EP0796664A2 - Process and system for supply paint to a coating installation - Google Patents

Process and system for supply paint to a coating installation Download PDF

Info

Publication number
EP0796664A2
EP0796664A2 EP97104632A EP97104632A EP0796664A2 EP 0796664 A2 EP0796664 A2 EP 0796664A2 EP 97104632 A EP97104632 A EP 97104632A EP 97104632 A EP97104632 A EP 97104632A EP 0796664 A2 EP0796664 A2 EP 0796664A2
Authority
EP
European Patent Office
Prior art keywords
container
valve block
piston rod
opening
plant
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.)
Granted
Application number
EP97104632A
Other languages
German (de)
French (fr)
Other versions
EP0796664B1 (en
EP0796664A3 (en
Inventor
Kurt Dipl.-Ing. Vetter
Michael Dipl.-Ing. Baumann
Jürgen Dipl.-Ing. Haas
Thomas Dipl.-Ing. Hezel
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.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
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 Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP0796664A2 publication Critical patent/EP0796664A2/en
Publication of EP0796664A3 publication Critical patent/EP0796664A3/en
Application granted granted Critical
Publication of EP0796664B1 publication Critical patent/EP0796664B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a coating system according to the preamble of claim 1.
  • an exchangeable container for filling is coupled by the painting robot itself to the tapping points provided on the wall of the spray booth and is picked up from there again after filling. So that the container, the inlet and outlet openings of which are located in its cylindrical side wall, can be connected by the robot to the valve openings of the tapping points without too great difficulty, it must be arranged on the outside of the wrist of the robot or at least one movement element which is relative to the robot arm, which is usually only used for rough positioning, can be moved.
  • the automatic coupling process is nevertheless not easy, and there is a relatively high control outlay for the robot movements required for coupling. Furthermore, the dynamic movement behavior of the robot in the wrist area can be impaired by the container.
  • the aim of the invention is a coating system, the interchangeable container of which can be coupled to the valve unit of the spraying device easily and with little control effort.
  • a movable arm of the machine can be brought into a position in which an expedient handling device, which in particular performs a linear movement perpendicular to the receiving device, insert and remove the container.
  • the container can also be inserted by a handling device into the opening of a stationary housing or other system part.
  • the valve unit of the spraying device which is also provided inside the arm or housing part, and can be separated from it when it is removed. All supply and control lines leading to the spraying device can also run inside the machine or system.
  • the container In the operation of a painting robot, the container only has to follow the arm movements of the machine, but not the additional axis movements of the spray device. Furthermore, the container inside the arm or housing part can be easily insulated if it is connected to high voltage with electrostatic coating operation using conductive material. Good insulation possibilities arise especially when the arm or the housing part is made of an insulating material of sufficient length to insulate the spraying device and the container from earthed parts of the system.
  • a container designed as a metering cylinder with a displaceable piston inside the arm or housing part can be coupled very simply to an electromechanical control drive for metered emptying of the container.
  • a piston rod that remains in the system when the container is removed and can be coupled to the container used can be driven by an electric servo motor that is also installed in the system whose type can correspond, for example, to the motors provided in a coating machine for axis drive.
  • the arm 1 of a painting robot is shown. It consists essentially of an elongated housing 3, which is movably mounted at its right end in the drawing in a manner not shown and at its opposite end in a known manner carries additional additional movable members including a wrist or hand axis construction 2, on which the Spray device is arranged.
  • the necessary lines lead from the spray device (not shown in FIG. 1) to a valve block 4 which is permanently installed in the housing 3 at the end of the arm through the interior of the hand axis construction 2.
  • the housing 3 of the arm 1 is closed to the outside with the exception of an opening 6 located on one side of the arm, which is dimensioned so long and wide that a cylindrical container 8 in the position shown, in which its own longitudinal axis to that of the arm 1 is parallel, can be inserted through the opening 6 into an interior of the housing 3 located there and can be removed again after use.
  • the container 8 has in its end face facing the valve block 4 an outlet valve opening 10 which, when the container is emptied, is aligned with an inlet opening of the valve block 4 facing the front end of the container. The exact alignment is confirmed by on Valve block and centering means 12 provided at the container end are reached, which come into engagement with one another when the container 8 is axially pressed and coupled to the valve block 4.
  • a second valve opening located in the front end of the container 8 serves to fill, empty and / or rinse the container at a filling point remote from the system.
  • a pneumatic locking cylinder 30 is provided, the member of which can be pushed against the container is not shown in the drawing.
  • the container 8 is designed as a metering cylinder. It contains a metering piston 14 which can be displaced in the container to empty it and which, during or before the container is filled at the remote filling point, can be put into a position by an automatically controlled electromechanical drive mechanism in which it has a predetermined filling volume for that through one of the valve openings 10 filled coating material defined. In the example shown, this is the total container volume, but in other cases a volume can be set which, including a necessary reserve, is just sufficient for a predetermined coating process. When completely emptied, the metering piston 14 bears against the inner wall of the front end of the container 8, as shown at 14 '.
  • an opening 16 provided in the rear end of the container engages a piston rod 18, which is displaceably mounted in the housing 3 along its longitudinal axis, on the metering piston 14, which is not constantly connected to it, but remains in the housing 3 when the container is replaced.
  • the piston rod 18 is in turn driven by an electric servo motor 22 housed in an enlarged housing part 20 via a clutch 23, a belt or toothed gear 24, a spindle nut 26 guided at 25 and a spindle 28 mounted at 27.
  • an absolute encoder for the servo motor 22 and an inductive tachometer 29 are available.
  • the housing part 20 is closed by a cover 21.
  • the piston rod 18 is mounted in the pneumatic locking cylinder 30 which serves to lock the container.
  • a pneumatic stop sensor 32 is located in the end face of the piston rod 18 and generates a pneumatic signal when the piston rod 18 hits the metering piston 14.
  • the coating machine described here can work with any spray device.
  • an electrostatic spraying device in particular for spraying electrically conductive coating material, which can put the valve block 4 and the container 8, which is expediently made of pressure-resistant metal, at high voltage potential, adequate electrical insulation must be provided to the usually grounded metallic parts of the system.
  • the expanding housing part 20 can be made of aluminum.
  • the housing 3 of the robot arm 1 shown therefore consists of a mechanically stable plastic or other insulating material from the valve block 4 to the housing part 20.
  • the length of the insulating housing 3 is dimensioned such that the required insulating distance 33 results between the rear end of the expediently metallic locking cylinder 30 and the metallic housing part 20.
  • the piston rod 18 is also made of insulating material.
  • FIG. 2 schematically shows the supply system of an electrostatic spray device 35, which can be, for example, a rotary atomizer of a known type and is intended to spray the coating material from the container 8 mounted in the robot arm according to FIG. 1.
  • the main needle valve of the spray device 35 stands when the container is inserted and coupled 8 via a line HN and a color valve F contained in the control valve block 4 with the inlet opening 37 of the valve block and consequently the valve opening 10 of the container 8 in connection.
  • a detergent line V from which a line KS serving to rinse the atomizer bell while bypassing the main needle line HN is branched into the spray device 35, leads to the valve block 4.
  • line V the detergent consisting of thinner reaches the valve block 4 when necessary and in particular when changing colors into the line HN and to the spraying device.
  • Compressed air enters the valve block through a further line PL leading into the valve block 4 and to the spray device 35 through the line HN.
  • line RF which is also connected to the valve block 4 and in parallel to the spray device 35, through which in particular when changing colors non-sprayed coating material and detergent from the other lines, the control valve block and the spray device is passed into a collecting container S.
  • the lines described are located inside the movable system elements.
  • the lines can be at high voltage potential and are therefore designed to be insulating in the further course.
  • the need for electrical insulation is eliminated if, for example, an air atomizer 35 'is connected to the control valve block and the line RF instead of the electrostatic spraying device.
  • the container 8 is filled at a location remote from the coating machine and is preferably transported outside the usual spray booth by a transport system, as described in DE patent application 196 10 589.7 from March 18, 1996, to a container change point, where it is moved from a Handling device gripped and along a linear movement path, for example, through an opening in the cabin wall into the opening 16 of the housing 3 of the one shown in FIG. 1 Armes 1 can be used.
  • the container 8 can, for example, be provided on one side with a handle 38 (FIG. 1), on which it is gripped by a gripper 39 of the handling device mentioned.
  • the pressing and coupling to the valve block 4 takes place automatically.
  • the container is removed from the arm 1 by the handling device, which at the same time inserts a new container filled with the same or a different color as required, if it is not more expedient to use separate devices for inserting and removing.
  • the invention is not limited to the described example of a painting robot, but can also be used with any other mechanical or manual coating devices.
  • the containers are typically used in an opening of an otherwise closed stationary housing or other system part, where they can then be coupled in the manner described with reference to FIGS. 1 and 2.
  • An expedient method consists, for example, of feeding the containers in transportable magazines, from which they are removed for transfer and insertion into the opening of the system part, and into which they can be reinserted for removal after use and removal from the opening.
  • the containers 8 used themselves have numerous advantageous properties. They are suitable for dosing, can be airtight and designed as pressure vessels, offer protection against aging of the coating material, serve as transport containers, ink storage and for decoupling the coating device from ring lines or other ink supply systems, are location-independent, flushable and reusable and can be used easily Characteristics to identify their content or other important circumstances such as of the filling date. Furthermore, they are easy to grip and easy to center and lock when coupling.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
  • Electrostatic Spraying Apparatus (AREA)
  • Compressor (AREA)
  • Nozzles (AREA)

