EP1207965B1 - Verfahren und vorrichtung zur montage einer baugruppe aus mindestens einer beschichtungsmaterialversprüheinrichtung, die auf einem bewegbaren teil eines roboters angeordnet ist - Google Patents

Verfahren und vorrichtung zur montage einer baugruppe aus mindestens einer beschichtungsmaterialversprüheinrichtung, die auf einem bewegbaren teil eines roboters angeordnet ist Download PDF

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Publication number
EP1207965B1
EP1207965B1 EP00958683A EP00958683A EP1207965B1 EP 1207965 B1 EP1207965 B1 EP 1207965B1 EP 00958683 A EP00958683 A EP 00958683A EP 00958683 A EP00958683 A EP 00958683A EP 1207965 B1 EP1207965 B1 EP 1207965B1
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EP
European Patent Office
Prior art keywords
support
ring
assembly
sub
reliefs
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
EP00958683A
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English (en)
French (fr)
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EP1207965A1 (de
Inventor
Caryl Thome
Philippe Provenaz
Louis Sentis
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Sames Kremlin SAS
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Sames Technologies SAS
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Filing date
Publication date
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Publication of EP1207965A1 publication Critical patent/EP1207965A1/de
Application granted granted Critical
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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
    • 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
    • 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
    • B05B5/1675—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive the supply means comprising a piston, e.g. a piston pump
    • 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
    • B05B12/1454—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 units comprising both a material container and a spray device permanently connected thereto being removably attached to a part of the spray apparatus, e.g. to a robot arm
    • 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
    • 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

