EP1270086B1 - Coating apparatus and process for controlling a coating device with different nozzles - Google Patents

Coating apparatus and process for controlling a coating device with different nozzles Download PDF

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Publication number
EP1270086B1
EP1270086B1 EP02013513A EP02013513A EP1270086B1 EP 1270086 B1 EP1270086 B1 EP 1270086B1 EP 02013513 A EP02013513 A EP 02013513A EP 02013513 A EP02013513 A EP 02013513A EP 1270086 B1 EP1270086 B1 EP 1270086B1
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EP
European Patent Office
Prior art keywords
nozzles
coating
coating material
common
controller
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
EP02013513A
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German (de)
French (fr)
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EP1270086A1 (en
Inventor
Wolfgang Schmid
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Duerr Systems AG
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Duerr Systems AG
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Publication date
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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
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
    • B05B1/16—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets
    • B05B1/1627—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a gate valve, a sliding valve or a cock
    • B05B1/1636—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a gate valve, a sliding valve or a cock by relative rotative movement of the valve elements
    • B05B1/1645—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a gate valve, a sliding valve or a cock by relative rotative movement of the valve elements the outlets being rotated during selection
    • B05B1/1654—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a gate valve, a sliding valve or a cock by relative rotative movement of the valve elements the outlets being rotated during selection about an axis parallel to the liquid passage in the stationary valve element
    • 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
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
    • 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
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/30—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
    • B05B1/3033—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head
    • B05B1/304—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve
    • B05B1/3046—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve the valve element, e.g. a needle, co-operating with a valve seat located downstream of the valve element and its actuating means, generally in the proximity of the outlet orifice
    • B05B1/3053—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve the valve element, e.g. a needle, co-operating with a valve seat located downstream of the valve element and its actuating means, generally in the proximity of the outlet orifice the actuating means being a solenoid