Abstract

The coating unit comprises an exchangeable container (8) which is fitted inside a part of the unit, and is accessible from outside through an opening (16) in the part. The container is coupled to a valve block (4), which in turn is connected to the spray device. The part contains a pneumatic locking cylinder, to press the container against the valve block. The container is formed as a dosing cylinder, and has a sliding piston (14) at one end. This moves towards the valve outlet (10) to eject the paint. The piston rod (18) is driven by an electric servo motor (22). The piston rod end facing the container has a stop sensor (32).

Description

Die Erfindung betrifft eine Beschichtungsanlage gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a coating system according to the preamble of claim 1.

Bei einem aus der EP-PS 0 274 322 bekannten Lackierroboter wird ein auswechselbarer Behälter zum Befüllen vom Lackierroboter selbst an an der Wand der Sprühkabine vorgesehene Zapfstellen angekoppelt und von dort nach dem Befüllen wieder abgeholt. Damit der Behälter, dessen Ein- und Auslaßöffnungen sich in seiner zylindrischen Seitenwand befinden, vom Roboter ohne zu große Schwierigkeiten an die Ventilöffnungen der Zapfstellen angeschlossen werden kann, muß er an der Außenseite des Handgelenks des Roboters oder wenigstens eines Bewegungsgliedes angeordnet sein, das relativ zu dem üblicherweise nur zur groben Positionierung dienenden Roboterarm bewegbar ist. Der automatische Ankoppelvorgang ist dennoch nicht einfach, und es ergibt sich relativ hoher Steueraufwand für die zum Ankoppeln notwendigen Roboterbewegungen. Ferner kann durch den Behälter das dynamische Bewegungsverhalten des Roboters im Handgelenkbereich beeinträchtigt werden. Außerdem ergeben sich Isolationsprobleme bei elektrostatischen Sprühvorrichtungen, insbesondere bei Verwendung der leitfähigen Wasserlacke. Weiterhin ist beim Beschichtungsbetrieb nur ein Entleeren des Behälters durch Druckluft vorgesehen, mit der ein Kolben oder eine Membran im Behälter betätigt werden kann, nicht aber eine in manchen Fällen gewünschte mechanische Dosiersteuerung.In the case of a painting robot known from EP-PS 0 274 322, an exchangeable container for filling is coupled by the painting robot itself to the tapping points provided on the wall of the spray booth and is picked up from there again after filling. So that the container, the inlet and outlet openings of which are located in its cylindrical side wall, can be connected by the robot to the valve openings of the tapping points without too great difficulty, it must be arranged on the outside of the wrist of the robot or at least one movement element which is relative to the robot arm, which is usually only used for rough positioning, can be moved. The automatic coupling process is nevertheless not easy, and there is a relatively high control outlay for the robot movements required for coupling. Furthermore, the dynamic movement behavior of the robot in the wrist area can be impaired by the container. There are also insulation problems with electrostatic spraying devices, especially when using the conductive water-based paints. Furthermore, in the coating operation, only an emptying of the container by means of compressed air is provided, with which a piston or a membrane in the container can be actuated, but not a mechanical metering control that is desired in some cases.

Ziel der Erfindung ist eine Beschichtungsanlage, deren auswechselbarer Behälter einfach und mit geringem Steueraufwand an die Ventileinheit der Sprühvorrichtung angekuppelt werden kann.The aim of the invention is a coating system, the interchangeable container of which can be coupled to the valve unit of the spraying device easily and with little control effort.

Diese Aufgabe wird durch die im Anspruch 1 gekennzeichnete Anlage gelöst.This object is achieved by the system characterized in claim 1.

