EP1252935B1 - Method for operating control of a coating installation - Google Patents

Method for operating control of a coating installation Download PDF

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Publication number
EP1252935B1
EP1252935B1 EP02008016A EP02008016A EP1252935B1 EP 1252935 B1 EP1252935 B1 EP 1252935B1 EP 02008016 A EP02008016 A EP 02008016A EP 02008016 A EP02008016 A EP 02008016A EP 1252935 B1 EP1252935 B1 EP 1252935B1
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Prior art keywords
coating
volume
machine
commencement
accordance
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German (de)
French (fr)
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EP1252935A3 (en
EP1252935A2 (en
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Hans-Jürgen Dr. Nolte
Frank Herre
Harry Krumma
Jürgen Haas
Mathias Schwarzwälder
Markus Beuter
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Duerr Systems AG
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Duerr Systems AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • 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

Definitions

  • the invention relates to a method and a system for controlling the operation of a coating system such as in EP 0 983 798 described and according to the preamble of the independent claims.
  • this is the mass production of workpieces such as vehicle bodies or inventory or attachments of bodies with frequently changing color using paint robots or other programmable multi-axis coating machines.
  • ink supply systems with demand-dependent limited supply of coating material of the required color are known.
  • the coating material can be supplied from interchangeable and / or refillable cartridges or other storage containers, the contents of which are dimensioned, for example, for the coating of a body part or of body attachments or at least for a coating process or for a predetermined limited number of coating operations ( DE 198 58 397 . EP 0 796 664 . EP 0 796 665 etc.), or alternatively from alternately connectable to the coating machines, preferably gemolchten piping systems ( DE 100 33 987 ).
  • common to these systems is the volumetric metering of the coating material in the supply of atomizers or other application organs.
  • the coating devices In a color change, the coating devices must be cleaned and rinsed in each case known, which is associated with paint and detergent losses.
  • the paint supply provided before a coating process must correspond as closely as possible to the actually resulting need for the coating of the workpieces or workpiece parts.
  • the need changes not only with the workpieces to be coated, but also with other operating conditions such as the control parameters for machine movements and application technology, etc., and the type, color and the temperature-dependent viscosity of the coating material, which in turn are associated with changes in the operation control of the coating machine and can change the time programs.
  • Another way to determine the amount of consumption is their calculation based on the speed and running time of the commonly used volumetrically operating metering pump with defined delivery volume per revolution or stroke. Furthermore, one can calculate the amount of consumption due to the opening times of the main needle or other color valve of the atomizer or other application organ of the coating machine, taking into account the respective outflow size. The opening times can be determined either by the valve switching points programmed in relation to the conveying path of the workpiece or by kinematic formulas with which the machine movements can be calculated.
  • the object of the invention is to specify a method or system with which the amount of material required for a coating process can be more accurately predetermined than previously.
  • the respective required amounts of material so that the respective required reserve quantities and thus the paint consumption are reduced to a minimum can, without loss of color and time of the above-mentioned manual measurement method. Except for the start of the system that is among other things in systems with high color number and / or frequent changes of workpieces, ie with a high number of model variants of considerable advantage.
  • the actual operating sequences are simulated according to the invention and thus determined in advance.
  • delays z. B. due to signal delays that arise in the actual control of the coating machine. More generally, any change in operating conditions may be taken into account in the pre-calculation.
  • the known robotic control can be used for the simulation, in which the movement sequence and the valve switching times can be tracked in real time and thus the time points that can be used for the quantity calculation can be determined exactly, although the robot actually only the respective movements later in the actual coating performs. Because of the simulation, it is known exactly when, after a valve opening signal, the coating material actually exits the nebulizer and when the material flow is shut off again.
  • two or more coating systems can be programmed for each existing or additional simulation control system.
  • FIG. 1 illustrated flow diagram, the invention is explained in more detail using the example of a painting robot.
  • TCP Tool Center Point
  • the amount of ink is calculated in this process step as a product of the programmed opening duration of the main needle valve of the atomizer and the paint volume flow, which is possible because of the assumed volumetric dosing with the required accuracy.
  • the calculated color quantity value is then corrected, taking into account the dynamic system behavior, ie all the parameters which significantly influence the programmed opening duration.
  • this is the sum of the delays caused by the various switching operations and the consideration of the computing time of the robot control during the actual coating.
  • the signal propagation times via the bus system with which the computer communicates with the external machine controls can also be taken into account as delays. The result is the actual amount of paint needed.
  • the input signal may be, for example, an electrical signal for driving a solenoid valve, which in turn opens or closes the paint outlet of the atomizer after the delay caused by the system.
  • Fig. 3 shows the theoretical valve opening duration (eg of the main needle valve) between the generation of the switching signals at the times t 0 and t 1 .
  • the calculation of the amount of material due to this assumed switching behavior would be relatively inaccurate because, among other things, the movement behavior of the robot is not taken into account.
  • Fig. 4 is the one in the simulation in step 2.
  • Fig. 1 underlying valve opening duration, which differ from Fig. 3 can differ and is more accurate, because the movement behavior and at least the most important other the Robotic circumstances in the simulation can be considered.
  • Fig. 5 shows in reality, for example, resulting course of the color flow, which in step 3. in Fig. 1 can be used to correct the simulation result.
  • the considered valve opens only after a delay time t k , which results inter alia by the signal communication via a data bus, etc. between the computer and the drive control circuits of the robot and is known from technical literature and / or due to the respective system configuration or can be measured previously.
  • the full volume flow is achieved according to the respective system behavior, that is to say in accordance with the system response, also referred to as "system identification", which can be determined by parameter estimation methods known per se.
  • system identification also referred to as “system identification”
  • the volume flow drops again during the time t' s . All these times are taken into account in the correction.
  • the computer system used in the material quantity calculation although with all current parameters z. B. are supplied to the motion drive and other program control data, but in this case have no connection to the drive control circuits of the coating machine.

