EP1287900B1 - Coating installation with a closed loop control system - Google Patents

Coating installation with a closed loop control system Download PDF

Info

Publication number
EP1287900B1
EP1287900B1 EP02018587A EP02018587A EP1287900B1 EP 1287900 B1 EP1287900 B1 EP 1287900B1 EP 02018587 A EP02018587 A EP 02018587A EP 02018587 A EP02018587 A EP 02018587A EP 1287900 B1 EP1287900 B1 EP 1287900B1
Authority
EP
European Patent Office
Prior art keywords
valve
paint
installation
pressure
valves
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
EP02018587A
Other languages
German (de)
French (fr)
Other versions
EP1287900A2 (en
EP1287900A3 (en
Inventor
Stefano Giuliano
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 EP1287900A2 publication Critical patent/EP1287900A2/en
Publication of EP1287900A3 publication Critical patent/EP1287900A3/en
Application granted granted Critical
Publication of EP1287900B1 publication Critical patent/EP1287900B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B05B12/149—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 characterised by colour change manifolds or valves therefor
    • 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
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B05B12/1481—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 comprising pigs, i.e. movable elements sealingly received in supply pipes, for separating different fluids, e.g. liquid coating materials from solvent or air

Definitions

  • the invention relates to a coating system with a control circuit for regulating the pressure and / or the flow rate of paint flowing through a pipe according to the preamble of claim 1.
  • each color of a selectable color valves existing arrangement whose output is connected via a color pressure regulator and a metering pump to the atomizer (DÜRR, Technical Manual, Introduction to the technology of car painting, April 1999).
  • the color valves of the known color changer have two switch positions in which they block the way to the common color channel or open (so it is 2/2-way valves).
  • a desired color is selected by pressurizing the relevant color valve with control air through upstream solenoid valves, which convert electrical signals coming from the system control into pneumatic signals.
  • the usually arranged at the output of the color changer color pressure regulator can provide a form control of the metering pump, but also serve as an actuator for color quantity control.
  • a desired pressure the paint (or possibly another liquid) is pneumatically adjusted in the known color pressure regulators by the pressure of control air which is isolated from the liquid by two or three membranes.
  • the control air pressure is controlled in the closed loop by an electronic control unit which compares the pressure actual value of a proportional pressure control valve generating the control air with a pressure setpoint and controls the pressure control valve with a corresponding manipulated variable.
  • the color pressure is not regulated directly, but the control air pressure, which is transmitted to the paint pressure by the color pressure regulator with a transmission ratio determined by the area ratio of the membranes (eg 2: 1).
  • the color pressure regulators of the known systems serve as pressure intensifiers, since the required color pressure may be higher than the air pressure available in the control system. It is also possible to supply the control electronics at the inputs and / or outputs of a metering pump measured actual pressures on which then the manipulated variable for the proportional valve based.
  • the well-known color pressure regulators ( DÜRR, Technical description for color pressure regulator for EcoMCC3, 13.03.2001 ) have because of the necessary relatively large membranes large dead spaces that cause high color and detergent losses with each color change. Furthermore, due to an unfavorable course of the fluid path in the color pressure regulator not only color deposits, but also pressure losses, which affect especially when rinsing and when pressing new color, since at lower pressure, a higher detergent requirement for subsequent components is required, while in the Pressing the new color extends the pressing time. The extended color change time due to rinsing and pressing reduces the productivity of the coating equipment. In addition, the membranes of the known color pressure regulator are often damaged due to their high load, which suffers the process reliability.
  • the membranes are burdened by the required high pressures.
  • the membranes allow only a limited dynamics and dosing accuracy as a "soft" loop element.
  • DE 38 22 835 A describes the ink quantity control of a painting robot, in the closed loop the amount of ink is measured by a flow cell and a controller depending on this actual value and setpoints of the programmable logic controller keeps the paint flow with an electrically or pneumatically driven, a rotary piston containing control valve constant.
  • a separate pneumatic color pressure regulator is arranged between the flow measuring cell and a color changer.
  • EP 1 237 061 A (published 04.09.2002 ) is a pneumatically controlled valve arrangement is known in which the control signals are assigned to the individual valves numerically and their assignment is transmitted in binary coded form by two or more control signals are transmitted simultaneously depending on the atomic number of a controlled valve.
  • the valves are associated with a decoding device, which decodes the incoming binary-coded control signals and forwarded to the controlled valve.
  • the invention has for its object to provide a coating system with a reliable actuator for the printing of color lacquer, which has low dead space and can be flushed quickly and with low color and detergent losses.
  • the color paths of the system described here can be flushed faster and more effective than before.
  • the valves according to the invention to be used in Absperrbauweise reliable than the usual membrane color pressure regulator.
  • the shut-off valve As an actuator for the ink flow control u.a. achieved higher dynamics.
  • by lower color change losses and better flushability increases the cost of the ink quantity control, which u. a. important when using water-based paints with inductive measuring cells.
  • control loop is supplied as the actual value of the signal of a pressure transducer which measures the color pressure in the line downstream of the actuator, the pressure prevailing therein can be continuously monitored without any special effort in a color change system.
  • each of the paint valves is formed by an actuator for the pressure or flow control of the paint, which is formed in each case by a pneumatically or electrically driven valve in shut-off valve construction, the drive means is controlled in dependence on the actual value of the regulated size of the paint. Since the function of the previously common color pressure regulator is taken over by the color valves themselves, can be dispensed with a color changer downstream color pressure regulator. This eliminates its disadvantages such as component cost, flushing and color, detergent and Spülzeitfounde.
  • Fig. 1 is connected between the output line 9 of a conventional color changer (not shown) and a likewise conventional atomizer 1, a color pressure regulator 2 as an actuator for adjusting the pressure of the atomizer 1 to be supplied color.
  • the color pressure regulator 2 is controlled by the air pressure (P) at the output of a designed as a pneumatic proportional valve pressure control valve 3, which is connected at the input to a compressed air source 4 and a control electronics 5 via line 6 a z.
  • B. electrical control variable (E) receives.
  • the control electronics exchange information with the higher-level system controller PLC or another controller about setpoint and actual values as well as operating parameters.
  • the color print to be used as the actual value is preferably measured directly at the outlet of the color pressure regulator 2 and fed from there via the line 7 to the control electronics 5.
  • the loop described here differs according to Fig. 1 characterized by the above-mentioned known systems that the color pressure regulator does not work only as a pressure intensifier, but is controlled in direct dependence on the paint pressure.
  • the color pressure regulator 2 may have a known construction for other purposes of a shut-off valve whose opening width is controllable by a pneumatic (or in other embodiments, electric) drive.
  • a pneumatic (or in other embodiments, electric) drive In the case of a needle valve pneumatically driven by a piston (or possibly also by a membrane) there is the advantage that the force exerted by the color print on the needle is always much smaller than that available on the piston because of the small needle area the membrane) acting regulating force. As a result, the scheme is much more dynamic than before.
  • FIG Fig. 2 A suitable construction for the color pressure regulator 2 is shown in FIG Fig. 2 shown. It is a known per se needle valve 20 with positive valve seat, whose valve body 11 slidably mounted valve needle 12 is moved and adjusted by a pneumatically actuated piston 13 against the force of a spring 14.
  • the valve needle 12 and the piston 13 are shown in two different positions; in the first position, the conical valve tip 15 is pressed by the spring 14 in the valve seat 16, so that the valve shuts off the path from the input 17 to the output 18. In the second position, shown at 15 'and 13', the valve is more or less widely opened by the control air pressure acting on the piston 13 'in the space 19 as a function of its size.
  • the space 19 is in the example considered at the output of the pressure control valve 3 in Fig. 1 connected while the input 17 to the color changer and the output 18 are connected to the atomizer 1.
  • Fig. 3 shows the application of the color quantity control loop described here.
  • the atomizer 1 with the illustrated schematically conventional main needle valve HNV, the color pressure regulator 2, the pressure control valve 3, the compressed air source 4 and the plant control PLC agree with the corresponding elements in Fig. 1 match, where serving as an actuator color pressure regulator 2 here, for example, the needle valve according to Fig. 2 can be.
  • the control electronics 5 ' is supplied via a line 30, the actual value of the volume flow of paint flowing to the atomizer 1, which is measured by a color pressure regulator 2 downstream of the ink quantity sensor 31.
  • control electronics 5 In case of deviations of this actual value of the setpoint compared with it, the control electronics 5 'controls the pressure control valve 3 with the corresponding manipulated variable via the line 6, so that the pressure control valve 3, the color pressure regulator 2 forming valve opens more or less widely required extent.
  • the actuator forming the color pressure regulator can also be an electrically driven shut-off valve.
  • An example of this is the in Fig. 4 illustrated needle valve 40 with a negative valve seat and an electric drive motor 41 for the valve needle 42 for adjusting the opening width.
  • the valve needle is like in Fig. 2 again shown here both in the closed position and in the 42 'recognizable opening position.
  • the drive motor 41 for example, as a linear servo motor, ie as a direct linear drive, or as an indirect drive z. B. be executed with a ball screw part or in the manner known per se from the hydraulics as a proportional magnet.
  • the for generating the actual pressure signals for example in Fig. 1 and 3 provided pressure sensor is preferably attached directly to the actuator used in each case, ie here to the needle valve 40 or installed as the pressure transducer 43 shown in the valve, so that the color pressure can be measured directly on the valve seat.
  • the signal generated at the electrical output line 44 of the pressure transducer 43 would be in Fig. 1 and 3 transmitted via the line 7 as a pressure actual value.
  • a convenient solenoid-operated needle valve 50 which serves as an actuator of the control loop described here instead of the pneumatically controlled color pressure regulator 2 in Fig. 1 or Fig. 3 can be used is in Fig. 5 shown schematically.
  • the valve needle 52 of this valve is acted upon by a spring 54 in the closed position against the valve seat 55 and a proportional to the needle shaft proportional solenoid whose winding 53 acts on the armature 51 of the valve needle, in a conventional manner against the force of the spring 54 in the open position pulled, in which the path from the color input 57 to the color output 58 in response to the current flowing through the magnetic winding electric current is opened more or less wide.
  • Fig. 6 is the particularly advantageous combination of the control loop described here with each of a selectable color and connected to a respective color line L1, L2, L3, etc. connected color valves F1, F2, F3, etc. of a color changer 60, whose output, for example, via one of a Motor M driven metering pump 62 leads to the atomizer Z.
  • each of the paint valves is no longer designed as a simple 2/2-way valve to open and lock the color path in question, but as an actuator for the pressure or flow control of the paint, whose drive means in dependence on the actual value to controlling color of the paint is controlled. So here are the color valves F1, F2, F3, etc. of the color changer 60 itself as an actuator for the size to be controlled. If the color printing is to be controlled, the color value that is measured at the input (or output) of the metering pump 62 can be supplied as the actual value of the control electronics, for example.
  • the color valves of the color changer 60 can be driven electrically or pneumatically and controlled by electrical or pneumatic control signals.
  • control loops Fig. 1 and Fig. 3 be driven by the air pressure generated by a proportional valve at the input 63 of a control module 64 described below, which has one of the color valves associated outputs 65 and this output air pressure of all color valves common pressure control valve outputs at its respective controlled output.
  • the control module 64 thus serves as a path control device for applying the compressed air as a pneumatic manipulated variable to the respective desired color valve. All other color valves are z. B. held by a spring in its closed position, since only one color valve may be opened.
  • control module 64 is controlled by binary pneumatic or electrical control signals at the inputs B, C and D. This system avoids the need for a separate proportional control valve for each of the u. U. many color valves F1, F2, F3, etc.
  • the proportional valve could also be grown between the external compressed air supply and the compressed air inlet of a commercially available so-called valve island containing the color valves in a block design.
  • FIG. 6 An expedient possibility for the realization of the control module 64 in Fig. 6 is a block of multi-level directional valves that are controlled by binary coded input signals to save control lines in a known manner.
  • the input signals B, C and D can z.
  • B pneumatic signals generated by solenoid valves with two possible pressure values (on / off) and the color valves connected to the eight outputs F1, F2, F3, etc.
  • control module 64 input output magnetic valve Control signal for color control valves B C D 0 0 0 F1 0 0 1 F2 0 1 0 F3 0 1 1 F4 1 0 0 F5 1 0 1 F6 1 1 0 F7 1 1 F8 ⁇ binary number ⁇ decimal number
  • 2 n output signals can be decoded from n input signals.
  • Fig. 8 is according to the simplified example of Fig. 7 schematically a preferred, because very compact and therefore space-saving and also low installation and installation costs requiring embodiment of the control module 64 ( Fig. 6 ) for eight paint valves.
  • the peculiarity here is the formation of the three-level forming 3/2, 6/2 and 12/2-way valves in a common block-like housing with labyrinthine distributed paths for the input air pressure A of the common pressure control valve.
  • the three valves are thus linked together in their common housing block by drilling.
  • Fig. 8 shows the control module in its eight different possible positions as a function of the binary input signals B, C and D according to the above table. These positions are caused in the example considered by these input signals forming existing or missing air pressure, which acts as shown in each case a piston against the force of each return spring.
  • FIG. 9 An embodiment with only two levels was selected for four output signals.
  • the two piston assemblies 90, 91 are mounted concentrically pivotable in the housing block 92 and are acted upon in the example considered at the control inputs 93, 94 of the two pressure signals B and C, so that the applied to the input 95 control pressure for the paint valves depending on the switching position passes through the two housing openings connecting the two valve openings 96 to one of the four outlets 98.
  • the housing block 92 may be in two parts, wherein in one part of the outputs and in the other part of the inputs 93 and 94 may be arranged.
  • the described control module in its embodiment according to Fig. 8 and Fig. 9 is not only suitable for the control of paint valves of a color changer z. B. according to Fig. 6 but more generally for driving a plurality of valves such. B. the On / off color control valves conventional color changer or other valves in which previously undesirable many control lines, too much space and / or excessive component and installation costs were disadvantageous.
  • the color valves F1, F2, F3, etc. of the color changer 60 serving as control actuators may be shown in FIG Fig. 6 instead of by the pneumatic directional valve arrangements after Fig. 8 and Fig. 9 also electrically controlled and adjusted to the respective setpoint.
  • they may each contain a suitable electronic circuit which corresponds to an electric valve drive approximately according to 4 or FIG. 5 if necessary, supply a common set value to all valves if the relevant valve is selected by means of separate control signals.
  • the control signals can be supplied in a known manner via a data bus system.
  • a pneumatic / electronic bus control system as for example from the DE 10056259 is known, can be used here.

