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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
  • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
  • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
  • B05B5/16—Arrangements for supplying liquids or other fluent material
  • B05B5/1608—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive
  • B05B5/1675—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive the supply means comprising a piston, e.g. a piston pump
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
  • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
  • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
  • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
  • B05B12/1454—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet separate units comprising both a material container and a spray device permanently connected thereto being removably attached to a part of the spray apparatus, e.g. to a robot arm
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
  • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
  • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
  • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
  • B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
  • B05B15/555—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids discharged by cleaning nozzles

Definitions

• the invention relates to a method and a product change station in a coating product spraying installation.
• the invention intends to respond more particularly by proposing a new process and a new station for changing the coating product which allow a rapid change of product, while the quality of the cleaning carried out remains optimal and that the consumption of cleaning product and coating product is significantly reduced compared to known systems.
• the invention relates to a product change process in a coating product spraying installation, comprising at least one robot, capable of moving a first projector and a first associated tank facing objects to be coated.
• This process which includes:
• a step of joining with the robot a second analogous sub-assembly comprising a second reservoir and a second projector, this second sub-assembly being suitable for being used for the projection of coating product during cleaning and / or filling of the first tank and first projector and
• a step of cleaning and / or filling the first tank and the first projector in the aforementioned area; is characterized in that it comprises the stages consisting in:
• the first tank can be cleaned and filled with new coating product in masked time.
• One also proceeds, in masked time, to cleaning the projector and to its priming with the new coating product, so that the only steps of the process. cleaning / filling which must be taken into account in calculating the duration of the product change are the steps of separating the first sub-assembly and securing the second sub-assembly on the robot arm.
• the method incorporates one or more of the following characteristics:
• the method includes a step of moving, in the first direction, the aforementioned structure, so as to arrange the area of this structure containing this subassembly opposite a cleaning product supply unit, the movement of this structure in the second direction making it possible to reach a position for connecting the subassembly with this cleaning product supply unit.
• the positioning of the first sub-assembly opposite the cleaning product supply unit makes it possible to use a single unit for alternately cleaning the first or the second sub-assemblies which are each located in a dedicated reception area .
• the method consists in connecting at least one of the aforementioned units to the sub-assembly by displacement of connection means in the second direction.
• the method consists in continuously supplying the first sub-assembly with air for forming a bearing and / or with air for driving a turbine of the projector from its deposition in a reception area and until its removal from this zoned. This avoids a risk of "clamping" of an air bearing in the event of an abrupt break in its power supply during the separation and disconnection of the subassembly relative to the robot arm.
• the fact of permanently supplying a turbine with drive air makes it possible to maintain its speed of rotation at a value of the same order of magnitude as the speed used for projection. This saves the turbine speed-up time after reconnecting the sub-assembly to the robot arm at the end of the cleaning / filling operation.
• the invention also relates to a product changing station in a coating product spraying installation which makes it possible to implement the method described above.
• This station includes at least two areas of cleaning / filling of the tank capable of each receiving a sub-assembly formed by a tank and a projector while this sub-assembly is detached from the robot, means for cleaning and / or filling the tank and / or the project - tor in each of these zones being provided.
• These areas are suitable for being brought into a position for connecting a sub-assembly arranged in one of them with the aforementioned cleaning and / or filling means, while these means comprise at least one mobile unit according to a first direction, provided with several outputs and capable of having a predetermined output of this unit in a position for connection to the sub-assembly.
• the station incorporates one or more of the following characteristics:
• the receiving areas of subassemblies are defined by a structure movable relative to a support in the first direction while this support is movable relative to the robot in a second direction generally perpendicular to the first direction.
• the cleaning and / or filling means comprise a first unit capable of delivering at least one cleaning fluid to the sub-assembly, this first unit being arranged opposite the sub-assembly in its connection position, and a second unit, able to deliver a predetermined coating product to the sub-assembly, this second unit being movable relative to the first unit.
• the station therefore allows positioning of each of the reception areas of the subassemblies opposite the first unit and the second unit with respect to the first unit, in order to allow a connection of each of these units with the received subset. in the area under consideration.
