EP1733799B1 - Robot with several coating devices - Google Patents

Robot with several coating devices Download PDF

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Publication number
EP1733799B1
EP1733799B1 EP06011633A EP06011633A EP1733799B1 EP 1733799 B1 EP1733799 B1 EP 1733799B1 EP 06011633 A EP06011633 A EP 06011633A EP 06011633 A EP06011633 A EP 06011633A EP 1733799 B1 EP1733799 B1 EP 1733799B1
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EP
European Patent Office
Prior art keywords
application devices
end effector
operating method
application
robot
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.)
Active
Application number
EP06011633A
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German (de)
French (fr)
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EP1733799A1 (en
Inventor
Einar Endregaard
Frank Herre
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Duerr Systems AG
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Duerr Systems AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0423—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material for supplying liquid or other fluent material to several spraying apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • 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
    • B05B12/1472—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 supply lines supplying different materials to separate outlets of the spraying apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • B05B13/0415—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line the angular position of the spray heads relative to the straight line being modified during the reciprocating movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • 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
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0403—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces characterised by the rotating member
    • B05B5/0407—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces characterised by the rotating member with a spraying edge, e.g. like a cup or a bell
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0416—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with pumps comprising rotating pumping parts, e.g. gear pump, centrifugal pump, screw-type pump