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  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Coating With Molten Metal (AREA)
  • Coating Apparatus (AREA)
  • Fertilizers (AREA)

Abstract

The method involves computing the required quantity of coating material in a control system prior to the coating process. The control system simulates the operation of the coating machine during the subsequent coating process including the movement processes. The quantities computed by the simulation are corrected by factors with which the known operating conditions arising in reality can be taken into account. Independent claims are also included for the following: a control system for operational control of a coating system.

Description

Die Erfindung betrifft ein Verfahren und ein System zur Betriebssteuerung einer Beschichtungsanlage wie beispielsweise in EP 0 983 798 beschrieben und gemäß dem Oberbegriff der unabhängigen Ansprüche. Insbesondere handelt es sich hierbei um die Großserienbeschichtung von Werkstücken wie beispielsweise Fahrzeugkarossen oder Bestand- oder Anbauteilen von Karossen mit häufig wechselnder Farbe unter Verwendung von Lackierrobotern oder anderen programmgesteuerten mehrachsigen Beschichtungsmaschinen.The invention relates to a method and a system for controlling the operation of a coating system such as in EP 0 983 798 described and according to the preamble of the independent claims. In particular, this is the mass production of workpieces such as vehicle bodies or inventory or attachments of bodies with frequently changing color using paint robots or other programmable multi-axis coating machines.