Die hier beschriebene Anlage soll den Behälter nicht selbst in die Befüllposition bringen. Zum Auswechseln des Behälters kann im Fall einer maschinellen Beschichtungsvorrichtung beispielsweise ein bewegbarer Arm der Maschine in eine Position gebracht werden, in der eine zweckmäßige Handhabungsvorrichtung, die insbesondere eine Linearbewegung senkrecht zu der Aufnahmevorrichtung ausführt, den Behälter einsetzen und entnehmen. Statt dessen kann der Behälter auch von einer Handhabungsvorrichtung in die Öffnung eines ortsfesten Gehäuse- oder sonstigen Anlagenteils eingesetzt werden. Beim Einsetzen des Behälters mit der Handhabungsvorrichtung kann er sehr einfach an die ebenfalls im Inneren des Armes oder Gehäuseteils vorgesehene Ventileinheit der Sprühvorrichtung angeschlossen und beim Entnehmen von ihr getrennt werden. Auch alle zu der Sprühvorrichtung führenden Versorgungs- und Steuerleitungen können im Inneren der Maschine oder Anlage verlaufen.The system described here should not bring the container into the filling position itself. To replace the container, in the case of a machine coating device, for example, a movable arm of the machine can be brought into a position in which an expedient handling device, which in particular performs a linear movement perpendicular to the receiving device, insert and remove the container. Instead, the container can also be inserted by a handling device into the opening of a stationary housing or other system part. When inserting the container with the handling device, it can be very easily connected to the valve unit of the spraying device, which is also provided inside the arm or housing part, and can be separated from it when it is removed. All supply and control lines leading to the spraying device can also run inside the machine or system.

Im Betrieb eines Lackierroboters muß der Behälter nur die Armbewegungen der Maschine mitmachen, nicht aber die zusätzlichen Achsenbewegungen der Sprühvorrichtung. Ferner ist der Behälter im Inneren des Armes oder Gehäuseteils gut isolierbar, wenn er bei elektrostatischem Beschichtungsbetrieb mit leitfähigem Material auf Hochspannung gelegt wird. Gute Isoliermöglichkeiten ergeben sich vor allem dann, wenn der Arm oder das Gehäuseteil über eine zur Isolierung der Sprühvorrichtung und des Behälters von geerdeten Teilen der Anlage ausreichende Länge aus isolierendem Werkstoff besteht.In the operation of a painting robot, the container only has to follow the arm movements of the machine, but not the additional axis movements of the spray device. Furthermore, the container inside the arm or housing part can be easily insulated if it is connected to high voltage with electrostatic coating operation using conductive material. Good insulation possibilities arise especially when the arm or the housing part is made of an insulating material of sufficient length to insulate the spraying device and the container from earthed parts of the system.

Ein weiterer Vorteil der Erfindung besteht darin, daß ein als Dosierzylinder mit einem verschiebbaren Kolben ausgebildeter Behälter im Inneren des Armes oder Gehäuseteils sehr einfach an einen elektromechanischen Steuerantrieb zum dosierten Entleeren des Behälters angekuppelt werden kann. Insbesondere kann eine beim Entnehmen des Behälters in der Anlage verbleibende und an den eingesetzten Behälter ankuppelbare Kolbenstange von einem ebenfalls in die Anlage eingebauten elektrischen Servomotor angetrieben werden, dessen Typ z.B. den in einer Beschichtungsmaschine zum Achsenantrieb vorgesehenen Motoren entsprechen kann.Another advantage of the invention is that a container designed as a metering cylinder with a displaceable piston inside the arm or housing part can be coupled very simply to an electromechanical control drive for metered emptying of the container. In particular, a piston rod that remains in the system when the container is removed and can be coupled to the container used can be driven by an electric servo motor that is also installed in the system whose type can correspond, for example, to the motors provided in a coating machine for axis drive.

An einem in der Zeichnung dargestellten Ausführungsbeispiel wird die Erfindung näher erläutert. Es zeigen:

Fig. 1
einen vereinfachten Längsschnitt durch den Arm eines Lackierroboters; und
Fig. 2
eine schematische Darstellung des Systems zum Anschließen des auswechselbaren Behälters an die Sprühvorrichtung.
The invention is explained in more detail using an exemplary embodiment shown in the drawing. Show it:
Fig. 1
a simplified longitudinal section through the arm of a painting robot; and
Fig. 2
is a schematic representation of the system for connecting the replaceable container to the spray device.

In Fig. 1 ist der Arm 1 eines Lackierroboters dargestellt. Er besteht im wesentlichen aus einem langgestreckten Gehäuse 3, das an seinem in der Zeichnung rechten Ende in nicht dargestellter Weise bewegbar gelagert ist und an seinem entgegengesetzten Ende in ebenfalls bekannter Weise weitere zusätzliche bewegbare Glieder einschließlich einer Handgelenk- oder Handachsenkonstruktion 2 trägt, an der die Sprühvorrichtung angeordnet ist. Durch das Innere der Handachsenkonstruktion 2 führen die erforderlichen Leitungen von der (in Fig. 1 nicht dargestellten) Sprühvorrichtung zu einem am Ende des Armes in dessen Gehäuse 3 fest eingebauten Ventilblock 4.In Fig. 1, the arm 1 of a painting robot is shown. It consists essentially of an elongated housing 3, which is movably mounted at its right end in the drawing in a manner not shown and at its opposite end in a known manner carries additional additional movable members including a wrist or hand axis construction 2, on which the Spray device is arranged. The necessary lines lead from the spray device (not shown in FIG. 1) to a valve block 4 which is permanently installed in the housing 3 at the end of the arm through the interior of the hand axis construction 2.

