EP1270086B1 - Appareil et procédé pour commander un dispositif de revêtement avec différent buses - Google Patents

Appareil et procédé pour commander un dispositif de revêtement avec différent buses 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
Authority
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
Other languages
German (de)
English (en)
Other versions
EP1270086A1 (fr
Inventor
Wolfgang Schmid
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP1270086A1 publication Critical patent/EP1270086A1/fr
Application granted granted Critical
Publication of EP1270086B1 publication Critical patent/EP1270086B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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.

Claims (13)

  1. Procédé de commande d'un dispositif de revêtement (1) pour appliquer un matériau de revêtement, comportant au moins deux buses (D1-D6) différentes desquelles le matériau de revêtement sort en fonction de commandes (RC, SPS, 13, 14), l'une des buses étant sélectionnée dans chaque cas pour l'application, et le matériau de revêtement étant amené par un parcours de conduite (8) commun aux buses, caractérisé en ce que la circulation du matériau de revêtement à travers le parcours de conduite (8) commun est commandée par une première commande (13) lorsque le matériau de revêtement est appliqué par l'une des buses (D1-D3), tandis qu'elle est commandée par une deuxième commande (14) qui diffère de la première commande (13), lorsque le matériau de revêtement est appliqué par une autre buse (D4-D6).
  2. Procédé selon la revendication 1, caractérisé en ce qu'avec la première commande (13) est exécutée une régulation de la quantité et avec l'autre commande (14) une régulation de la pression du matériau de revêtement s'écoulant à travers le parcours de conduite (8) commun.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'un agencement de soupapes (20) commun aux buses est actionné avec les deux commandes de circulation (13, 14).
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'en cas de changement de buse, la buse (D1-D6) sélectionnée dans chaque cas est déplacée automatiquement d'une position dans laquelle elle est éloignée de la sortie (24) du parcours de conduite commun, vers cette sortie, tandis que la buse utilisée auparavant est éloignée de la sortie.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que les buses (D1-D6) sélectionnées sont déplacées pour être appliquées dans chaque cas contre un emplacement qui leur est commun auquel les directions, dans lesquelles le matériau de revêtement sort de celles-ci, sont alignées entre elles.
  6. Installation de revêtement pour appliquer un matériau de revêtement, comportant un dispositif de revêtement (1) qui comporte au moins deux buses (D1-D6) différentes pouvant être utilisées au choix, qui sont raccordées à un parcours de conduite (8) commun, et comportant des commandes (13, 14) pour commander la circulation du matériau de revêtement à travers le parcours de conduite (8) commun, caractérisée en ce que la circulation du matériau de revêtement à travers le parcours de conduite (8) commun est commandée par une première commande (13) lorsque le matériau de revêtement est appliqué par l'une des buses (D1-D3), tandis qu'elle est commandée par une deuxième commande (14), qui diffère de la première commande (13), lorsque le matériau de revêtement est appliqué par une autre buse (D4-D6).
  7. Installation de revêtement selon la revendication 6, caractérisée en ce que les buses (D1-D6) sont montées sur le dispositif de revêtement de manière à pouvoir être déplacées dans une position d'application qui leur est commune, dans laquelle la buse sélectionnée dans chaque cas est orientée avec une ouverture de sortie (24) du parcours de conduite commun.
  8. Installation de revêtement selon la revendication 6 ou 7, caractérisée en ce que les buses (D1-D6) sont disposées sur une fixation (4, 28) qui est montée de manière à pouvoir tourner par rapport à un agencement de soupapes (20) commun aux buses, commandant la circulation du matériau de revêtement à travers le parcours de conduite (8) commun.
  9. Installation de revêtement selon la revendication 8, caractérisée en ce que l'agencement de soupapes (20) se trouve dans la tête d'application (3) du dispositif de revêtement (1).
  10. Installation de revêtement selon l'une des revendications 6 à 9, caractérisée en ce que le dispositif de revêtement (1) contient, dans le parcours de conduite commun aux buses (D1-D6), un agencement de soupapes (20) duquel sort le matériau de revêtement dans une direction donnée, et en ce que la fixation (4, 28) des buses (D1-D6) peut tourner autour d'un axe (29) décalé parallèlement à cette direction.
  11. Installation de revêtement selon l'une des revendications 8 à 10, caractérisée en ce que l'agencement de soupapes (20) peut être commandé, pour le réglage et la régulation de la pression et/ou du débit du matériau de revêtement.
  12. Installation de revêtement selon la revendication 11, caractérisée en ce que l'agencement de soupapes (20) contient un organe de réglage (22) pouvant être actionné par un piston.
  13. Installation de revêtement selon l'une des revendications 6 à 12, caractérisée en ce que les buses (D1-D6) sont disposées sur un robot ou sur d'autres automates de déplacement à plusieurs axes et dans sa commande (RC) les valeurs de consigne des régulateurs de la pression et de quantité (13, 14) pour le matériau de revêtement, s'écoulant à travers le parcours de conduite (8) commun, sont réglables en fonction de la buse (D1-D6) sélectionnée dans chaque cas.
EP02013513A 2001-06-25 2002-06-17 Appareil et procédé pour commander un dispositif de revêtement avec différent buses Expired - Lifetime EP1270086B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10130499 2001-06-25
DE10130499A DE10130499A1 (de) 2001-06-25 2001-06-25 Beschichtungsanlage und Verfahren zum Steuern einer Beschichtungsvorrichtung mit unterschiedlichen Düsen