Abstract

The system for serial application of paint or lacquer or other coating to workpieces has a control loop for regulating the pressure and/or flow rate of the color flowing through a conduit (9). A control member (2) for a parameter to be regulated is connected in the conduit. The control member is formed by a pneumatically or electrically driven valve (20) in the form of a cut-off valve. The drive unit (13) is controlled in dependence on the actual measured value of the parameter of the coating to be regulated.

Description

Die Erfindung betrifft eine Beschichtungsanlage mit einem Regelkreis zum Regeln des Druckes und/oder der Durchflussmenge von durch eine Leitung fließendem Farblack gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a coating system with a control circuit for regulating the pressure and / or the flow rate of paint flowing through a pipe according to the preamble of claim 1.

Insbesondere handelt es sich um eine Beschichtungsanlage für die Serienlackierung von Werkstücken wie beispielsweise Fahrzeugkarossen mit häufig wechselnden Farben. Als Farbwechsler dient in derartigen Anlagen üblicherweise eine aus pneumatisch angesteuerten, jeweils einer wählbaren Farbe zugeordneten Farbventilen bestehende Anordnung, deren Ausgang über einen Farbdruckregler und eine Dosierpumpe an den Zerstäuber angeschlossen ist (DÜRR, Technisches Handbuch, Einführung in die Technik der PKW-Lackierung, April 1999). Die Farbventile der bekannten Farbwechsler haben zwei Schaltstellungen, in denen sie den Weg zum gemeinsamen Farbkanal sperren bzw. öffnen (es handelt sich also um 2/2-Wegeventile). Eine gewünschte Farbe wird angewählt durch Beaufschlagen des betreffenden Farbventils mit Steuerluft durch vorgeschaltete Magnetventile, die von der Anlagensteuerung kommende elektrische Signale in pneumatische Signale umwandeln. Da jeder Farbe ein Magnetventil zugeordnet ist, sind entsprechend viele Magnetventile vorhanden und in den bekannten Anlagen ebenso viele Steuerleitungen durch die Lackiermaschine zu führen. Es ist auch möglich, Magnetventile direkt an das Farbventil anzubauen ( DE-A10056259, veröffentlicht 23.05.2002 ), wobei direkt oder indirekt schaltende Magnetventile zum Einsatz kommen können.In particular, it is a coating system for the series coating of workpieces such as vehicle bodies with frequently changing colors. As a color changer is usually used in such plants from pneumatically driven, each color of a selectable color valves existing arrangement whose output is connected via a color pressure regulator and a metering pump to the atomizer (DÜRR, Technical Manual, Introduction to the technology of car painting, April 1999). The color valves of the known color changer have two switch positions in which they block the way to the common color channel or open (so it is 2/2-way valves). A desired color is selected by pressurizing the relevant color valve with control air through upstream solenoid valves, which convert electrical signals coming from the system control into pneumatic signals. Since each color is associated with a solenoid valve, a corresponding number of solenoid valves are present and to lead in the known systems as many control lines through the painting. It is also possible to install solenoid valves directly to the paint valve ( DE-A10056259, published 23.05.2002 ), wherein directly or indirectly switching solenoid valves can be used.