Das Gehäuse 3 des Armes 1 ist nach außen geschlossen mit Ausnahme einer auf einer Seite des Armes befindlichen Öffnung 6, die so lang und breit bemessen ist, daß ein zylindrischer Behälter 8 in seiner dargestellten Lage, in der seine eigene Längsachse zu der des Armes 1 parallel liegt, durch die Öffnung 6 in einen dort befindlichen Innenraum des Gehäuses 3 einsetzbar und nach Gebrauch wieder herausnehmbar ist. Der Behälter 8 hat in seiner dem Ventilblock 4 zugewandten Stirnfläche eine Auslaßventilöffnung 10, die beim Entleeren des Behälters mit einer dem Stirnende des Behälters zugewandten Einlaßöffnung des Ventilblocks 4 fluchtet. Die genaue Ausrichtung wird durch am Ventilblock und am Behälterende vorgesehene Zentriermittel 12 erreicht, die beim axialen Andrücken und Ankoppeln des Behälters 8 an den Ventilblock 4 miteinander in Eingriff kommen. Eine im Stirnende des Behälters 8 befindliche zweite Ventilöffnung dient zum Füllen, Entleeren und/oder Spülen des Behälters an einer von der Anlage entfernten Füllstelle. Zum Andrücken des Behälters an den Ventilblock 4 und zu seiner Arretierung ist ein pneumatischer Arretierzylinder 30 vorgesehen, dessen gegen den Behälter schiebbares Glied in der Zeichnung nicht dargestellt ist.The housing 3 of the arm 1 is closed to the outside with the exception of an opening 6 located on one side of the arm, which is dimensioned so long and wide that a cylindrical container 8 in the position shown, in which its own longitudinal axis to that of the arm 1 is parallel, can be inserted through the opening 6 into an interior of the housing 3 located there and can be removed again after use. The container 8 has in its end face facing the valve block 4 an outlet valve opening 10 which, when the container is emptied, is aligned with an inlet opening of the valve block 4 facing the front end of the container. The exact alignment is confirmed by on Valve block and centering means 12 provided at the container end are reached, which come into engagement with one another when the container 8 is axially pressed and coupled to the valve block 4. A second valve opening located in the front end of the container 8 serves to fill, empty and / or rinse the container at a filling point remote from the system. To press the container onto the valve block 4 and to lock it, a pneumatic locking cylinder 30 is provided, the member of which can be pushed against the container is not shown in the drawing.

Der Behälter 8 ist als Dosierzylinder ausgebildet. Er enthält einen im Behälter zu dessen Entleerung verschiebbaren Dosierkolben 14, der bei oder vor dem Befüllen des Behälters an der entfernten Befüllstelle durch einen selbsttätig gesteuerten elektromechanischen Antriebsmechanismus in eine Position gestellt werden kann, in der er ein vorbestimmtes Füllvolumen für das durch eine der Ventilöffnungen 10 eingefüllte Beschichtungsmaterial definiert. Bei dem dargestellten Beispiel ist dies das gesamte Behältervolumen, doch kann in anderen Fällen ein Volumen eingestellt werden, das einschließlich einer notwendigen Reserve gerade für einen vorbestimmten Beschichtungsvorgang ausreicht. Bei vollständiger Entleerung liegt der Dosierkolben 14 an der Innenwand des Stirnendes des Behälters 8 an, wie bei 14' dargestellt ist.The container 8 is designed as a metering cylinder. It contains a metering piston 14 which can be displaced in the container to empty it and which, during or before the container is filled at the remote filling point, can be put into a position by an automatically controlled electromechanical drive mechanism in which it has a predetermined filling volume for that through one of the valve openings 10 filled coating material defined. In the example shown, this is the total container volume, but in other cases a volume can be set which, including a necessary reserve, is just sufficient for a predetermined coating process. When completely emptied, the metering piston 14 bears against the inner wall of the front end of the container 8, as shown at 14 '.

Zum dosierten Entleeren des Behälters 8 greift durch eine im rückwärtigen Behälterende vorgesehene Öffnung 16 eine im Gehäuse 3 längs dessen Längsachse verschiebbar gelagerte Kolbenstange 18 an dem Dosierkolben 14 an, die nicht ständig mit ihm verbunden ist, sondern beim Auswechseln des Behälters im Gehäuse 3 verbleibt. Die Kolbenstange 18 wird ihrerseits von einem in einem erweiterten Gehäuseteil 20 untergebrachten elektrischen Servomotor 22 über eine Kupplung 23, ein Riemen- oder Zahngetriebe 24, eine bei 25 geführte Spindelmutter 26 und eine bei 27 gelagerte Spindel 28 angetrieben. Zur genauen Steuerung der dosierten Entleerung des Behälters 8 sind ein Absolutwertgeber für den Servomotor 22 und ein induktiver Drehzahlmesser 29 vorhanden. An seinem rückwärtigen Ende ist das Gehäuseteil 20 durch einen Deckel 21 verschlossen.For the metered emptying of the container 8, an opening 16 provided in the rear end of the container engages a piston rod 18, which is displaceably mounted in the housing 3 along its longitudinal axis, on the metering piston 14, which is not constantly connected to it, but remains in the housing 3 when the container is replaced. The piston rod 18 is in turn driven by an electric servo motor 22 housed in an enlarged housing part 20 via a clutch 23, a belt or toothed gear 24, a spindle nut 26 guided at 25 and a spindle 28 mounted at 27. For precise control the metered emptying of the container 8, an absolute encoder for the servo motor 22 and an inductive tachometer 29 are available. At its rear end, the housing part 20 is closed by a cover 21.

An ihrem dem Behälter 8 zugewandten Ende ist die Kolbenstange 18 in dem zum Arretieren des Behälters dienenden pneumatischen Arretierzylinder 30 gelagert. In der Stirnfläche der Kolbenstange 18 sitzt ein pneumatischer Anschlagsensor 32, der ein pneumatisches Signal erzeugt, wenn die Kolbenstange 18 gegen den Dosierkolben 14 stößt.At its end facing the container 8, the piston rod 18 is mounted in the pneumatic locking cylinder 30 which serves to lock the container. A pneumatic stop sensor 32 is located in the end face of the piston rod 18 and generates a pneumatic signal when the piston rod 18 hits the metering piston 14.

Die hier beschriebene Beschichtungsmaschine kann an sich mit jeder beliebigen Sprühvorrichtung arbeiten. Wenn aber eine elektrostatische Sprühvorrichtung insbesondere zum Versprühen von elektrisch leitendem Beschichtungsmaterial vorgesehen ist, das den Ventilblock 4 und den zweckmäßig aus druckfestem Metall bestehenden Behälter 8 auf Hochspannungspotential legen kann, muß für ausreichende elektrische Isolierung zu den üblicherweise geerdeten metallischen Teilen der Anlage gesorgt werden. Beispielsweise kann das sich erweiternde Gehäuseteil 20 aus Aluminium bestehen. Das Gehäuse 3 des dargestellten Roboterarms 1 besteht deshalb vom Ventilblock 4 bis zu dem Gehäuseteil 20 aus einem mechanisch stabilen Kunststoff oder sonstigen Isolierwerkstoff. Die Länge des isolierenden Gehäuses 3 ist so bemessen, daß sich die erforderliche Isolierstrecke 33 zwischen dem rückwärtigen Ende des zweckmäßig metallischen Arretierzylinders 30 und dem metallischen Gehäuseteil 20 ergibt. Die Kolbenstange 18 besteht ebenfalls aus Isolierwerkstoff.The coating machine described here can work with any spray device. However, if an electrostatic spraying device is provided, in particular for spraying electrically conductive coating material, which can put the valve block 4 and the container 8, which is expediently made of pressure-resistant metal, at high voltage potential, adequate electrical insulation must be provided to the usually grounded metallic parts of the system. For example, the expanding housing part 20 can be made of aluminum. The housing 3 of the robot arm 1 shown therefore consists of a mechanically stable plastic or other insulating material from the valve block 4 to the housing part 20. The length of the insulating housing 3 is dimensioned such that the required insulating distance 33 results between the rear end of the expediently metallic locking cylinder 30 and the metallic housing part 20. The piston rod 18 is also made of insulating material.