• second unit advantageously comprises several modules supplied with coating product and capable of being selectively connected to the sub-assembly, these modules being juxtaposed in a direction of movement of the second unit. Thanks to this arrangement, indexing the position of the second unit makes it possible to use one or the other of the aforementioned modules with a view to supplying the sub-assembly with coating product.
• Some of these modules can be supplied by means of product circulation circuits, for the most frequently used coating products, while at least one other module is supplied from at least one coating product change block. , for the least frequently used coating products.
• the other module is advantageously provided with means for connection to an element supplied with coating products from the product change block, this element being movable in a direction generally perpendicular to the direction of movement of the second unit. .
• the first unit may include a connection element plated towards the subassembly for their connection;
• - Means are provided for supplying air for forming a bearing and / or for driving air to a headlamp turbine of a sub-assembly in place in one or other of the zones of reception.
• a sensor for detecting the presence of a sub-assembly in each of the zones is advantageously used.
• FIG. 1 is a schematic representation of principle, during operation, of a coating product spraying installation incorporating a station according to the invention
• FIG. 2 is a partial perspective view, with cutaway, of a part of the product change station and a part of a robot of the installation of Figure 1, during a first step of the process of the invention
• FIG. 3 is a section along line III-III in Figure 1, during a second step of the method of the invention
• FIG. 4 is a similar view of Figure 3 during a subsequent step of the method of the invention.
• FIG. 5 is a view similar to Figure 3, partially broken away, during a second subsequent step of the method of the invention
• FIG. 6 is an exploded perspective view, from the rear relative to Figure 2, of certain main components of the product change station during a subsequent step of the process;
• FIG. 7 is a section on a larger scale along the line VU-VU in Figure 5;
• - Figure 8 is a section similar to Figure 7 when filling the tank of a sub-assembly with a coating product used rarely and
• FIG. 9 is a schematic representation of the principle of the fluid connections used in the station of the invention.
• an automaton or robot 1 is placed near a conveyor 2 transporting objects to be coated, in this case bodies 3 of motor vehicles.
• the robot 1 is of the multi-axis type and comprises a chassis 4 movable on a guide 4 'extending parallel to the conveying direction X-X'. In order to avoid soiling of the guide 4 ′, the latter can be located at a distance from the conveyor 2, the robot 1 then being offset relative to this guide.
• a partition 5 of a cabin C extends near the robot 1 . parallel to direction XX '.
• An arm 6 is supported by the chassis 4 and comprises several segments 6a, 6b and 6ç articulated with respect to each other.
• the chassis 4 also consists of parts 4a and 4b articulated one by relative to each other around a substantially vertical axis Z.
• the segment 6c of the arm 6 supports a subassembly 7 in which a reservoir 8 of coating product and a projector 9 are provided.
• the projector 9 is of the electrostatic and rotary type and it carries a bowl 9a intended to be driven at high speed by an air turbine 9c provided in the body of the projector 9.
• the subassembly 7 When a motor vehicle body 3 is in place at the level of the robot 1, the subassembly 7 is moved opposite the body and the headlight 9 is activated in order to coat this body with the product contained in the reservoir 8.
• the the quantity of product present in the reservoir 8 is adapted to the surface to be coated of the bodywork 3.
• this station 10 is provided with two zones 11 and 12 for receiving sub-assemblies of the type of sub-assembly 7. More specifically, zone 11 is empty and ready to receive the sub- assembly 7, while the zone 12 contains a similar subassembly 7 'which includes a reservoir 8' and a projector 9 'similar to those of the subassembly 7.
• the subassemblies 7 and 7' can be alternately mounted on the segment 6ç_ of the arm 6, as appears from the explanations which follow.
• the arm 6 is in an approach phase in which it brings the subassembly 7 above the zone 11 of the station 10. From the position represented at FIG. 2, the arm 6 gives the subassembly 7 a downward vertical movement represented by the arrow F lr which makes it possible to bring the subassembly 7 into the zone il.
• a cylinder 13 controls a rod 14 integral with.
• two rods 15 and 16 connected by a synchronism bar 19 and integral with crowns 17 and 18 disposed respectively- ment around the outlets 11a and 12a of the zones 11 and 12.
• the areas 11 and 12 are formed by the volumes accessible from above through the outlets 11a and 12a.