Der gewöhnlich am Ausgang des Farbwechslers angeordnete Farbdruckregler kann für eine Vordruckregelung der Dosierpumpe sorgen, aber auch als Stellglied zur Farbmengenregelung dienen. Ein gewünschter Druck das Farblacks (oder ggf. einer anderen Flüssigkeit) wird in den bekannten Farbdruckreglern pneumatisch durch den Druck von Steuerluft eingestellt, die durch zwei oder drei Membranen von der Flüssigkeit isoliert ist. Der Steuerluftdruck wird im geschlossenen Regelkreis von einer Steuerelektronik geregelt, die den Druckistwert eines die Steuerluft erzeugenden Proportional-Druckregelventils mit einem Drucksollwert vergleicht und das Druckregelventil mit einer entsprechenden Stellgröße steuert. Hierbei wird also nicht direkt der Farbdruck geregelt, sondern der Steuerluftdruck, der von dem Farbdruckregler mit einem durch das Flächenverhältnis der Membranen bestimmten Übersetzungsverhältnis (z. B. 2:1) an den Lackdruck weitergegeben wird. Die Farbdruckregler der bekannten Systeme dienen als Druckübersetzer, da der erforderliche Farbdruck höher sein kann als der in dem Regelsystem verfügbare Luftdruck. Es ist auch möglich, der Regelelektronik an den Ein- und/oder Ausgängen einer Dosierpumpe gemessene Druckistwerte zuzuführen, auf denen dann die Stellgröße für das Proportionalventil basiert.The usually arranged at the output of the color changer color pressure regulator can provide a form control of the metering pump, but also serve as an actuator for color quantity control. A desired pressure the paint (or possibly another liquid) is pneumatically adjusted in the known color pressure regulators by the pressure of control air which is isolated from the liquid by two or three membranes. The control air pressure is controlled in the closed loop by an electronic control unit which compares the pressure actual value of a proportional pressure control valve generating the control air with a pressure setpoint and controls the pressure control valve with a corresponding manipulated variable. In this case, the color pressure is not regulated directly, but the control air pressure, which is transmitted to the paint pressure by the color pressure regulator with a transmission ratio determined by the area ratio of the membranes (eg 2: 1). The color pressure regulators of the known systems serve as pressure intensifiers, since the required color pressure may be higher than the air pressure available in the control system. It is also possible to supply the control electronics at the inputs and / or outputs of a metering pump measured actual pressures on which then the manipulated variable for the proportional valve based.

Die bekannten Farbdruckregler ( DÜRR, Technische Beschreibung für Farbdruckregler für EcoMCC3, 13.03.2001 ) haben wegen der notwendigen relativ großflächigen Membranen große Toträume, die bei jedem Farbwechsel hohe Farb- und Spülmittelverluste verursachen. Ferner ergeben sich aufgrund eines ungünstigen Verlaufs des Flüssigkeitsweges in dem Farbdruckregler nicht nur Farbablagerungen, sondern auch Druckverluste, die sich vor allem beim Spülen und beim Andrücken neuer Farbe auswirken, da bei geringerem Druck ein höherer Spülmittelbedarf für nachfolgende Bauteile erforderlich wird, während sich bei dem Andrücken der neuen Farbe die Andrückzeit verlängert. Die durch das Spülen und Andrücken verlängerte Farbwechselzeit verringert die Produktivität der Beschichtungsanlage. Darüber hinaus werden die Membranen der bekannten Farbdruckregler aufgrund ihrer hohen Belastung oft beschädigt, worunter die Prozesszuverlässigkeit leidet. Vor allem bei der sog. Reflow-Technik, bei der der Farblack durch einen Molch in umgekehrter Strömungsrichtung durch den Farbdruckregler zurückgedrückt wird, werden die Membranen durch die dabei erforderlichen hohen Drücke belastet. Außerdem erlauben die Membranen als "weiches" Regelkreisglied nur eine begrenzte Dynamik und Dosiergenauigkeit.The well-known color pressure regulators ( DÜRR, Technical description for color pressure regulator for EcoMCC3, 13.03.2001 ) have because of the necessary relatively large membranes large dead spaces that cause high color and detergent losses with each color change. Furthermore, due to an unfavorable course of the fluid path in the color pressure regulator not only color deposits, but also pressure losses, which affect especially when rinsing and when pressing new color, since at lower pressure, a higher detergent requirement for subsequent components is required, while in the Pressing the new color extends the pressing time. The extended color change time due to rinsing and pressing reduces the productivity of the coating equipment. In addition, the membranes of the known color pressure regulator are often damaged due to their high load, which suffers the process reliability. Especially in the so-called reflow technique, in which the color coat by a pig in the reverse flow direction through the color pressure regulator is pushed back, the membranes are burdened by the required high pressures. In addition, the membranes allow only a limited dynamics and dosing accuracy as a "soft" loop element.

Aus EP 0 075 258 A ist ein Farbdruckregler für eine Beschichtungseinrichtung in Form eines Nadelventils mit Membranantrieb bekannt, das als Stellglied in einem Regelkreis dient, in dem als Istwert die Flüssigkeitsmenge von einer volumetrischen Messzelle gemessen wird.Out EP 0 075 258 A a color pressure regulator for a coating device in the form of a needle valve with membrane drive is known, which serves as an actuator in a control loop in which the actual amount of liquid is measured by a volumetric measuring cell.

DE 38 22 835 A beschreibt die Farbmengenregelung eines Lackierroboters, bei der im geschlossenen Regelkreis die Farbmenge von einer Durchflussmesszelle gemessen wird und ein Regler in Abhängigkeit von diesem Istwert und von Sollwerten der speicherprogrammierbaren Steuerung den Lackfluss mit einem elektrisch oder pneumatisch angetriebenen, einen Drehkolben enthaltenden Stellventil konstant hält. Zur Einstellung des Farbdrucks ist zwischen der Durchflussmesszelle und einem Farbwechsler ein gesonderter pneumatischer Farbdruckregler angeordnet. DE 38 22 835 A describes the ink quantity control of a painting robot, in the closed loop the amount of ink is measured by a flow cell and a controller depending on this actual value and setpoints of the programmable logic controller keeps the paint flow with an electrically or pneumatically driven, a rotary piston containing control valve constant. For adjusting the color printing, a separate pneumatic color pressure regulator is arranged between the flow measuring cell and a color changer.

Ein weiterer Farbmengenregelkreis mit einer Durchflussmesszelle und einem von einem Schrittmotor angetriebenen Stellventil ist aus US 4 720 801 bekannt.Another ink quantity control circuit with a flow cell and a control valve driven by a stepper motor is off US 4,720,801 known.

Aus EP 0 480 080 A ist es bekannt, in einer Beschichtungsvorrichtung die Durchflussmenge mit einem Durchflusssteuerventil in Form eines Nadelventils einzustellen, das seinerseits elektromagnetisch durch Pulssignale mit änderbarer Pulsdauer oder Pulsperiode gesteuert wird. Solche Durchflusssteuerventile können die Farbeingänge eines Farbwechslers der Beschichtungsvorrichtung bilden. Zur Kompensation von Druckschwankungen des Beschichtungsmaterials wird dessen Druck vor und hinter dem Durchflusssteuerventil gemessen und die Pulsdauer bzw. Pulsperiode entsprechend dem gemessenen Druck korrigiert.Out EP 0 480 080 A It is known to adjust the flow rate in a coating device with a flow control valve in the form of a needle valve, which in turn is controlled electromagnetically by pulse signals with variable pulse duration or pulse period. Such flow control valves can form the color inputs of a color changer of the coating apparatus. For compensation of pressure fluctuations the coating material whose pressure is measured in front of and behind the flow control valve and the pulse duration or pulse period corrected according to the measured pressure.

Aus EP 1 237 061 A (veröffentlicht 04.09.2002 ) ist eine pneumatisch gesteuerte Ventilanordnung bekannt, bei der die Steuersignale den einzelnen Ventilen numerisch zugeordnet werden und ihre Zuordnung in binär codierter Form übertragen wird, indem je nach Ordnungszahl eines angesteuerten Ventils gleichzeitig zwei oder mehrere Steuersignale übertragen werden. Den Ventilen ist eine Decodiereinrichtung zugeordnet, die die ankommenden binär codierten Steuersignale entschlüsselt und dem angesteuerten Ventil zuleitet.Out EP 1 237 061 A (published 04.09.2002 ) is a pneumatically controlled valve arrangement is known in which the control signals are assigned to the individual valves numerically and their assignment is transmitted in binary coded form by two or more control signals are transmitted simultaneously depending on the atomic number of a controlled valve. The valves are associated with a decoding device, which decodes the incoming binary-coded control signals and forwarded to the controlled valve.

Der Erfindung liegt die Aufgabe zugrunde, eine Beschichtungsanlage mit einem zuverlässigen Stellglied für den Druck von Farblack anzugeben, das geringes Totraumvolumen hat und schnell und mit geringen Farb- und Spülmittelverlusten gespült werden kann.The invention has for its object to provide a coating system with a reliable actuator for the printing of color lacquer, which has low dead space and can be flushed quickly and with low color and detergent losses.

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

Neben dem Vorteil des im Vergleich mit konventionellen Farbdruckreglern erheblich geringeren Totraumvolumens des Stellgliedes und der geringeren Materialverluste können die Farbwege der hier beschriebenen Anlage schneller und effektiver gespült werden als bisher. Ferner sind die erfindungsgemäß zu verwendenden Ventile in Absperrbauweise zuverlässiger als die bisher üblichen Membran-Farbdruckregler. Bei Anwendung des Absperrventils als Stellglied für die Farbmengenregelung wird u.a. höhere Dynamik erreicht. Außerdem werden durch geringere Farbwechselverluste und bessere Spülbarkeit die Wirtschaftlichkeit der Farbmengenregelung erhöht, was u. a. beim Einsatz von Wasserlacken mit induktiven Messzellen wichtig ist.In addition to the advantage of compared to conventional color pressure regulators significantly lower dead space of the actuator and the lower material losses, the color paths of the system described here can be flushed faster and more effective than before. Furthermore, the valves according to the invention to be used in Absperrbauweise reliable than the usual membrane color pressure regulator. When using the shut-off valve as an actuator for the ink flow control u.a. achieved higher dynamics. In addition, by lower color change losses and better flushability increases the cost of the ink quantity control, which u. a. important when using water-based paints with inductive measuring cells.