Definitions

  • the invention relates to a painting robot and a corresponding operating method according to the independent claims.
  • multi-axis painting robots with a highly movable, multi-axis robot hand axis have long been used, wherein a single rotary atomizer is attached to the robot's hand axis, which applies the desired paint.
  • a disadvantage of these known painting robots is the unsatisfactory area performance during coating, since a single rotary atomizer can coat only a limited workpiece surface within a certain period of time.
  • An application robot which serves to coat motor vehicle body components with a sound insulating material.
  • the application robot has two application devices in the form of application nozzles, one application nozzle applying a damping material while the other application nozzle is applying a binding agent.
  • Heribei is not a painting robot.
  • off DE 197 26 349 A1 a painting for painting of motor vehicle body components known, which has a plurality of paint machines in the form of side machines, Dachffleschinen or Lackierrobotern.
  • the coating machines each carry a nebulizer and are divided into several groups, so that the vending machines of one group can perform a color change, while the vending machines of the other group still apply coating agent of the old color. From this document, however, it is not known that a painting machine leads several application devices. In addition, it is also not known from this publication that a plurality of application devices are arranged on a coating machine, which are separately rinsed and therefore independently allow a color change.
  • the invention is therefore based on the object to improve the known painting robot described above accordingly.
  • the invention comprises the general technical teaching of attaching not only a single application device to the end effector of a painting robot, but rather several application devices. This offers the advantage that the area performance of the painting robot according to the invention is significantly increased compared to the prior art.
  • an application device includes not only the preferably used and already mentioned rotary atomizers, but also other types of application devices, such as spray guns, 2K atomizers or other atomizers.
  • the invention is particularly advantageously suitable for a painting robot which applies wet paint, but the invention can also be implemented with painting robots which apply powder paint, thick matter, underbody protection, PVC or the like.
  • the painting robot according to the invention is a multi-axis robot, which may for example have six or seven movable axes.
  • the invention is not limited to 6- or 7-axis painting robots, but also feasible with other types of robots.
  • the application devices in the painting robot according to the invention are arranged side by side at a predetermined distance and each emit a spray jet having a predetermined spray jet width in the same direction.
  • the spray jet width is smaller than the distance between the application devices, so that the Do not overlap sprays of adjacent application equipment.
  • parallel coating agent webs are thus applied to the workpiece surface during a working stroke, so that a coherent coating of the workpiece surface requires a plurality of working strokes, which in each case must be staggered relative to one another.
  • the end effector with the application devices attached thereto can in this case be guided so that the overlap between the coating layers produced is two, three or four times.
  • spray jet width usually refers to the width of the spray jet when hitting the workpiece surface, but you can also speak of a spray jet angle instead of the spray jet width, the latter applies in particular in the so-called airless atomization and in Dickstoffap references ,
  • spray jet width refers to the so-called SB50. This is the width of the coating web produced by the spray jet on the workpiece surface to be coated, within which the coating thickness is more than 50% of the maximum coating thickness.
  • the spray jet width it is possible within the scope of the invention for the spray jet width to be adjustable at least in one of the application devices. That way you can for example, adjust the spray jet width to the distance between the application device and the workpiece surface.
  • the application devices mounted on the painting robot according to the invention belong to different types.
  • one application device may be a water-vapor atomizer, while the other application device is a solvent atomizer.
  • one application device is used to apply water-based paint and accordingly has an external charge, while the other application device is for the application of solvent-based paint and therefore provides for direct charging of the coating agent.
  • both application devices can have a direct charging, wherein the one application device is designed for the application of water-based paint, whereas the other application device applies solvent-based paint.
  • the one application device can be a rotary atomizer (with or without external charging), while the other application device is an air atomizer (with or without high-voltage charging) which is suitable for special painting processes.
  • one of the two application devices is used to coat large areas, while the other application device is used to coat smaller areas.
  • the one application device is also possible for the one application device to be used for coating frame parts whereas the other application device coats the surfaces of the vehicle body.
  • the two application devices may also differ by the coating agent used.
  • one of the two application devices for applying basecoat can be used, whereas the other application device applies clearcoat.
  • one application device is used to apply a first coating layer ("base coat 1"), whereas the other application device applies a second coating layer (“base coat 2").
  • the painting robot according to the invention can also carry more than two application devices, e.g. two rotary atomizers and one air atomizer.
  • one of the two application devices is angled relative to the other application device by 180 °.
  • this offers the advantage that the unused application device is less or not contaminated when the neighboring application device applies coating agent.
  • one application device can be rinsed, while the other application device applies coating agent, which, however, usually only works if the individual application devices apply the coating agent essentially in the same direction.
  • the painting robot according to the invention Therefore, has separately controllable flushing lines, coating agent lines or coating agent supplies for the individual application devices.
  • the individual metering devices can be driven by a common motor, which is connected via a coupling to a respective metering device.
  • the individual application devices are not arranged in a fixed, design-related distance from each other, but rather have an adjustable distance from one another.
  • the distance between the adjacent application devices can be adjusted electrically or pneumatically, but other actuators are possible.
  • the application devices are aligned parallel or anti-parallel to each other, which in each case brings certain advantages.
  • Parallel alignment of the application devices allows for simultaneous operation, thereby increasing surface coverage during coating.
  • An antiparallel alignment of the application devices is advantageous if the application devices are operated alternately, since the inactive application device is then largely protected from contamination by the active application device, as already briefly mentioned above.
  • the application devices are angled at a predetermined angle to each other, wherein the angle between the application devices, for example, in the range between 10 ° and 180 ° may be, with any intermediate values are possible.
  • the angle between the application devices can be 45 °, 90 ° or 180 °, with the application device in the latter case being aligned antiparallel.
  • the application devices in the painting robot according to the invention can have an electrostatic charge of the applied coating agent, which can be done for example by a conventional external charging or a likewise known direct charging.
  • the invention relates not only to the painting robot according to the invention described above, but also its novel use for coating motor vehicle body parts.
  • the invention also includes an operating method according to claim 16.
  • a coating agent change is carried out in each case on the one application device, while a coating agent is applied with the other application device, which enables an uninterrupted coating operation.
  • the end effector of the painting robot according to the invention is driven to rinse the painting robot to an edge of the workpiece to be coated in order to avoid contamination of the workpiece to be coated.
  • the end effector of the painting robot according to the invention is driven to rinse the painting robot to an edge of the workpiece to be coated in order to avoid contamination of the workpiece to be coated.
  • the application devices for rinsing for example, under the open front or boot lid.
  • the invention allows various novel motion schemes in workpiece coating, which are briefly described below.
  • the end effector of the painting robot according to the invention is guided with the application devices in a predetermined stroke direction along the workpiece surface to be coated, wherein the end effector is aligned with the application devices substantially at right angles to the stroke direction.
  • the application devices are guided alongside one another along the workpiece surface, with the spray jets of the individual application devices either forming separate coating middle tracks on the workpiece surface or overlapping one another in the lateral direction.
  • the workpiece to be coated e.g., a motor vehicle body
  • the end effector may be selectively aligned with the application devices at right angles or parallel to the transporting direction.
  • the end effector with the application devices is preferably guided over the workpiece to be coated several times in parallel or antiparallel working strokes.
  • the distance between the individual application devices and the workpiece surface to be coated differs for the individual application devices.
  • this distance is therefore determined and used to adapt at least one operating parameter (eg guide air pressure, turbine speed, coating agent pressure, coating agent flow rate and / or spray jet width).
  • the distance between the individual Application devices and the workpiece surface can be easily determined even without a measurement, since the spatial position of the end effector (TCP - Tool Center Point) from the path control of the painting robot is known, while the contour of the workpiece surface to be coated is also specified.
  • the end effector with the application devices is preferably advanced in the X direction (ie in the case of a coating of motor vehicle bodies in the conveying direction) when coating horizontal surfaces, wherein the coating can be carried out without settling and without actuation of the main needle ,
  • the end effector with the applicators is preferably advanced in the Z direction (i.e., in the vertical direction).
  • FIG. 1a shows a perspective view of a painting robot 1 according to the invention with a base part 2, which is movable in a conventional manner along a horizontal rail 3, to position the painting robot 1 in the arrow direction along the running rail.
  • a stop buffer 4, 5 is provided at the front and at the back of the base part 2 of the painting robot 1, in each case to a collision of the painting robot 1 with a neighboring painting robot or a fixed obstacle to avoid damage.
  • the painting robot 1 conventionally has a so-called carousel 6, which is rotatable about a vertical axis and carries two pivotable robot arms 7, 8 and a multi-axis robot hand 9, which is known per se.
  • an end effector 10 is mounted, which carries two rotary atomizers 11, 12, in particular from the detailed representation in FIG. 1b is apparent.
  • the two rotary atomizers 11, 12 are arranged parallel to one another on the end effector 10 of the painting robot 1 and each apply a coating agent jet via a respective rapidly rotating bell plate 13, 14.
  • the two rotary atomizers 11, 12 each have conventional outer electrodes 15, 16, which charge the dispensed coating agent jet electrostatically, which is also known per se.
  • the painting robot 1 is used to paint a motor vehicle body 17, which is transported along two transport rails 18, 19 in the direction of arrow by a paint shop.
  • the vehicle body 17 is electrically grounded so that the paint applied by the rotary atomizers 11, 12 and electrostatically charged paint adheres better to the vehicle body 17, thereby increasing the application efficiency.
  • the two rotary atomizers 11, 12 of the painting robot 1 in this case advantageously allow an increased area performance in the painting of the motor vehicle body 17 in comparison to a conventional painting robot with only a single rotary atomizer.
  • the end effector 10 with the two rotary atomizers 11, 12 is guided in working strokes 20 which run parallel to the longitudinal extent of the two transport rails 18, 19 and thus parallel to the transport direction of the motor vehicle body 17.
  • the painting robot 1 aligns the end effector 10 at right angles to the working strokes 20, so that the two rotary atomizers 11, 12 are guided laterally next to one another.
  • the two rotary atomizers 11, 12 in this case have a spray jet width that generates paint runs on the roof of the motor vehicle body 17, which lie laterally next to one another and do not overlap one another.
  • the end effector 10 with the two rotary atomizers 11, 12 is thus displaced in each of the meandering adjacent working strokes 20 by a predetermined feed distance in the lateral direction, wherein the feed distance is approximately one third of the width of the spray jets produced, whereby a sufficient overlap of the spray jet paths.
  • This embodiment offers is particularly suitable for stop-and-go applications and for conveyor belts with low transport speeds and for the painting of large horizontal surfaces, such as motor vehicle roofs.
  • FIGS. 2a and 2b illustrated embodiment is largely consistent with that described above and in the FIGS. 1a and 1b illustrated embodiment, so that reference is made largely to the above description to avoid repetition, the same reference numerals are used for corresponding components.
  • a special feature of this embodiment is that the base part 2 of the painting robot 1 is arranged stationary.
  • FIGS. 1a and 1b Another difference of this embodiment over the embodiment in the FIGS. 1a and 1b is that the end effector 10 is guided with the two rotary atomizers 11, 12 at each of the working strokes 20 at right angles to the longitudinal extent of the transport rails 18, 19, so that the stroke direction in this embodiment is perpendicular to the transport direction.
  • the end effector 10 is also aligned at right angles to the transport direction of the motor vehicle body 17.
  • FIGS. 3a and 3b illustrated embodiment is largely consistent with the embodiments described above, so that reference is again made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding components.
  • a special feature of this embodiment is that the end effector 10 is aligned with the two rotary atomizers 11, 12 in the painting of the motor vehicle body 17 parallel to the transport direction of the motor vehicle body 17.
  • the individual working strokes 20 are, however, as in the embodiment according to the FIGS. 2a and 2b aligned at right angles to the transport direction of the vehicle body.
  • This embodiment also offers the advantage that the painting robot 1 does not require a seventh robot axis.
  • This embodiment is particularly suitable for paint shops with a transport path with medium transport speed and for stop-and-go applications.
  • this embodiment is particularly suitable for painting large horizontal surfaces, such as motor vehicle roofs.
  • this embodiment is also suitable for painting vertical surfaces, such as motor vehicle side surfaces.
  • FIG. 4 shows a further embodiment of the invention, in turn, largely consistent with the embodiments described above, so reference is made to avoid repetition of the above description, in turn, the same reference numerals are used for corresponding components.
  • the base part 2 of the painting robot 1 is stationary, wherein the motor vehicle body 17 to be painted is moved past two transport rails 18, 19 on the painting robot 1.
  • the painting robot 1 is particularly suitable for painting side flanks of the motor vehicle body 17, wherein the end effector 10 is aligned with the two Rotationszerstäubern 11, 12 parallel to the transport direction, while the individual working strokes 20 perpendicular and thus perpendicular to the transport direction of the motor vehicle body 17.
  • This embodiment also does not require a seventh robot axis and is well suited for paint shops with a fast transport path and for stop-and-go applications.
  • the exemplary embodiments described above advantageously permit an uninterrupted painting operation, as described below with reference to the time diagram in FIG. 5 is explained.
  • the other atomizer 12 is initially inactive after the atomizer 12 has been pressed with green paint and is therefore always ready for use.
  • the atomizer 11 then terminates the painting operation, whereas the ready-to-use rotary atomizer 12 begins to apply paint of green color.
  • the rotary atomizer 11 undergoes a color change from red to blue.
  • the rotary atomizer 11 is first rinsed in a conventional manner between the times t1 and t2. Subsequently, the rotary atomizer 11 is then pressed between t2 and t3 with blue color, so that the rotary atomizer 11 at time t3 is ready to apply paint with blue color.
  • the rotary atomizer 12 then terminates the painting operation, whereas the ready-to-use rotary atomizer 11 begins to apply paint of blue color.
  • the rotary atomizer 12 performs a color change in the period between t4 and t6.
  • the rotary atomizer 12 is first rinsed in a conventional manner between t4 and t5 and then pressed with yellow paint between t5 and t6, so that the rotary atomizer 12 is ready at time t6 to apply paint with yellow color.
  • the painting robot 1 can thus apply uninterrupted paint despite interim color change, whereby the area performance is significantly increased in the paint shop.
  • FIG. 6 shows an operating mode of the painting robot 1 according to the invention, which is particularly suitable when a certain color (eg silver) is frequently used ("high-runner”), whereas the other colors (“low-runners”) are needed less often.
  • the rotary atomizer 11 then applies only the frequently required color, so that the rotary atomizer 11 must be neither rinsed nor pressed. In this way, the flushing and color losses are reduced in the paint with the frequently required color.
  • the other atomizer 12 is used to apply the less frequently required colors, so that a color change takes place in each case between the times t2 and t3 as well as t5 and t6, as described above with reference to FIG FIG. 5 has been described.
  • FIG. 7 shows an alternative embodiment of the end effector 10, which can be guided by the robot hand axis 9 of the painting robot 1.
  • This embodiment of the end effector 10 differs from the embodiment described above in that the two rotary atomizers 11, 12 are aligned in anti-parallel to each other. This is particularly advantageous when the two rotary atomizers 11, 12 are not operated simultaneously, but alternately, since the inactive rotary atomizer is then kept away from the spray of the active rotary atomizer, whereby contamination of the inactive rotary atomizer is counteracted.
  • FIG. 8 shows a movement scheme of the end effector 10 with the two rotary atomizers 11, 12 in a paint job.
  • the end effector 10 is in this case guided along linear strokes 20, wherein the end effector 10 with the two rotary atomizers 11, 12 is aligned at right angles to the working strokes 20.
  • the two rotary atomizers 11, 12 each have a spray jet width b on the workpiece to be coated and are arranged at a distance a from one another, the spray jet width b being equal to the distance a between the rotary atomizers 11, 12, so that the spray jets of the adjacent rotary atomizers 11, 12 directly adjacent to each other, but do not overlap.
  • the end effector 10 with the two rotary atomizers 11, 12 is moved forward at a right angle to the working strokes 20 by a predetermined feed distance c, wherein the feed distance c is equal to one third of the spray beam width b, resulting in a corresponding overlap in the individual working strokes 20 produced spray jet paths leads.
  • FIG. 9 shows a similar motion scheme for the end effector 10 with the two Rotationszerstäubern 11, 12, wherein the distance a between the adjacent Rotationszerstäubern, however, is greater than the spray jet width b, so that the spray jet paths generated by the two Rotationszerstäubern 11, 12 do not overlap each other.
  • FIG. 10 shows a scheme for illustrating the painting of a horizontal, curved motor vehicle roof 1, wherein for each of two atomizers four atomizer positions 22.1-22.4 and 23.1-23.4 are shown.
  • the distance between the rotary atomizers 11, 12 and the motor vehicle roof 21 is different due to the curvature of the motor vehicle roof 21 in the various working strokes 20.
  • the distance between the rotary atomizers 11, 12 and the motor vehicle roof 21 is therefore continuously determined and taken into account in the control of the rotary atomizers 11, 12.
  • the determination of the distance is carried out here by an evaluation of the predetermined by the path control TCP (Tool Center Point) and the predetermined and thus also known geometry of the motor vehicle roof 21.
  • TCP Tool Center Point
  • the steering pressure or the turbine speed can be adjusted accordingly be to achieve a uniform paint appearance regardless of the curvature of the motor vehicle roof 21.
  • FIG. 11 shows a corresponding representation for the painting of a curved motor vehicle door 25 by two rotary atomizers 26, 27, which is apparent from two shown in the drawings distance markers 28, 29 that the distance for the two rotary atomizers 26, 27 is different and therefore in this embodiment at the control of the rotary atomizers 26, 27 is taken into account.
  • the show Figures 12a and 12b a metering pump 30 for the painting robot 1, wherein the metering pump is preferably arranged in the robot arm 8 or in the robot arm 7.
  • the metering pump 30 has a feed line 31, via which the metering pump 30 paint is supplied.
  • the metering pump 30 has two output lines 32, 33, which supply the rotary atomizer 11 and the rotary atomizer 12 with paint.
  • the paint promotion takes place here by two gears 34, 35 which are driven by a common shaft 36.