In Fig. 2 ist schematisch das Versorgungssystem einer elektrostatischen Sprühvorrichtung 35 dargestellt, die beispielsweise ein Rotationszerstäuber bekannter Art sein kann und das Beschichtungsmaterial aus dem im Roboterarm montierten Behälter 8 gemäß Fig. 1 versprühen soll. Das Hauptnadelventil der Sprühvorrichtung 35 steht bei eingesetztem und angekoppelten Behälter 8 über eine Leitung HN und ein in dem Steuerventilblock 4 enthaltenes Farbventil F mit der Einlaßöffnung 37 des Ventilblocks und folglich der Ventilöffnung 10 des Behälters 8 in Verbindung. Ferner führt eine Spülmittelleitung V, von der eine zum Kurzspülen der Zerstäuberglocke unter Umgehung der Hauptnadelleitung HN dienende Leitung KS in die Sprühvorrichtung 35 abgezweigt ist, in den Ventilblock 4. In der Leitung V gelangt das aus Verdünner bestehende Spülmittel bei Bedarf und insbesondere bei einem Farbwechsel in die Leitung HN und zur Sprühvorrichtung. Durch eine weitere in den Ventilblock 4 führende Leitung PL gelangt Druckluft in den Ventilblock und durch die Leitung HN zur Sprühvorrichtung 35. Schließlich ist noch eine ebenfalls an den Ventilblock 4 und parallel hierzu an die Sprühvorrichtung 35 angeschlossene Leitung RF vorhanden, durch die insbesondere beim Farbwechsel nicht versprühtes Beschichtungsmaterial und Spülmittel aus den anderen Leitungen, dem Steuerventilblock und der Sprühvorrichtung in einen Sammelbehälter S geleitet wird. Die beschriebenen Leitungen befinden sich im Inneren der bewegbaren Anlagenglieder.FIG. 2 schematically shows the supply system of an electrostatic spray device 35, which can be, for example, a rotary atomizer of a known type and is intended to spray the coating material from the container 8 mounted in the robot arm according to FIG. 1. The main needle valve of the spray device 35 stands when the container is inserted and coupled 8 via a line HN and a color valve F contained in the control valve block 4 with the inlet opening 37 of the valve block and consequently the valve opening 10 of the container 8 in connection. Furthermore, a detergent line V, from which a line KS serving to rinse the atomizer bell while bypassing the main needle line HN is branched into the spray device 35, leads to the valve block 4. In line V, the detergent consisting of thinner reaches the valve block 4 when necessary and in particular when changing colors into the line HN and to the spraying device. Compressed air enters the valve block through a further line PL leading into the valve block 4 and to the spray device 35 through the line HN. Finally, there is also a line RF, which is also connected to the valve block 4 and in parallel to the spray device 35, through which in particular when changing colors non-sprayed coating material and detergent from the other lines, the control valve block and the spray device is passed into a collecting container S. The lines described are located inside the movable system elements.

Die Leitungen können beim Versprühen leitfähiger Lacke im Bereich der Sprühvorrichtung 35 und des Ventilblocks 4 auf Hochspannungspotential liegen und sind deshalb im weiteren Verlauf isolierend ausgebildet. Die Notwendigkeit einer elektrischen Isolierung entfällt, wenn statt der elektrostatischen Sprühvorrichtung beispielsweise ein Luftzerstäuber 35' an den Steuerventilblock und die Leitung RF angeschlossen wird.When spraying conductive paints in the area of the spray device 35 and the valve block 4, the lines can be at high voltage potential and are therefore designed to be insulating in the further course. The need for electrical insulation is eliminated if, for example, an air atomizer 35 'is connected to the control valve block and the line RF instead of the electrostatic spraying device.

Im Betrieb wird der Behälter 8 an einer von der Beschichtungsmaschine entfernten Stelle befüllt und vorzugsweise außerhalb der üblichen Sprühkabine von einem Transportsystem, wie es in der DE-Patentanmeldung 196 10 589.7 vom 18.03.1996 beschrieben ist, zu einer Behälterwechselstelle transportiert, wo er von einer Handhabungsvorrichtung ergriffen und längs einer linearen Bewegungsbahn beispielsweise durch eine Öffnung der Kabinenwand hindurch in die Öffnung 16 des Gehäuses 3 des in Fig. 1 dargestellten Armes 1 eingesetzt werden kann. Der Behälter 8 kann beispielsweise an einer Seite mit einem Griff 38 (Fig. 1) versehen sein, an dem er von einem Greifer 39 der erwähnten Handhabungsvorrichtung ergriffen wird. Das Andrücken und Ankuppeln an den Ventilblock 4 erfolgt selbsttätig. Nach Gebrauch wird der Behälter dem Arm 1 von der Handhabungsvorrichtung wieder entnommen, die zugleich einen neuen, je nach Bedarf mit derselben oder einer anderen Farbe gefüllten Behälter einsetzt, wenn es nicht zweckmäßiger ist, zum Einsetzen und Entnehmen getrennte Vorrichtungen zu verwenden.In operation, the container 8 is filled at a location remote from the coating machine and is preferably transported outside the usual spray booth by a transport system, as described in DE patent application 196 10 589.7 from March 18, 1996, to a container change point, where it is moved from a Handling device gripped and along a linear movement path, for example, through an opening in the cabin wall into the opening 16 of the housing 3 of the one shown in FIG. 1 Armes 1 can be used. The container 8 can, for example, be provided on one side with a handle 38 (FIG. 1), on which it is gripped by a gripper 39 of the handling device mentioned. The pressing and coupling to the valve block 4 takes place automatically. After use, the container is removed from the arm 1 by the handling device, which at the same time inserts a new container filled with the same or a different color as required, if it is not more expedient to use separate devices for inserting and removing.