Für die Serienbeschichtung von Fahrzeugkarossen oder sonstigen Werkstücken sind Farbversorgungssysteme mit bedarfsabhängig begrenztem Beschichtungsmaterialvorrat der jeweils benötigten Farbe bekannt. Das Beschichtungsmaterial kann aus auswechselbaren und/oder nachfüllbaren Kartuschen oder sonstigen Vorratsbehältern zugeführt werden, deren Inhalt beispielsweise für die Beschichtung eines Karossenteils oder von Karossenanbauteilen oder jedenfalls für einen Beschichtungsvorgang oder für eine vorbestimmte begrenzte Anzahl von Beschichtungsvorgängen bemessen ist ( DE 198 58 397 , EP 0 796 664 , EP 0 796 665 usw.), oder auch aus wechselweise an die Beschichtungsmaschinen anschließbaren, vorzugsweise gemolchten Leitungssystemen ( DE 100 33 987 ). Gemeinsam ist diesen Systemen die volumetrische Dosierung des Beschichtungsmaterials bei der Versorgung der Zerstäuber oder sonstigen Applikationsorgane.For the series coating of vehicle bodies or other workpieces ink supply systems with demand-dependent limited supply of coating material of the required color are known. The coating material can be supplied from interchangeable and / or refillable cartridges or other storage containers, the contents of which are dimensioned, for example, for the coating of a body part or of body attachments or at least for a coating process or for a predetermined limited number of coating operations ( DE 198 58 397 . EP 0 796 664 . EP 0 796 665 etc.), or alternatively from alternately connectable to the coating machines, preferably gemolchten piping systems ( DE 100 33 987 ). Common to these systems is the volumetric metering of the coating material in the supply of atomizers or other application organs.

Bei einem Farbwechsel müssen die Beschichtungsvorrichtungen bekanntlich jeweils gereinigt und gespült werden, was mit Lack- und Spülmittelverlusten verbunden ist.In a color change, the coating devices must be cleaned and rinsed in each case known, which is associated with paint and detergent losses.

Damit sich beispielsweise bei einem Farbwechsel möglichst wenig Lackverluste ergeben, muß der vor einem Beschichtungsvorgang bereitgestellte Lackvorrat möglichst genau dem sich tatsächlich ergebenden Bedarf für die Beschichtung der Werkstücke oder Werkstückteile entsprechen. Der Bedarf ändert sich nicht nur mit den zu beschichtenden Werkstücken, sondern auch mit sonstigen Betriebsbedingungen wie insbesondere den Steuerparametern für die Maschinenbewegungen und Applikationstechnik usw. sowie Art, Farbe und der temperaturabhängigen Viskosität des Beschichtungsmaterials, die ihrerseits mit Änderungen der Betriebssteuerung der Beschichtungsmaschine verbunden sind und die Zeitprogramme verändern können.Thus, for example, in a color change as little as possible paint losses, the paint supply provided before a coating process must correspond as closely as possible to the actually resulting need for the coating of the workpieces or workpiece parts. The need changes not only with the workpieces to be coated, but also with other operating conditions such as the control parameters for machine movements and application technology, etc., and the type, color and the temperature-dependent viscosity of the coating material, which in turn are associated with changes in the operation control of the coating machine and can change the time programs.

Bisher wurde zur Vorbestimmung der benötigten Lackmenge u.a. einfach die Verbrauchsmenge während der Applikation gemessen und aufgrund des Meßergebnisses eine zuvor relativ groß bemessene Reservemenge entsprechend reduziert. Bei dieser Methode geht jeweils der zunächst gewählte Reserveüberschuß verloren.So far, the pre-determination of the required amount of paint u.a. simply measured the amount of consumption during the application and due to the measurement result, a previously relatively large reserve amount reduced accordingly. With this method, the initially selected reserve surplus is lost.

Eine andere Möglichkeit zur Bestimmung der Verbrauchsmenge ist deren Berechnung aufgrund der Drehzahl und Laufzeit der üblicherweise verwendeten volumetrisch arbeitenden Dosierpumpe mit definierten Fördervolumen je Umdrehung oder Hub. Ferner kann man die Verbrauchsmenge aufgrund der Öffnungszeiten des Hauptnadel- oder sonstigen Farbventils des Zerstäubers oder sonstigen Applikationsorgans der Beschichtungsmaschine unter Berücksichtigung der jeweiligen Ausflußgröße berechnen. Die Öffnungszeiten können hierbei entweder durch die in Bezug auf den Förderweg des Werkstücks einprogrammierten Ventilschaltpunkte bestimmt werden oder durch kinematische Formeln, mit denen die Maschinenbewegungen berechnet werden können.Another way to determine the amount of consumption is their calculation based on the speed and running time of the commonly used volumetrically operating metering pump with defined delivery volume per revolution or stroke. Furthermore, one can calculate the amount of consumption due to the opening times of the main needle or other color valve of the atomizer or other application organ of the coating machine, taking into account the respective outflow size. The opening times can be determined either by the valve switching points programmed in relation to the conveying path of the workpiece or by kinematic formulas with which the machine movements can be calculated.

