EP0983798B1 - Process and system for supplying paint to a coating installation - Google Patents

Abstract

The paint supply system for a coating assembly, especially the paint shop for mass produced vehicle bodywork components, has a turntable (10). At least two filled paint containers (A,B) are connected selectively to a spray unit (5), carried from a supply point (23) to a transfer point (8). A take-off point (7) at the transfer station (8) gives the spray unit (5) a linear movement. The directions of the linear movements of both paint containers (A, B) between the transfer points and the take-off (7) forms an angle between them through their path intersection so that, when a container is taken, it is replaced immediately with a full container. The turntable (10) is mounted to a paint robot along a movement axis, to be carried with it. The system is operated by a self-learning control.

Description

The invention relates to a method and a paint supply system for a coating system according to the preamble of the independent Claims, for example for series coating of vehicle bodies are suitable.

In a system of this type known from EP 0 796 665 A2 there is the transport device with which the replaceable Paint container from the filling point to the transfer point and brought back to the filling point after use, for example from a stationary rotatable magazine for one Many interchangeable containers. The location of the transfer point can in the case of a stationary coating machine expediently selected in the vicinity thereof, so that the transfer device, which preferably consists of one with a gripper for the container provided pneumatic cylinder unit exists at all times Insert the container in the coating machine and after Can use again. It is different in the case of one Coating machine that can be moved in translation, for example a roof machine for body coating or in particular a painting robot that runs along the axis of travel or "7th axis" designated guideway to the moving coating objects along. Here it is Problem that the coating machine only to the stationary Transfer point must drive before there is an emptied container removed and refilled or exchanged for a full container can be. As a result, an undesirable amount of time can be lost. There is also some effort for accurate positioning the coating machine with respect to the fixed transfer point required. Regardless of whether stationary or movable coating machines are to be supplied are in the remaining in the known system many with corresponding effort movements to be controlled sometimes over relatively large distances and correspondingly complex and large units required. A disadvantage, however, can be undesirably long Container replacement times.

From EP 0 792 695 A2 there is already a paint supply system known for an electrostatic spray device, at the container filled with coating material on a rotatable Transport device stored in the coating machine are arranged and from this transport device a filling point to a distance from the filling point Tapping point and transportable from this back to the filling point are. The containers are moved via color couplings at the extraction point with the spray device and on the filling point connected to a color changer. During the The containers are therefore material removal during the coating from the external supply lines connected to the color changer separated while filling from the Spray device are disconnected. In contrast to the system according to EP 0 796 665 A2 mentioned there is the rotatable one Transport device here within the coating machine directly on the spraying device. Besides, are during the removal of material from that connected to the spraying device Container no movements of the transport devices possible, which results in relatively long color change times.

From the unpublished EP 0 880 998 A2 is a paint supply system for a Coating system for coating workpieces known that can be filled with coating material of different colors Containers used to supply the sprayer detachably and interchangeably mounted on the spray device and be connected to it and when filling from the Spray device are disconnected and removed. The containers are with a transport device from one Supply point to one of the supply point remote transfer point can be transported from where they are in Linear movements of an extraction point of the spray device are feedable. The tapping point is optionally from each of the Transfer point of the transport device from through Linear movement of the respective container achievable.

The invention has for its object a method and to specify a system with easily controllable movements the quick change from to in no time Coating machine can be used and after use from the Allow machine removable containers.

This task is characterized by the characteristics of Claims 1 or 10 solved.

When to supply a translatory coating machine the preferably rotatably mounted transport device for the interchangeable containers with the coating machine connected movably or at least also the machine must be movable along the guideway of the machine no longer with a corresponding loss of time to change the container be driven to the transport device. Advantageous is also a fixed defined position of the transport device reached relative to the machine, either by the mechanical connection or otherwise by simple movement control the transport device. With the fixed relative positioning simply controllable and short turning and sliding movements for inserting and removing the containers in and out of the machine in the shortest possible time. The constructive components of the supply system required for this can be simple and inexpensive. A freely programmable Movability of the transport device independently of the coating machine has the advantage in itself that optionally different, e.g. on opposite sides of the Coating machines located on the movement path are freely programmable can be supplied.