Definitions

  • the invention relates to a method and a device for assembly of a subassembly, comprising at least one projector coating product, on a moving part of a robot.
  • JP-A-53 056 237 It is known from JP-A-53 056 237 to mount different projectors on the moving part of a robot depending on the shade of the coating.
  • the ring and the support constitute together a rotational locking system, similar to a bayonet system or a system called "quarter turn", even though the relative rotational angle of the ring compared the support is not necessarily 90 °.
  • the movement of Laying plane makes it possible to stiffen the assembly achieved thanks to to the ring and the support and also to seal fluidic and / or electrical connections made to the interface between the robot and the subset considered.
  • the method of the invention induces only a movement of rotation of the ring and longitudinal movement of the laying plan, which can be a translation, these movements being mechanically simple and can be made particularly fast, so that the assembly of the subassembly and its disassembly can be Compatible with industry production rates automobile.
  • the displacement of the laying plan is obtained by the air supply under pressure of a closed volume defined between the support and the plane deposit.
  • This mode of control in displacement of the piston allows to obtain a great speed of movement and a strength intense support of the laying plane on the subassembly. So, the effort of mutual engagement of the reliefs depends on the pressure supply of this closed volume.
  • a robot or robot 1 is disposed near a conveyor 2 carrying objects to be coated, in this case bodies 3 motor vehicles.
  • the robot 1 is of the multi-axis type and comprises a mobile frame 4 on a guide 5 extending parallel to the conveying direction X-X '.
  • An arm 6 supported by the frame 4 comprises several segments 6 a, 6 b, 6 c articulated relative to each other.
  • the frame 4 is also made up of parts 4 and 4b articulated with respect to one another about an axis ZZ 'substantially vertical.
  • the segment 6c of the arm 6 supports a subset 7 wherein there are provided a reservoir 8 of coating material and a projector 9.
  • the projector 9 is electrostatic and rotary type and carries a bowl 9 has to be driven to high speed by an air turbine integrated in the projector 9.
  • the subassembly 7 is moved opposite the body and the projector 9 is activated so to coat this body with the product contained in the tank 8.
  • the quantity of products present in the tank 8 is adapted to the surface to be coated with the bodywork 3.
  • this station 10 is provided with two zones 11 and 12 for receiving subsets of the subassembly type. More specifically, the zone 11 is empty and ready to receive the sub-assembly. together 7 while the zone 12 contains a similar subset 7 ', which also comprises a tank 8' and a projector 9 ', similar to those of the subset 7.
  • the subsets 7 and 7' can be alternately mounted on the segment 6c of the arm 6.
  • the subassembly 7 is approached to the zone 11 and introduced into it by a downward movement of the segment 6c represented by the arrow F 1 in FIG. 2. It thus passes through a ring 13 delimiting the inlet orifice 11 a of the zone 11.
  • a similar crown 14 is provided at the upper level of the zone 12.
  • the sub-assembly 7 carries a ring 20 whose lower part is provided with notches 21 which are adapted to receive ribs 15 formed on the inner radial surface 13a of the ring 13.
  • the rings 13 and 14 are each integral with a rod 16 or 17, these rods being interconnected by a rod 18 controlled by a jack 19 drive in a translational movement parallel to its largest axis X 18 and shown by the arrow F 2 .
  • the jack 19 makes it possible to drive the rings 20 and 20 'of the subsets 7 and 7' in rotation around the central axes X 11 and X 12 of the zones 11 and 12.
  • the ring 20 is provided on its inner radial surface 20 has pads 22 separated by free areas 23.
  • the segment 6c of the arm 6 has a support 30, generally cylindrical in shape and the outer radial surface 30 has a diameter slightly less than that of the surface 20 a.
  • the surface 30 a is also provided with studs 32 whose width is less than that of area 23.
  • a laying plane 24 is formed in the upper part of the subassembly 7 and is provided with orifices 25 for air passage or other fluids for the control of the tank 8 and the projector 9 and for the control of these devices.
  • a electrical connector 26 is also provided for the power supply high voltage projector 9.
  • a corresponding laying plane 34 is defined in the central portion of the support 30 and also includes 35 air passage orifices and an electrical connector 36 connected to a high voltage unit not shown.
  • the orifices 25 and 35 on the one hand and the connectors 26 and 36 on the other hand are provided to be aligned when the subassembly 7 is mounted on the segment 6c .
  • the bottom surfaces 22a of the studs 22 directed towards the sub-assembly 7 and the upper surfaces 32 of the studs 32 directed towards the segment 6 c are opposite each other.
  • the surfaces 22a bear a lug 27 projecting towards the mounting plane 24.
  • the surfaces 32 are each provided with a notch 37 for receiving a pin 27.
  • a lug 27 of each surface 22 a is facing a notch 37 of a stud 32, the elements 27 and 37 each being provided in the central portion of the surfaces 22 a and 32 a .
  • the laying plane 34 is movable in the direction of the axis X 30 relative to the support 30. Indeed, an annular volume 38 is defined between the inner surface of the support 30 and the outer surface of the laying plane 34, this volume 38 being connected, by a command line not shown, to a source of compressed air also not shown.
  • the volume 38 is pressurized, which has the effect of moving, in translation parallel to the axis X 30 and as represented by the arrow F 5 , the laying plane 34 to a support closes on the laying plane 24, so that the sealing of the junctions between the orifices 25 and 35, on the one hand, and between the connectors 26 and 36, on the other hand, is achieved in a safe manner while this force, represented by arrow F6 in figure 5 has the effect of pressing surfaces 22a on the surfaces 32 and to penetrate the lugs 27 into the notches 37, which ensures an effective mechanical interlock of the subassembly 7 on the segment 6 c .
  • the mounting plane 24 is also provided with a central orifice 29 while the mounting plane 34 is provided with a central orifice 39 of the same internal cross section in which is slidable a control rod 40 the position of piston 8 has the reservoir 8.
  • a control rod 40 the position of piston 8 has the reservoir 8.
  • the rod 40 is retracted inside the subassembly 6, as shown in FIGS. 3 and 4.
  • the constituent elements of the device of the invention are made of electrically insulating material, for example of suitable plastic material. This avoids risk of electric arcing between parts brought to the high voltage, such as the projector bowl and the tank in the case of a projector of the electrostatic type and a water-soluble coating product, on the one hand, and earth potential parts, such as the wrist of the robot, on the other hand.
  • the device is configured such so that it does not include an electrically conductive element near high voltage parts.
  • the invention therefore allows a rapid change of subassembly at the end of the arm of a multi-axis robot, which allows to paint bodies 3 with a high rate, the cleaning of the tank 8 and the projector 9 being carried out in masked time, while using the corresponding elements 8 'and 9' of the subassembly 7 '.
  • the invention has been represented with a multi-axis robot and a subset 7 comprising a tank, it is however applicable to any type of robot and any type of subset, whether or not it incorporates a feed tank the projectors considered.
  • the ring 20 can be mounted free to rotate around the subassembly 7.
  • the subassembly can comprise two or more projectors which can be of any known type.
  • the invention has been represented with a movement F 3 for introducing the support 30 into the ring 20. It would also be possible to use a reverse movement in which the ring 20 is moved to be engaged around the support 30. In all case, the support 30 is engaged in the ring within the meaning of the present invention.
  • the invention it is possible to change quickly the subassembly 7 mounted on the arm 6 of a robot 1 and, in particular, to change the type of subset, the subsets 7 and 7 'are not necessarily identical.
  • characteristics of the designer 9, the tank 8 or the system electrostatic charge can they be adapted depending on the application sought.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Manipulator (AREA)
  • Electrostatic Spraying Apparatus (AREA)
  • Automatic Assembly (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)