Bei allen derartigen Berechnungen können sich Fehler gegenüber dem tatsächlichen Materialbedarf ergeben, da die oben erwähnten Änderungen von Parametern und sonstigen Betriebsbedingungen unberücksichtigt bleiben. Insbesondere ist bei den bisher bestehenden Möglichkeiten der Vorbestimmung unbekannt, welche Bewegungsabläufe und Schaltzeiten durch die Maschinensteuerung bei der anschließenden Beschichtung tatsächlich eingestellt werden und welcher tatsächliche Materialverbrauch sich hieraus ergibt.All such calculations may result in errors from the actual material requirements, as the above-mentioned changes in parameters and other operating conditions are disregarded. In particular, it is unknown in the existing possibilities of predetermining which movement sequences and switching times are actually set by the machine control during the subsequent coating and which actual material consumption results from this.

Infolgedessen bleibt beim Bereitstellen der Materialmenge bisher in jedem Fall eine unerwünscht hohe Reservemenge notwendig.As a result, when providing the amount of material, an undesirably high amount of reserve remains necessary in any case.

Aufgabe der Erfindung ist, ein Verfahren bzw. System anzugeben, mit dem die für einen Beschichtungsvorgang benötigte Materialmenge noch genauer als bisher vorherbestimmt werden kann.The object of the invention is to specify a method or system with which the amount of material required for a coating process can be more accurately predetermined than previously.

Diese Aufgabe wird durch das in den Patentansprüchen angegebene Verfahren gelöst.This object is achieved by the method specified in the patent claims.

Durch die Erfindung können stets vor Beginn eines Beschichtungsvorgangs mit sich bewegender Maschine und insbesondere auch schon vor Inbetriebnahme (Anlauf) der Beschichtungsanlage die jeweils benötigten Materialmengen mit der größtmöglichen Genauigkeit ermittelt werden, so daß die jeweils erforderlichen Reservemengen und somit der Lackverbrauch auf ein Minimum reduziert werden können, und zwar ohne Farb- und Zeitverluste der oben erwähnten manuellen Meßmethode. Außer beim Anlauf der Anlage ist das u.a. bei Anlagen mit hoher Farbanzahl und/oder bei häufigem Wechseln der Werkstücke, also bei einer hohen Anzahl von Modellvarianten von erheblichem Vorteil.By the invention can be determined with the greatest possible accuracy always before starting a coating process with a moving machine and in particular before startup (startup) of the coating system, the respective required amounts of material so that the respective required reserve quantities and thus the paint consumption are reduced to a minimum can, without loss of color and time of the above-mentioned manual measurement method. Except for the start of the system that is among other things in systems with high color number and / or frequent changes of workpieces, ie with a high number of model variants of considerable advantage.

Zur Lackmengenberechnung werden erfindungsgemäß die tatsächlichen Betriebsabläufe simuliert und dadurch vorab ermittelt. Insbesondere werden durch die Erfindung Verzögerungen z. B. infolge von Signallaufzeiten berücksichtigt, die sich bei der tatsächlichen Steuerung der Beschichtungsmaschine ergeben. Allgemeiner gesagt, kann jede Änderung der Betriebsbedingungen bei der Vorabberechnung berücksichtigt werden.For paint quantity calculation, the actual operating sequences are simulated according to the invention and thus determined in advance. In particular, delays z. B. due to signal delays that arise in the actual control of the coating machine. More generally, any change in operating conditions may be taken into account in the pre-calculation.