Wenn dem Regelkreis als Istwert das Signal eines Druckaufnehmers zugeführt wird, der den Farbdruck in der dem Stellglied nachgeschalteten Leitung misst, kann ohne besonderen Aufwand in einem Farbwechselsystem ständig der darin herrschende Druck überwacht werden.If the control loop is supplied as the actual value of the signal of a pressure transducer which measures the color pressure in the line downstream of the actuator, the pressure prevailing therein can be continuously monitored without any special effort in a color change system.

Wenn das Stellglied elektrisch, also beispielsweise durch einen Linearservomotor oder durch einen Proportionalmagnet angetrieben wird, hat das neben dem Wegfall der sonst erforderlichen Druckluftanschlüsse den Vorteil besonders hoher Regeldynamik.When the actuator is electrically driven, so for example by a linear servo motor or by a proportional solenoid In addition to the elimination of the otherwise required compressed air connections, this has the advantage of particularly high control dynamics.

Besonders vorteilhaft ist gemäß einer Weiterbildung der Erfindung die Kombination mit einer Farbwechselventilanordnung, an die in der an sich üblichen Weise über je ein gesteuertes Farbventil mehrere Leitungen für jeweils andere wählbare Farben des dem Beschichtungsorgan zuzuführenden Farblacks angeschlossen sind. Bei dieser Weiterbildung ist jedes der Farbventile durch ein Stellglied für die Druck- oder Mengenregelung des Farblacks gebildet, welches jeweils durch ein pneumatisch oder elektrisch angetriebenes Ventil in Absperrventilbauweise gebildet ist, dessen Antriebseinrichtung in Abhängigkeit von dem Istwert der zu regelnden Größe des Farblacks gesteuert wird. Da hier die Funktion des bisher üblichen Farbdruckreglers von den Farbventilen selbst übernommen wird, kann auf einen dem Farbwechsler nachgeschalteten Farbdruckregler verzichtet werden. Dadurch entfallen dessen Nachteile wie Bauteileaufwand, Spülaufwand sowie Farb-, Spülmittel- und Spülzeitverluste.According to an embodiment of the invention, the combination with a color change valve arrangement, to which a plurality of lines for respectively other selectable colors of the color paint to be supplied to the coating element are connected in the manner known per se via a respective controlled color valve, is particularly advantageous. In this development, each of the paint valves is formed by an actuator for the pressure or flow control of the paint, which is formed in each case by a pneumatically or electrically driven valve in shut-off valve construction, the drive means is controlled in dependence on the actual value of the regulated size of the paint. Since the function of the previously common color pressure regulator is taken over by the color valves themselves, can be dispensed with a color changer downstream color pressure regulator. This eliminates its disadvantages such as component cost, flushing and color, detergent and Spülzeitverluste.

An den in der Zeichnung dargestellten Ausführungsbeispielen wird die Erfindung näher erläutert. Es zeigen:

Fig. 1
die schematische Darstellung eines Teils einer Beschichtungsanlage mit einem Farbdruckregler;
Fig. 2
ein für die Erfindung geeignetes pneumatisch angetriebenes Stellglied;
Fig. 3
die Fig. 1 entsprechende Darstellung einer Beschichtungsanlage in Ausgestaltung für die Farbmengenregelung;
Fig. 4
ein für die Erfindung geeignetes Stellglied mit elektrischem Antrieb;
Fig. 5
eine andere Ausführungsform eines elektrisch angetriebenen Stellgliedes;
Fig. 6
die schematische Darstellung eines Teils einer Beschichtungsanlage mit einer erfindungsgemäß ausgebildeten Farbwechselventilanordnung;
Fig. 7
einen Schaltplan für die Ansteuerung der Farbventile des Farbwechslers in Fig. 6;
Fig. 8
eine dem Schaltplan in Fig. 7 entsprechende Bauform eines Steuermoduls zum Ansteuern der Farbventile in Fig. 6 in seinen verschiedenen möglichen Schaltstellungen; und
Fig. 9
eine vereinfacht für nur vier Ausgänge dargestellte abgewandelte Bauform des Steuermoduls in Fig. 6.
In the embodiments illustrated in the drawings, the invention is explained in detail. Show it:
Fig. 1
the schematic representation of a part of a coating system with a color pressure regulator;
Fig. 2
a suitable for the invention pneumatically driven actuator;
Fig. 3
the Fig. 1 corresponding representation of a coating system in configuration for the color quantity control;
Fig. 4
an actuator with electric drive suitable for the invention;
Fig. 5
another embodiment of an electrically driven actuator;
Fig. 6
the schematic representation of a part of a coating system with a color change valve arrangement designed according to the invention;
Fig. 7
a circuit diagram for the control of the color valves of the color changer in Fig. 6 ;
Fig. 8
a the schematic in Fig. 7 corresponding design of a control module for controlling the paint valves in Fig. 6 in its various possible switching positions; and
Fig. 9
a simplified illustrated for only four outputs modified design of the control module in Fig. 6 ,

Gemäß Fig. 1 ist zwischen die Ausgangsleitung 9 eines konventionellen Farbwechslers (nicht dargestellt) und einen ebenfalls üblichen Zerstäuber 1 ein Farbdruckregler 2 als Stellglied zum Einstellen des Drucks des dem Zerstäuber 1 zuzuführenden Farblacks geschaltet. Der Farbdruckregler 2 wird vom Luftdruck (P) am Ausgang eines als pneumatisches Proportionalventil ausgebildeten Druckregelventils 3 gesteuert, das am Eingang an eine Druckluftquelle 4 angeschlossen ist und von einer Regelelektronik 5 über die Leitung 6 eine z. B. elektrische Stellgröße (E) empfängt. Die Regelelektronik tauscht mit der übergeordneten Anlagensteuerung SPS oder einer anderen Steuerung Informationen über Soll- und Istwerte sowie Betriebsparameter aus.According to Fig. 1 is connected between the output line 9 of a conventional color changer (not shown) and a likewise conventional atomizer 1, a color pressure regulator 2 as an actuator for adjusting the pressure of the atomizer 1 to be supplied color. The color pressure regulator 2 is controlled by the air pressure (P) at the output of a designed as a pneumatic proportional valve pressure control valve 3, which is connected at the input to a compressed air source 4 and a control electronics 5 via line 6 a z. B. electrical control variable (E) receives. The control electronics exchange information with the higher-level system controller PLC or another controller about setpoint and actual values as well as operating parameters.

Soweit er bisher beschrieben wurde, entspricht der dargestellte Anlagenteil dem Stand der Technik. Bei den bisher üblichen vergleichbaren Systemen wurde gewöhnlich der Ausgangsdruck des Druckregelventils 3 im geschlossenen Kreis geregelt, d.h. von der Regelelektronik 5 wurde zur Erzeugung der Stellgröße der vorgegebene Drucksollwert mit dem ihr vom Ausgang des Druckregel ventils 3 zugeführten Druckistwert verglichen. Statt dessen war es auch schon möglich, den am Eingang oder Ausgang einer zwischen den Farbdruckregler 2 und den Zerstäuber 1 geschalteten Zahnraddosierpumpe gemessenen Druck als Istwert zu verwenden.As far as it has been described so far, the plant part shown corresponds to the prior art. Conventional comparable systems have usually used the outlet pressure of Regulated pressure control valve 3 in a closed loop, ie the control electronics 5 was compared to generate the manipulated variable of the predetermined pressure setpoint with the her from the output of the pressure control valve 3 fed actual pressure value. Instead, it was already possible to use the measured at the input or output of a switched between the color pressure regulator 2 and the atomizer 1 Zahnraddosierpumpe pressure as an actual value.

Bei dem hier beschriebenen Regelkreis für Farbdruckregelung wird der als Istwert zu verwendende Farbdruck vorzugsweise unmittelbar am Ausgang des Farbdruckreglers 2 gemessen und von dort über die Leitung 7 der Regelelektronik 5 zugeführt.In the control circuit for color printing control described here, the color print to be used as the actual value is preferably measured directly at the outlet of the color pressure regulator 2 and fed from there via the line 7 to the control electronics 5.

Vor allem unterscheidet sich der hier beschriebene Regelkreis gemäß Fig. 1 dadurch von den eingangs erwähnten bekannten Anlagen, dass der Farbdruckregler nicht lediglich als Druckübersetzer arbeitet, sondern in direkter Abhängigkeit vom Lackdruck gesteuert wird. Der Farbdruckregler 2 kann eine für andere Zwecke bekannte Konstruktion eines Absperrventils haben, dessen Öffnungsweite von einem pneumatischen (oder bei anderen Ausführungsbeispielen elektrischen) Antrieb steuerbar ist. Bei einem pneumatisch durch einen Kolben (oder evtl. auch durch eine Membran) angetriebenen Nadelventil ergibt sich der Vorteil, dass die vom Farbdruck auf die Nadel ausgeübte Kraft wegen der kleinen Nadelfläche immer viel kleiner ist als die zur Verfügung stehende, auf den Kolben (bzw. die Membran) wirkende Regelkraft. Dadurch wird die Regelung wesentlich dynamischer als bisher.Above all, the loop described here differs according to Fig. 1 characterized by the above-mentioned known systems that the color pressure regulator does not work only as a pressure intensifier, but is controlled in direct dependence on the paint pressure. The color pressure regulator 2 may have a known construction for other purposes of a shut-off valve whose opening width is controllable by a pneumatic (or in other embodiments, electric) drive. In the case of a needle valve pneumatically driven by a piston (or possibly also by a membrane) there is the advantage that the force exerted by the color print on the needle is always much smaller than that available on the piston because of the small needle area the membrane) acting regulating force. As a result, the scheme is much more dynamic than before.