Definitions

  • the invention relates to a coating system and a method for controlling a coating device for applying coating material with different nozzles according to the preamble of the independent claims.
  • the flow rate of the coating material should be controlled and controlled.
  • the flow rate of the coating material should be controlled and controlled.
  • a known such application head (EFTEC) is fixed with its fixed nozzles on a cylindrical tube and about its axis (corresponding to the axis 6 of the robot on the robot hand) rotatable.
  • the nozzles are connected via a respective controlled valve to a common material supply line.
  • the three nozzles each have different material exit directions, ie different "Tool Center Points" (TCP).
  • TCP Tool Center Points
  • TCP Tool Center Points
  • a spray device with a plurality of optionally usable different nozzles is known, which are connected to their common line path and movably mounted in a common spray position in which the respective selected nozzle aligned with an outlet opening of the common line path is.
  • the nozzles are arranged on a holder which is rotatably mounted relative to the common line path.
  • This known spraying device is used for spraying pesticides, in particular from the aircraft.
  • the invention has for its object to simplify the control of a device suitable for the serial coating of workpieces with an optionally larger number of differently shaped and working with different application methods nozzles.
  • nozzles which can be selected as desired on the application head of a coating robot and to easily control the respectively required application method, in particular via a valve arrangement common to the nozzles, with the aid of the usual controls of the robot.
  • the application head easily a relatively large Number differently shaped automatically selectable, possibly also interchangeable nozzles may contain, whereby not only the tax expense, but also the equipment costs of the previously known coating systems can be reduced.
  • the nozzles for application are each moved to a common location at which their material exit directions are aligned with each other, ie if despite using different nozzles each with the same TCP is used, also results in a simplified motion program control of the robot.
  • a coating robot 1 carries on its wrist 2 a material application head 3 with a plurality of nozzles inserted into a rotatable turret holder 4 (FIGS. 2 and 3).
  • the robot 1 is located in a cabin, through the wall 6 of which a line 8 for the coating material leads into the cabin and into the application head 3.
  • the coating material may be one of the liquid or pasty plastic materials (eg PVC and the like), as commonly used for seam sealing, underbody sealing, adhesive application and for other purposes in vehicle bodies.
  • control the coating system are located outside the cabin wall 6, two interconnected control systems, which may be spatially separated from each other. While the Ordinary robot controller RC in which a control cabinet 10 is located, another control cabinet 11 may also contain the conventional per se memory-programmed control system PLC with associated visualization. In combination with the control system SPS and combined with it, a quantity regulator 13 and a pressure regulator 14 for the coating material flowing into the application head 3 can be located in the switchgear cabinet 11, whose setpoint values v s and p s are set by the robot controller C and set to be operation-dependent be changed. Furthermore, the robot controller RC controls with a signal r via the control system SPS the position of the turret holder 4 for selecting the respectively required nozzles. The control system SPS in turn controls the robot controller RC in the usual way, among other things for the selection of the respective required rail programs.
  • the entire controller including the functions of the control system SPS described here, can also be taken over by the robot controller RC, so that the subdivision into RC and SPS is omitted.
  • the regulators 13 and 14 are intended to keep the flow rate or the pressure of the coating material constant in the closed control loop and compare for this purpose their respective setpoint values v s and p s with actual values v i and p i , respectively, as measuring signals from one into the material line 8 switched flow cell 16 and a located in the application head 3 pressure sensor 17 are supplied. In the case of deviations, corresponding actuating signals av are generated.
  • the combination of the controllers 13 and 14 with the control system SPS or the robot controller RC has the advantage of simplifying the control system, since no mutual adaptation is required and can be used for similar purposes per se conventional control systems and, inter alia, a common process visualization.
  • the actuator of an additional pressure regulator can, for. B. be connected outside the cabin in the entrance of the material line 8.
  • the regulators 13, 14 normally also keep the quantity of material or the pressure constant.
  • the robot movement can also be programmed so that the movement speed changes in sections during the coating. In this case, it may be appropriate, for example, to achieve a consistent web width to change the amount of material to the appropriate extent or more generally, to change the respective target value v s or p s by a dependent of the movement speed "override" factor.
  • a drive (FIG. 2) is arranged on the application head 3, which is controlled by a signal ar of the control system SPS or the robot controller RC.
  • the respective positions of the turret holder 4 and thus the respectively selected nozzle are detected, for example, by an initiator arrangement (not shown) on the application head 3 and reported back as a signal rf to the control system SPS or to the robot controller RC.
  • the application head 3 shown in Fig. 2 includes a valve assembly 20, which may be formed for example by a needle valve, the needle 22 of a z. B. electrically driven piston (not shown) for variably wide opening of the valve on the valve seat 23 is adjustable.
  • the coating material flows through a (not shown), transverse channel in the valve seat region and from there into the leading to the outlet 24 of the valve assembly 20 channel 25.
  • the valve drive is indicated by the arrow 21.
  • the valve may also contain another actuatable by a piston actuator, for. B. a disc o.ä.
  • the control of the valve drive is performed by a signal av, depending on the selected nozzle either from the flow regulator 13 or the pressure regulator 14 comes, so that the valve opening holds either the flow rate and thus, for example, the width of a waterproofing membrane or instead the pressure on the set by the robot controller RC each variable value constant.
  • av additional control signals for opening and closing the valve can be supplied.
  • the tubular outlet 24 of the valve arrangement 20 located in the application head 3 is surrounded by an end face 26 extending transversely thereto, against which a turret disk 28 mounted rotatably relative to it on the application head 3 rests in a sliding manner with mutual sealing.
  • the turret disk 28 serving as the holder 4 in FIG. 1 has an axis of rotation 29 offset parallel to the axis of the valve outlet 24 and is rotated by a drive located in the application head 3, indicated by the arrow 30 and indicated by the signal ar (FIG. Fig. 1) is controlled.
  • the material exit directions of all the nozzles run parallel to the valve outlet axis of the valve arrangement 20.
  • the nozzles are each connected to an opening passing through the turret disk 28, the axis of which is aligned with the valve outlet axis when the nozzle in question has been rotated to the valve assembly 20. All nozzles therefore have the material exit direction defined by the outlet axis of the valve arrangement 20.
  • the application functions and shapes of the nozzles D1-D6, the z. B. interchangeable in the valve assembly 20 remote from the side of the turret plate 28 may be screwed, are known per se and common. They can be used in particular for seam sealing in the underfloor area or seam-sealing in interiors or, if the same plastic material is used, also for combined application in these areas.
  • Another application possibility is the spraying of insulating mats, provided that the application head does not have to be heated or in other cases heating is provided.
  • the spraying of films is also possible, with a flat jet nozzle with volume control and for surface spraying an airless nozzle with pressure control can be used for randscharfen order.
  • Further application examples are the application of a pane adhesive and the edging seam sealing.
  • the amount of material can be adjusted and kept constant, while if one of the other three nozzles is selected by means of the regulator 14, the material pressure is kept constant.
  • the described embodiment can be modified and / or supplemented within the scope of the invention.
  • it may be appropriate to code the individual nozzles for the generation of feedback signals for the controller.
  • a temperature measurement of the coating material carried out to allow a temperature compensation of the material viscosity.

Abstract

The coating system has at least two selectively usable nozzles (D1-D6) connected to a common line (8) and controllers (13,14) for controlling the flow of coating material to the common line. The nozzles can be moved to a common application position in which the selected nozzle is aligned with the outlet of the common line. AN Independent claim is also included for the following: a method of controlling a coating system for thickness of coating.

Description

Die Erfindung betrifft eine Beschichtungsanlage und ein Verfahren zum Steuern einer Beschichtungsvorrichtung zum Applizieren von Beschichtungsmaterial mit unterschiedlichen Düsen gemäß dem Oberbegriff der unabhängigen Patentansprüche.The invention relates to a coating system and a method for controlling a coating device for applying coating material with different nozzles according to the preamble of the independent claims.