Abstract

The robot has several movable axles and a three dimensionally movable end effector which is fitted with several application devices (11, 12) such as atomisers. The application devices can be mounted side by side at a predetermined spacing and each discharge a spray jet with a predetermined jet width in the same direction. The spray width can be as great as the distance between the application devices to ensure the spray jets overlap for total cover. The spray width can be adjustable and the spray jets can also be fixed so that the spray widths do not overlap. Independent claim describes operating method for multi-axle robot where several applicator devices are guided on the end effector.

Description

Die Erfindung betrifft einen Lackierroboter sowie ein entsprechendes Betriebsverfahren gemäß den nebengeordneten Ansprüchen.The invention relates to a painting robot and a corresponding operating method according to the independent claims.

Zur Lackierung von Werkstücken, wie beispielsweise Kraftfahrzeugkarosserieteilen, werden seit längerem mehrachsige Lackierroboter mit einer hochbeweglichen, mehrachsigen Roboterhandachse verwendet, wobei an der Roboterhandachse ein einzelner Rotationszerstäuber angebracht ist, der den gewünschten Lack appliziert.For painting workpieces such as motor vehicle body parts, multi-axis painting robots with a highly movable, multi-axis robot hand axis have long been used, wherein a single rotary atomizer is attached to the robot's hand axis, which applies the desired paint.

Nachteilig an diesen bekannten Lackierrobotern ist die unbefriedigende Flächenleistung beim Beschichten, da ein einzelner Rotationszerstäuber innerhalb einer bestimmten Zeitspanne nur eine begrenzte Werkstückoberfläche beschichten kann.A disadvantage of these known painting robots is the unsatisfactory area performance during coating, since a single rotary atomizer can coat only a limited workpiece surface within a certain period of time.

Weitere Applikationsgeräte sind bekannt aus DE 694 03 485 T2 , DE 101 49 424 A1 , DE 88 05 181 U1 , DE 22 18 756 B2 , EP 508 130 A1 , WO 2009/085082 A1 , DE 102 97 271 T5 , GB 21 90 312 A , US 6 817 553 B2 , EP 529 851 A1 , DE 28 05 072 A1 , JP 2000 005 659 A , WO 01/87497 A1 , EP 579 417 A1 und DE 198 52 079 A1 .Other application devices are known from DE 694 03 485 T2 . DE 101 49 424 A1 . DE 88 05 181 U1 . DE 22 18 756 B2 . EP 508 130 A1 . WO 2009/085082 A1 . DE 102 97 271 T5 . GB 21 90 312 A . US Pat. No. 6,817,553 B2 . EP 529 851 A1 . DE 28 05 072 A1 . JP 2000 005 659 A . WO 01/87497 A1 . EP 579 417 A1 and DE 198 52 079 A1 ,

Weiterhin sind aus EP 0 642 840 A , US 2004/0159724 A1 und US 4 042 734 gattungsgemäße Applikationsroboter bekannt, die jeweils mehrere Applikationsgeräte führen. Hierbei sind die einzelnen Applikationsgeräte jedoch mit einer gemeinsamen Beschichtungsmittelversorgung verbunden. Dies hat zum Nachteil, dass der Beschichtungsbetrieb bei einem Farbwechsel unterbrochen werden muss.Furthermore are out EP 0 642 840A . US 2004/0159724 A1 and US 4,042,734 generic application robot known that each lead multiple application devices. However, the individual application devices are connected to a common coating agent supply. This has the disadvantage that the coating operation must be interrupted in a color change.

Aus DE 102 97 271 T5 ist ein Applikationsroboter bekannt, der dazu dient, Kraftfahrzeugkarosseriebauteile mit einem Schallisoliermaterial zu beschichten. Hierzu weist der Applikationsroboter zwei Applikationsgeräte in Form von Auftragsdüsen auf, wobei die eine Auftragsdüse ein Dämpfungsmaterial appliziert, während die andere Auftragsdüse ein Bindemittel appliziert. Heribei handelt es sich jedoch nicht um einen Lackierroboter.Out DE 102 97 271 T5 An application robot is known which serves to coat motor vehicle body components with a sound insulating material. For this purpose, the application robot has two application devices in the form of application nozzles, one application nozzle applying a damping material while the other application nozzle is applying a binding agent. However, Heribei is not a painting robot.

Schließlich ist aus DE 197 26 349 A1 eine Lackieranlage zur Lackierung von Kraftfahrzeugkarosseriebauteilen bekannt, die mehrere Lackierautomaten in Form von Seitenmaschinen, Dachmäschinen bzw. Lackierrobotern aufweist. Die Lackierautomaten tragen hierbei jeweils einen Zerstäuber und sind in mehrere Gruppen eingeteilt, so dass die Lackierautomaten der einen Gruppe einen Farbwechsel durchführen können, während die Lackierautomaten der anderen Gruppe noch Beschichtungsmittel der alten Farbe applizieren. Aus dieser Druckschrift ist jedoch nicht bekannt, dass ein Lackierautomat mehrere Applikationsgeräte führt. Darüber hinaus ist aus dieser Druckschrift auch nicht bekannt, dass an einem Lackierautomaten mehrere Applikationsgeräte angeordnet sind, die getrennt spülbar sind und deshalb unabhängig voneinander einen Farbwechsel ermöglichen.Finally is off DE 197 26 349 A1 a painting for painting of motor vehicle body components known, which has a plurality of paint machines in the form of side machines, Dachmäschinen or Lackierrobotern. The coating machines each carry a nebulizer and are divided into several groups, so that the vending machines of one group can perform a color change, while the vending machines of the other group still apply coating agent of the old color. From this document, however, it is not known that a painting machine leads several application devices. In addition, it is also not known from this publication that a plurality of application devices are arranged on a coating machine, which are separately rinsed and therefore independently allow a color change.

Der Erfindung liegt deshalb die Aufgabe zugrunde, den eingangs beschriebenen bekannten Lackierroboter entsprechend zu verbessern.The invention is therefore based on the object to improve the known painting robot described above accordingly.

Diese Aufgabe wird durch einen erfindungsgemäßen Lackierroboter und ein entsprechendes Betriebsverfahren gemäß den nebengeordneten Ansprüchen gelöst.This object is achieved by a painting robot according to the invention and a corresponding operating method according to the independent claims.

Die Erfindung umfasst die allgemeine technische Lehre, an dem Endeffektor eines Lackierroboters nicht nur ein einziges Applikationsgerät anzubringen, sondern mehrere Applikationsgeräte. Dies bietet den Vorteil, dass die Flächenleistung des erfindungsgemäßen Lackierroboters gegenüber dem Stand der Technik deutlich erhöht wird.The invention comprises the general technical teaching of attaching not only a single application device to the end effector of a painting robot, but rather several application devices. This offers the advantage that the area performance of the painting robot according to the invention is significantly increased compared to the prior art.