Eine geeignete Konstruktion für den Farbdruckregler 2 ist in Fig. 2 dargestellt. Dabei handelt es sich um ein an sich bekanntes Nadelventil 20 mit positivem Ventilsitz, dessen im Ventilkörper 11 verschiebbar gelagerte Ventilnadel 12 von einem pneumatisch beaufschlagten Kolben 13 gegen die Kraft einer Feder 14 bewegt und eingestellt wird. Die Ventilnadel 12 und der Kolben 13 sind in zwei verschiedenen Stellungen dargestellt; in der ersten Stellung wird die konische Ventilspitze 15 von der Feder 14 in den Ventilsitz 16 gedrückt, so dass das Ventil den Weg vom Eingang 17 zum Ausgang 18 absperrt. In der zweiten, bei 15' und 13' dargestellten Position ist das Ventil durch den im Raum 19 auf den Kolben 13' wirkende Steuerluftdruck in Abhängigkeit von dessen Größe mehr oder weniger weit geöffnet. Der Raum 19 ist bei dem betrachteten Beispiel an den Ausgang des Druckregelventils 3 in Fig. 1 angeschlossen, während der Eingang 17 mit dem Farbwechsler und der Ausgang 18 mit dem Zerstäuber 1 verbunden sind.A suitable construction for the color pressure regulator 2 is shown in FIG Fig. 2 shown. It is a known per se needle valve 20 with positive valve seat, whose valve body 11 slidably mounted valve needle 12 is moved and adjusted by a pneumatically actuated piston 13 against the force of a spring 14. The valve needle 12 and the piston 13 are shown in two different positions; in the first position, the conical valve tip 15 is pressed by the spring 14 in the valve seat 16, so that the valve shuts off the path from the input 17 to the output 18. In the second position, shown at 15 'and 13', the valve is more or less widely opened by the control air pressure acting on the piston 13 'in the space 19 as a function of its size. The space 19 is in the example considered at the output of the pressure control valve 3 in Fig. 1 connected while the input 17 to the color changer and the output 18 are connected to the atomizer 1.

Fig. 3 zeigt die Anwendung des hier beschriebenen Regelkreises für die Farbmengenregelung. Der Zerstäuber 1 mit dem schematisch dargestellten üblichen Hauptnadelventil HNV, der Farbdruckregler 2, das Druckregelventil 3, die Druckluftquelle 4 und die Anlagensteuerung SPS stimmen mit den entsprechenden Elementen in Fig. 1 überein, wobei der als Stellglied dienende Farbdruckregler 2 auch hier beispielsweise das Nadelventil gemäß Fig. 2 sein kann. Da abweichend von dem Farbdruckregelkreis nach Fig. 1 hier aber die dem Zerstäuber 1 zuzuführende Farbdurchflussmenge geregelt werden soll, wird der Regelelektronik 5' über eine Leitung 30 der Istwert des Volumenstroms des zu dem Zerstäuber 1 fließenden Farblacks zugeführt, der von einem dem Farbdruckregler 2 nachgeschalteten Farbmengensensor 31 gemessen wird. Bei Abweichungen dieses Istwerts von dem mit ihm verglichenen Sollwert steuert die Regelelektronik 5' das Druckregelventil 3 mit der entsprechenden Stellgröße über die Leitung 6, so dass das Druckregelventil 3 das den Farbdruckregler 2 bildende Ventil im erforderlichen Maße mehr oder weniger weit öffnet. Fig. 3 shows the application of the color quantity control loop described here. The atomizer 1 with the illustrated schematically conventional main needle valve HNV, the color pressure regulator 2, the pressure control valve 3, the compressed air source 4 and the plant control PLC agree with the corresponding elements in Fig. 1 match, where serving as an actuator color pressure regulator 2 here, for example, the needle valve according to Fig. 2 can be. As different from the color pressure control loop after Fig. 1 Here, however, the ink flow to be supplied to the atomizer 1 is to be controlled, the control electronics 5 'is supplied via a line 30, the actual value of the volume flow of paint flowing to the atomizer 1, which is measured by a color pressure regulator 2 downstream of the ink quantity sensor 31. In case of deviations of this actual value of the setpoint compared with it, the control electronics 5 'controls the pressure control valve 3 with the corresponding manipulated variable via the line 6, so that the pressure control valve 3, the color pressure regulator 2 forming valve opens more or less widely required extent.

Da bei der Farbmengenregelung der Farbvolumenstrom gedrosselt wird, könnte hier an sich auf die Druckmessung über die Leitung gemäß Fig. 1 verzichtet werden. Die Druckmessung am Ausgang des Farbdruckreglers 2 und die Übertragung des Druckwertes über die Leitung 7 kann aber für Überwachungszwecke usw. sinnvoll sein.Since the color flow rate is throttled in the color quantity control, here could itself on the pressure measurement via the line according to Fig. 1 be waived. The pressure measurement at the output of the color pressure regulator 2 and the transmission of the pressure value via the line 7 but may be useful for monitoring purposes, etc.

Wie schon erwähnt wurde, kann das den Farbdruckregler bildende Stellglied auch ein elektrisch angetriebenes Absperrventil sein. Ein Beispiel hierfür ist das in Fig. 4 dargestellte Nadelventil 40 mit negativem Ventilsitz und einem elektrischen Antriebsmotor 41 für die Ventilnadel 42 zum Einstellen der Öffnungsweite. Die Ventilnadel ist wie in Fig. 2 auch hier wieder sowohl in der Schließstellung als auch in der bei 42' erkennbaren Öffnungsstellung dargestellt. Der Antriebsmotor 41 kann beispielsweise als Linearservomotor, also als direkter Linearantrieb, oder als indirekter Antrieb z. B. mit einem Kugelgewindeteil oder auch in der aus der Hydraulik an sich bekannten Weise als Proportionalmagnet ausgeführt sein.As already mentioned, the actuator forming the color pressure regulator can also be an electrically driven shut-off valve. An example of this is the in Fig. 4 illustrated needle valve 40 with a negative valve seat and an electric drive motor 41 for the valve needle 42 for adjusting the opening width. The valve needle is like in Fig. 2 again shown here both in the closed position and in the 42 'recognizable opening position. The drive motor 41, for example, as a linear servo motor, ie as a direct linear drive, or as an indirect drive z. B. be executed with a ball screw part or in the manner known per se from the hydraulics as a proportional magnet.

Der zur Erzeugung der Druckistwertsignale beispielsweise in Fig. 1 und 3 vorgesehene Druckaufnehmer wird vorzugsweise direkt an das jeweils verwendete Stellglied, hier also an das Nadelventil 40 angebaut oder wie der dargestellte Druckaufnehmer 43 in das Ventil eingebaut, so dass der Farbdruck unmittelbar am Ventilsitz gemessen werden kann. Das an der elektrischen Ausgangsleitung 44 des Druckaufnehmers 43 erzeugte Signal würde in Fig. 1 und 3 über die Leitung 7 als Druckistwert übertragen.The for generating the actual pressure signals, for example in Fig. 1 and 3 provided pressure sensor is preferably attached directly to the actuator used in each case, ie here to the needle valve 40 or installed as the pressure transducer 43 shown in the valve, so that the color pressure can be measured directly on the valve seat. The signal generated at the electrical output line 44 of the pressure transducer 43 would be in Fig. 1 and 3 transmitted via the line 7 as a pressure actual value.

Ein zweckmäßiges elektromagnetisch angetriebenes Nadelventil 50, das als Stellglied des hier beschriebenen Regelkreises anstelle des pneumatisch gesteuerten Farbdruckreglers 2 in Fig. 1 oder Fig. 3 verwendet werden kann, ist in Fig. 5 schematisch dargestellt. Die Ventilnadel 52 dieses Ventils wird von einer Feder 54 in Schließstellung gegen den Ventilsitz 55 und von einem mit dem Nadelschaft gekoppelten Proportionalmagneten, dessen Wicklung 53 auf den Anker 51 der Ventilnadel wirkt, in an sich bekannter Weise gegen die Kraft der Feder 54 in die Öffnungsstellung gezogen, in der der Weg vom Farbeingang 57 zum Farbausgang 58 in Abhängigkeit von dem durch die Magnetwicklung fließenden elektrischen Strom mehr oder weniger weit geöffnet wird.A convenient solenoid-operated needle valve 50, which serves as an actuator of the control loop described here instead of the pneumatically controlled color pressure regulator 2 in Fig. 1 or Fig. 3 can be used is in Fig. 5 shown schematically. The valve needle 52 of this valve is acted upon by a spring 54 in the closed position against the valve seat 55 and a proportional to the needle shaft proportional solenoid whose winding 53 acts on the armature 51 of the valve needle, in a conventional manner against the force of the spring 54 in the open position pulled, in which the path from the color input 57 to the color output 58 in response to the current flowing through the magnetic winding electric current is opened more or less wide.

Bei einem elektrisch angetriebenen Stellglied des Regelkreises würden anstelle des Druckregelventils in Fig. 1 und Fig. 3 elektrische Stellsignale von der Regelelektronik dem Stellgliedantrieb zugeführt.In an electrically driven actuator of the control loop would instead of the pressure control valve in Fig. 1 and Fig. 3 electrical control signals from the control electronics supplied to the actuator drive.