But also with a stationary transport device of the type described here has the ink supply system Advantage of easily controllable and short turning and sliding movements for moving the interchangeable containers back and forth between their material removal point in the machine and filling and / or container exchange points outside the machine. apart of simple and compact units that have little An extremely short container change time will take up space allows. If namely the coating machine an empty container is removed, one can already be on the transfer point full container immediately and without previous movement of the transport device into the machine be used.

Fig. 1

eine teilweise vereinfachte Darstellung eines Farbversorgungssystems für einen Lackierroboter;

Fig. 2

eine schematische Draufsicht auf das Farbversorgungssystem gemäß Fig. 1 von oben;

Fig. 3 und Fig. 4

Draufsichten entsprechend Fig. 2 nach der Durchführung verschiedener Linear- bzw. Drehbewegungen; und

Fig. 5

das Farbversorgungssystem gemäß Fig. 1 mit einem zusätzlichen Behältermagazin.

The invention is explained in more detail using an exemplary embodiment shown in the drawing. Show it:

Fig. 1

a partially simplified representation of a paint supply system for a painting robot;

Fig. 2

a schematic plan view of the ink supply system according to FIG 1 from above.

3 and 4

Top views corresponding to Figure 2 after performing various linear or rotary movements. and

Fig. 5

the ink supply system of FIG. 1 with an additional container magazine.

The one shown in Fig. 1, in the usual way with a spray device 2 equipped painting robot 1 is also on known translationally along one as a guideway serving rail construction 3 movable, for example Vehicle bodies to be coated parallel to the conveyor line. This mobility is called the 7th axis in robotics designated. The robot 1 is installed in a painting booth e.g. right away move along a cabin wall. In arm 5 of the Robot 1 is in, for example, from EP 0 796 665 A2 and 0 796 664 A2 known manner at an extraction point 7 a replaceable Paint container A inserted, possibly behind one Automatically opening and closing lid or the like. The container is expediently a dosing cylinder at the point of use 7 is connected to valves of the spray device 2 and is emptied by moving its piston.

For inserting, removing and replacing the paint container a transport device in the example shown is essentially formed by a turntable 10 which around a vertical axis rotatable on a fixed with the movable Robot 1 connected console or the like. is stored. On the Rotary table 10 are two independently operating linear movement devices 14 and 14 'mounted, each in essentially from a along a guide rail 17 or 17 ' horizontally reciprocable grippers 18 and 18 'and one serving as a drive for this linear movement pneumatic Cylinder unit 19 or 19 ', as shown in Fig. 2 is. The grippers 18, 18 'are used for releasably gripping the Paint containers and are attached to slide shoes 20 and 20 '. For constructional and space reasons, as shown Cylinder units 19, 19 'laterally offset from their associated ones Guide rails 17 and 17 'and the frictional with them connected gripper 18 or 18 'accordingly obliquely to Direction of displacement above their guide rails 17, 17 ' arranged.

One gripper 18 'in FIGS. 1 and 2 has the one in the robot arm 5 inserted container A while the other Gripper 18 holds a second, already filled paint container B, which is located at an intermediate or transfer point 8 (Fig. 2) is located on the turntable 10 and there on the insertion in the robot arm is waiting.

The transport device formed by the turntable 10 is freely programmable and has the purpose to fill in full paint containers to use the painting robot, the container after emptying again and with a new, full container to be replaced with the same or a different color as required and the removed empty container either to a possibly existing (not shown in Fig. 1) container change point or a filling and rinsing station shown at 22 bring to. Station 22 is in the example shown also mounted on the console 12 of the robot 1 and contains et al a common color change valve block that has a flexible color and detergent line bundle with external stationary Utilities connected, located outside the cabin can be (not shown).