Insbesondere handelt es sich um die serienweise Beschichtung von Werkstücken wie Fahrzeugkarossen mit Material zum Abdichten, Abdecken, Versiegeln, Kleben und für Dämmzwecke usw. mit Robotern. Hierbei besteht das Problem, dass für geometrisch unterschiedliche Schweißnähte und sonstige Bereiche an der Karosse unterschiedliche Düsen mit jeweils anderer Auslassform (schmal, breit, rund), unterschiedlichen Auftragungsverfahren (Swirl, Rundstrahl, Flachstrahl, Airless-Strahl) und unterschiedlichem Applikationstyp (Airless, Extrusion) erforderlich sind, die sich zudem hinsichtlich der jeweiligen Applikationssteuerung unterscheiden können. Beispielsweise ist bei Airless-Sprühdüsen, die das Beschichtungsmaterial ohne Luftunterstützung aufgrund des Materialdrucks und der Düsenform zerstäuben, zur Einstellung und Aufrechterhaltung des gewünschten Sprühstrahls eine Steuerung und Regelung des Materialdrucks notwendig. In anderen Fällen, bei denen beispielsweise schlitzförmige Düsen verwendet werden, aus denen das Beschichtungsmaterial nicht versprüht, sondern zur Bildung einer Bahn mit einer sich mit der Durchflussmenge ändernden Breite extrudiert wird, soll die Durchflussmenge des Beschichtungsmaterials gesteuert und geregelt werden. Zum Aufsprühen eines Klebers für Karosseriebleche ist es ferner bekannt, den Kleber im Sprühkopf durch Zuführung von Druckluft zu verwirbeln und mit dem Verhältnis der Kleber- und Druckluftmengen die Breite der aufgesprühten Bahn einzustellen. Die Steuerung der jeweiligen Roboter und der verschiedenen benötigten Beschichtungseinrichtungen erfordert bis-her erheblichen Aufwand.In particular, it is the series coating of workpieces such as vehicle bodies with material for sealing, covering, sealing, gluing and for insulating purposes, etc. with robots. The problem here is that for geometrically different welds and other areas on the body different nozzles with different outlet shape (narrow, wide, round), different application methods (Swirl, round jet, flat jet, airless jet) and different application type (airless, extrusion ) are required, which may also differ with respect to the respective application control. For example, in the case of airless spray nozzles, which atomize the coating material without air support due to the material pressure and the nozzle shape, control and regulation of the material pressure is necessary for setting and maintaining the desired spray jet. In other instances where, for example, slit-shaped nozzles are used from which the coating material is not sprayed but extruded to form a web having a width varying with the flow rate, the flow rate of the coating material should be controlled and controlled. For spraying an adhesive for body panels, it is also known to vortex the adhesive in the spray head by supplying compressed air and adjust the width of the sprayed web with the ratio of the amounts of adhesive and compressed air. The control of the respective robots and the different ones required coating equipment requires considerable effort until now.

Es sind zwar schon Beschichtungsroboter mit Multifunktions-Auftragungsköpfen bekannt, die zwei oder drei verschiedene Düsen enthalten. Ein bekannter derartiger Auftragungskopf (Fa. EFTEC) ist mit seinen fest eingebauten Düsen an einem zylindrischen Rohr befestigt und um dessen Achse (die der Achse 6 des Roboters an der Roboterhand entspricht) drehbar. Die Düsen sind über je ein gesteuertes Ventil an eine ihnen gemeinsame Materialzufuhrleitung angeschlossen. In Bezug auf die Roboterachse 6 haben die drei Düsen jeweils andere Materialaustrittsrichtungen, also unterschiedliche "Tool Center Points" (TCP). In dem bekannten Auftragungskopf können nicht beliebig unterschiedliche Düsen angeordnet werden. Abgesehen davon, dass für jede Düse ein eigenes Ventil mit zugehöriger Steuerung untergebracht werden muss, ist es nicht ohne weiteres möglich, während eines Applikatioszyklus wahlweise entweder den Druck oder die Durchflussmenge zu regeln.Although coating robots with multi-function application heads are already known, which contain two or three different nozzles. A known such application head (EFTEC) is fixed with its fixed nozzles on a cylindrical tube and about its axis (corresponding to the axis 6 of the robot on the robot hand) rotatable. The nozzles are connected via a respective controlled valve to a common material supply line. With regard to the robot axis 6, the three nozzles each have different material exit directions, ie different "Tool Center Points" (TCP). In the known application head not arbitrarily different nozzles can be arranged. Apart from the fact that for each nozzle a separate valve with associated control must be accommodated, it is not readily possible to regulate either the pressure or the flow rate during an application cycle either.

Aus der US-A-5 884 847 ist eine Sprühvorrichtung mit mehreren wahlweise verwendbaren unterschiedlichen Düsen bekannt, die an einen ihnen gemeinsamen Leitungsweg angeschlossen und in eine ihnen gemeinsame Sprühposition bewegbar gelagert sind, in der die jeweils gewählte Düse mit einer Auslassöffnung des gemeinsamen Leitungswegs ausgerichtet ist. Die Düsen sind an einer Halterung angeordnet, die relativ zu dem gemeinsamen Leitungsweg drehbar gelagert ist. Diese bekannte Sprühvorrichtung dient zum Versprühen von Schädlingsbekämpfungsmitteln insbesondere vom Flugzeug aus.From US-A-5 884 847 a spray device with a plurality of optionally usable different nozzles is known, which are connected to their common line path and movably mounted in a common spray position in which the respective selected nozzle aligned with an outlet opening of the common line path is. The nozzles are arranged on a holder which is rotatably mounted relative to the common line path. This known spraying device is used for spraying pesticides, in particular from the aircraft.

Der Erfindung liegt die Aufgabe zugrunde, die Steuerung einer für die Serienbeschichtung von Werkstücken geeigneten Vorrichtung mit einer ggf. auch größeren Anzahl von unterschiedlich geformten und mit unterschiedlichen Auftragungsverfahren arbeitenden Düsen zu vereinfachen.The invention has for its object to simplify the control of a device suitable for the serial coating of workpieces with an optionally larger number of differently shaped and working with different application methods nozzles.