Die Erfindung ist nicht auf das beschriebene Beispiel eines Lackierroboters beschränkt, sondern ebenso bei beliebigen sonstigen maschinellen oder auch manuellen Beschichtungsvorrichtungen anwendbar. In diesen sonstigen Anwendungsfällen werden die Behälter typisch in einer Öffnung eines im übrigen geschlossenen ortsfesten Gehäuse- oder sonstigen Anlagenteils eingesetzt, wo sie dann in der anhand von Fig. 1 und Fig. 2 beschriebenen Weise angekuppelt werden können.The invention is not limited to the described example of a painting robot, but can also be used with any other mechanical or manual coating devices. In these other applications, the containers are typically used in an opening of an otherwise closed stationary housing or other system part, where they can then be coupled in the manner described with reference to FIGS. 1 and 2.

Eine zweckmäßige Methode besteht beispielsweise darin, die Behälter in transportierbaren Magazinen zuzuführen, denen sie zur Übergabe und zum Einsetzen in die Öffnung des Anlagenteils entnommen werden und in die sie nach Gebrauch und Entnahme aus der Öffnung zum Abtransportieren wieder eingesetzt werden können.An expedient method consists, for example, of feeding the containers in transportable magazines, from which they are removed for transfer and insertion into the opening of the system part, and into which they can be reinserted for removal after use and removal from the opening.

Die verwendeten Behälter 8 selbst haben zahlreiche vorteilhafte Eigenschaften. Sie eignen sich für eine Dosierung, können luftdicht und als Druckbehälter ausgebildet sein, bieten Schutz vor Alterung des Beschichtungsmaterials, dienen als Transportbehälter, Farbspeicher und zur Entkopplung der Beschichtungsvorrichtung von Ringleitungen oder sonstigen Farbversorgungssystemen, sind ortsunabhängig, spülbar und wiederverwendbar und können auf einfache Weise mit Kenndaten zur Kennzeichnung ihres Inhalts oder sonstiger wichtiger Umstände wie beispielsweise des Abfülldatums versehen werden. Ferner sind sie einfach greifbar und beim Ankuppeln leicht zentrierbar und arretierbar.The containers 8 used themselves have numerous advantageous properties. They are suitable for dosing, can be airtight and designed as pressure vessels, offer protection against aging of the coating material, serve as transport containers, ink storage and for decoupling the coating device from ring lines or other ink supply systems, are location-independent, flushable and reusable and can be used easily Characteristics to identify their content or other important circumstances such as of the filling date. Furthermore, they are easy to grip and easy to center and lock when coupling.

Claims (13)

Beschichtungsanlage mit einer Sprühvorrichtung, die im Betrieb mit einem auswechselbar in einer Aufnahmevorrichtung montierten Behälter für das zu versprühende Beschichtungsmaterial verbunden ist, der zum Befüllen aus der Aufnahmevorrichtung entfernt und zu einer Befüllstelle transportiert wird, dadurch gekennzeichnet, daß der auswechselbare Behälter (8) im Inneren eines die Aufnahmevorrichtung enthaltenden Anlagenteils (1) durch eine Öffnung (16) des Anlagenteils (1) von außen ergreifbar angeordnet ist.Coating system with a spray device which, in operation, is connected to a container for the coating material to be sprayed, which is interchangeably mounted in a holding device, which is removed for filling from the holding device and transported to a filling point, characterized in that the replaceable container (8) is inside of a system part (1) containing the receiving device is arranged so as to be graspable from the outside through an opening (16) in the system part (1). Anlage nach Anspruch 1, dadurch gekennzeichnet, daß der Behälter im Inneren des Anlagenteiles (1) an einen mit der Sprühvorrichtung (35) verbundenen Ventilblock (4) angekuppelt ist.Plant according to claim 1, characterized in that the container in the interior of the plant part (1) is coupled to a valve block (4) connected to the spraying device (35). Anlage nach Anspruch 2, dadurch gekennzeichnet, daß der Ventilblock (4) eine dem Stirnende des zylindrischen Behälters (8) zugewandte Einlaßöffnung (37) hat, die mit einer in der Stirnfläche des Behälters (8) befindlichen Ventilöffnung (10) ausgerichtet ist.System according to claim 2, characterized in that the valve block (4) has an inlet opening (37) which faces the end face of the cylindrical container (8) and which is aligned with a valve opening (10) located in the end face of the container (8). Anlage nach Anspruch 2 oder 3, dadurch gekennzeichnet, daß an dem Ventilblock (4) und/oder an dem dem Ventilblock zugewandten Stirnende des Behälters (8) Zentriermittel (12) zum Ausrichten der Auslaßventilöffnung (10) des Behälters mit der Einlaßöffnung (37) des Ventilblocks (4) vorgesehen sind.System according to Claim 2 or 3, characterized in that centering means (12) for aligning the outlet valve opening (10) of the container with the inlet opening (37) on the valve block (4) and / or on the end of the container (8) facing the valve block. of the valve block (4) are provided. Anlage nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß in den Anlagenteil (1) ein pneumatischer Arretierzylinder (30) zum Andrücken des Behälters (8) gegen den Ventilblock (4) vorgesehen ist.System according to one of the preceding claims, characterized in that a pneumatic locking cylinder (30) for pressing the container (8) against the valve block (4) is provided in the system part (1). Anlage nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß der Behälter (8) als Dosierzylinder ausgebildet ist, der einen im Behälter verschiebbaren Kolben (14) enthält, durch dessen Verschiebung in Richtung zu einer am einen Behälterende befindichen Auslaßventilöffnung (10) der Behälter entleerbar ist, und daß an dem Kolben (14) eine in dem Anlagenteil (1) gelagerte Kolbenstange (18) angreift, die zur dosierten Entleerung des Behälters (8) von einem in die Beschichtungsmaschine eingebauten Motor (22) angetrieben wird.Installation according to one of the preceding claims, characterized in that the container (8) is designed as a metering cylinder which contains a piston (14) which can be displaced in the container and which can be emptied by displacing it in the direction of an outlet valve opening (10) located at one end of the container and that a piston rod (18), which is mounted in the system part (1), acts on the piston (14) and is driven by a motor (22) built into the coating machine for the metered emptying of the container (8). Anlage nach Anspruch 6, dadurch gekennzeichnet, daß der Motor (22) ein elektrischer Servomotor ist.System according to claim 6, characterized in that the motor (22) is an electric servomotor. Anlage nach Anspruch 6 oder 7, dadurch gekennzeichnet, daß die Kolbenstange (18) in dem Arretierzylinder (30) verschiebbar gelagert ist.System according to claim 6 or 7, characterized in that the piston rod (18) is displaceably mounted in the locking cylinder (30). Anlage nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, daß an dem dem Behälter (8) zugewandten Ende der Kolbenstange (18) ein Anschlagsensor (32) angeordnet ist.System according to one of claims 6 to 8, characterized in that a stop sensor (32) is arranged on the end of the piston rod (18) facing the container (8). Anlage nach einem der vorangehenden Ansprüche mit einer elektrostatischen Sprühvorrichtung (35), dadurch gekennzeichnet, daß der Anlagenteil (1) wenigstens über eine zur elektrischen Isolierung der Sprühvorrichtung (35) und des Behälters (8) von geerdeten Teilen (20) der Anlage ausreichende Länge (33) aus isolierendem Werkstoff besteht.System according to one of the preceding claims with an electrostatic spray device (35), characterized in that the system part (1) has at least a length sufficient for electrically isolating the spray device (35) and the container (8) from earthed parts (20) of the system (33) consists of insulating material. Anlage nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Kolbenstange (18) des elektromechanischen Dosierantriebs aus isolierendem Werkstoff besteht.System according to one of the preceding claims, characterized in that the piston rod (18) of the electromechanical metering drive consists of insulating material. Anlage nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß der Anlagenteil (1) ein bewegbarer Arm einer mehrachsigen Beschichtungsmaschine ist.Installation according to one of the preceding claims, characterized in that the installation part (1) is a movable arm of a multi-axis coating machine. Anlage nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, daß der Anlagenteil sich in einem feststehenden Gehäuseteil der Anlage befindet.Plant according to one of claims 1 to 11, characterized in that the plant part is located in a fixed housing part of the plant.
EP97104632A 1996-03-18 1997-03-18 Process and system for supply paint to a coating installation Expired - Lifetime EP0796664B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19610588A DE19610588B4 (en) 1996-03-18 1996-03-18 Coating machine with replaceable container
DE19610588 1996-03-18