Beispielsweise im Fall eines Lackierroboters kann für die Simulierung die an sich bekannte Robotersteuerung genutzt werden, in der der Bewegungsablauf und die Ventilschaltzeiten in Echtzeit verfolgt werden können und damit die für die Mengenberechnung verwendbaren Zeitpunkte exakt ermittelt werden können, obwohl der Roboter die betreffenden Bewegungen tatsächlich erst später bei der eigentlichen Beschichtung ausführt. Aufgrund der Simulation ist genau bekannt, wann nach einem Ventilöffnungssignal das Beschichtungsmaterial tatsächlich aus dem Zerstäuber austritt, und wann der Materialfluß wieder abgeschaltet wird.For example, in the case of a painting robot, the known robotic control can be used for the simulation, in which the movement sequence and the valve switching times can be tracked in real time and thus the time points that can be used for the quantity calculation can be determined exactly, although the robot actually only the respective movements later in the actual coating performs. Because of the simulation, it is known exactly when, after a valve opening signal, the coating material actually exits the nebulizer and when the material flow is shut off again.

Es wird also vorab errechnet, welche Zerstäuberbewegungen und Schaltzeiten sich später ergeben. Bei ausreichender Rechenkapazität kann für die Berechnung der Materialmenge die ohnehin vorhandene Robotersteuerung verwendet werden, mit der u.a. die Roboterbewegungen bei der anschließenden Beschichtung gesteuert werden. Die Mengenberechnung für einen späteren Beschichtungsvorgang kann auch schon durchgeführt werden, während der Roboter noch zur Durchführung eines vorhergehenden Beschichtungsvorgangs gesteuert wird. In anderen Fällen kann für die Berechnung der Materialmenge ein zusätzlich zu der Programmsteuerung der Beschichtungsmaschine vorgesehenes System verwendet werden, dem vor Beschichtungsbeginn die selben Programmsteuerdaten zugeführt werden, mit denen später der Beschichtungsvorgang gesteuert wird. Diese Simulationsaufgabe kann je nach Zweckmäßigkeit von einer oder mehreren zusätzlichen im Prinzip beliebigen numerischen Recheneinheiten übernommen werden, bei denen es sich z. B. um einen PC mit Emulation des Betriebssystems der Robotersteuerung (RC) handeln kann. Wichtig ist, daß die Software identisch ist.It is therefore calculated in advance, which atomizer movements and switching times arise later. With sufficient computing capacity can be used for the calculation of the amount of material, the already existing robot control, among other things, the robot movements are controlled in the subsequent coating. The quantity calculation for a later coating process can already be carried out while the robot is still being controlled to carry out a preceding coating operation. In other cases, for the calculation of the quantity of material, an addition to the Program control of the coating machine provided system can be used, the same program control data are supplied before the coating, with which the coating process is controlled later. Depending on the expediency, this simulation task can be carried out by one or more additional, in principle, any numerical arithmetic units in which, for example, B. may be a PC with emulation of the operating system of the robot controller (RC). It is important that the software is identical.

Mit den errechneten Lackmengen können für jedes vorhandene oder zusätzliche Simulationssteuersystem auch zwei oder mehr Beschichtungsanlagen programmiert werden.With the calculated amounts of paint, two or more coating systems can be programmed for each existing or additional simulation control system.

Durch das in Fig. 1 dargestellte Flußdiagramm wird die Erfindung am Beispiel eines Lackierroboters näher erläutert.Through the in Fig. 1 illustrated flow diagram, the invention is explained in more detail using the example of a painting robot.