Diese Aufgabe wird durch die Merkmale der Patentansprüche gelöst.This object is solved by the features of the claims.

Durch die Erfindung wird es möglich, an dem Auftragungskopf eines Beschichtungsroboters unterschiedliche, je nach Bedarf beliebig wählbare Düsen anzuordnen und mit Hilfe der üblichen Steuerungen des Roboters das jeweils benötigte Auftragungsverfahren insbesondere über eine den Düsen gemeinsame Ventilanordnung auf einfache Weise zu steuern. Es wird nur ein Roboter benötigt, dessen Auftragungskopf problemlos eine relativ große Zahl unterschiedlich geformter automatisch auswählbarer, ggf. auch auswechselbarer Düsen enthalten kann, wodurch nicht nur der Steueraufwand, sondern auch der Geräteaufwand der bisher bekannten Beschichtungsanlagen herabgesetzt werden kann. Wenn gemäß einer bevorzugten Ausführungsform die Düsen zum Applizieren jeweils an eine ihnen gemeinsame Stelle bewegt werden, an der ihre Materialaustrittsrichtungen miteinander fluchten, d.h. wenn trotz Verwendung unterschiedlicher Düsen mit jeweils demselben TCP gearbeitet wird, ergibt sich darüber hinaus auch eine vereinfachte Bewegungsprogrammsteuerung des Roboters.By means of the invention, it is possible to arrange different nozzles which can be selected as desired on the application head of a coating robot and to easily control the respectively required application method, in particular via a valve arrangement common to the nozzles, with the aid of the usual controls of the robot. There is only one robot needed, the application head easily a relatively large Number differently shaped automatically selectable, possibly also interchangeable nozzles may contain, whereby not only the tax expense, but also the equipment costs of the previously known coating systems can be reduced. If, according to a preferred embodiment, the nozzles for application are each moved to a common location at which their material exit directions are aligned with each other, ie if despite using different nozzles each with the same TCP is used, also results in a simplified motion program control of the robot.

An einem bevorzugten Ausführungsbeispiel wird die Erfindung näher erläutert. In der Zeichnung zeigen:

Fig. 1
eine vereinfachte Darstellung eines Steuerschemas einer Beschichtungsanlage für Fahrzeugkarossen;
Fig. 2
eine ebenfalls schematische Darstellung einer zweckmäßigen Revolverhalterung für mehrere Düsen am Auftragungskopf eines Beschichtungsroboters; und
Fig. 3
eine Draufsicht der Revolverhalterung nach Fig. 2.
In a preferred embodiment, the invention will be explained in more detail. In the drawing show:
Fig. 1
a simplified representation of a control scheme of a coating system for vehicle bodies;
Fig. 2
a likewise schematic representation of a suitable turret holder for a plurality of nozzles on the application head of a coating robot; and
Fig. 3
a top view of the turret holder of FIG. 2nd

Gemäß Fig. 1 trägt ein Beschichtungsroboter 1 an seinem Handgelenk 2 einen Materialauftragungskopf 3 mit mehreren in eine drehbare Revolverhalterung 4 eingesetzten Düsen (Fig. 2 und 3). Der Roboter 1 befindet sich in einer Kabine, durch deren Wand 6 eine Leitung 8 für das Beschichtungsmaterial in die Kabine und in den Auftragungskopf 3 führt. Bei dem Beschichtungsmaterial kann es sich um eine der flüssigen oder pastösen Kunststoffmassen (z. B. PVC und dgl.) handeln, wie sie zum Nahtabdichten, Unterbodensealing, Kleberauftrag und für sonstige Zwecke bei Fahrzeugkarossen üblicherweise verwendet werden.1, a coating robot 1 carries on its wrist 2 a material application head 3 with a plurality of nozzles inserted into a rotatable turret holder 4 (FIGS. 2 and 3). The robot 1 is located in a cabin, through the wall 6 of which a line 8 for the coating material leads into the cabin and into the application head 3. The coating material may be one of the liquid or pasty plastic materials (eg PVC and the like), as commonly used for seam sealing, underbody sealing, adhesive application and for other purposes in vehicle bodies.

Zur Steuerung der Beschichtungsanlage befinden sich außerhalb der Kabinenwand 6 zwei miteinander verbundene Steuersysteme, die räumlich voneinander getrennt sein können. Während sich die üblïche Robotersteuerung RC in dem einen Schaltschrank 10 befindet, kann ein anderer Schaltschrank 11 das ebenfalls an sich übliche übergeordnete speicherprogrammierte Steuersystem SPS mit zugehöriger Visualisierung enthalten. In dem Schaltschrank 11 können sich zusammen mit dem Steuersystem SPS und mit ihm kombiniert ein Mengenregler 13 und ein Druckregler 14 für das in den Auftragungskopf 3 fließende Beschichtungsmaterial befinden, deren Sollwerte vs bzw. ps von der Robotersteuerung C vorgegeben und betriebsabhängig eingestellt 'und geändert werden. Ferner steuert die Robotersteuerung RC mit einem Signal r über das Steuersystem SPS die Stellung der Revolverhalterung 4 zur Auswahl der jeweils benötigten Düsen. Das Steuersystem SPS steuert seinerseits die Robotersteuerung RC in der üblichen Weise u.a. zur Wahl der jeweils benötigten Bahnprogramme.To control the coating system are located outside the cabin wall 6, two interconnected control systems, which may be spatially separated from each other. While the Ordinary robot controller RC in which a control cabinet 10 is located, another control cabinet 11 may also contain the conventional per se memory-programmed control system PLC with associated visualization. In combination with the control system SPS and combined with it, a quantity regulator 13 and a pressure regulator 14 for the coating material flowing into the application head 3 can be located in the switchgear cabinet 11, whose setpoint values v s and p s are set by the robot controller C and set to be operation-dependent be changed. Furthermore, the robot controller RC controls with a signal r via the control system SPS the position of the turret holder 4 for selecting the respectively required nozzles. The control system SPS in turn controls the robot controller RC in the usual way, among other things for the selection of the respective required rail programs.