In Fig. 6 ist die besonders vorteilhafte Kombination des hier beschriebenen Regelkreises mit den jeweils einer wählbaren Farbe zugeordneten und an je eine entsprechende Farbleitung L1, L2, L3 usw. angeschlossenen Farbventilen F1, F2, F3 usw. eines Farbwechslers 60 dargestellt, dessen Ausgang beispielsweise über eine von einem Motor M angetriebene Dosierpumpe 62 zu dem Zerstäuber Z führt. Gemäß dieser Weiterbildung der Erfindung ist jedes der Farbventile nicht mehr wie bisher als einfaches 2/2-Wegeventil zum Öffnen und Sperren des betreffenden Farbweges ausgebildet, sondern als Stellglied für die Druck- oder Mengenregelung des Farblacks, dessen Antriebseinrichtung in Abhängigkeit von dem Istwert der zu regelnden Größe des Farblacks gesteuert wird. Hier dienen also die Farbventile F1, F2, F3 usw. des Farbwechslers 60 selbst als Stellglied für die zu regelnde Größe. Wenn der Farbdruck geregelt werden soll, kann als Istwert der Regelelektronik beispielsweise der am Eingang (oder Ausgang) der Dosierpumpe 62 gemessene Farbdruck zugeführt werden.In Fig. 6 is the particularly advantageous combination of the control loop described here with each of a selectable color and connected to a respective color line L1, L2, L3, etc. connected color valves F1, F2, F3, etc. of a color changer 60, whose output, for example, via one of a Motor M driven metering pump 62 leads to the atomizer Z. According to this embodiment of the invention, each of the paint valves is no longer designed as a simple 2/2-way valve to open and lock the color path in question, but as an actuator for the pressure or flow control of the paint, whose drive means in dependence on the actual value to controlling color of the paint is controlled. So here are the color valves F1, F2, F3, etc. of the color changer 60 itself as an actuator for the size to be controlled. If the color printing is to be controlled, the color value that is measured at the input (or output) of the metering pump 62 can be supplied as the actual value of the control electronics, for example.

Die Farbventile des Farbwechslers 60 können elektrisch oder pneumatisch angetrieben und durch elektrische oder pneumatische Stellsignale gesteuert werden. Beispielsweise sei angenommen, dass sie ähnlich wie bei den Regelkreisen nach Fig. 1 und Fig. 3 durch den von einem Proportionalventil erzeugten Luftdruck am Eingang 63 eines nachfolgend beschriebenen Steuermoduls 64 angetrieben werden, der mit je einem der Farbventile verbundene Ausgänge 65 hat und diesen Ausgangsluftdruck des allen Farbventilen gemeinsamen Druckregelventils an seinem jeweils angesteuerten Ausgang abgibt. Der Steuermodul 64 dient also als Wegesteuereinrichtung zum Anlegen der als pneumatische Stellgröße dienenden Druckluft an das jeweils gewünschte Farbventil. Alle übrigen Farbventile werden z. B. von einer Feder in ihrer Schließstellung gehalten, da jeweils nur ein Farbventil geöffnet werden darf. Zum Auswählen des Ausgangs 65, an dem die pneumatische Stellgröße abgegeben werden soll, wird der Steuermodul 64 durch binäre pneumatische oder elektrische Steuersignale an den Eingängen B, C und D angesteuert. Dieses System vermeidet die Notwendigkeit eines eigenen Proportionalregelventils für jedes der u. U. vielen Farbventile F1, F2, F3 usw.The color valves of the color changer 60 can be driven electrically or pneumatically and controlled by electrical or pneumatic control signals. For example, assume that they are similar to the control loops Fig. 1 and Fig. 3 be driven by the air pressure generated by a proportional valve at the input 63 of a control module 64 described below, which has one of the color valves associated outputs 65 and this output air pressure of all color valves common pressure control valve outputs at its respective controlled output. The control module 64 thus serves as a path control device for applying the compressed air as a pneumatic manipulated variable to the respective desired color valve. All other color valves are z. B. held by a spring in its closed position, since only one color valve may be opened. To select the output 65 at which the pneumatic control variable is to be delivered, the control module 64 is controlled by binary pneumatic or electrical control signals at the inputs B, C and D. This system avoids the need for a separate proportional control valve for each of the u. U. many color valves F1, F2, F3, etc.

Das Proportionalventil könnte auch zwischen der externen Druckluftversorgung und dem Drucklufteingang einer die Farbventile in Blockbauweise enthaltenden handelsüblichen sogenannten Ventilinsel angebaut sein.The proportional valve could also be grown between the external compressed air supply and the compressed air inlet of a commercially available so-called valve island containing the color valves in a block design.

Eine zweckmäßig Möglichkeit zur Realisierung des Steuermoduls 64 in Fig. 6 ist ein Block aus in mehreren Ebenen vereinigten Wegeventilen, die zur Einsparung von Steuerleitungen in einer bekannten Weise durch binär codierte Eingangssignale gesteuert werden. Der Prinzipschaltplan einer solchen Wegesteuereinrichtung für n = 3 Eingangssignale oder Ebenen und folglich 2n = 8 Ausgänge, also acht wählbare Farben ist in Fig. 7 dargestellt, wobei mit A der jeweils einem der acht Ausgänge zuzuführende Luftdruck und mit B, C und D wie in Fig. 6 die binären Eingangssignale bezeichnet sind. Die Eingangssignale B, C und D können z. B. von Magnetventilen erzeugte pneumatische Signale mit zwei möglichen Druckwerten (Ein/Aus) sein und den an die acht Ausgänge geschalteten Farbventilen F1, F2, F3 usw. gemäß der folgenden Tabelle zugeordnet, d.h. durch den Steuermodul 64 dekodiert werden: Eingangssignal Ausgangssignal Magnetventil Steuersignal für Farbsteuerventile B C D 0 0 0 F1 0 0 1 F2 0 1 0 F3 0 1 1 F4 1 0 0 F5 1 0 1 F6 1 1 0 F7 1 1 1 F8 ⇒ Dualzahl ⇒ Dezimalzahl An expedient possibility for the realization of the control module 64 in Fig. 6 is a block of multi-level directional valves that are controlled by binary coded input signals to save control lines in a known manner. The basic circuit diagram of such a path control device for n = 3 input signals or planes and consequently 2 n = 8 outputs, ie eight selectable colors is in Fig. 7 where A is the air pressure to be supplied to each of the eight outlets and B, C and D are as in FIG Fig. 6 the binary input signals are designated. The input signals B, C and D can z. B. pneumatic signals generated by solenoid valves with two possible pressure values (on / off) and the color valves connected to the eight outputs F1, F2, F3, etc. are assigned according to the following table, ie decoded by the control module 64: input output magnetic valve Control signal for color control valves B C D 0 0 0 F1 0 0 1 F2 0 1 0 F3 0 1 1 F4 1 0 0 F5 1 0 1 F6 1 1 0 F7 1 1 1 F8 ⇒ binary number ⇒ decimal number

Allgemeiner können aus n Eingangssignalen 2n Ausgangssignale dekodiert werden. In der Praxis sind oft wesentlich mehr als nur 23=8 Farben wählbar und folglich mehr als die in Fig. 7 dargestellten drei Ebenen mit einem 3/2-, 6/2- bzw. 12/2-Wegeventil notwendig. Die Anordnung nach Fig. 7 lässt sich beliebig erweitern auf 16, 32 usw. Ausgänge durch Anbau von 24/2- und 48/2-Wegeventilen usw., wobei allgemeiner für k = 1, 2, 3 ... Ebenen jeweils 2k + 2(k-1) /2-Wegeventile erforderlich sind, um mit n binären Eingangssignalen 2n Ausgänge zu aktivieren. Es ist auch möglich, einige der benötigten Wegeventile durch beliebig kombinierte Teilventile zu ersetzen, also beispielsweise das als 5. Ebene an sich erforderliche 48/2-Wegeventil durch zwei nebeneinander angeordnete 24/2-Wegeventile zu realisieren, an die jeweils eine Hälfte der Ausgänge des vorgeschalteten 24/2-Wegeventils der 4. Ebene angeschlossen sind.More generally, 2 n output signals can be decoded from n input signals. In practice, much more than just 2 3 = 8 colors are often selectable, and therefore more than those in Fig. 7 shown three levels with a 3/2, 6/2 or 12/2-way valve necessary. The arrangement after Fig. 7 can be extended to 16, 32 etc. Outputs by mounting 24/2 and 48/2 directional valves, etc., whereby more generally for k = 1, 2, 3 ... levels 2 k + 2 (k-1 ) / 2-way valves are required to activate 2 n outputs with n binary input signals. It is also possible to replace some of the required directional valves by arbitrarily combined part valves, so for example to realize the required as the 5th level in itself 48/2-way valve by two juxtaposed 24/2-way valves, to each half of the outputs connected to the upstream 24/2-way valve of the 4th level.