Der im Rahmen der Erfindung verwendete Begriff eines Applikationsgeräts umfasst nicht nur die vorzugsweise verwendeten und bereits eingangs erwähnten Rotationszerstäuber, sondern auch andere Typen von Applikationsgeräten, wie beispielsweise Sprühpistolen, 2K-Zerstäuber oder sonstige Zerstäuber.The term used in the invention of an application device includes not only the preferably used and already mentioned rotary atomizers, but also other types of application devices, such as spray guns, 2K atomizers or other atomizers.

Besonders vorteilhaft eignet sich die Erfindung für einen Lackierroboter, der Nasslack appliziert, jedoch ist die Erfindung auch mit Lackierrobotern realisierbar, die Pulverlack, Dickstoff, Unterbodenschutz, PVC oder Ähnliches applizieren.The invention is particularly advantageously suitable for a painting robot which applies wet paint, but the invention can also be implemented with painting robots which apply powder paint, thick matter, underbody protection, PVC or the like.

Bei dem erfindungsgemäßen Lackierroboter handelt es sich um einen mehrachsigen Roboter, der beispielsweise sechs oder sieben bewegliche Achsen aufweisen kann. Die Erfindung ist jedoch nicht auf 6- oder 7-achsige Lackierroboter beschränkt, sondern auch mit anderen Robotertypen realisierbar.The painting robot according to the invention is a multi-axis robot, which may for example have six or seven movable axes. However, the invention is not limited to 6- or 7-axis painting robots, but also feasible with other types of robots.

Vorzugsweise sind die Applikationsgeräte bei dem erfindungsgemäßen Lackierroboter nebeneinander in einem vorgegebenen Abstand angeordnet und geben jeweils einen Sprühstrahl mit einer vorgegebenen Sprühstrahlbreite in dieselbe Richtung ab.Preferably, the application devices in the painting robot according to the invention are arranged side by side at a predetermined distance and each emit a spray jet having a predetermined spray jet width in the same direction.

Gemäß der Erfindung ist die Sprühstrahlbreite kleiner als der Abstand zwischen den Applikationsgeräten, so dass sich die Sprühstrahlen der benachbarten Applikationsgeräte nicht überlappen. Hierbei werden bei einem Arbeitshub also parallele Beschichtungsmittelbahnen auf der Werkstückoberfläche appliziert, so dass eine zusammenhängende Beschichtung der Werkstückoberfläche mehrere Arbeitshübe erfordert, die jeweils zueinander,versetzt erfolgen müssen. Hierbei besteht die Möglichkeit, die Sprühstrahlbreite und den Abstand der Applikationsgerät so zu wählen, dass eine Fläche mit einer bestimmten Breite ohne Absetzen oder Betätigung des Beschichtungsmittel-Ventils beschichtet werden kann, indem der Endeffektor mit den daran angebrachten Applikationsgeräten zwischen den aufeinander folgenden, antiparallelen Arbeitshüben jeweils seitlich verschoben wird. Der Endeffektor mit den daran angebrachten Applikationsgeräte kann hierbei so geführt werden, dass die Überlappung zwischen den erzeugten Beschichtungsbahnen zwei-, drei- oder vierfach ist.According to the invention, the spray jet width is smaller than the distance between the application devices, so that the Do not overlap sprays of adjacent application equipment. In this case, parallel coating agent webs are thus applied to the workpiece surface during a working stroke, so that a coherent coating of the workpiece surface requires a plurality of working strokes, which in each case must be staggered relative to one another. In this case, it is possible to select the spray jet width and the distance of the application device so that an area with a certain width can be coated without settling or actuation of the coating agent valve by the end effector with the application devices attached thereto between the successive, antiparallel working strokes each moved laterally. The end effector with the application devices attached thereto can in this case be guided so that the overlap between the coating layers produced is two, three or four times.

Der im Rahmen der Erfindung verwendete Begriff einer Sprühstrahlbreite bezieht sich in der Regel auf die Breite des Sprühstrahls beim Auftreffen auf die Werkstückoberfläche, jedoch kann man anstelle der Sprühstrahlbreite auch von einem Sprühstrahlwinkel sprechen, wobei Letzteres insbesondere bei der sogenannten Airless-Zerstäubung und bei Dickstoffapplikation gilt. Dabei ist mit dem Begriff der Sprühstrahlbreite der sogenannte SB50 gemeint. Dabei handelt es sich um diejenige Breite der von dem Sprühstrahl auf der zu beschichtenden Werkstückoberfläche erzeugten Beschichtungsbahn, innerhalb derer die Beschichtungsdicke über 50% der maximalen Beschichtungsdicke liegt.The term used in the invention of a spray jet width usually refers to the width of the spray jet when hitting the workpiece surface, but you can also speak of a spray jet angle instead of the spray jet width, the latter applies in particular in the so-called airless atomization and in Dickstoffapplikation , The term spray jet width refers to the so-called SB50. This is the width of the coating web produced by the spray jet on the workpiece surface to be coated, within which the coating thickness is more than 50% of the maximum coating thickness.

In jedem Fall besteht im Rahmen der Erfindung die Möglichkeit, dass die Sprühstrahlbreite zumindest bei einem der Applikationsgeräte einstellbar ist. Auf diese Weise lässt sich die Sprühstrahlbreite beispielsweise an den Abstand zwischen dem Applikationsgerät und der Werkstückoberfläche anpassen.In any case, it is possible within the scope of the invention for the spray jet width to be adjustable at least in one of the application devices. That way you can for example, adjust the spray jet width to the distance between the application device and the workpiece surface.

Weiterhin besteht im Rahmen der Erfindung die Möglichkeit, dass die an dem erfindungsgemäßen Lackierroboter montierten Applikationsgeräte unterschiedlichen Typen angehören. Beispielsweise kann es sich bei dem einen Applikationsgerät um einen Wasserlackzerstäuber handeln, während das andere Applikationsgerät ein Lösungsmittelzerstäuber ist. Es besteht jedoch also auch die Möglichkeit, dass das eine Applikationsgerät zur Applikation von Wasserlack dient und dementsprechend eine Außenaufladung aufweist, während das andere Applikationsgerät zur Applikation von Lösemittellack dient und deshalb eine Direktaufladung des Beschichtungsmittels vorsieht.Furthermore, there is the possibility within the scope of the invention that the application devices mounted on the painting robot according to the invention belong to different types. For example, one application device may be a water-vapor atomizer, while the other application device is a solvent atomizer. However, there is also the possibility that one application device is used to apply water-based paint and accordingly has an external charge, while the other application device is for the application of solvent-based paint and therefore provides for direct charging of the coating agent.

Auch können beide Applikationsgeräte eine Direktaufladung aufweisen, wobei das eine Applikationsgerät zur Applikation von Wasserlack ausgelegt ist, wohingegen das andere Applikationsgerät Lösemittellack appliziert.Also, both application devices can have a direct charging, wherein the one application device is designed for the application of water-based paint, whereas the other application device applies solvent-based paint.

Ferner kann es sich bei dem einen Applikationsgerät um einen Rotationszerstäuber (mit oder ohne Außenaufladung) handeln, während das andere Applikationsgerät ein Luftzerstäuber (mit oder ohne Hochspannungsaufladung) ist, der sich für spezielle Lackierverfahren eignet.Furthermore, the one application device can be a rotary atomizer (with or without external charging), while the other application device is an air atomizer (with or without high-voltage charging) which is suitable for special painting processes.

Darüber hinaus besteht die Möglichkeit, dass eines der beiden Applikationsgeräte zur Beschichtung großer Flächen benutzt wird, während das andere Applikationsgerät eingesetzt wird, um kleinere Flächen zu beschichten. Bei der Beschichtung einer Kraftfahrzeugkarosserie ist es auch möglich, dass das eine Applikationsgerät zur Beschichtung von Rahmenteilen verwendet wird, wohingegen das andere Applikationsgerät die Flächen der Kraftfahrzeugkarosserie beschichtet.In addition, it is possible that one of the two application devices is used to coat large areas, while the other application device is used to coat smaller areas. When coating a motor vehicle body, it is also possible for the one application device to be used for coating frame parts whereas the other application device coats the surfaces of the vehicle body.

Die beiden Applikationsgeräte können sich auch durch das verwendete Beschichtungsmittel unterscheiden. Beispielsweise kann eines der beiden Applikationsgeräte zum Auftragen von Basislack verwendet werden, wohingegen das andere Applikationsgerät Klarlack appliziert. In einer anderen Variante dient das eine Applikationsgerät dagegen zum Applizieren einer ersten Lackschicht ("Base Coat 1"), wohingegen das andere Applikationsgerät eine zweie Lackschicht ("Base Coat 2") aufträgt.The two application devices may also differ by the coating agent used. For example, one of the two application devices for applying basecoat can be used, whereas the other application device applies clearcoat. In another variant, on the other hand, one application device is used to apply a first coating layer ("base coat 1"), whereas the other application device applies a second coating layer ("base coat 2").