Bei prozessfähigen Robotersteuerungen kann auch die gesamte Steuerung einschließlich der hier beschriebenen Funktionen des Steuersystems SPS von der Robotersteuerung RC übernommen werden, so dass die Unterteilung in RC und SPS entfällt.In the case of process-capable robot controls, the entire controller, including the functions of the control system SPS described here, can also be taken over by the robot controller RC, so that the subdivision into RC and SPS is omitted.

Die Regler 13 und 14 sollen die Durchflussmenge bzw. den Druck des Beschichtungsmaterials im geschlossenen Regelkreis konstant halten und vergleichen zu diesem Zweck ihre jeweiligen Sollwerte vs bzw. ps mit Istwerten vi bzw. pi, die als Messsignale von einer in die Materialleitung 8 geschalteten Durchflussmesszelle 16 bzw. einem im Auftragungskopf 3 befindlichen Drucksensor 17 zugeführt werden. Bei Abweichungen werden entsprechende Stellsignale av erzeugt. Die Kombination der Regler 13 und 14 mit dem Steuersystem SPS oder mit der Robotersteuerung RC hat den Vorteil einer Vereinfachung des Steuersystems, da keine gegenseitige Anpassung erforderlich ist und für ähnliche Zwecke an sich übliche Regelsysteme sowie u. a. eine gemeinsame Prozess-Visualisierung verwendet werden können. Das Stellglied eines zusätzlichen Druckreglers kann z. B. außerhalb der Kabine in den Eingang der Materialleitung 8 geschaltet sein.The regulators 13 and 14 are intended to keep the flow rate or the pressure of the coating material constant in the closed control loop and compare for this purpose their respective setpoint values v s and p s with actual values v i and p i , respectively, as measuring signals from one into the material line 8 switched flow cell 16 and a located in the application head 3 pressure sensor 17 are supplied. In the case of deviations, corresponding actuating signals av are generated. The combination of the controllers 13 and 14 with the control system SPS or the robot controller RC has the advantage of simplifying the control system, since no mutual adaptation is required and can be used for similar purposes per se conventional control systems and, inter alia, a common process visualization. The actuator of an additional pressure regulator can, for. B. be connected outside the cabin in the entrance of the material line 8.

Wenn die Geschwindigkeit der Roboterbewegung (TCP-Geschwindigkeit) bei einem Beschichtungsvorgang konstant bleibt, halten die Regler 13, 14 normalerweise auch die Materialmenge bzw. den Druck konstant. Die Roboterbewegung kann aber auch so programmiert werden, dass sich die Bewegungsgeschwindigkeit während der Beschichtung streckenweise ändert. In diesem Fall kann es zweckmäßig sein, beispielsweise zur Erzielung einer dennoch gleichbleibenden Materialbahnbreite die Materialmenge im entsprechenden Maße zu ändern oder allgemeiner gesagt, den jeweiligen Sollwert vs bzw. ps durch einen von der Bewegungsgeschwindigkeit abhängigen "Override"-Faktor zu verändern.If the speed of the robot movement (TCP speed) remains constant during a coating process, the regulators 13, 14 normally also keep the quantity of material or the pressure constant. However, the robot movement can also be programmed so that the movement speed changes in sections during the coating. In this case, it may be appropriate, for example, to achieve a consistent web width to change the amount of material to the appropriate extent or more generally, to change the respective target value v s or p s by a dependent of the movement speed "override" factor.

Zur Drehung der Revolverhalterung 4 ist an dem Auftragungskopf 3 ein Antrieb (Fig. 2) angeordnet, der von einem Signal ar des Steuersystems SPS oder der Robotersteuerung RC gesteuert wird. Die jeweiligen Stellungen der Revolverhalterung 4 und damit die jeweils gewählte Düse werden beispielsweise von einer Initiatoranordnung (nicht dargestellt) am Auftragungskopf 3 festgestellt und als Signal rf zu dem Steuersystem SPS oder zu der Robotersteuerung RC zurückgemeldet.To rotate the turret holder 4, a drive (FIG. 2) is arranged on the application head 3, which is controlled by a signal ar of the control system SPS or the robot controller RC. The respective positions of the turret holder 4 and thus the respectively selected nozzle are detected, for example, by an initiator arrangement (not shown) on the application head 3 and reported back as a signal rf to the control system SPS or to the robot controller RC.