Fig. 2 shows the turntable 10 and the two containers A and B. in the same position precisely defined with respect to the robot arm 5 as in Fig. 1. Assume that container A is empty and the linear movement device already engaging on it 14 'is to be removed from the arm 5 of the robot, while subsequently replacing the 8 waiting, already taken by the linear movement device 14 full container B is to be used. The after Completion of these two movements with unchanged turning position of the turntable 10 resulting container positions are in 3, i.e. the empty container A is now on its intermediate or transfer point 8 'while the container B is located in the robot arm 5.

As can be seen from FIGS. 2 and 3, the differs Position of the transfer point 8 'on the turntable 10 from that the other intermediate or transfer point 8, so that the two containers each other in their respective linear movements do not hinder. The alternating movements can control technology locked against each other.

So that the two linear movements at the given, with respect the robot arm 5 unchanged position of the turntable 10 easily are possible, i.e. after the removal of the container A The full container B is used immediately and almost without delay the directions of movement of the linear movements of the two containers A, B along the guide rails 17th or 17 'between the respective transfer point 8' or 8 and the tapping point 7 form an angle with each other and each other cut at tapping point 7. Like the comparison between Fig. 2 and Fig. 3 show the containers reach the end the stroke of the two linear movement devices 14 and 14 ' always the same position at the tapping point 7.

The specified end position at the intersection of the two directions of movement can now by turning the turntable 10 on the in Fig. 2 indicated circular path 24 pivoted about the rotary table axis so that the empty container A against a new, full container replaced and / or according to FIG. 4 on the filling and rinsing station 22 can be filled again. Before that the gripper 18 is withdrawn again from the robot arm 8. While The painting robot can do the turning, changing or filling processes now work with container B.

Fig. 4 shows a paint supply system after the rotation of the Turntable 10 in its now defined with respect to the station 22 Position in which the directions of movement of the linear movement 14, 14 'each other at the supply point 23 of the filling and rinse station 22 cut, according to the explained Container position at the removal point 7. The two linear movement devices are shown here in their positions in which device 14 'holds container A in station 22 stops while the device 14 is retracted Gripper 18 is in the waiting position without a container (at the Transfer point 8). After filling the container A can also this from one or the other linear movement device 14 or 14 'in the waiting position at one or the other transfer point 8 or 8 'are brought.

Then the turntable 10 in the position shown in FIGS. 2 and Fig. 3 turned back and the described change process repeated become.

Operation is also conceivable in which the two linear movement devices 14 and 14 'handle three containers. For example could then in Fig. 4 the device 14 of the station 22 remove a previously filled container (not shown), before the container A from the other device 14 'in the station is used.

Fig. 5 shows the system described in FIGS. 1 to 4 with a Expedient addition with an additional container magazine 30, which contains a plurality of interchangeable ink containers 31 and is rotatably mounted on a table 32. The magazine 30 is gradually corresponding between the number of selectable containers Positions rotatable, in which each selected container 31 'in a defined position on the Turntable 10 is located in which each of the two grippers 18, 18 '(Fig. 2) at the intersection of their directions of movement is. For this, this defined position of the container 31 lie on the circular path 24 of the intersection mentioned. 5, it can instead be more appropriate if the selected container 31 'from a on the table 32 mounted displacement device 34 from the Magazine 30 in the defined position indicated at 31 '' the circular path 24 is pushed. Later the same container can be used 31 'or another empty container such as e.g. A or B is retrieved from the displacement device 34 into the magazine 30 become. The displacement device 34 can be one Have grippers for the containers, which in turn with appropriate Handle elements on two opposite sides could be.

The axes of rotation of the magazine table 32 and the rotary table 10 are expediently parallel to each other. The magazine table 32 can arranged next to the turntable on the console 12 of the robot 1 and be able to ride with it. Instead, it can too be more convenient to arrange the container magazine 30 stationary and to drive the turntable 10 to the magazine as required. Loading magazine 30 with full containers or the removal of empty containers can be controlled automatically e.g. using the displacement device 34 and / or also done manually.