Claims (10)

  1. Verfahren zur Montage eines Teilsystems (7 - 7'), das mindestens einen Projektor (9, 9') für Beschichtungsprodukt umfasst, an einen beweglichen Teil (6c) eines Roboters (6), dadurch gekennzeichnet, dass es darin besteht:
    einen fest mit dem beweglichen Teil verbundenen Träger (30) mit einem Ring (20) in Eingriff treten zu lassen (F3), der mit dem Teilsystem (7) verbunden ist;
    den Ring (20) in Bezug auf den Träger (30) in Drehung (F4) zu versetzen, indem erste Erhöhungen (22), die auf dem Umfang des Rings vorgesehen sind, mit zweiten Erhöhungen (32), die auf dem Umfang des Trägers vorgesehen sind, in Gegenüberstellung gebracht werden und
    eine Einbauebene (34), die mit dem beweglichen Teil (6) verbunden ist, in Richtung des Teilsystems (7) zu verschieben (F5), bis die Einbauebene eine Druckkraft (F6) auf das Teilsystem ausübt, wobei die Druckkraft auf den Ring derart übertragen wird, dass die ersten und zweiten Erhebungen (22, 32) in wechselseitigen Eingriff gebracht werden.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Verschiebung (F5) der Einbauebene durch die Versorgung eines geschlossenen Volumens (38), das zwischen dem Träger (30) und der Einbauebene (34) begrenzt ist, mit Druckluft erhalten wird.
  3. Vorrichtung zur Montage eines Teilsystems (7, 7'), das mindestens einen Projektor (9, 9') für Beschichtungsprodukt umfasst, an einen beweglichen Teil (6c) eines Roboters (6), dadurch gekennzeichnet, dass sie umfasst:
    einen mit dem Teilsystem verbundenen Ring (20), der an seinem Umfang mit ersten Erhebungen (22) versehen ist;
    einen fest mit dem beweglichen Teil (6c) verbundenen Träger (30), der an seinem Umfang mit zweiten Erhebungen (32) versehen ist und
    eine Einbauebene (34), die von dem beweglichen Teil (6c) getragen wird und geeignet ist, in Bezug auf den Träger (30) entsprechend einer im Wesentlichen parallel zu einer Mittelachse (X30) des Trägers liegenden Richtung verschoben (F5) zu werden,
    wobei die ersten und zweiten Erhebungen (22, 32) geeignet sind, in wechselseitigen Eingriff gebracht zu werden, wenn der Ring (20) den Träger (30) umgibt, wobei die Einbauebene (34) in der Lage ist, auf das Teilsystem eine Kraft (F6) zum Verriegeln der Erhebungen auszuüben.
  4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass die ersten und zweiten Erhebungen Anschläge (22, 32) umfassen, die auf einer inneren radialen Fläche (20a) des Ringes (20) und auf einer äußeren radialen Fläche (30a) des Trägers (30) angeordnet sind und ausgerichtet (F4) werden können, wenn der Ring (20) um den Träger (30) herum angeordnet wird.
  5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Flächen (22a, 32a) der Anschläge, die vorgesehen sind, um in wechselseitige Abstützung zu kommen, jeweils mit Mitteln (27, 37) zur Zentrierung versehen sind.
  6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass mindestens eine Fläche (32a) eines der Anschläge (32), die in Abstützung gegen eine entsprechende Fläche (22a) eines anderen Anschlages (22) kommen soll, mit einer Aufnahme (37) eines vorspringenden Elementes (27) versehen ist, das auf der korrespondierenden Fläche vorgesehen ist.
  7. Vorrichtung nach einem der Ansprüche 3 bis 6, dadurch gekennzeichnet, dass die Einbauebene (34) Löcher (35) für den Durchgang des Versorgungsfluids des Projektors (9) umfasst, wobei die Löcher geeignet sind mit korrespondierenden Löchern (25) des Teilsystems (7) in Ausrichtung zu kommen und/oder einen elektrischen Verbinder (36) umfasst, der geeignet ist, mit einem elektrischen Verbinder (26), der auf dem Teilsystem für die Stromversorgung des Projektors vorgesehen ist, zusammenzuarbeiten.
  8. Vorrichtung nach einem der Ansprüche 3 bis 7, dadurch gekennzeichnet, dass die Einbauebene (34) mit einer Durchgangsbohrung (39) für einen Stab (40) zur Steuerung eines Kolbens (8a) eines Behälters (8) versehen ist, der in dem Teilsystem (7) für die Versorgung mit Beschichtungsprodukt des Projektors (9) eingebaut ist.
  9. Vorrichtung nach einem der Ansprüche 3 bis 8, dadurch gekennzeichnet, dass ein geschlossenes Volumen (38) zwischen dem Träger (30) und der Einbauebene (34) definiert ist, wobei das Volumen dazu geeignet ist, selektiv an eine Druckluftquelle angeschlossen zu werden, wobei der Druckwert in dem Volumen erlaubt, die Einbauebene in ihrer Verschiebung (F5) zu steuern.
  10. Vorrichtung nach einem der Ansprüche 3 bis 9, dadurch gekennzeichnet, dass der Ring (20) mit Erhebungen (21) versehen ist, die mit Erhebungen (15) korrespondierender Form zusammenarbeiten können, die auf einem zu einer Station (10) zur Reinigung/Füllung des Teilsystems (7) gehörenden Handhabungskopf (13, 14) für die Steuerung der Drehbewegung (F4) des Ringes vorgesehen sind.
EP00958683A 1999-08-30 2000-08-11 Verfahren und vorrichtung zur montage einer baugruppe aus mindestens einer beschichtungsmaterialversprüheinrichtung, die auf einem bewegbaren teil eines roboters angeordnet ist Expired - Lifetime EP1207965B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9910993 1999-08-30
FR9910993A FR2797789B1 (fr) 1999-08-30 1999-08-30 Procede et dispositif de montage d'un sous-ensemble comprenant au moins un projecteur de produit de revetement sur une partie mobile d'un robot
PCT/FR2000/002317 WO2001015815A1 (fr) 1999-08-30 2000-08-11 Procede et dispositif de montage d'un sous-ensemble comprenant au moins un projecteur de produit de revetement sur une partie mobile d'un robot