Ferner kann der erfindungsgemäße Lackierroboter auch mehr als zwei Applikationsgeräte führen, z.B. zwei Rotationszerstäuber und einen Luftzerstäuber.Furthermore, the painting robot according to the invention can also carry more than two application devices, e.g. two rotary atomizers and one air atomizer.

Vorzugsweise ist eines der beiden Applikationsgeräte gegenüber dem anderen Applikationsgerät um 180° angewinkelt. Dies bietet bei einem abwechselnden Betrieb der Applikationsgeräte den Vorteil, dass das nicht benutzte Applikationsgerät weniger oder gar nicht verschmutzt wird, wenn das benachbarte Applikationsgerät Beschichtungsmittel appliziert.Preferably, one of the two application devices is angled relative to the other application device by 180 °. With an alternating operation of the application devices, this offers the advantage that the unused application device is less or not contaminated when the neighboring application device applies coating agent.

Erfindungsgemäß kann ein Applikationsgerät gespült werden, während das andere Applikationsgerät Beschichtungsmittel appliziert, was jedoch in der Regel nur dann funktioniert, wenn die einzelnen Applikationsgeräte das Beschichtungsmittel im Wesentlichen in dieselbe Richtung applizieren. Auf diese Weise kann die Farbwechselzeit auf Null reduziert werden, da die einzelnen Applikationsgeräte abwechselnd Beschichtungsmittel applizieren, während in den Beschichtungspausen ein Farbwechsel vorgenommen werden kann. Der erfindungsgemäße Lackierroboter weist deshalb für die einzelnen Applikationsgeräte getrennt ansteuerbare Spülleitungen, Beschichtungsmittelleitungen bzw. Beschichtungsmittelversorgungen auf. Bei getrennten Dosiereinrichtungen für die Applikationsgeräte können die einzelnen Dosiereinrichtungen von einem gemeinsamen Motor angetrieben werden, der über eine Kupplung mit jeweils einer Dosiereinrichtung verbunden wird.According to the invention, one application device can be rinsed, while the other application device applies coating agent, which, however, usually only works if the individual application devices apply the coating agent essentially in the same direction. In this way, the color change time can be reduced to zero, since the individual application devices alternately apply coating agent, while in the coating breaks a color change can be made. The painting robot according to the invention Therefore, has separately controllable flushing lines, coating agent lines or coating agent supplies for the individual application devices. In the case of separate metering devices for the application devices, the individual metering devices can be driven by a common motor, which is connected via a coupling to a respective metering device.

In einer vorteilhaften Variante der Erfindung sind die einzelnen Applikationsgeräte nicht in einem festen, konstruktiv bedingten Abstand zueinander angeordnet, sondern weisen vielmehr einen einstellbaren Abstand zueinander auf. Beispielsweise kann der Abstand zwischen den benachbarten Applikationsgeräten elektrisch oder pneumatisch eingestellt werden, jedoch sind auch andere Stellantriebe möglich.In an advantageous variant of the invention, the individual application devices are not arranged in a fixed, design-related distance from each other, but rather have an adjustable distance from one another. For example, the distance between the adjacent application devices can be adjusted electrically or pneumatically, but other actuators are possible.

In bevorzugten Ausführungsbeispielen der Erfindung sind die Applikationsgeräte parallel oder antiparallel zueinander ausgerichtet, was jeweils bestimmte Vorteile bringt. Eine parallele Ausrichtung der Applikationsgeräte ermöglicht einen gleichzeitigen Betrieb, wodurch die Flächenleistung beim Beschichten erhöht wird. Eine antiparallele Ausrichtung der Applikationsgeräte ist dagegen vorteilhaft, wenn die Applikationsgeräte abwechselnd betrieben werden, da das inaktive Applikationsgerät dann weitgehend vor Verschmutzungen durch das aktive Applikationsgerät geschützt ist, wie bereits vorstehend kurz erwähnt wurde.In preferred embodiments of the invention, the application devices are aligned parallel or anti-parallel to each other, which in each case brings certain advantages. Parallel alignment of the application devices allows for simultaneous operation, thereby increasing surface coverage during coating. An antiparallel alignment of the application devices, however, is advantageous if the application devices are operated alternately, since the inactive application device is then largely protected from contamination by the active application device, as already briefly mentioned above.

Es ist jedoch alternativ auch möglich, dass die Applikationsgeräte um einen vorgegebenen Winkel zueinander angewinkelt sind, wobei der Winkel zwischen den Applikationsgeräten beispielsweise im Bereich zwischen 10° und 180° liegen kann, wobei beliebige Zwischenwerte möglich sind. Beispielsweise kann der Winkel zwischen den Applikationsgeräten 45°, 90° oder 180° betragen, wobei die Applikationsgräte in letzterem Fall antiparallel ausgerichtet sind.However, it is alternatively also possible that the application devices are angled at a predetermined angle to each other, wherein the angle between the application devices, for example, in the range between 10 ° and 180 ° may be, with any intermediate values are possible. For example, the angle between the application devices can be 45 °, 90 ° or 180 °, with the application device in the latter case being aligned antiparallel.

Darüber hinaus können die Applikationsgeräte bei dem erfindungsgemäßen Lackierroboter eine elektrostatische Aufladung des applizierten Beschichtungsmittels aufweisen, was beispielsweise durch eine herkömmliche Außenaufladung oder eine ebenfalls bekannte Direktaufladung erfolgen kann.In addition, the application devices in the painting robot according to the invention can have an electrostatic charge of the applied coating agent, which can be done for example by a conventional external charging or a likewise known direct charging.

Ferner ist zu erwähnen, dass die Erfindung nicht nur den vorstehend beschriebenen erfindungsgemäßen Lackierroboter betrifft, sondern auch dessen neuartige Verwendung zur Beschichtung von Kraftfahrzeugkarosserieteilen.It should also be mentioned that the invention relates not only to the painting robot according to the invention described above, but also its novel use for coating motor vehicle body parts.

Darüber hinaus umfasst die Erfindung auch ein Betriebsverfahren gemäß Anspruch 16.In addition, the invention also includes an operating method according to claim 16.

In einer Variante der Erfindung wird hierbei jeweils an dem einen Applikationsgerät ein Beschichtungsmittelwechsel durchgeführt, während mit dem anderen Applikationsgerät ein Beschichtungsmittel appliziert wird, was einen unterbrechungsfreien Beschichtungsbetrieb ermöglicht.In one variant of the invention, in this case a coating agent change is carried out in each case on the one application device, while a coating agent is applied with the other application device, which enables an uninterrupted coating operation.

Weiterhin besteht hierbei die Möglichkeit, dass eines der Applikationsgeräte immer ein bestimmtes, häufig verwendetes Beschichtungsmittel ("High-Runner") appliziert, während das andere Applikationsgerät alle anderen möglichen Beschichtungsmittel ("Low-Runner") appliziert, die seltener benötigt werden. Dies bietet den Vorteil, dass Farb- und Spülmittelverluste verringert werden, da für das häufig benutzte Beschichtungsmittel kein Farbwechsel erforderlich ist.Furthermore, there is the possibility that one of the application devices always a certain, frequently used coating agent ("High-Runner") applied, while the other application device, all other possible coating agents ("low-runner") applied, which are required less frequently. This offers the advantage that color and detergent losses are reduced because no color change is required for the commonly used coating agent.

Weiterhin ist es vorteilhaft, wenn der Endeffektor des erfindungsgemäßen Lackierroboters zum Spülen der Lackierroboter an einen Rand des zu beschichtenden Werkstücks gefahren wird, um eine Verschmutzung des zu beschichtenden Werkstücks zu vermeiden. Bei der Beschichtung von Kraftfahrzeugkarosserieteilen mit einem Front- oder Heckdeckel kann der Endeffektor mit den Applikationsgeräten zum Spülen beispielsweise unter den geöffneten Front- oder Heckdeckel gefahren werden.Furthermore, it is advantageous if the end effector of the painting robot according to the invention is driven to rinse the painting robot to an edge of the workpiece to be coated in order to avoid contamination of the workpiece to be coated. In the coating of motor vehicle body parts with a front or boot lid of the end effector can be driven with the application devices for rinsing, for example, under the open front or boot lid.

Darüber hinaus ermöglicht die Erfindung verschiedene neuartige Bewegungsschemata bei der Werkstückbeschichtung, die im Folgenden kurz beschrieben werden.In addition, the invention allows various novel motion schemes in workpiece coating, which are briefly described below.

