

Definitions

  • the invention relates to a control system according to the preamble of claim 1 (EP-A-0 166 092).
  • a program-controlled spraying device such as, in particular, a painting robot
  • the maximum traversing speed of the robot can e.g. 1500 mm / s.
  • the color beam should be able to be switched with an accuracy of ⁇ 5 mm on a straight line traversed at this speed. No time delays greater than 3 ms may occur in the transmission link. In practice, however, this tolerance is exceeded.
  • the robot controller therefore outputs the control signals for the color needle valve earlier by a certain lead time, which is predefined depending on the speed of the robot.
  • the paint supply of the paint needle valve usually takes place via lines containing a gear pump or the like with a feedback circuit leading from its outlet to the input, which should ensure that the correct operating pressure is always present at the outlet of the pump even when the paint needle valve is closed consequently, it does not have to be built up when the ink needle valve is opened.
  • the feedback circuit has previously contained a valve which was automatically opened by the ink line pressure arising when the ink needle valve was closed and, accordingly, had to close again automatically when the ink needle valve was opened. This could result in undesirable pressure fluctuations, which can also affect the accuracy of the ink jet on the body to be coated.
  • the valves controlled by color printing respond differently depending on the respective rheological properties (i.e. the flow behavior) of the paint material used.
  • the invention has for its object to provide a control system which enables a more precise ink jet control of the spray device than before and in particular also avoids undesirable pressure peaks in the paint supply system.
  • two parallel lines for different colors which can be selected by a color switching unit UE, are provided for the color needle valve FNV each contain a gear pump Z1 or Z2. Both gear pumps are constantly in operation even when the FNV paint needle valve is closed and operate at a predeterminable speed.
  • the paint needle is closed, the paint is diverted via a feedback loop, which can be opened and closed by a throttle valve DV1 or DV2.
  • the throttle valve DV1 or the throttle valve DV2 is closed when the color needle valve is open.
  • the color needle valve FNV and the two throttle valves are controlled by pneumatic valves PVFN, PV1 and PV2, which in turn can be controlled by electrical signals.
  • timing control unit shown schematically in FIG. 2, for example containing a microprocessor, which receives binary switch-on and switch-off commands FN for the color needle valve from the higher-level robot program control.
  • the time control unit ZST On the basis of the switch-on command FN, the time control unit ZST generates electrical switching signals FN ', D1 and D2 for switching the color needle valve FNV and the throttle valves DV1 and DV2 on and off at adjustable later times. These switching signals control the pneumatic valves PVFN, PV1 and PV2 shown in FIG. 1.
  • the timing control unit is also fed the feedback signal FNR, which is generated by the ink needle valve when it reaches its open position.
  • the timings of the signals mentioned are shown in FIG. 3.
  • the time control unit ZST receives the switch-on command FN at the time t0 from the robot program control and then generates the switch-on signal FN ′ for the color needle valve after the set waiting time up to the time t1.
  • the feedback signal FNR from the ink needle valve at time t2 generated.
  • the color flight time T6 After the color flight time T6, the color hits the body to be coated at time t 3.
  • the total time between t0 and t3 is the switch-on time (lead time) T0 of the color needle valve provided as a process parameter in the robot program.
  • the switch-off time T1 of the ink needle valve which is also required as a process parameter, can be seen. It is composed of the time between the disappearance of the higher-level switch-on command FN at the time t4 and the switching signal FN 'generated by the time control unit ZST' at the time t5, the switch-off delay time of the color needle valve, which is assumed here to be equal to the measured switch-on color needle time T8, and again the color flight time T6.
  • the coating of the body ends at time t6.
  • FIG. 3 also shows the switch-on and switch-off times T2 and T3 of the throttle valve DV1 and the switch-on and switch-off times T4 and T5 of the second throttle valve DV2, respectively, which show the times at which the switching signals D1 and D2 of the throttle valves are generated will and end. These times are set in the time control unit ZST so that in practice there are optimal pressure conditions in the paint supply hoses between the gear pumps Z1, Z2 (FIG. 1) and the paint needle valve FNV, and can be determined, for example, by appropriate test operation.
  • the throttle switching times lie before the color needle switching times. In other cases, however, it may prove necessary, for example due to different valve designs or line relationships, to switch the throttle valves at times after the paint needle valve. This case is in Fig. 4 shown, which corresponds to Fig. 3 and therefore requires no further explanation.
  • a particular problem can arise due to automatic changes in the actual ink needle time T8, for example based on changes in friction or wear, over the course of time. If the ink needle time T8 is shorter or longer than the value used when programming the robot and when setting the time control unit ZST, not only will there be more or less large coating errors on the body, but pressure errors may also occur in the line system because the switching times of the Throttle valves are no longer matched to the actual opening and closing times of the color needle valve.
  • the system described here is based on a theoretically calculated maximum permissible ink needle time T7, the duration of which must not be exceeded by the measured time T8.
  • the duration of T8 is shorter than T7, and so that the ink needle valve is opened at exactly the right time t 2 (FIG. 3), the time control unit switches on the ink needle valve by a time period corresponding to the difference dt later than when the theoretical ink needle time was used T7 would be the case.
  • the measured ink needle time T8 increases over time so that it can no longer be compensated for by reducing dt, i.e. the time period dt approach zero or become negative and the ink needle time T8 would be equal to or greater than T7, then an alarm signal AL is generated by the time control unit ZST and the ink needle valve is blocked while the throttle valves are opened at the same time. Before this happens, it is possible to first generate a warning signal W as soon as the measured value of the ink needle time T8 approaches a critical limit.
  • the within the compensation by the time period dt possible switch-on times t1 should not lie in the example of earlier throttle switching times shown in FIG. 3 before the expiry of a period max (T2, T4) after the time t0, which is the maximum possible switch-on time T2 or T4 Throttle valves DV1 and DV2 corresponds.
  • the maximum possible time span max (T3, T5) of the switching times of the throttle valves is taken into account when selecting the times t4 and t5.
  • the compensation time period dt can directly affect the Connect the point in time at which the switching command FN was generated by the program control, both when switching on and when switching off.
  • the possibly changing ink needle time T8 and the time period dt correspondingly adjusted by the time control unit for compensation can be continuously monitored by the operating personnel with the aid of a screen which can be connected via an interface SCHN to the control unit ZST shown in FIG. 2.
  • the required times can also be set and changed via this interface.
  • the pressure ratios between the gear pumps Z1 and Z2 and the paint needle valve FNV depend not only on the correct switching times of the paint needle valve and the valves in the feedback circuits of the gear pumps, but also on the rheological properties of the fluid supplied to the spraying device. So that this influence can be taken into account, the valves in the feedback circuits are preferably throttle valves which can not only be switched on and off, but are set to the most favorable pressure at the outlet of the feed pump by external control signals (not shown) can. When measuring the rheological properties of the delivered fluid, it is also possible to readjust the throttle valves in a closed control loop.
  • the invention is also suitable for spraying devices, which are supplied with a different fluid, such as e.g. Compressed air is supplied.