Nach dem Start der Simulationssteuerung wird zunächst die Bahnbewegung des sog. Tool Center Point (TCP) simuliert, womit der Farbaustrittspunkt am Zerstäuber oder allgemeiner gesagt dessen Bahnbewegung gemeint ist. Hierfür, wird in dem verwendeten (im Prinzip beliebigen) Rechner dieselbe Software der Robotersteuerung RC eingesetzt, die auch zur Maschinensteuerung während der tätsächlichen Beschichtung benutzt wird, einschließlich sowohl der Verfahrprogramme als auch der Bewegungssteuersoftware MCU (Motion Control Unit).After the start of the simulation control, the path movement of the so-called Tool Center Point (TCP) is first simulated, meaning the color exit point on the atomizer or, more generally, its web movement. For this purpose, in the used (in principle arbitrary) computer the same software of the robot controller RC is used, which is also used for machine control during tätsächlichen coating, including both the traversing programs and the motion control software MCU (Motion Control Unit).

Die Farbmenge wird bei diesem Verfahrensschritt als Produkt aus der programmierten Öffnungsdauer des Hauptnadelventils des Zerstäubers und dem Lackvolumenstrom errechnet, was wegen der angenommenen volumetrischen Dosierung mit der erforderlichen Genauigkeit möglich ist.The amount of ink is calculated in this process step as a product of the programmed opening duration of the main needle valve of the atomizer and the paint volume flow, which is possible because of the assumed volumetric dosing with the required accuracy.

Im 3. Schritt wird dann der errechnete Farbmengenwert unter Berücksichtigung des dynamischen Systemverhaltens, also aller die programmierte Öffnungsdauer wesentlich beeinflussender Parameter korrigiert. Insbesondere handelt es sich hier um die Summe der Verzögerungen durch die verschiedenen Schaltvorgänge und um die Berücksichtigung der Rechendauer der Robotersteuerung während der tatsächlichen Beschichtung. Auch die Signallaufzeiten über das Bussystem, mit dem der Rechner mit den externen Maschinensteuerungen kommuniziert, können als Verzögerungen berücksichtigt werden. Das Ergebnis ist die real benötigte Farbmenge.In the third step, the calculated color quantity value is then corrected, taking into account the dynamic system behavior, ie all the parameters which significantly influence the programmed opening duration. In particular, this is the sum of the delays caused by the various switching operations and the consideration of the computing time of the robot control during the actual coating. The signal propagation times via the bus system with which the computer communicates with the external machine controls can also be taken into account as delays. The result is the actual amount of paint needed.

In Fig. 2 ist die durch die Simulierung ermittelte Gesamtverzögerung aufgrund des Applikationssystems schematisch dargestellt. Das Eingangssignal kann beispielsweise ein elektrisches Signal zum Ansteuern eines Magnetventils sein, das seinerseits nach der durch das System verursachten Verzögerung den Farbauslaß des Zerstäubers öffnet bzw. schließt.In Fig. 2 the total delay determined by the simulation due to the application system is shown schematically. The input signal may be, for example, an electrical signal for driving a solenoid valve, which in turn opens or closes the paint outlet of the atomizer after the delay caused by the system.

Die folgenden Figuren sollen die schrittweise verbesserte Genauigkeit der Materialmengenberechnung verdeutlichen.The following figures are intended to illustrate the progressively improved accuracy of material quantity calculation.

Fig. 3 zeigt die theoretische Ventilöffnungsdauer (z. B. des Hauptnadelventils) zwischen der Erzeugung der Schaltsignale zu den Zeiten t0 und t1. Die Berechnung der Materialmenge aufgrund dieses angenommenen Schaltverhaltens wäre relativ ungenau, da u.a. das Bewegungsverhalten des Roboters nicht berücksichtigt ist. Fig. 3 shows the theoretical valve opening duration (eg of the main needle valve) between the generation of the switching signals at the times t 0 and t 1 . The calculation of the amount of material due to this assumed switching behavior would be relatively inaccurate because, among other things, the movement behavior of the robot is not taken into account.