Publications (3)

Publication Number Publication Date
EP0796664A2 true EP0796664A2 (en) 1997-09-24
EP0796664A3 EP0796664A3 (en) 1998-04-08
EP0796664B1 EP0796664B1 (en) 2001-07-11

Family

ID=7788629

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97104632A Expired - Lifetime EP0796664B1 (en) 1996-03-18 1997-03-18 Process and system for supply paint to a coating installation

Country Status (3)

Country Link
EP (1) EP0796664B1 (en)
DE (2) DE19610588B4 (en)
ES (1) ES2159373T3 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1252935A2 (en) 2001-04-25 2002-10-30 Dürr Systems GmbH Method for operating control of a coating installation
EP1010469A3 (en) * 1998-12-17 2003-02-05 Dürr Systems GmbH Process and system for supplying paint to an electrostatic coating installation
EP1293260A2 (en) 2001-09-13 2003-03-19 Dürr Systems GmbH Method for coating series of workpieces
EP1314483A2 (en) 2001-11-27 2003-05-28 Dürr Systems GmbH Method and system for metered delivery of coating material to a coating apparatus
US7908994B2 (en) 2005-10-21 2011-03-22 Duerr Systems, Inc. Automatically steered coating machine also a container for the coating material
US8418647B2 (en) 2005-10-21 2013-04-16 Dürr Systems Inc. Procedure and piston type metering devices for the metered material supply for a coating device

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10115472A1 (en) 2001-03-29 2002-10-10 Duerr Systems Gmbh Valve unit for use in electrostatic painting apparatus has an optoelectronic sensor device with light wave conductors and an optoelectronic sensor to sense an indexing position and to generate a corresponding sensing signal.
DE10115463A1 (en) 2001-03-29 2002-10-02 Duerr Systems Gmbh Atomizer for a coating system and process for its material supply
DE10115470A1 (en) 2001-03-29 2002-10-10 Duerr Systems Gmbh Coating system with an atomizer change station
DE10115467A1 (en) 2001-03-29 2002-10-02 Duerr Systems Gmbh Tool changing system for one machine
DE10231421A1 (en) 2002-07-11 2004-01-22 Dürr Systems GmbH Method and system for supplying a powder coating device
DE10233198A1 (en) 2002-07-22 2004-02-05 Dürr Systems GmbH rotary atomizers
DE10239516A1 (en) 2002-08-28 2004-03-18 Dürr Systems GmbH Hose with pig for delivery of electrically conductive fluid paints or varnishes at high voltage comprises an inner layer enclosed in an insulating layer with high voltage resistance
DE10239517A1 (en) 2002-08-28 2004-03-11 Dürr Systems GmbH Coating device with a rotary atomizer and method for controlling its operation
DE10240451A1 (en) 2002-09-02 2004-03-11 Dürr Systems GmbH Sensor arrangement for a coating system
DE10245594A1 (en) 2002-09-30 2004-04-08 Dürr Systems GmbH Collision detection method
US6991178B2 (en) 2003-01-24 2006-01-31 Dürr Systems, Inc. Concentric paint atomizer shaping air rings
ES2685244T3 (en) 2005-10-07 2018-10-08 Dürr Systems Ag Coating agent supply device and corresponding operating procedure
US8671495B2 (en) 2006-11-06 2014-03-18 Durr Systems, Inc. Scraper pig
DE102011012012A1 (en) * 2011-02-22 2012-08-23 Eisenmann Ag Piston dispenser for fluid media
DE102015016448A1 (en) * 2015-12-21 2017-06-22 Eisenmann Se Coating device for electrostatically guided application of coating material
CN117564651B (en) * 2024-01-19 2024-04-23 安徽汉普斯精密传动有限公司 Automatic oiling and press mounting equipment for motor oil seal

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4087048A (en) * 1977-03-01 1978-05-02 Smrt Thomas John Spraying apparatus
JPS60122073A (en) * 1983-12-05 1985-06-29 Tokico Ltd Color changing device of painting robot
EP0274322A1 (en) * 1987-01-02 1988-07-13 Sames S.A. Installation for paint spraying, particularly an installation for the electrostatic spraying of water paint