In einer Variante der Erfindung wird der Endeffektor des erfindungsgemäßen Lackierroboters mit den Applikationsgeräten in einer vorgegebenen Hubrichtung entlang der zu beschichtenden Werkstückoberfläche geführt, wobei der Endeffektor mit den Applikationsgeräten im Wesentlichen rechtwinklig zu der Hubrichtung ausgerichtet ist. Die Applikationsgeräte werden hierbei also entlang der Werkstückoberfläche nebeneinander geführt, wobei die Sprühstrahlen der einzelnen Applikationsgeräte entweder getrennte Beschichtungsmittelbahnen auf der Werkstückoberfläche bilden oder einander in seitlicher Richtung überlappen.In a variant of the invention, the end effector of the painting robot according to the invention is guided with the application devices in a predetermined stroke direction along the workpiece surface to be coated, wherein the end effector is aligned with the application devices substantially at right angles to the stroke direction. In this case, the application devices are guided alongside one another along the workpiece surface, with the spray jets of the individual application devices either forming separate coating middle tracks on the workpiece surface or overlapping one another in the lateral direction.

Alternativ besteht die Möglichkeit, dass der Endeffektor mit den Applikationsgeräten im Wesentlichen parallel zu der Hubrichtung ausgerichtet wird, so dass die einzelnen Applikationsgeräte hintereinander über die Werkstückoberfläche geführt werden. Dies hat zur Folge, dass die Werkstückoberfläche in einem Arbeitshub nacheinander von den Sprühstrahlen der einzelnen Applikationsgeräte getroffen wird, wodurch sich die Hubgeschwindigkeit des Lackierroboters erhöhen lässt.Alternatively, there is the possibility that the end effector is aligned with the application devices substantially parallel to the stroke direction, so that the individual application devices are guided one behind the other over the workpiece surface. This has the consequence that the workpiece surface is hit in a working stroke successively by the sprays of the individual application devices, which can increase the lifting speed of the painting robot.

Darüber hinaus wird das zu beschichtende Werkstück (z.B. eine Kraftfahrzeugkarosserie) vorzugsweise in einer vorgegebenen Transportrichtung transportiert, wobei der Endeffektor mit den Applikationsgeräten wahlweise rechtwinklig oder parallel zu der Transportrichtung ausgerichtet sein kann.In addition, the workpiece to be coated (e.g., a motor vehicle body) is preferably transported in a predetermined transporting direction, and the end effector may be selectively aligned with the application devices at right angles or parallel to the transporting direction.

Ferner wird der Endeffektor mit den Applikationsgeräten vorzugsweise mehrfach in parallelen oder antiparallelen Arbeitshüben über das zu beschichtende Werkstück geführt.Furthermore, the end effector with the application devices is preferably guided over the workpiece to be coated several times in parallel or antiparallel working strokes.

Nach einer vorgegebenen Anzahl von Arbeitshüben wird der Endeffektor dann vorzugsweise um eine vorgegebene Vorschubstrecke rechtwinklig zu den Arbeitshüben verschoben, wobei die Vorschubstrecke von dem Abstand zwischen den einzelnen Applikationsgeräten abhängt.After a predetermined number of strokes of the end effector is then preferably moved by a predetermined feed distance perpendicular to the working strokes, wherein the feed distance depends on the distance between the individual application devices.

Bei einer Beschichtung von gewölbten Werkstückoberflächen besteht das Problem, dass der Abstand zwischen den einzelnen Applikationsgeräten und der zu beschichtenden Werkstückoberfläche bei den einzelnen Applikationsgeräten unterschiedlich ist. In einer Variante der Erfindung wird dieser Abstand deshalb ermittelt und zur Anpassung mindestens eines Betriebsparameters (z.B. Lenkluftdruck, Turbinendrehzahl, Beschichtungsmitteldruck, Beschichtungsmittelmengenstrom und/oder Sprühstrahlbreite) genutzt. Der Abstand zwischen den einzelnen Applikationsgeräten und der Werkstückoberfläche lässt sich auch ohne eine Messung einfach ermitteln, da die räumliche Position des Endeffektors (TCP - Tool Centre Point) aus der Bahnsteuerung des Lackierroboters bekannt ist, während die Kontur der zu beschichtenden Werkstückoberfläche ebenfalls vorgegeben ist.When coating curved workpiece surfaces, there is the problem that the distance between the individual application devices and the workpiece surface to be coated differs for the individual application devices. In a variant of the invention, this distance is therefore determined and used to adapt at least one operating parameter (eg guide air pressure, turbine speed, coating agent pressure, coating agent flow rate and / or spray jet width). The distance between the individual Application devices and the workpiece surface can be easily determined even without a measurement, since the spatial position of the end effector (TCP - Tool Center Point) from the path control of the painting robot is known, while the contour of the workpiece surface to be coated is also specified.

Ferner ist zu erwähnen, dass der Endeffektor mit den Applikationsgeräten bei einer Beschichtung horizontaler Oberflächen vorzugsweise in X-Richtung (d.h. bei einer Beschichtung von Kraftfahrzeugkarosserien in der Förderrichtung) vorwärts bewegt wird, wobei die Beschichtung ohne Absetzen und ohne eine Betätigung der Hauptnadel durchgeführt werden kann.It should also be mentioned that the end effector with the application devices is preferably advanced in the X direction (ie in the case of a coating of motor vehicle bodies in the conveying direction) when coating horizontal surfaces, wherein the coating can be carried out without settling and without actuation of the main needle ,

Stattdessen besteht bei einer Beschichtung horizontaler Oberflächen auch die Möglichkeit, den Endeffektor mit den Applikationsgeräten in Y-Richtung vorwärts zu bewegen, d.h. quer zur Förderrichtung der Kraftfahrzeugkarosserien.Instead, when coating horizontal surfaces, it is also possible to advance the end effector with the application devices in the Y direction, i. transverse to the conveying direction of the motor vehicle bodies.

Bei einer Beschichtung vertikaler Oberflächen wird der Endeffektor mit den Applikationsgeräten dagegen vorzugsweise in Z-Richtung (d.h. in senkrechter Richtung) vorwärts bewegt.On the other hand, when coating vertical surfaces, the end effector with the applicators is preferably advanced in the Z direction (i.e., in the vertical direction).

Andere vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen gekennzeichnet oder werden nachstehend zusammen mit der Beschreibung der bevorzugten Ausführungsbeispiele der Erfindung anhand der Figuren näher erläutert. Es zeigen:

Figur 1a
eine Perspektivansicht eines erfindungsgemäßen Lackierroboters mit zwei Rotationszerstäubern, wobei die Rotationszerstäuber von dem Lackierroboter nebeneinander geführt werden,
Figur 1b
eine Perspektivansicht des Endeffektors des Lackierroboters aus Figur 1b mit den beiden Rotationszerstäubern,
Figur 2a
eine Perspektivansicht eines stationären erfindungsgemäßen Lackierroboters mit zwei Rotationszerstäubern, die beim Lackieren hintereinander geführt werden,
Figur 2b
eine Perspektivansicht des Endeffektors des Lackierroboters aus Figur 2a mit den beiden Rotationszerstäubern,
Figur 3a
ein weiteres Ausführungsbeispiel eines stationären erfindungsgemäßen Lackierroboters mit zwei Rotationszerstäubern, die bei der Beschichtung einer Kraftfahrzeugkarosserie quer zur Transportrichtung der Kraftfahrzeugkarosserie und nebeneinander geführt werden,
Figur 3b
eine Perspektivansicht des Endeffektors des Lackierroboters aus Figur 3a mit den beiden Rotationszerstäubern,
Figur 4
eine Perspektivansicht eines weiteren erfindungsgemäßen Lackierroboters mit zwei Rotationszerstäubern, der zur Seitenlackierung von Kraftfahrzeugkarosserieteilen eingesetzt wird,
Figur 5
ein Zeitdiagramm zur Verdeutlichung des intermittierenden Betriebs der beiden Rotationszerstäuber,
Figur 6
ein weiteres Zeitdiagramm zum Betrieb eines erfindungsgemäßen Lackierroboters mit einem häufig benutzten Lack und mehreren seltener benutzten Lacken,
Figur 7
eine Seitenansicht eines weiteren Ausführungsbeispiels eines Endeffektors mit zwei Rotationszerstäubern,
Figuren 8 und 9
verschiedene Bewegungsschemata für den erfindungsgemäßen Lackierroboter bei der Beschichtung von Werkstückoberflächen,
Figur 10
eine schematische Darstellung zur Verdeutlichung der Lackierung eines gewölbten Kraftfahrzeugdachs,
Figur 11
eine schematische Darstellung zur Verdeutlichung der Lackierung einer gewölbten Kraftfahrzeugseitenwand sowie
Figuren 12a und 12b
eine Dosierpumpe für einen erfindungsgemäßen Lackierroboter.
Other advantageous developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred embodiments of the invention with reference to FIGS. Show it:
FIG. 1a
a perspective view of a painting robot according to the invention with two rotary atomizers, wherein the rotary atomizer are guided by the painting robot side by side,
FIG. 1b
a perspective view of the end effector of the painting robot FIG. 1b with the two rotary atomizers,
FIG. 2a
3 is a perspective view of a stationary painting robot according to the invention with two rotary atomizers, which are guided one behind the other during painting,
FIG. 2b
a perspective view of the end effector of the painting robot FIG. 2a with the two rotary atomizers,
FIG. 3a
a further embodiment of a stationary painting robot according to the invention with two rotary atomizers, which are guided in the coating of a motor vehicle body transversely to the transport direction of the motor vehicle body and side by side,
FIG. 3b
a perspective view of the end effector of the painting robot FIG. 3a with the two rotary atomizers,
FIG. 4
a perspective view of another painting robot according to the invention with two rotary atomizers, which is used for side painting of motor vehicle body parts,
FIG. 5
a time chart to illustrate the intermittent operation of the two rotary atomizers,
FIG. 6
a further time diagram for the operation of a painting robot according to the invention with a frequently used paint and several more rarely used paints,
FIG. 7
a side view of another embodiment of an end effector with two rotary atomizers,
FIGS. 8 and 9
Various motion schemes for the painting robot according to the invention in the coating of workpiece surfaces,
FIG. 10
a schematic representation to illustrate the painting of a curved car roof,
FIG. 11
a schematic representation to illustrate the painting of a curved vehicle side wall and
Figures 12a and 12b
a metering pump for a painting robot according to the invention.