Landscapes

  • Spray Control Apparatus (AREA)

Claims (6)

  1. Système de commande pour un dispositif de projection commandé par programme, comportant une soupape principale (FNV), pouvant être mise en service et hors service automatiquement à des instants prédéterminés, du dispositif de projection pour un fluide qui est amené par au moins une conduite contenant une pompe de circulation (Z1, Z2), et comportant un circuit de recyclage allant de la sortie de la pompe de circulation (Z1, Z2) à son entrée, qui comprend une soupape (DV1, DV2) qui se ferme lors de l'ouverture de la soupape principale (FNV) et s'ouvre lors de la fermeture de la soupape principale, caractérisé en ce que la soupape (DV1, DV2) du circuit de recyclage de la pompe de circulation (Z1, Z2) est actionnée par des signaux de commande (D1, D2) appliqués par une unité de commande extérieure (ZST) à des instants prédéterminés qui sont accordés sur les instants de mise en service et hors service de la soupape principale (FNV) et peuvent être réglés.
  2. Système de commande selon la revendication 1, caractérisé en ce que la soupape (DV1, DV2) du circuit de recyclage est une soupape d'étranglement permettant de régler la pression à la sortie de la pompe de circulation (Z1, Z2), et en ce que la soupape d'étranglement (DV1, DV2) est commandée par l'unité de commande extérieure (ZST) en fonction des propriétés rhéologiques du fluide amené au dispositif de projection.
  3. Système de commande selon la revendication 1 ou 2, caractérisé en ce que les instants de commutation prédéterminés de la soupape principale (FNV) et/ou de la soupape d'étranglement (DV1, DV2) sont modifiés automatiquement en fonction des retards de réaction de l'unité de commande (ZST) mesurés lors du fonctionnement du dispositif de projection.
  4. Système de commande selon la revendication 3, caractérisé en ce que la soupape principale (FNV) comprend un dispositif de mesure pour mesurer la durée qui est nécessaire entre l'application d'un signal de commutation (FN') pour l'ouverture de la soupape principale (FNV) et l'instant (t₂) auquel la soupape est effectivement ouverte.
  5. Système de commande selon la revendication 4, caractérisé en ce que la soupape (FNV) engendre un signal d'annonce en retour (FNR) pour l'unité de commande (ZST), lorsqu'elle atteint sa position de pleine ouverture.
  6. Système de commande selon l'une des revendications précédentes, caractérisé en ce que les soupapes (DV1, DV2, FNV) sont commandées par des conduites de commande pneumatiques qui comprennent des soupapes de commutation (PV1, PV2) commandées électriquement.
EP88106215A 1987-04-27 1988-04-19 Système de commande pour pulvérisateur commandé par un programme Expired - Lifetime EP0288877B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19873714000 DE3714000A1 (de) 1987-04-27 1987-04-27 Steuersystem fuer eine programmgesteuerte spruehvorrichtung
DE3714000 1987-04-27