Publications (2)

Publication Number Publication Date
EP1270086A1 EP1270086A1 (fr) 2003-01-02
EP1270086B1 true EP1270086B1 (fr) 2004-04-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP02013513A Expired - Lifetime EP1270086B1 (fr) 2001-06-25 2002-06-17 Appareil et procédé pour commander un dispositif de revêtement avec différent buses

Country Status (4)

Country Link
EP (1) EP1270086B1 (fr)
AT (1) ATE265274T1 (fr)
DE (2) DE10130499A1 (fr)
ES (1) ES2217227T3 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011002880A1 (de) * 2011-01-19 2012-07-19 Wiwa Wilhelm Wagner Gmbh & Co. Kg Düsenvorrichtung und Verfahren zum Ausbringen einer Klebermasse
DE202016008249U1 (de) 2016-08-10 2017-05-17 Kraussmaffei Technologies Gmbh Vorrichtung zum Sprühen eines Auftragungsmaterials mit unterschiedlichen Strahlprofilen
DE102016014952A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungseinrichtung zur Beschichtung von Bauteilen
DE102016014955A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungseinrichtung und entsprechendes Beschichtungsverfahren
DE102016014944A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungsverfahren und entsprechende Beschichtungseinrichtung
DE102016014919A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Applikationsvorrichtung und Verfahren zum Applizieren eines Beschichtungsmittels
DE102017106038B4 (de) 2017-03-21 2019-09-12 Kraussmaffei Technologies Gmbh Düseneinheit für eine Reaktionsgießmaschine sowie Verfahren zum Herstellen eines Kunststoffteiles
DE102019005003A1 (de) * 2019-07-17 2021-01-21 LSI Ludwig Schleicher lngenium GmbH & Co. KG Verfahren zum Auftragen eines Schutzlackes auf ein Fahrzeug-Bauteil

Family Cites Families (5)

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Publication number Priority date Publication date Assignee Title
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 (de) * 1989-09-22 1990-10-25 Daimler Benz Ag Duesentraeger
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

Also Published As

Publication number Publication date
ATE265274T1 (de) 2004-05-15
ES2217227T3 (es) 2004-11-01
EP1270086A1 (fr) 2003-01-02
DE10130499A1 (de) 2003-01-02
DE50200385D1 (de) 2004-06-03

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