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB105497A (en) * 1900-01-01
FR1355588A (en) * 1963-01-07 1964-06-19 Oreal New fixing device for vials and in particular for vials containing an aerosol solution
CH414977A (en) * 1964-06-22 1966-06-15 Zyma Sa Liquid product dispenser
US4098436A (en) * 1976-07-29 1978-07-04 Kohlbeck Anthony J Holder to convert spray can into spray gun
DE8213103U1 (en) * 1982-05-06 1982-09-09 Fuhrig, Wolfgang D., 6200 Wiesbaden DISPENSER FOR SPRAY CAN
DE3440381A1 (en) * 1984-11-05 1986-05-07 Ransburg Gmbh, 6056 Heusenstamm METHOD AND DEVICE FOR AUTOMATIC ELECTROSTATIC SPRAY COATING
DE8906341U1 (en) * 1989-05-23 1989-07-13 Sata - Farbspritztechnik GmbH & Co, 7140 Ludwigsburg Painting robot
DE4013941A1 (en) * 1990-04-30 1991-10-31 Behr Industrieanlagen PLANT FOR SERIES COATING OF WORKPIECES WITH CONDUCTIVE COATING MATERIAL
US5238029A (en) * 1991-10-04 1993-08-24 Fanuc Robotics North America, Inc. Method and system for fluid transfer and non-contact sensor for use therein
FR2695327B1 (en) * 1992-09-09 1995-07-07 Sames Sa Device for electrostatic projection of electrically conductive coating product, provided with an insulated reservoir adapted to contain such a product.
FR2703266B1 (en) * 1993-04-01 1995-06-23 Sames Sa Coating product spraying machine.

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4087048A (en) * 1977-03-01 1978-05-02 Smrt Thomas John Spraying apparatus
JPS60122073A (en) * 1983-12-05 1985-06-29 Tokico Ltd Color changing device of painting robot
EP0274322A1 (en) * 1987-01-02 1988-07-13 Sames S.A. Installation for paint spraying, particularly an installation for the electrostatic spraying of water paint

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 009, no. 271 (C-311), 29.Oktober 1985 & JP 60 122073 A (TOKICO KK), 29.Juni 1985, *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1010469A3 (en) * 1998-12-17 2003-02-05 Dürr Systems GmbH Process and system for supplying paint to an electrostatic coating installation
EP1252935A2 (en) 2001-04-25 2002-10-30 Dürr Systems GmbH Method for operating control of a coating installation
EP1293260A2 (en) 2001-09-13 2003-03-19 Dürr Systems GmbH Method for coating series of workpieces
EP1314483A2 (en) 2001-11-27 2003-05-28 Dürr Systems GmbH Method and system for metered delivery of coating material to a coating apparatus
US7908994B2 (en) 2005-10-21 2011-03-22 Duerr Systems, Inc. Automatically steered coating machine also a container for the coating material
US8418647B2 (en) 2005-10-21 2013-04-16 Dürr Systems Inc. Procedure and piston type metering devices for the metered material supply for a coating device

Also Published As

Publication number Publication date
ES2159373T3 (en) 2001-10-01
EP0796664B1 (en) 2001-07-11
EP0796664A3 (en) 1998-04-08
DE19610588A1 (en) 1997-09-25
DE59703985D1 (en) 2001-08-16
DE19610588B4 (en) 2010-08-05

Similar Documents

Publication Publication Date Title
EP0796664B1 (en) Process and system for supply paint to a coating installation
EP0292778B1 (en) Process and installation for electrostatic coating with a conductive coating product
EP2268415B1 (en) Painting robot and associated operating method
DE69228249T2 (en) METHOD AND SYSTEM FOR THE TRANSFER OF LIQUID USING A CONTACT-FREE SENSOR
EP0865830B1 (en) Colour changer with reversible direction of paint flow
EP1740314B1 (en) Device for spraying spray fluids
DE19830029A1 (en) Painting rig for vehicle bodywork
EP2089164B2 (en) Universal atomizer, and associated operating method
EP0796665B1 (en) Process and system for supplying paint to a coatinginstallation
EP2853312A2 (en) ICC metering
EP1666158B1 (en) Method and piston metering apparatus for metered delivery of material to a coating apparatus
EP1314483B1 (en) Method and system for metered delivery of coating material to a coating apparatus
EP1245294B1 (en) Sprayer for a coating installation and process for feeding coating material to the sprayer
DE3717929C2 (en)
EP1344572B1 (en) Painting installation for coating pieces with a liquid material
EP0888825A2 (en) Method and device for painting
DE60303060T2 (en) Method and device for supplying and applying electrically conductive lacquer
EP1279440B1 (en) Dosing system for coating device
EP1010469B1 (en) Process and system for supplying paint to an electrostatic coating installation
EP0455106B1 (en) Method and plant for coating series of work pieces with conductive coating material
DE102011116745A1 (en) Spraying nozzle device for industrial robot for automatic coating of cavities of motor vehicle body with air wax mixture, has channel corresponding to spraying nozzle in application position and connected to corrosion inhibiter supply
DE3316459C1 (en) Spray gun
EP0829349A2 (en) Apparatus for supplying ink
DE202016104222U1 (en) Plastic machine
EP3017873B1 (en) Coating system for coating objects

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): BE DE ES FR GB IT NL SE

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): BE DE ES FR GB IT NL SE

17P Request for examination filed

Effective date: 19980617

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

17Q First examination report despatched

Effective date: 20001102

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

ITF It: translation for a ep patent filed
AK Designated contracting states

Kind code of ref document: B1

Designated state(s): BE DE ES FR GB IT NL SE

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20010711

REF Corresponds to:

Ref document number: 59703985

Country of ref document: DE

Date of ref document: 20010816

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2159373

Country of ref document: ES

Kind code of ref document: T3

ET Fr: translation filed
REG Reference to a national code

Ref country code: GB

Ref legal event code: IF02

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20160321

Year of fee payment: 20

Ref country code: ES

Payment date: 20160309

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20160321

Year of fee payment: 20

Ref country code: BE

Payment date: 20160321

Year of fee payment: 20

Ref country code: FR

Payment date: 20160321

Year of fee payment: 20

Ref country code: SE

Payment date: 20160321

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20160330

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20160324

Year of fee payment: 20

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 59703985

Country of ref document: DE

Representative=s name: V. BEZOLD & PARTNER PATENTANWAELTE - PARTG MBB, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 59703985

Country of ref document: DE

Owner name: DUERR SYSTEMS AG, DE

Free format text: FORMER OWNER: DUERR SYSTEMS GMBH, 74321 BIETIGHEIM-BISSINGEN, DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 59703985

Country of ref document: DE

Representative=s name: V. BEZOLD & PARTNER PATENTANWAELTE - PARTG MBB, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 59703985

Country of ref document: DE

Owner name: DUERR SYSTEMS AG, DE

Free format text: FORMER OWNER: DUERR SYSTEMS AG, 74321 BIETIGHEIM-BISSINGEN, DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R071

Ref document number: 59703985

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MK

Effective date: 20170317

REG Reference to a national code

Ref country code: GB

Ref legal event code: PE20

Expiry date: 20170317

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20170317

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20170626

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20170319