Figur 1a zeigt eine Perspektivansicht eines erfindungsgemäßen Lackierroboters 1 mit einem Basisteil 2, das in herkömmlicher Weise entlang einer horizontalen Fahrschiene 3 verfahrbar ist, um den Lackierroboter 1 in Pfeilrichtung entlang der Fahrschiene zu positionieren. An der Vorderseite und an der Rückseite des Basisteils 2 des Lackierroboters 1 ist jeweils ein Anschlagpuffer 4, 5 vorgesehen, um bei einem Zusammenstoß des Lackierroboters 1 mit einem benachbarten Lackierroboter oder einem feststehenden Hindernis eine Beschädigung zu vermeiden. FIG. 1a shows a perspective view of a painting robot 1 according to the invention with a base part 2, which is movable in a conventional manner along a horizontal rail 3, to position the painting robot 1 in the arrow direction along the running rail. At the front and at the back of the base part 2 of the painting robot 1, a stop buffer 4, 5 is provided in each case to a collision of the painting robot 1 with a neighboring painting robot or a fixed obstacle to avoid damage.

Weiterhin weist der Lackierroboter 1 in herkömmlicher Weise ein sogenanntes Karussell 6 auf, das um eine vertikale Achse drehbar ist und zwei schwenkbare Roboterarme 7, 8 und eine mehrachsige Roboterhandachse 9 trägt, was an sich bekannt ist.Furthermore, the painting robot 1 conventionally has a so-called carousel 6, which is rotatable about a vertical axis and carries two pivotable robot arms 7, 8 and a multi-axis robot hand 9, which is known per se.

An dem distalen Ende der Roboterhandachse 9 ist ein Endeffektor 10 angebracht, der zwei Rotationszerstäuber 11, 12 trägt, wie insbesondere aus der Detaildarstellung in Figur 1b ersichtlich ist.At the distal end of the robot hand axis 9, an end effector 10 is mounted, which carries two rotary atomizers 11, 12, in particular from the detailed representation in FIG FIG. 1b is apparent.

Die beiden Rotationszerstäuber 11, 12 sind an dem Endeffektor 10 des Lackierroboters 1 parallel nebeneinander angeordnet und applizieren über jeweils einen schnell drehenden Glockenteller 13, 14 jeweils einen Beschichtungsmittelstrahl.The two rotary atomizers 11, 12 are arranged parallel to one another on the end effector 10 of the painting robot 1 and each apply a coating agent jet via a respective rapidly rotating bell plate 13, 14.

Die beiden Rotationszerstäuber 11, 12 weisen jeweils herkömmliche Außenelektroden 15, 16 auf, die den abgegebenen Beschichtungsmittelstrahl elektrostatisch aufladen, was an sich ebenfalls bekannt ist.The two rotary atomizers 11, 12 each have conventional outer electrodes 15, 16, which charge the dispensed coating agent jet electrostatically, which is also known per se.

Der Lackierroboter 1 dient zur Lackierung einer Kraftfahrzeugkarosserie 17, die entlang von zwei Transportschienen 18, 19 in Pfeilrichtung durch eine Lackieranlage transportiert wird.The painting robot 1 is used to paint a motor vehicle body 17, which is transported along two transport rails 18, 19 in the direction of arrow by a paint shop.

Die Kraftfahrzeugkarosserie 17 ist elektrisch geerdet, damit der von den Rotationszerstäubern 11, 12 applizierte und elektrostatisch aufgeladene Lack besser an der Kraftfahrzeugkarosserie 17 anhaftet, wodurch der Auftragswirkungsgrad erhöht wird.The vehicle body 17 is electrically grounded so that the paint applied by the rotary atomizers 11, 12 and electrostatically charged paint adheres better to the vehicle body 17, thereby increasing the application efficiency.

Die beiden Rotationszerstäuber 11, 12 des Lackierroboters 1 ermöglichen hierbei im Vergleich zu einem herkömmlichen Lackierroboter mit nur einem einzigen Rotationszerstäuber vorteilhaft eine erhöhte Flächenleistung bei der Lackierung der Kraftfahrzeugkarosserie 17.The two rotary atomizers 11, 12 of the painting robot 1 in this case advantageously allow an increased area performance in the painting of the motor vehicle body 17 in comparison to a conventional painting robot with only a single rotary atomizer.

Bei der Lackierung des Dachs der Kraftfahrzeugkarosserie 17 wird der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 hierbei in Arbeitshüben 20 geführt, die parallel zur Längserstreckung der beiden Transportschienen 18, 19 und damit parallel zur Transportrichtung der Kraftfahrzeugkarosserie 17 verlaufen. Bei der Führung des Endeffektors 10 mit den beiden Rotationszerstäubern 11, 12 richtet der Lackierroboter 1 den Endeffektor 10 jedoch rechtwinklig zu den Arbeitshüben 20 aus, so dass die beiden Rotationszerstäuber 11, 12 seitlich nebeneinander geführt werden.When painting the roof of the motor vehicle body 17, the end effector 10 with the two rotary atomizers 11, 12 is guided in working strokes 20 which run parallel to the longitudinal extent of the two transport rails 18, 19 and thus parallel to the transport direction of the motor vehicle body 17. When guiding the end effector 10 with the two rotary atomizers 11, 12, however, the painting robot 1 aligns the end effector 10 at right angles to the working strokes 20, so that the two rotary atomizers 11, 12 are guided laterally next to one another.

Die beiden Rotationszerstäuber 11, 12 weisen hierbei eine Sprühstrahlbreite auf, die auf dem Dach der Kraftfahrzeugkarosserie 17 Lackbahnen erzeugt, die seitlich nebeneinander liegen und einander nicht überlappen. Der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 wird also bei jedem der mäanderförmig nebeneinander liegenden Arbeitshübe 20 um eine vorgegebene Vorschubstrecke in seitlicher Richtung verschoben, wobei die Vorschubstrecke ungefähr ein Drittel der Breite der erzeugten Sprühstrahlbahnen beträgt, wodurch eine ausreichende Überlappung der Sprühstrahlbahnen entsteht.The two rotary atomizers 11, 12 in this case have a spray jet width that generates paint runs on the roof of the motor vehicle body 17, which lie laterally next to one another and do not overlap one another. The end effector 10 with the two rotary atomizers 11, 12 is thus displaced in each of the meandering adjacent working strokes 20 by a predetermined feed distance in the lateral direction, wherein the feed distance is approximately one third of the width of the spray jets produced, whereby a sufficient overlap of the spray jet paths.

Dieses Ausführungsbeispiel bietet eignet sich besonders für Stop-and-Go-Anwendungen und für Transportbänder mit geringen Transportgeschwindigkeiten sowie für die Lackierung großer horizontaler Flächen, wie beispielsweise Kraftfahrzeugdächer.This embodiment offers is particularly suitable for stop-and-go applications and for conveyor belts with low transport speeds and for the painting of large horizontal surfaces, such as motor vehicle roofs.

Das in den Figuren 2a und 2b dargestellte Ausführungsbeispiel stimmt weitgehend mit dem vorstehend beschriebenen und in den Figuren 1a und 1b dargestellten Ausführungsbeispiel überein, so dass zur Vermeidung von Wiederholungen weitgehend auf die vorstehende Beschreibung verwiesen wird, wobei für entsprechende Bauteile dieselben Bezugszeichen verwendet werden.That in the FIGS. 2a and 2b illustrated embodiment is largely consistent with that described above and in the FIGS. 1a and 1b illustrated embodiment, so that reference is made largely to the above description to avoid repetition, the same reference numerals are used for corresponding components.