• the subassembly 7 is mounted on the segment 6c of the arm 6 by means of a ring 7a capable of a rotational movement around the axis X x of the subassembly 7, this movement can be imparted to the ring 7a by cooperation of shapes with corresponding reliefs provided in the crown 17.
• the robot 1 is then able to extract the sub-assembly 7 ′ from the zone 12 in order to coat the new bodywork, as shown in FIG. 4.
• a carriage 20 in which the zones 11 and 12 are formed is mounted on a table 21, the carriage 20 being movable relative to the table 21 parallel to the axis XX ', as represented by the arrow F 2 .
• This allows the carriage 20 to pass from the position of FIG. 3 to that of FIG. 4, so that the zone 11 containing the subassembly 7 is brought to the level of a median axis X 10 of the station 10 , that is to say facing a unit 51 for supplying the subassembly 7 with cleaning product and air.
• the unit 51 is arranged on the central axis X 10 of the station 10 and the movements of the carriage 20 parallel to the direction XX 'can be carried out in the direction of the arrow F 2 or in the opposite direction, so that zones 11 and 12 can be selectively brought opposite unit 51.
• zones 11 and 12 can be selectively brought opposite unit 51.
• the table 21 is moved, in a direction YY 'generally perpendicular to the direction XX' and in a direction of distance relative to the conveyor 2, as shown by arrow F 3 .
• the table 21 moves the carriage 20 in the direction of the arrow F 3 and then reaches the position of FIG. 5 or the sub-assembly 7 is in abutment against the unit 51 which allows a fluid connection between these two elements.
• the table 21 and the elements which it supports are out of range of the robot 1, that is to say outside of its activity area.
• the crossing of the partition 5 by the table 21 is carried out through an opening 5a which is then closed by a panel 5b fixed on the edge of the table 21 oriented towards the robot 1.
• a jack 22 makes it possible to control the movement of the table 21 in the direction of arrow F 3 and in the opposite direction.
• the unit 51 comprises a jack 511 and a part 512 pressed by the jack 511 in a direction parallel to the direction YY ', as represented by the arrow F 4 in FIGS. 6 and 7.
• the jack 511 is supplied at constant pressure, this which allows it to serve as a damper for the movement of approaching the table 20 according to arrow F 3 and for sealing the connection between the elements 7 and 512.
• a foam damper can be used to press part 512 towards the sub-assembly 7.
• the part 512 comprises a main body 5121 and an annex body 5122 connected by two conduits 5123 for circulation of cleaning liquid and air.
• the body 5122 is provided with connection means with a plate 71 formed on one side of the sub-assembly 7 oriented towards the unit 51.
• the unit 51 comprises four solenoid valves 5131, 5132, 5133 and 5144 respectively controlling the supply of the subassembly 7 with cleaning product for water-soluble coating product, with cleaning product for solvent-based coating product, in air and, for the solenoid valve 5134, the communication of the part 512 with a purge 514.
• the unit 51 is supplied with cleaning product and with air and connected to the purge 514 by flexible conduits 515 which are only shown in FIG. 8 for clarity of the drawings.
• the part 512 On its front face 5124, that is to say its face oriented towards the plate 71, the part 512 is provided with two orifices 5125 and 5126 intended to come respectively opposite two orifices 715 and 716 formed in the plate 71.
• the orifices 5125 and 715 allow a circulation of a mixture of cleaning product and of coating product in the direction of the bleed 514 while the orifices 5126 and 716 allow a circulation of solvent or air / solvent trains from the unit 51 towards the interior of the subassembly 7.
• a second unit 52 is positioned for supplying new coating product to the sub-assembly 7.
• the unit 52 comprises a succession of modules 521 juxtaposed in a direction X S2 parallel to the direction XX '.
• the 521 modules are of two types. Several modules, for example fourteen, are each connected by two conduits 522 and
• modules 521 are thus inserted into a circulation loop or "circulating" of coating product comprising the conduits 522 and 523, this construction being used for the most commonly used coating products.
• 52A the part of the unit 52 formed by the modules 521.