In Fig. 4 ist die bei der Simulation im Schritt 2. in Fig. 1 zugrunde gelegte Ventilöffnungsdauer dargestellt, die sich von Fig. 3 unterscheiden kann und genauer ist, weil das Bewegungsverhalten und wenigstens die wichtigsten sonstigen den Roboter betreffenden Umstände bei der Simulierung berücksichtigt werden können.In Fig. 4 is the one in the simulation in step 2. in Fig. 1 underlying valve opening duration, which differ from Fig. 3 can differ and is more accurate, because the movement behavior and at least the most important other the Robotic circumstances in the simulation can be considered.

Fig. 5 zeigt den sich in der Realität beispielsweise ergebenden Verlauf des Farbvolumenstroms, der im Schritt 3. in Fig. 1 zur Korrektur des Simulationsergebnisses verwendet werden kann. Zunächst öffnet das betrachtete Ventil erst nach einer Verzögerungszeit tk, die sich u. a. durch die Signalkommunikation über einen Datenbus usw. zwischen dem Rechner und den Antriebssteuerschaltungen des Roboters ergibt und aus Fachliteratur und/oder aufgrund der jeweiligen Anlagenkonfiguration bekannt ist oder zuvor gemessen werden kann. Während der anschließenden Verzögerungszeit ts wird darstellungsgemäß der volle Volumenstrom entsprechend dem jeweiligen Systemverhalten erreicht, also entsprechend dem in der Systemtechnik auch als "Systemidentifikation" bezeichneten Ansprechverhalten, das durch an sich bekannte Parameterschätzverfahren ermittelt werden kann. Nach einer erneuten Verzögerungszeit t'k sinkt während der Zeit t's der Volumenstrom wieder ab. Alle diese Zeiten werden bei der Korrektur berücksichtigt. Fig. 5 shows in reality, for example, resulting course of the color flow, which in step 3. in Fig. 1 can be used to correct the simulation result. First, the considered valve opens only after a delay time t k , which results inter alia by the signal communication via a data bus, etc. between the computer and the drive control circuits of the robot and is known from technical literature and / or due to the respective system configuration or can be measured previously. During the subsequent delay time t s , the full volume flow is achieved according to the respective system behavior, that is to say in accordance with the system response, also referred to as "system identification", which can be determined by parameter estimation methods known per se. After a further delay time t ' k , the volume flow drops again during the time t' s . All these times are taken into account in the correction.

Wie ersichtlich ist, muß das verwendete Rechnersystem bei der Materialmengenberechnung zwar mit allen aktuellen Parametern z. B. für den Bewegungsantrieb und sonstigen Programmsteuerdaten versorgt werden, hierbei aber keine Verbindung zu den Antriebssteuerschaltungen der Beschichtungsmaschine haben.As can be seen, the computer system used in the material quantity calculation, although with all current parameters z. B. are supplied to the motion drive and other program control data, but in this case have no connection to the drive control circuits of the coating machine.

Claims (7)