In Fig. 8 ist entsprechend dem vereinfachten Beispiel der Fig. 7 schematisch eine bevorzugte, weil besonders kompakte und daher platzsparende und auch geringen Montage- und Installationsaufwand erfordernde Ausführungsform des Steuermoduls 64 (Fig. 6) für acht Farbventile dargestellt. Die Besonderheit hierbei ist die Ausbildung der die drei Ebenen bildenden 3/2-, 6/2- und 12/2-Wegeventile in einem gemeinsamen blockartigen Gehäuse mit labyrinthartig verteilten Wegen für den Eingangsluftdruck A des gemeinsamen Druckregelventils. Die drei Ventile sind also in ihrem gemeinsamen Gehäuseblock durch Bohrungen miteinander verknüpft. Fig. 8 zeigt den Steuermodul in seinen acht verschiedenen möglichen Stellungen in Abhängigkeit von den binären Eingangssignalen B, C und D entsprechend der obigen Tabelle. Diese Stellungen werden bei dem betrachteten Beispiel durch diese Eingangssignale bildenden vorhandenen bzw. fehlenden Luftdruck bewirkt, der darstellungsgemäß auf je einen Kolben gegen die Kraft je einer Rückstellfeder wirkt.In Fig. 8 is according to the simplified example of Fig. 7 schematically a preferred, because very compact and therefore space-saving and also low installation and installation costs requiring embodiment of the control module 64 ( Fig. 6 ) for eight paint valves. The peculiarity here is the formation of the three-level forming 3/2, 6/2 and 12/2-way valves in a common block-like housing with labyrinthine distributed paths for the input air pressure A of the common pressure control valve. The three valves are thus linked together in their common housing block by drilling. Fig. 8 shows the control module in its eight different possible positions as a function of the binary input signals B, C and D according to the above table. These positions are caused in the example considered by these input signals forming existing or missing air pressure, which acts as shown in each case a piston against the force of each return spring.

Eine im Prinzip Fig. 8 entsprechende, ähnlich vorteilhafte, aber in Anwendungsfällen eventuell zu bevorzugende Bauform des Steuermoduls mit kreisförmigen Steuerbewegungen der Kolbenanordnungen ist schematisch in Fig. 9 dargestellt, wobei der Einfachheit halber eine Ausführungsform mit nur zwei Ebenen für vier Ausgangssignale gewählt wurde. Die beiden Kolbenanordnungen 90, 91 sind in dem Gehäuseblock 92 konzentrisch schwenkbar gelagert und werden bei dem betrachteten Beispiel an den Steuereingängen 93, 94 von den beiden Drucksignalen B bzw. C beaufschlagt, so dass der an den Eingang 95 angelegte Regeldruck für die Farbventile je nach der Schaltstellung durch die die beiden Ventilsysteme verbindenden zwei Gehäuseöffnungen 96 zu einem der vier Ausgänge 98 gelangt. Der Gehäuseblock 92 kann zweiteilig sein, wobei in dem einen Teil die Ausgänge und in dem anderen Teil die Eingänge 93 und 94 angeordnet sein können.One in principle Fig. 8 corresponding, similar advantageous, but in applications, possibly preferable design of the control module with circular control movements of the piston assemblies is schematically in Fig. 9 illustrated, for simplicity, an embodiment with only two levels was selected for four output signals. The two piston assemblies 90, 91 are mounted concentrically pivotable in the housing block 92 and are acted upon in the example considered at the control inputs 93, 94 of the two pressure signals B and C, so that the applied to the input 95 control pressure for the paint valves depending on the switching position passes through the two housing openings connecting the two valve openings 96 to one of the four outlets 98. The housing block 92 may be in two parts, wherein in one part of the outputs and in the other part of the inputs 93 and 94 may be arranged.

Der beschriebene Steuermodul in seiner Ausführungsform nach Fig. 8 und Fig. 9 eignet sich nicht nur für die Regelung von Farbventilen eines Farbwechslers z. B. gemäß Fig. 6, sondern allgemeiner zur Ansteuerung einer Vielzahl von Ventilen wie z. B. der Ein/Aus-Farbsteuerventile konventioneller Farbwechsler oder von sonstigen Ventilen, bei denen bisher unerwünscht viele Steuerleitungen, zu großer Platzbedarf und/oder zu hoher Bauteile- und Installationsaufwand nachteilig waren.The described control module in its embodiment according to Fig. 8 and Fig. 9 is not only suitable for the control of paint valves of a color changer z. B. according to Fig. 6 but more generally for driving a plurality of valves such. B. the On / off color control valves conventional color changer or other valves in which previously undesirable many control lines, too much space and / or excessive component and installation costs were disadvantageous.

Andererseits können die als Regelstellglieder dienenden Farbventile F1, F2, F3 usw. des Farbwechslers 60 in Fig. 6 statt durch die pneumatischen Wegeventilanordnungen nach Fig. 8 und Fig. 9 auch elektrisch gesteuert und auf den jeweiligen Sollwert eingestellt werden. Zu diesem Zweck können sie jeweils eine zweckmäßige Elektronikschaltung enthalten, die einem elektrischen Ventilantrieb etwa gemäß Fig. 4 oder Fig. 5 einen ggf. allen Ventilen gemeinsamen Einstellwert zuführen, wenn das betreffende Ventil durch gesonderte Steuersignale ausgewählt wird. Die Steuersignale können in bekannter Weise über ein Datenbussystem zugeführt werden. Auch ein pneumatisch/elektronisches Bussteuersystem, wie es beispielsweise aus der DE 10056259 bekannt ist, kann hier eingesetzt werden.On the other hand, the color valves F1, F2, F3, etc. of the color changer 60 serving as control actuators may be shown in FIG Fig. 6 instead of by the pneumatic directional valve arrangements after Fig. 8 and Fig. 9 also electrically controlled and adjusted to the respective setpoint. For this purpose, they may each contain a suitable electronic circuit which corresponds to an electric valve drive approximately according to 4 or FIG. 5 if necessary, supply a common set value to all valves if the relevant valve is selected by means of separate control signals. The control signals can be supplied in a known manner via a data bus system. Also a pneumatic / electronic bus control system, as for example from the DE 10056259 is known, can be used here.

Claims (15)

  1. Coating installation for the automated coating of workpieces with a control loop for controlling the pressure of paint flowing through a line (9, 61), with a control member for the pressure to be controlled which is connected into the line (9, 61) and is formed by a pneumatically or electrically driven valve (20, 40, 50) in the manner of a shut-off valve, the drive means of which is controlled as a function of the measured actual value of the paint pressure to be controlled, wherein the drive means contains a pneumatically driven piston (13) or an electric drive motor (41) or a proportional magnet in order to set the width of opening of the valve (20, 40, 50) as a function of the control variable.
  2. Installation as claimed in Claim 1, characterised in that the control member is a needle valve (20, 40, 500).
  3. Installation as claimed in Claim 1 or Claim 2, characterised in that the drive means contains a pneumatic drive with air pressure controlled by way of a proportional valve.
  4. Installation as claimed in any one of the preceding claims, characterised in that the control member contains a spring (14) which closes the valve in the state of rest.
  5. Installation as claimed in any one of the preceding claims, characterised in that the signal from a pressure sensor (43), which measures the paint pressure in the line connected downstream of the control member, is delivered to the control loop as actual value.
  6. Installation as claimed in any one of the preceding claims, characterised in that the control member has a pressure sensor (43) built on or built in.
  7. Installation as claimed in any one of the preceding claims, characterised in that the pressure on the output side of the valve seat of a needle valve (40) is measured as actual value of the control loop.
  8. Installation as claimed in any one of the preceding claims, characterised in that a metering device for the paint is connected upstream or preferably downstream of the control member.
  9. Installation as claimed in any one of the preceding claims, characterised in that the control member is connected downstream of a paint change valve arrangement.
  10. Installation as claimed in any one of the preceding claims with a paint change valve arrangement to which a plurality of lines, each for other selectable colours of the paint to be delivered to the coating device (Z), are each connected by way of a controlled paint valve (F1, F2, F3), characterised in that each of the paint valves (F1, F2, F3) is formed by a control member for controlling the pressure or the quantity of the paint, each control member being formed by a pneumatically or electrically driven valve in the manner of a shut-off valve, the drive means of which is controlled as a function of the measured actual value of the quantity of paint to be controlled.
  11. Installation as claimed in Claim 10, characterised in that a proportional valve which is common to the pneumatically driven paint valves (F1, F2, F3) is connected upstream of the said paint valves and the pneumatic output signal from the said proportional valve can be delivered by way of a path control unit to the respective paint valve to be controlled.
  12. Installation as claimed in Claim 11, characterised in that the path control unit contains a number n of 2k + 2(k-1) /2-way valves, where k = 1, 2, 3 ..., which are constructed in a common housing block and are connected to one another by openings within the housing block, wherein the multi-way valve for k=1 is connected with its inlet to the proportional valve and with its two outlets to the two inlets of the multi-way valve for k=2 and the four outlets of the latter are connected to the four inlets of the multi-way valve for k=3, etc. as appropriate for k > 3, and wherein each multi-way valve is switchable between its two positions by a respective one of n control signals for controlling the 2n outlets of the path control unit connected to the paint valves (F1, F2, F3).
  13. Installation as claimed in any one of the preceding claims with a paint change valve arrangement to which a plurality of paint lines L1, L2 etc.) each for other selectable colours of the paint to be delivered to the coating device are each connected by way of a controlled paint valve (F1, F2, etc.), characterised in that a valve which is common to the paint valves (F1, F2 etc.) is connected upstream of the paint valves, and the pneumatic output signal of the common valve can be delivered to the respective paint valve to be controlled by way of a path control unit which contains a number n of 2k + 2(k-1) /2-way valves, where k = 1, 2, 3 ..., which are constructed in a common housing block and are connected to one another by openings within the housing block, wherein the multi-way valve for k=1 is connected with its inlet to the proportional valve and with its two outlets to the two inlets of the multi-way valve for k=2 and the four outlets of the latter are connected to the four inlets of the multi-way valve for k=3, etc. as appropriate for k > 3, and wherein each multi-way valve is switchable between its two positions by a respective one of n control signals for controlling the 2n outlets (65) of the path control unit connected to the paint valves (F1, F2 etc.).
  14. Installation as claimed in Claim 12 or Claim 13, characterised in that for switching of the multi-way valves piston arrangements are provided which are movable within the housing block and by which the openings leading through the housing block to the outlets (65) are closed off or opened.
  15. Installation as claimed in Claim 10, characterised in that a proportional valve is built onto the compressed air inlet of a block-like valve island containing the paint valves.
EP02018587A 2001-08-30 2002-08-19 Coating installation with a closed loop control system Expired - Lifetime EP1287900B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10142355A DE10142355A1 (en) 2001-08-30 2001-08-30 Coating plant with a control loop
DE10142355 2001-08-30