• the unit 52 also includes two modules 524 which do not are not connected to conduits of the type of conduits 522 and 523 but of which one face 524a, called rear face, is provided with connection means with a connector 525 forming the downstream end of a manifold 526 of a set of two blocks coating product change 527, 527 '.
• the elements 525 to 527 are movable in the direction YY ', as represented by the arrow F s , by being controlled by a jack 5251.
• 52B the part of the unit 52 formed of the elements 524 to 527.
• the blocks 527 and 527 ' are connected by bundles of conduits 528 and 528' to sources of coating products used less often than the coating products flowing through the conduits 522 and 523.
• the coating products delivered to blocks 527 and 527 ' can therefore be considered as "rare colors” as opposed to "common colors” circulating in conduits 522 and 523.
• Part 52A is therefore dedicated to common colors while part 52B is dedicated to rare colors.
• a movable part 529 of the unit 52 is moved parallel to the direction X S2 , as shown by the arrow F 6 in FIG. 6 , so that, in the case of a common shade, a module 521 of part 52A supplied with the pre-selected product is placed opposite an orifice 717 for introducing coating product into the sub-assembly 7.
• each module 521 comprises a valve 5211 loaded elastically by a spring 5212 in the direction of a seat 5213. A valve closed by default is thus formed.
• the orifice 717 of the plate 71 allows the passage of an actuator 718 secured to a piston whose movement is controlled inside the subassembly 7 by any suitable means, for example pneumatically.
• the actuator 718 can pass through the orifice 717 and the orifice 5214 outlet of the module 521 so as to push the valve 5211 against the force of the spring 5212, as shown by the arrow F 8 in Figure 7, which allows a circulation of the coating product of the module 521 towards 5 inside the sub-assembly 7.
• the part 529 is moved according to arrow F 6 , so that one of the modules 524 of the part 52B is brought opposite the plate 71 and the movable connector 525 which are then
• the connector 525 is supplied by the collector 526 with
• valve 5241 can
• module 20 to be controlled in displacement, against the force generated by a spring 5242, by the actuator 718, the coating product then being able to flow from the module 524 towards the subassembly 7 through an outlet orifice 5244 of module 524.
• the different modules 521 and 524 are supported by a spring 5242, by the actuator 718, the coating product then being able to flow from the module 524 towards the subassembly 7 through an outlet orifice 5244 of module 524.
• the different modules 521 and 524 are supported by a
• angle 529a forming the structure of part 529 and controlled by four jacks, only one of which appears in FIG. 5 with the reference 530 and whose strokes are different, which makes it possible to obtain, for part 529 of the unit 52 sixteen positions corresponding respectively to positioning
• the blocks 527 and 527 'and the collector 526 are supported by a plate 531 movable relative to a reference square 532 under the action of the jack 5251, a reinforcement 533
• the angle 529a is provided with two notches 529b freeing access to the rear faces 524a of the modules 524.
• Unit 52 comprises two modules 524, which makes it possible to use one module 524 for solvent-based coating products and the other module 524 for water-soluble products.
• the unit 52 being moved in the direction X 52 before the movement of the table according to the arrow F 3 , this movement, visible between FIGS. 4 and 5, leads to a support and to a connection of sub-assembly 7 on units 51 and 52.
• a unit 30 for controlling the subassembly 7 which belongs to the station 10 is moved towards the sub-assembly 7 as represented by the arrow F 9 in FIG. 1, this unit 30 being mounted on the upper face of the sub-assembly 7 in place of the segment 6ç_.
• the unit 30 makes it possible to pneumatically and / or electrically control the subassembly 7 in place in the zone 11, that is to say, inter alia to move the piston 8b of the reservoir 8 by controlling this movement, to control the valves located in the sub-assembly 7 and to control the turbine of this sub-assembly.
• a collector 31 located at the level of the median axis X 10 of the station 10 is moved upwards, as represented by the arrow F 10 to come to cover from below the subassembly 7 and recover the products passing through the projector during cleaning / filling operations.
• This receptacle is advantageously equipped with nozzles for spraying cleaning product which make it possible to rinse the external surface of the subassembly. It is connected, by an evacuation duct 32, to a drain not shown.