Publications (3)

Publication Number Publication Date
EP0288877A2 EP0288877A2 (fr) 1988-11-02
EP0288877A3 EP0288877A3 (en) 1989-10-11
EP0288877B1 true EP0288877B1 (fr) 1992-09-02

Family

ID=6326356

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88106215A Expired - Lifetime EP0288877B1 (fr) 1987-04-27 1988-04-19 Système de commande pour pulvérisateur commandé par un programme

Country Status (4)

Country Link
US (1) US4838311A (fr)
EP (1) EP0288877B1 (fr)
DE (2) DE3714000A1 (fr)
ES (1) ES2035135T3 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3822835A1 (de) * 1988-07-06 1990-03-08 Josef Schucker Verfahren und anordnung zum lackieren von werkstueckoberflaechen
WO1992008177A1 (fr) * 1990-10-30 1992-05-14 Gmf Robotics Corporation Procede de commande hybride et systeme de commande de l'ecoulement d'un materiau de recouvrement liquide
DE4135796A1 (de) * 1991-10-30 1993-05-06 Goetz-Ulrich London Gb Wittek Verfahren und vorrichtung fuer die ereignisbezogene oder szenengenaue duftdarbietung bei cinematographischen auffuehrungen und dergleichen
DE4318647A1 (de) * 1993-06-04 1994-12-08 Baldwin Gegenheimer Gmbh Flüssigkeits-Sprühvorrichtung, insbesondere für Druckmaschinen
JPH09314031A (ja) * 1996-05-30 1997-12-09 Honda Motor Co Ltd 塗装装置の洗浄方法
GB2383578B (en) * 1999-05-27 2003-10-08 Matthew James Harold Rawlings Sprayer controller and method
US6744488B2 (en) * 1999-12-07 2004-06-01 Jct Technologies, Llc Olfactory special effects system
JP5048906B2 (ja) 2000-06-19 2012-10-17 ロス オペレーティング バルブ カンパニー 本質的に安全なマイクロプロセッサー制御圧力調整器

Family Cites Families (12)

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Publication number Priority date Publication date Assignee Title
US2266354A (en) * 1939-03-22 1941-12-16 Binks Mfg Co Liquid material supply system
US2650003A (en) * 1948-03-08 1953-08-25 Coleman Clarence Buyer Drip arresting apparatus
US3521598A (en) * 1968-06-07 1970-07-21 Reynolds Metals Co Spray coating control apparatus
DE2542118A1 (de) * 1975-09-22 1977-03-31 Ley Maschf W Fluessigkeitsstrahler mit verdraengerpumpe, zweistufenventil und absperrbarer spruehlanze
US4061271A (en) * 1976-10-13 1977-12-06 Kimbrough Wade L Control system for high pressure hydraulic system
US4362124A (en) * 1978-05-02 1982-12-07 Ransburg Corporation Analog paint output control
US4197995A (en) * 1978-11-13 1980-04-15 Mccord Corporation Agricultural spraying assembly
DE2924264A1 (de) * 1979-06-15 1980-12-18 Wabco Steuerungstech Einrichtung zur einstellung des druckes eines druckmittels
US4327866A (en) * 1980-05-30 1982-05-04 Mason Claude C Differential pumping system
US4387850A (en) * 1980-12-29 1983-06-14 Modern Mill, Inc. Remote control apparatus for power washers
DE3423094A1 (de) * 1984-06-22 1986-01-02 J. Wagner Gmbh, 7990 Friedrichshafen Verfahren und vorrichtung zum einstellen eines durchflussmengen-steuerventils einer farbspritzpistole
DE8633673U1 (de) * 1986-12-17 1987-02-12 GEPOC Gesellschaft für Polymerchemie mbH & Co, 5161 Merzenich Einrichtung zum dosierten Ausspritzen viskoser Medien

Also Published As

Publication number Publication date
DE3714000A1 (de) 1988-11-10
US4838311A (en) 1989-06-13
DE3874191D1 (de) 1992-10-08
EP0288877A2 (fr) 1988-11-02
EP0288877A3 (en) 1989-10-11
ES2035135T3 (es) 1993-04-16

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