Publications (2)

Publication Number Publication Date
EP1207965A1 EP1207965A1 (de) 2002-05-29
EP1207965B1 true EP1207965B1 (de) 2004-03-24

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EP00958683A Expired - Lifetime EP1207965B1 (de) 1999-08-30 2000-08-11 Verfahren und vorrichtung zur montage einer baugruppe aus mindestens einer beschichtungsmaterialversprüheinrichtung, die auf einem bewegbaren teil eines roboters angeordnet ist

Country Status (15)

Country Link
US (1) US6349884B1 (de)
EP (1) EP1207965B1 (de)
JP (1) JP4392148B2 (de)
KR (1) KR100695865B1 (de)
CN (1) CN1137791C (de)
AT (1) ATE262381T1 (de)
AU (1) AU7012900A (de)
BR (1) BR0013588A (de)
CA (1) CA2382702A1 (de)
DE (1) DE60009308T2 (de)
ES (1) ES2214309T3 (de)
FR (1) FR2797789B1 (de)
MX (1) MXPA02001491A (de)
TW (1) TW526097B (de)
WO (1) WO2001015815A1 (de)

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Also Published As

Publication number Publication date
AU7012900A (en) 2001-03-26
CN1137791C (zh) 2004-02-11
EP1207965A1 (de) 2002-05-29
CA2382702A1 (fr) 2001-03-08
FR2797789B1 (fr) 2001-11-23
JP4392148B2 (ja) 2009-12-24
KR20020028223A (ko) 2002-04-16
JP2003508198A (ja) 2003-03-04
DE60009308D1 (de) 2004-04-29
WO2001015815A1 (fr) 2001-03-08
ATE262381T1 (de) 2004-04-15
BR0013588A (pt) 2002-05-07
TW526097B (en) 2003-04-01
CN1374889A (zh) 2002-10-16
DE60009308T2 (de) 2005-03-10
FR2797789A1 (fr) 2001-03-02
US6349884B1 (en) 2002-02-26
KR100695865B1 (ko) 2007-03-19
ES2214309T3 (es) 2004-09-16
MXPA02001491A (es) 2002-07-02

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