• two air supplies 601 and 602 are provided in each zone 11 or 12. These supplies 601 and 602 are intended to supply air to the subassemblies 7 and 7 'as soon as they are in place in the zones 11 and 12 and until they are removed from these areas.
• a sensor 603 detects the presence of a sub-assembly 7 or 7 'in one of the zones 11 or 12 and makes it possible to control the power supplies 601 and 602 according to the presence of the sub-assemblies, which allows a gain of time on the cleaning / filling cycle.
• the air supplied by the power supply 601 is directed inside the subassembly 7 or 7 'to a bearing 9b formed between a fixed part and a rotating part of a turbine 9c, while the air supplied by the power supply 602 is used to maintain the rotation of the turbine 9ç_ of the projector 9 or 9 'when the subassembly 7 or 7' is in place in zone 11 or 12.
• provision can be made for the speed of rotation of the turbine 9c when the sub-assembly
• the unit 30 also makes it possible to supply air to the subassembly 7 or 7 ′, in particular to drive the turbine of the subassembly considered at a speed different from that obtained elsewhere thanks to the supply 601.
• the filling of the reservoir 8 is carried out thanks, for example, to an encoder 604 linked to the rod 8a of the piston 8b of the reservoir 8.
• the displacement of the rod 8a is proportional to the quantity of product introduced into the reservoir 8.
• the invention has been shown during cleaning and filling the subassembly 7. It is understood that it is used during the cleaning and filling of the module 7 ′ while the module 7 is used for coating a bodywork 3, the zone 12 of the carriage 20 then being brought opposite the unit 51 and then moved by the table 21 to its position of connection of the sub-assembly 7 'with the units
• the table 21 is reintroduced into the cabin C, through the opening 5a of the partition 5, which allows the deposition of another sub-assembly in the free zone 11 or 12 and the removal by the robot 1 of the module ready to paint.
• the station 10 can be installed in a niche provided in the partition 5 and facing the interior of the projection booth. In this sense, station 10 is located in the cabin but, essentially, outside the activity area of the robot 1.
• the table 21 is then moved, perpendicular to the conveyor axis XX ′, between a position where it is accessible by the robot 1, for the operations of depositing a subassembly 7 or 7 'in the corresponding zone 11 or 12' and securing another assembly on the segment 6ç, and a position inside the niche, that is to say out of range of the robot, where the operations of connection, cleaning and / or filling take place.
• This niche can be accessible from outside the cabin by means of doors or hatches, which makes it possible to intervene on the station 10 during the coating of a bodywork 3.
• the invention has been described with rotary projectors 9 and 9 '. It is however applicable with pneumatic headlights, electrostatic or not.
• a station 10 of the "mixed" type capable of receiving both sub-assemblies comprising rotary and pneumatic projectors.
• two cleaning / filling stations can be provided in the vicinity of a robot.
• a cleaning / filling station can be provided for two neighboring robots, such a station then forming at least three zones receiving sub-assemblies.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Spray Control Apparatus (AREA)
• Application Of Or Painting With Fluid Materials (AREA)

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• 2000
  • 2000-07-24 FR FR0009690A patent/FR2811917B1/fr not_active Expired - Fee Related
• 2001
  • 2001-07-23 EP EP01956634A patent/EP1303359B1/de not_active Expired - Lifetime
  • 2001-07-23 CA CA002416539A patent/CA2416539A1/fr not_active Abandoned
  • 2001-07-23 AU AU2001278559A patent/AU2001278559A1/en not_active Abandoned
  • 2001-07-23 CN CNB018126359A patent/CN1182923C/zh not_active Expired - Fee Related
  • 2001-07-23 WO PCT/FR2001/002398 patent/WO2002007899A1/fr active IP Right Grant
  • 2001-07-23 DE DE60125369T patent/DE60125369T2/de not_active Expired - Lifetime
  • 2001-07-23 KR KR1020037000696A patent/KR100731006B1/ko not_active IP Right Cessation
  • 2001-07-24 JP JP2001223570A patent/JP4934251B2/ja not_active Expired - Fee Related
  • 2001-07-24 TW TW090118019A patent/TW505543B/zh active
  • 2001-07-24 US US09/910,871 patent/US6712285B2/en not_active Expired - Lifetime

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