Der in Fig. 2 dargestellte Auftragungskopf 3 enthält eine Ventilanordnung 20, die beispielsweise durch ein Nadelventil gebildet sein kann, dessen Nadel 22 von einem z. B. elektrisch angetriebenen Kolben (nicht dargestellt) zur variierbar weiten Öffnung des Ventils am Ventilsitz 23 verstellbar ist. Das Beschichtungsmaterial fließt durch einen (nicht dargestellten), Querkanal in den Ventilsitzbereich und von dort in den zu dem Auslass 24 der Ventilanordnung 20 führenden Kanal 25. Der Ventilantrieb ist durch den Pfeil 21 angedeutet. Statt einer Nadel kann das Ventil auch ein anderes durch einen Kolben betätigbares Stellglied enthalten, z. B. eine Scheibe o.ä. Die Steuerung des Ventilantriebs erfolgt durch ein Signal av, das je nach jeweils gewählter Düse entweder von dem Mengenregler 13 oder von dem Druckregler 14 kommt, so dass die Ventilöffnung entweder die Durchflussmenge und damit beispielsweise die Breite einer Abdichtungsbahn oder statt dessen den Druck auf dem von der Robotersteuerung RC jeweils veränderbar eingestellten Wert konstant hält. Auf dem selben Weg wie das Regelsignal av können zusätzliche Steuersignale zum Öffnen und Schließen des Ventils zugeführt werden.The application head 3 shown in Fig. 2 includes a valve assembly 20, which may be formed for example by a needle valve, the needle 22 of a z. B. electrically driven piston (not shown) for variably wide opening of the valve on the valve seat 23 is adjustable. The coating material flows through a (not shown), transverse channel in the valve seat region and from there into the leading to the outlet 24 of the valve assembly 20 channel 25. The valve drive is indicated by the arrow 21. Instead of a needle, the valve may also contain another actuatable by a piston actuator, for. B. a disc o.ä. The control of the valve drive is performed by a signal av, depending on the selected nozzle either from the flow regulator 13 or the pressure regulator 14 comes, so that the valve opening holds either the flow rate and thus, for example, the width of a waterproofing membrane or instead the pressure on the set by the robot controller RC each variable value constant. In the same way as the control signal av additional control signals for opening and closing the valve can be supplied.

An den Kanal 25 der Ventilanordnung 20 ist der oben erwähnte Drucksensor 17 zur Erzeugung des dem Istwert pi entsprechenden Signals angeschlossen. Dessen Anordnung und die Druckmessung im Auftragungskopf 3 und in unmittelbarer Nähe der jeweils gewählten Applikationsdüse hat wegen der Verkürzung der Regelstrecke wesentliche Vorteile bei der Druckregelung.To the channel 25 of the valve assembly 20 of the above-mentioned pressure sensor 17 for generating the actual value p i corresponding signal is connected. Its arrangement and the pressure measurement in the application head 3 and in the immediate vicinity of the respective selected application nozzle has significant advantages in the pressure control because of the shortening of the controlled system.

Der in dem Auftragungskopf 3 befindliche rohrförmige Auslass 24 der Ventilanordnung 20 ist von einer quer hierzu verlaufenden Stirnfläche 26 umgeben, an der unter gegenseitiger Abdichtung eine an dem Auftragungskopf 3 relativ zu ihm drehbar gelagerte Revolverscheibe 28 gleitend anliegt. Die als die Halterung 4 in Fig. 1 dienende Revolverscheibe 28 hat eine darstellungsgemäß parallel zu der Achse des Ventilauslasses 24 versetzte Drehachse 29 und wird von einem in dem Auftragungskopf 3 befindlichen Antrieb gedreht, der durch den Pfeil 30 angedeutet ist und von dem Signal ar (Fig. 1) gesteuert wird.The tubular outlet 24 of the valve arrangement 20 located in the application head 3 is surrounded by an end face 26 extending transversely thereto, against which a turret disk 28 mounted rotatably relative to it on the application head 3 rests in a sliding manner with mutual sealing. The turret disk 28 serving as the holder 4 in FIG. 1 has an axis of rotation 29 offset parallel to the axis of the valve outlet 24 and is rotated by a drive located in the application head 3, indicated by the arrow 30 and indicated by the signal ar (FIG. Fig. 1) is controlled.

Wie in Fig. 3 erkennbar ist, sind auf der Revolverscheibe 28 auf einem zu der Drehachse 29 konzentrischen Kreis mit einem Radius gleich dem Abstand zwischen der Drehachse und der Ventilauslassachse mit gleichmäßigen gegenseitigen Winkelabständen beispielsweise sechs Applikationsdüsen D1 bis D6 angeordnet. Bei dem gewählten Beispiel verlaufen die Materialaustrittsrichtungen aller Düsen parallel zu der Ventilauslassachse der Ventilanordnung 20. Auf ihrer Einlassseite sind die Düsen jeweils mit einer die Revolverscheibe 28 durchsetzenden Öffnung verbunden, deren Achse mit der Ventilauslassachse fluchtet, wenn die betreffende Düse zu der Ventilanordnung 20 gedreht worden ist. Alle Düsen haben also die durch die Auslassachse der Ventilanordnung 20 definierte Materialaustrittsrichtung. Statt dessen sind bei entsprechender Anordnung der Düsen in der Revolverscheibe 28 auch andere, vorzugsweise den Düsen gemeinsame Austrittsrichtungen möglich, beispielsweise schräg oder radial zu der Achse der Ventilanordnung 20.As can be seen in FIG. 3, for example, six application nozzles D1 to D6 are arranged on the turret disk 28 on a circle concentric with the axis of rotation 29 with a radius equal to the distance between the axis of rotation and the valve outlet axis with uniform mutual angular distances. In the example chosen, the material exit directions of all the nozzles run parallel to the valve outlet axis of the valve arrangement 20. On its inlet side, the nozzles are each connected to an opening passing through the turret disk 28, the axis of which is aligned with the valve outlet axis when the nozzle in question has been rotated to the valve assembly 20. All nozzles therefore have the material exit direction defined by the outlet axis of the valve arrangement 20. Instead, with an appropriate arrangement of the nozzles in the turret disk 28, other, preferably the nozzle common exit directions possible, for example obliquely or radially to the axis of the valve assembly 20th