In addition or instead of the container magazine 30 can also differently constructed container changing stations can be provided. A Another option is in addition to the station 22 at least one further, similar filling and rinsing station to arrange the turntable 10, its supply point also can lie on the circular path 24. Also temporary storage spaces for already used or freshly refilled containers be positioned on the circular path 24. In addition, in Within the scope of the invention still further possibilities for providing filled container conceivable on the transport device.

The container can be particularly useful for painting robots like A, B and 31 not filling up completely when filling, but only doses with a predetermined amount of material for a specific coating process, for example quantity required for a body or a body part. For this are those from EP 0 796 664 A2 and 0 796 695 A2 known dosing cylinder well suited by moving of a piston in the container. A particularly beneficial not yet known in this context Measure is that when filling the container first a (calculated) according to the expected need Material quantity is filled in that then at Sample coating determined by a self-learning control system whether the amount filled is too large or too small and that in a subsequent filling process the amount of material from the self-learning control system accordingly is reduced or enlarged. The one that controls the filling process self-learning system independently makes the difference between filled and required amount of material. The the tax system can actually result in withdrawal quantities due to the piston setting when filling and the respective Adjustment of the piston of the dosing cylinder at the Completion of the coating process controlled on the basis of other criteria determine. For example, a container initially completely filled for the first coating process and then the amount of material in the next coating operations be gradually reduced until the filling quantity reached the required level.

Deviating from the arrangement described above, the two grippers (18, 18 ') also mounted on the turntable 10 in this way be that their directions of movement are not in the material removal point to cut. To reduce space requirements they could rather be close to each other with approximately parallel (or inclined at a small angle) Directions of movement of their gripper arms, as in patent application DE 198 58 397.4 is described. At this The turntable must be arranged between the removal of a container and inserting a provided new container a small angular movement in the same material removal point run the new container into the one required for insertion Position.

Claims (21)