  1. A method of operational control of a coating system for the series coating of workpiece units with different coating materials,
    where the coating material is fed from a supply system with a load-dependent dimensioned stock of material, particularly volumetrically metered, to a program-controlled coating machine,
    and where the volume of coating material required for the respective coating process is predetermined and provided for the coating process prior to the commencement of coating,
    characterised in that the volume of coating material respectively required is calculated by a control system prior to the commencement of coating, which system simulates operation of the coating machine during the subsequent coating process, including the movement sequences.
  2. The method in accordance with claim 1, characterised in that the volume of coating material calculated in simulation is corrected by calculation factors by which operating conditions known to arise in reality are taken into account.
  3. The method in accordance with claim 1 or 2, characterised in that the program control of the coating machine is used to calculate the volume of material.
  4. The method in accordance with one of the preceding claims, characterised in that a computer is used to calculated the volume of material which is controlled prior to the commencement of coating by the same movement and application control programs by which the coating machine is controlled during subsequent coating.
  5. The method in accordance with one of the preceding claims, characterised in that the volume of material is calculated as the product of the duration of opening of an outlet valve of the coating machine application device and the size of the volumetric flow of the coating material specified by the machine.
  6. The method in accordance with claim 5, characterised in that the delays in opening and closing the outlet valve are determined and used to correct the volumetric calculation.
  7. A control system for operational control of a coating system for the series coating of workpiece units with different coating materials in which the coating material is fed to a program-controlled coating machine by a supply system with a load-dependent stock of material, particularly volumetrically-metered,
    with a computer which determines the volume of coating material required for the respective coating process and provided for the coating process before the commencement of coating,
    characterised in that the computer determining the respectively-required volume of coating material before the commencement of coating simulates operation of the coating machine, including the movement sequences, during the subsequent coating process.
EP02008016A 2001-04-25 2002-04-10 Method for operating control of a coating installation Expired - Lifetime EP1252935B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10120272A DE10120272A1 (en) 2001-04-25 2001-04-25 Process for operating control of a coating system
DE10120272 2001-04-25

Publications (3)

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EP1252935A2 EP1252935A2 (en) 2002-10-30
EP1252935A3 EP1252935A3 (en) 2008-05-21
EP1252935B1 true EP1252935B1 (en) 2009-08-05

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EP02008016A Expired - Lifetime EP1252935B1 (en) 2001-04-25 2002-04-10 Method for operating control of a coating installation

Country Status (4)

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EP (1) EP1252935B1 (en)
AT (1) ATE438464T1 (en)
DE (2) DE10120272A1 (en)
ES (1) ES2329114T3 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10150826A1 (en) 2001-10-15 2003-04-17 Duerr Systems Gmbh Method and program control system for controlling a coating system
DE10217022A1 (en) * 2002-04-11 2003-11-06 Cad Fem Gmbh Device and method for simulating production processes
DE202005021351U1 (en) * 2005-11-19 2009-11-12 Daimler Ag Computer program product and digital storage medium for examining a spray process
DE102006026051A1 (en) * 2006-05-31 2007-12-06 Abb Patent Gmbh Method for determining a required amount of paint
ES2411280B1 (en) * 2011-12-30 2014-01-15 Seat, S.A. PAINT CONTROL SYSTEM IN A MIXING ROOM.
DE102022106432A1 (en) 2022-03-18 2023-09-21 Dürr Systems Ag Coating system and associated operating process with a simulation of the required amount of coating agent

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3722734A1 (en) * 1987-07-09 1989-01-19 Behr Industrieanlagen METHOD AND SYSTEM FOR SERIES COATING WORKPIECES
US5847963A (en) * 1995-10-19 1998-12-08 Gaiski; Stephen N. Method for monitoring the effect of adjustments of paint application equipment
DE19610588B4 (en) 1996-03-18 2010-08-05 Dürr Systems GmbH Coating machine with replaceable container
DE19610589A1 (en) 1996-03-18 1997-09-25 Duerr Gmbh & Co Process and system for supplying paint to a coating system
US6073055A (en) * 1997-11-10 2000-06-06 Basf Corporation Computerized virtual paint manufacturing and application system
DE19838805A1 (en) * 1998-08-26 2000-03-09 Duerr Systems Gmbh Process and system for supplying paint to a coating system
DE19858397A1 (en) 1998-12-17 2000-06-21 Duerr Systems Gmbh Process and system for supplying paint to an electrostatic coating system
DE10033987A1 (en) 2000-07-13 2002-01-24 Duerr Systems Gmbh Process for supplying a coating member for the electrostatic series coating of workpieces and supply system therefor

Also Published As

Publication number Publication date
EP1252935A3 (en) 2008-05-21
EP1252935A2 (en) 2002-10-30
DE10120272A1 (en) 2002-10-31
ATE438464T1 (en) 2009-08-15
ES2329114T3 (en) 2009-11-23
DE50213733D1 (en) 2009-09-17

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