Die Applikationsfunktionen und Formen der Düsen D1-D6, die z. B. auswechselbar in die der Ventilanordnung 20 abgewandte Seite der Revolverscheibe 28 eingeschraubt sein können, sind an sich bekannt und üblich. Sie können insbesondere zur Nahtabdichtung im Unterbodenbereich oder zum Seamsealing in Innenräumen oder, sofern das gleiche Kunststoffmaterial zum Einsatz kommt, auch zur kombinierten Applikation in diesen Bereichen verwendet werden. Eine andere Applikationsmöglichkeit ist das Spritzen von Dämmmatten, sofern der Applikationskopf nicht beheizt werden muss oder in sonstigen Fällen eine Heizung vorgesehen ist. Auch das Spritzen von Folien ist möglich, wobei für randscharfen Auftrag eine Flachstrahldüse mit Mengenregelung und zum Flächenspritzen eine Airless-Düse mit Druckregelung verwendet werden können. Weitere Applikationsbeispiele sind das Auftragen eines Scheibenklebers und die Bördelfalz-Versiegelung.The application functions and shapes of the nozzles D1-D6, the z. B. interchangeable in the valve assembly 20 remote from the side of the turret plate 28 may be screwed, are known per se and common. They can be used in particular for seam sealing in the underfloor area or seam-sealing in interiors or, if the same plastic material is used, also for combined application in these areas. Another application possibility is the spraying of insulating mats, provided that the application head does not have to be heated or in other cases heating is provided. The spraying of films is also possible, with a flat jet nozzle with volume control and for surface spraying an airless nozzle with pressure control can be used for randscharfen order. Further application examples are the application of a pane adhesive and the edging seam sealing.

Gemäß der Erfindung kann beispielsweise bei Wahl einer der Düsen D1-D3 mit Hilfe des Reglers 13 (Fig. 1) die Materialmenge eingestellt und konstant gehalten werden, während bei Wahl einer der anderen drei Düsen mit Hilfe des Reglers 14 der Materialdruck konstant gehalten wird.According to the invention, for example, when one of the nozzles D1-D3 is selected by means of the regulator 13 (FIG. 1), the amount of material can be adjusted and kept constant, while if one of the other three nozzles is selected by means of the regulator 14, the material pressure is kept constant.

Das beschriebene Ausführungsbeispiel kann im Rahmen der Erfindung abgewandelt und/oder ergänzt werden. Insbesondere kann es zweckmäßig sein, die einzelnen Düsen zur Erzeugung von Rückmeldesignalen für die Steuerung zu kodieren. Ferner kann im Auftragungskopf 3 eine Temperaturmessung des Beschichtungsmaterials erfolgen, um eine Temperaturkompensation der Materialviskosität zu ermöglichen.The described embodiment can be modified and / or supplemented within the scope of the invention. In particular, it may be appropriate to code the individual nozzles for the generation of feedback signals for the controller. Furthermore, in the application header 3 a temperature measurement of the coating material carried out to allow a temperature compensation of the material viscosity.

In konstruktiver Hinsicht bestehen zu der beschriebenen Revolverscheibenhalterung alternative Möglichkeiten, die Düsen in die Betriebsposition vor dem ihnen gemeinsamen Ventilauslass zu bewegen, beispielsweise mit einer linear verschiebbaren Halterung oder einer Kugelkopfhalterung usw.In constructive terms, there are alternative ways to the described revolver disk mount to move the nozzles to the operating position in front of their common valve outlet, for example, with a linearly displaceable mount or a ball head mount, etc.

Claims (13)