1. Method of supplying paint to a coating installation for serial coating of workpieces, in particular vehicle bodies, in which a coating machine (1) equipped with a spray device moves along a guideway (3), wherein containers (A, B, 31) which can be replaceably mounted on the spray device or can be connected thereto are provided with coating material of a selectable colour at a supply station (23, 31") or are filled while they are decoupled and separate from the spray device, wherein the containers are transported from the supply station (23, 31") to a transfer station (8, 8') which is remote therefrom, from which they are then moved to a takeoff station (7) where they are then coupled to the spray device, and wherein the containers are returned after use to the or to another transfer station (8, 8') and from there are transported back again to the or to another supply station (23, 31"), characterised in that the transfer station (8, 8') which is remote from the takeoff station (7) is moved parallel to the guideway (3) of the coating machine (1) in order to supply the and/or another coating machine (1).
2. Method as claimed in Claim 1, characterised in that the container (A, B) is moved in a linear manner between the transfer station (8, 8') and the takeoff station (7), that the transfer station (8, 8') with the container (A, B) located there is pivoted on a circular path (24) between a position facing the takeoff station (7) and a position facing the supply station (23, 31"), and that the container (A, B) is also moved in a linear manner between the transfer station (8, 8') and the supply station (23,31").
3. Method as claimed in Claim 1 or 2, characterised in that at least two containers (A, B) are used and two transfer stations (8, 8') are located remote from one another on a common turntable (10), that in each case after use of a container (A) at the takeoff station (7) the used container (A) is moved to a transfer station (8'), that thereafter the other previously filled container (B) is brought from the other transfer station (8) to the takeoff station (7), and that after turning of the turntable (10) the used container (A) is brought from its transfer station (8') to the supply station (23).
4. Method as claimed in any one of the preceding claims, characterised in that the supply station is also moved with the coating machine (1) parallel to the guideway (3) of the latter.
5. Method as claimed in any one of the preceding claims, characterised in that the used container (A) is filled and/or rinsed at the supply station (23).
6. Method as claimed in any one of Claims 1 to 4, characterised in that the used container (A) is replaced by a filled container (31') at the supply station (31") which moves with it or is stationary.
7. Method as claimed in Claim 1, characterised in that when the container (B) is filled first of all a quantity of material determined approximately according to the expected requirement is introduced, that it is then determined with a sample coating whether the quantity introduced is too great or too small, and that in a subsequent filling operation the quantity of material is appropriately reduced or increased, wherein the filling process is controlled by a self-learning system which automatically determines the difference between the quantity of material introduced and required and corrects the quantity at the subsequent filling operation.
8. Method as claimed in Claim 7, characterised in that the containers used are metering cylinders which are emptied by pushing of a piston in the container, and that in order to determine the quantity of material removed during the coating operation the control system determines the end position of the piston.
9. Method as claimed in any one of the preceding claims, characterised in that the container is connected to the supply station (23) at a paint changer.
10. Paint supply system for a coating installation for coating workpieces, in particular for serial coating of vehicle bodies, with a coating machine (1) which is movable along a guideway and has a spray device (2), with a supply device (22) for coating material of different colour, with at least two containers (A, B) which can be filled with the coating material which for supplying the spray device (2) can be detachably and replaceably mounted on the spray device and connected thereto, are separated from the supply device (22) during removal of material during coating and are decoupled and removed from the spray device (2) during filling, and with a transport device (10) by which the containers (A, B) can be transported from a supply station (23) to a transfer station (8, 8') which is remote from the supply station and from where they can be delivered to a takeoff station (7) of the spray device (2), characterised in that for supplying the and/or another coating machine (1) the transfer station (8, 8') which is remote from the takeoff station (7) can be moved parallel to the guideway (3) of the coating machine (1).
11. System as claimed in Claim 10, characterised in that the takeoff station (7) can be reached selectively from each of two transfer stations (8, 8') of the transport device (10) by linear movement of the respective container (A, B).
12. System as claimed in Claim 10 or 11, characterised in that the directions of the linear movements of the two containers (A, B) between the respective transfer station (8, 8') and the takeoff station (7) form an angle with one another and intersect one another at the takeoff station (7).
13. System as claimed in Claim 10, 11 or 12, characterised in that the intersection of the linear directions of movement of the containers (A, B) can be rotated under program control about a pivot axis between at least a takeoff station (7) and one or more supply stations (23, 31") which are formed by filling, rinsing and/or replacing stations for the containers (A, B).
14. System as claimed in any one of Claims 10 to 13, characterised in that two transfer stations (8, 8') which are spaced from one another are located on a rotatably mounted turntable which forms a transport device, the intersection of the linear directions of movement being rotatable about the axis of rotation thereof.
15. System as claimed in Claim 14, characterised in that the turntable (10) is rotatable between at least two defined positions, wherein in the first rotated position linear movements of the containers (A, B) can be carried out between the transfer stations (8, 8') and the takeoff station (7) and in the second rotated position linear movements of the containers (A, B) can likewise be carried out between the transfer stations (8, 8') and the supply station (23, 31"), and that the directions of the linear movements intersect one another at the supply station when the turntable (10) is in the second rotated position.
16. System as claimed in Claim 14 or 15, characterised in that two pneumatic cylinder units (14, 14') or other controlled linear drive units are mounted on the turntable (10), each operate along one of the two directions of movement thus forming the angle of direction of movement and are each provided with a gripper (18, 18') for releasable gripping of a container (A, B).
17. System as claimed in any one of Claims 10 to 16, characterised in that the transport device (10) can be moved in translation along a guideway (3).
18. System as claimed in Claim 17, characterised in that the transport device (10) is firmly connected to and movable with a coating machine (1) which is movable along the guideway (3) and is equipped with the spray device (2).
19. System as claimed in any one of Claims 10 to 18, characterised in that a container magazine (30) is provided for a plurality of selectable containers (31), and that the transport device (10) can be moved into a position in which a selected container from the magazine (30) is located at the intersection of the directions of linear movement or can be brought to that intersection.
20. System as claimed in Claim 19, characterise din that the container magazine (30) is rotatable about an axis which is parallel to the axis of rotation of the turntable (10).
21. System as claimed in Claim 10, characterised in that the transport device (10) and the transfer station (8, 8') are connected to the coating machine (10) and can be moved therewith parallel to the guideway (3).

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