Publications (3)

Publication Number Publication Date
EP1287900A2 EP1287900A2 (en) 2003-03-05
EP1287900A3 EP1287900A3 (en) 2005-12-07
EP1287900B1 true EP1287900B1 (en) 2008-06-18

Family

ID=7697012

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02018587A Expired - Lifetime EP1287900B1 (en) 2001-08-30 2002-08-19 Coating installation with a closed loop control system

Country Status (4)

Country Link
EP (1) EP1287900B1 (en)
AT (1) ATE398495T1 (en)
DE (2) DE10142355A1 (en)
ES (1) ES2307686T3 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10212601A1 (en) 2002-03-21 2003-10-02 Duerr Systems Gmbh Atomizer for a coating system
DE10231421A1 (en) 2002-07-11 2004-01-22 Dürr Systems GmbH Method and system for supplying a powder coating device
DE502004009952D1 (en) 2003-07-28 2009-10-08 Duerr Systems Gmbh Spray device with color changer for serial coating of workpieces
DE102005042336A1 (en) * 2005-09-06 2007-03-15 Dürr Systems GmbH Coating plant e.g. paint shop, for painting motor vehicle-body parts, has control unit provided for controlling color pressure controller and adjusting pressure difference at pump to constant value independent of discharge quantity of pump
US7934466B2 (en) 2006-03-02 2011-05-03 Durr Systems Inc. Coating plant and associated coating process
DE102006021623A1 (en) 2006-05-09 2007-11-15 Dürr Systems GmbH Dosing system for a coating system
DE102006058562A1 (en) 2006-12-12 2008-08-14 Dürr Systems GmbH Coating device for serially coating workpieces with different shades comprises a separate color changer containing color valves to which are connected color lines for the coating material
DE102007029195A1 (en) 2007-06-25 2009-02-19 Dürr Systems GmbH Coating device for serially coating workpieces with different shades comprises a separate color changer containing color valves to which are connected color lines for the coating material
ES2534328T3 (en) 2006-12-12 2015-04-21 Dürr Systems GmbH Coating device with a dosing device
DE102008029008A1 (en) * 2008-06-20 2009-12-24 Intega Gmbh Apparatus and method for supplying a process medium
DE102017103454A1 (en) 2017-02-20 2018-08-23 Eisenmann Se Module for a modular changing device for coating materials and changing device for coating materials

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2002315A1 (en) * 1970-01-20 1971-07-29 Zahnradfabrik Friedrichshafen Electro-hydraulic control device for drive systems, especially in motor vehicles
DE3137074C2 (en) * 1981-09-17 1986-08-07 Ransburg Gmbh, 6056 Heusenstamm System for the electrostatic coating of workpieces with a liquid
DE3423094A1 (en) * 1984-06-22 1986-01-02 J. Wagner Gmbh, 7990 Friedrichshafen METHOD AND DEVICE FOR ADJUSTING A FLOW CONTROL VALVE OF A PAINT SPRAY GUN
DE3822835A1 (en) * 1988-07-06 1990-03-08 Josef Schucker Process and arrangement for coating workpiece surfaces
EP0480080A1 (en) * 1990-10-08 1992-04-15 Trinity Industrial Corporation Coating apparatus
DE10056259A1 (en) 2000-11-14 2002-05-23 Duerr Systems Gmbh Color change valve arrangement and method for its control
EP1237061A1 (en) * 2001-03-02 2002-09-04 Thomas Dipl-Ing. Schmidt Method and device for remote control of a plurality of actuators

Also Published As

Publication number Publication date
EP1287900A2 (en) 2003-03-05
DE50212376D1 (en) 2008-07-31
ES2307686T3 (en) 2008-12-01
EP1287900A3 (en) 2005-12-07
ATE398495T1 (en) 2008-07-15
DE10142355A1 (en) 2003-03-20

Similar Documents

Publication Publication Date Title
DE2658928C2 (en)
EP0142713B1 (en) Ventilator drive for a cooling plant, especially for rail vehicles
EP1287900B1 (en) Coating installation with a closed loop control system
EP0073268A1 (en) Electro-hydraulic control of an actuator piston
DE2238182A1 (en) FLOW CONTROL SYSTEM AND PROCEDURE FOR ITS CALIBRATION
DE2609434A1 (en) DEVICE FOR CONTROLLING THE SPEED OF A HYDRAULIC MOTOR
DE3720347A1 (en) Solenoid valve
EP0357964B1 (en) Proportional valve
DE4236460C2 (en) Pressure control and / or regulating device for a fluid medium, in particular air or gas
EP3576884A1 (en) Application system for coating components and coating device
CH654882A5 (en) PULSE VALVE.
DE4302755A1 (en) Parameter control system for hydraulic equipment, e.g. for torque control of drill spindle e.g. of rock drilling machine
WO2017072257A1 (en) Valve module, valve assembly and method for operating a valve assembly
DE4230183C2 (en) Control device for hydraulic motors
DE4234647C1 (en) Hydraulic device on an injection molding machine for processing plastics or the like
EP0288877B1 (en) Control system for a programmed spraying device
DE3104704C2 (en) Servo device for regulating the position of a piston of a hydraulic cylinder
DE10153545B4 (en) Fluid force locking system and method for locking fluid force signals
EP0332982B1 (en) Method and device for mixing multiple-component plastic materials, especially polyurethane
EP0620932A1 (en) Electro-hydraulic control device and pressure reducing valve
DE102004029549A1 (en) Bus module
DE4041033C2 (en)
DE7834499U1 (en) SERVO ACTUATED THREE-WAY VALVE
DE3624328A1 (en) Method and device for the synchronous control of servovalves for servo actuating cylinders, especially in hydraulic ram machines
DE3741425C2 (en)

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK RO SI

RIC1 Information provided on ipc code assigned before grant

Ipc: 7G 05D 7/06 B

Ipc: 7B 05B 12/08 B

Ipc: 7B 05B 12/14 A

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK RO SI

RIC1 Information provided on ipc code assigned before grant

Ipc: 7G 05B 19/44 B

Ipc: 7G 05D 7/06 B

Ipc: 7B 05B 12/08 B

Ipc: 7B 05B 12/14 A

17P Request for examination filed

Effective date: 20060517

17Q First examination report despatched

Effective date: 20060627

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RTI1 Title (correction)

Free format text: COATING INSTALLATION WITH A CLOSED LOOP CONTROL SYSTEM

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LI LU MC NL PT SE SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REF Corresponds to:

Ref document number: 50212376

Country of ref document: DE

Date of ref document: 20080731

Kind code of ref document: P

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2307686

Country of ref document: ES

Kind code of ref document: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20081118

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080831

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080918

26N No opposition filed

Effective date: 20090319

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080831

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080819

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080819

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080618

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080919

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 15

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 50212376

Country of ref document: DE

Representative=s name: V. BEZOLD & PARTNER PATENTANWAELTE - PARTG MBB, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 50212376

Country of ref document: DE

Owner name: DUERR SYSTEMS AG, DE

Free format text: FORMER OWNER: DUERR SYSTEMS GMBH, 74321 BIETIGHEIM-BISSINGEN, DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 50212376

Country of ref document: DE

Representative=s name: V. BEZOLD & PARTNER PATENTANWAELTE - PARTG MBB, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 50212376

Country of ref document: DE

Owner name: DUERR SYSTEMS AG, DE

Free format text: FORMER OWNER: DUERR SYSTEMS AG, 74321 BIETIGHEIM-BISSINGEN, DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 16

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20210819

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20210830

Year of fee payment: 20

Ref country code: FR

Payment date: 20210819

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20210820

Year of fee payment: 20

Ref country code: SE

Payment date: 20210819

Year of fee payment: 20

Ref country code: DE

Payment date: 20210819

Year of fee payment: 20

Ref country code: BE

Payment date: 20210819

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20211025

Year of fee payment: 20

REG Reference to a national code

Ref country code: DE

Ref legal event code: R071

Ref document number: 50212376

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MK

Effective date: 20220818

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20220826

REG Reference to a national code

Ref country code: GB

Ref legal event code: PE20

Expiry date: 20220818

REG Reference to a national code

Ref country code: BE

Ref legal event code: MK

Effective date: 20220819

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20220818

Ref country code: ES

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20220820