  1. A method of controlling a coating device (1) for the application of coating material including at least two different nozzles (D1-D6), from which the coating material discharges in dependence on controllers (RC, SPS, 13, 14), wherein one of the nozzles is selected for the application and the coating material is supplied through a conduit path (8) common to the nozzles, characterised in that the flow of the coating material through the common conduit path (8) is controlled by a first controller (13), when coating material is applied through one of the nozzles (D1-D3) whilst it is controlled by a second controller (14), which differs from the first controller (13), when coating material is applied through another nozzle (D4-D6).
  2. A method as claimed in Claim 1, characterised in that flow rate control is effected with the first controller (13) and pressure control of the coating material flowing through the common conduit path (8) is effected with the second controller (14).
  3. A method as claimed in Claim 1 or 2, characterised in that a valve arrangement common to the nozzles is actuated with the two flow controllers (13, 14).
  4. A method as claimed in one of the preceding claims, characterised in that during a nozzle change, the selected nozzle (D1-D6) is automatically moved out of a position, in which it is remote from the outlet (24) of the common conduit path, to this outlet, whilst the previously used nozzle is moved away from the outlet.
  5. A method as claimed in one of the preceding claims, characterised in that the selected nozzles (D1-D6) are moved for the purposes of application to a position common to them, at which the directions, in which the coating material discharges from them, are in alignment with one another.
  6. A coating installation for the application of coating material including a coating device (1), which includes at least two selectively usable different nozzles (D1-D6), which are connected to a conduit path (8) common to them, and including controllers (13, 14) for controlling the flow of the coating material through the common conduit path (8), characterised in that the flow of the coating material through the common conduit path (8) is controlled by a first controller (13), when coating material is applied through one of the nozzles (D1-D3), whilst it is controlled by a second controller (14), which differs from the first controller (13), when coating material is applied through another nozzle (D4-D6).
  7. A coating installation as claimed in Claim 6, characterised in that the nozzles (D1-D6) are mounted on the coating device to be movable into an application position common to them, in which the selected nozzle is in alignment with an outlet opening (24) of the common conduit path.
  8. A coating installation as claimed in Claim 6 or 7, characterised in that the nozzles (D1-D6) are arranged on a mounting (4, 28), which is mounted to be rotatable relative to a valve arrangement (20), which is common to the nozzles and controls the flow of the coating material through the common conduit path (8).
  9. A coating installation as claimed in Claim 8, characterised in that the valve arrangement (20) is situated in the application head (3) of the coating device (1).
  10. A coating installation as claimed in one of Claims 6-9, characterised in that the coating device (1) includes a valve arrangement (20) in the conduit path common to the nozzles (D1-D6), from which the coating material discharges in a predetermined direction and that the mounting (4, 28) of the nozzles (D1-D6) is rotatable about an offset shaft (29) parallel to this direction.
  11. A coating installation as claimed in one of Claims 8-10, characterised in that the valve arrangement (20) is controllable for the purpose of setting and controlling the pressure and/or the flow rate of the coating material.
  12. A coating installation as claimed in Claim 11, characterised in that the valve arrangement (20) includes an adjusting element (22) actuable by a piston.
  13. A coating installation as claimed in one of Claims 6-12, characterised in that the nozzles (D1-D6) are arranged on a robot or other multi-axis movement machine and in whose controller (RC) the reference values of pressure and flow rate controllers (13, 14) for the coating material flowing through the common conduit path (8) may be set in dependence on the currently selected nozzle (D 1-D6).
EP02013513A 2001-06-25 2002-06-17 Coating apparatus and process for controlling a coating device with different nozzles Expired - Lifetime EP1270086B1 (en)

Applications Claiming Priority (2)

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DE10130499 2001-06-25
DE10130499A DE10130499A1 (en) 2001-06-25 2001-06-25 Coating system and method for controlling a coating device with different nozzles

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DE102011002880A1 (en) * 2011-01-19 2012-07-19 Wiwa Wilhelm Wagner Gmbh & Co. Kg Nozzle device for applying viscous adhesive mass on window during manufacturing e.g. window, has window plane moving relative to window and nozzle element that applies adhesive masses on nozzle orifices
DE202016008249U1 (en) 2016-08-10 2017-05-17 Kraussmaffei Technologies Gmbh Device for spraying a coating material with different beam profiles
DE102016014952A1 (en) 2016-12-14 2018-06-14 Dürr Systems Ag Coating device for coating components
DE102016014955A1 (en) 2016-12-14 2018-06-14 Dürr Systems Ag Coating device and corresponding coating method
DE102016014944A1 (en) 2016-12-14 2018-06-14 Dürr Systems Ag Coating method and corresponding coating device
DE102016014919A1 (en) 2016-12-14 2018-06-14 Dürr Systems Ag Application device and method for applying a coating agent
DE102017106038B4 (en) 2017-03-21 2019-09-12 Kraussmaffei Technologies Gmbh Nozzle unit for a reaction casting machine and method for producing a plastic part
DE102019005003A1 (en) * 2019-07-17 2021-01-21 LSI Ludwig Schleicher lngenium GmbH & Co. KG Process for applying a protective lacquer to a vehicle component

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AU440749B2 (en) * 1971-02-22 1973-09-24 B. F. A. Products Pty. Ltd An improved firehose nozzle
US4717074A (en) * 1984-06-25 1988-01-05 Wagner Spray Tech Corporation Adjustable orifice for a sprayer unit
DE3931657A1 (en) * 1989-09-22 1990-10-25 Daimler Benz Ag Spraying of protective coating by robot - involves device with nozzles which can be quickly changed
US5884847A (en) * 1998-05-01 1999-03-23 Christopher; Gilman O. Multiple nozzle spray head apparatus
US5992762A (en) * 1998-07-01 1999-11-30 Yuan Mei Corp. Full flow opening structure of gardening-used figure sprinkling head

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ES2217227T3 (en) 2004-11-01
EP1270086A1 (en) 2003-01-02
DE10130499A1 (en) 2003-01-02
DE50200385D1 (en) 2004-06-03

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