Eine Besonderheit dieses Ausführungsbeispiels besteht darin, dass das Basisteil 2 des Lackierroboters 1 stationär angeordnet ist.A special feature of this embodiment is that the base part 2 of the painting robot 1 is arranged stationary.

Ein weiterer Unterschied dieses Ausführungsbeispiels gegenüber dem Ausführungsbeispiel in den Figuren 1a und 1b besteht darin, dass der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 bei jedem der Arbeitshübe 20 rechtwinklig zur Längserstreckung der Transportschienen 18, 19 geführt wird, so dass die Hubrichtung in diesem Ausführungsbeispiel rechtwinklig zur Transportrichtung verläuft.Another difference of this embodiment over the embodiment in the FIGS. 1a and 1b is that the end effector 10 is guided with the two rotary atomizers 11, 12 at each of the working strokes 20 at right angles to the longitudinal extent of the transport rails 18, 19, so that the stroke direction in this embodiment is perpendicular to the transport direction.

Der Endeffektor 10 ist hierbei jedoch ebenfalls rechtwinklig zu der Transportrichtung der Kraftfahrzeugkarosserie 17 ausgerichtet.However, the end effector 10 is also aligned at right angles to the transport direction of the motor vehicle body 17.

Diese Führung des Endeffektors 10 mit den beiden Rotationszerstäubern 11, 12 bietet den Vorteil, dass keine siebte Roboterachse erforderlich ist.This guidance of the end effector 10 with the two rotary atomizers 11, 12 offers the advantage that no seventh robot axis is required.

Darüber hinaus hat sich diese Führung des Endeffektors 10 mit den beiden Rotationszerstäubern 11, 12 als hocheffektiv erwiesen, wenn große horizontal liegende Oberflächen lackiert werden müssen, wie beispielsweise ein Kraftfahrzeugdach oder eine Motor- oder Kofferraumhaube.In addition, this leadership of the end effector 10 with the two Rotationszerstäubern 11, 12 has proven to be highly effective when large horizontal surfaces must be painted, such as a motor vehicle roof or a motor or trunk lid.

Auch das in den Figuren 3a und 3b dargestellte Ausführungsbeispiel stimmt weitgehend mit den vorstehend beschriebenen Ausführungsbeispielen überein, so dass zur Vermeidung von Wiederholungen wiederum auf die vorstehende Beschreibung verwiesen wird, wobei für entsprechende Bauteile dieselben Bezugszeichen verwendet werden.Also in the FIGS. 3a and 3b illustrated embodiment is largely consistent with the embodiments described above, so that reference is again made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding components.

Eine Besonderheit dieses Ausführungsbeispiels besteht darin, dass der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 bei der Lackierung der Kraftfahrzeugkarosserie 17 parallel zur Transportrichtung der Kraftfahrzeugkarosserie 17 ausgerichtet wird.A special feature of this embodiment is that the end effector 10 is aligned with the two rotary atomizers 11, 12 in the painting of the motor vehicle body 17 parallel to the transport direction of the motor vehicle body 17.

Die einzelnen Arbeitshübe 20 sind hierbei jedoch wie bei dem Ausführungsbeispiel gemäß den Figuren 2a und 2b rechtwinklig zur Transportrichtung der Kraftfahrzeugkarosserie ausgerichtet.The individual working strokes 20 are, however, as in the embodiment according to the FIGS. 2a and 2b aligned at right angles to the transport direction of the vehicle body.

Auch dieses Ausführungsbeispiel bietet den Vorteil, dass der Lackierroboter 1 keine siebente Roboterachse benötigt.This embodiment also offers the advantage that the painting robot 1 does not require a seventh robot axis.

Dieses Ausführungsbeispiel eignet sich insbesondere für Lackieranlagen mit einem Transportweg mit mittlerer Transportgeschwindigkeit sowie für Stop-and-Go-Anwendungen.This embodiment is particularly suitable for paint shops with a transport path with medium transport speed and for stop-and-go applications.

Darüber hinaus eignet sich dieses Ausführungsbeispiel insbesondere zur Lackierung großer horizontal liegender Oberflächen, wie Kraftfahrzeugdächer.In addition, this embodiment is particularly suitable for painting large horizontal surfaces, such as motor vehicle roofs.

Ferner ist dieses Ausführungsbeispiel auch zur Lackierung vertikaler Flächen geeignet, wie beispielsweise von Kraftfahrzeugseitenflächen.Furthermore, this embodiment is also suitable for painting vertical surfaces, such as motor vehicle side surfaces.

Figur 4 zeigt ein weiteres erfindungsgemäßes Ausführungsbeispiel, das wiederum weitgehend mit den vorstehend beschriebenen Ausführungsbeispielen übereinstimmt, so dass zur Vermeidung von Wiederholungen auf die vorstehende Beschreibung verwiesen wird, wobei für entsprechende Bauteile wiederum dieselben Bezugszeichen verwendet werden. FIG. 4 shows a further embodiment of the invention, in turn, largely consistent with the embodiments described above, so reference is made to avoid repetition of the above description, in turn, the same reference numerals are used for corresponding components.

Auch hierbei ist das Basisteil 2 des Lackierroboters 1 stationär, wobei die zu lackierende Kraftfahrzeugkarosserie 17 auf zwei Transportschienen 18, 19 an dem Lackierroboter 1 vorbei bewegt wird.Here, too, the base part 2 of the painting robot 1 is stationary, wherein the motor vehicle body 17 to be painted is moved past two transport rails 18, 19 on the painting robot 1.

Der Lackierroboter 1 eignet sich insbesondere zur Lackierung von Seitenflanken der Kraftfahrzeugkarosserie 17, wobei der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 parallel zur Transportrichtung ausgerichtet wird, während die einzelnen Arbeitshübe 20 senkrecht und damit rechtwinklig zur Transportrichtung der Kraftfahrzeugkarosserie 17 verlaufen.The painting robot 1 is particularly suitable for painting side flanks of the motor vehicle body 17, wherein the end effector 10 is aligned with the two Rotationszerstäubern 11, 12 parallel to the transport direction, while the individual working strokes 20 perpendicular and thus perpendicular to the transport direction of the motor vehicle body 17.

Dieses Ausführungsbeispiel erfordert ebenfalls keine siebte Roboterachse und eignet sich gut für Lackieranlagen mit einem schnellen Transportweg sowie für Stop-and-Go-Anwendungen.This embodiment also does not require a seventh robot axis and is well suited for paint shops with a fast transport path and for stop-and-go applications.

Die vorstehend beschriebenen Ausführungsbeispiele ermöglichen vorteilhaft einen unterbrechungsfreien Lackierbetrieb, wie im Folgenden anhand des Zeitdiagramms in Figur 5 erläutert wird.The exemplary embodiments described above advantageously permit an uninterrupted painting operation, as described below with reference to the time diagram in FIG FIG. 5 is explained.

Bis zum Zeitpunkt t1 ist zunächst nur der Rotationszerstäuber 11 aktiv, der in diesem Beispiel einen Lack mit roter Farbe appliziert.Until the time t1, initially only the rotary atomizer 11 is active, which in this example applies a paint with a red color.

Der andere Zerstäuber 12 ist dagegen zunächst inaktiv, nachdem der Zerstäuber 12 mit grünem Lack angedrückt wurde und deshalb jederzeit betriebsbereit ist.The other atomizer 12, however, is initially inactive after the atomizer 12 has been pressed with green paint and is therefore always ready for use.

Zum Zeitpunkt t1 beendet dann der Zerstäuber 11 den Lackierbetrieb, wohingegen der betriebsbereite Rotationszerstäuber 12 damit beginnt, Lack mit grüner Farbe zu applizieren.At time t1, the atomizer 11 then terminates the painting operation, whereas the ready-to-use rotary atomizer 12 begins to apply paint of green color.

Nach der Beendigung des Lackierbetriebs zum Zeitpunkt t1 erfolgt bei dem Rotationszerstäuber 11 ein Farbwechsel von roter Farbe zu blauer Farbe. Hierzu wird der Rotationszerstäuber 11 zunächst zwischen den Zeitpunkten t1 und t2 in herkömmlicher Weise gespült. Anschließend wird der Rotationszerstäuber 11 dann zwischen t2 und t3 mit blauer Farbe angedrückt, so dass der Rotationszerstäuber 11 zum Zeitpunkt t3 betriebsbereit ist, um Lack mit blauer Farbe zu applizieren.After completion of the painting operation at the time t1, the rotary atomizer 11 undergoes a color change from red to blue. For this purpose, the rotary atomizer 11 is first rinsed in a conventional manner between the times t1 and t2. Subsequently, the rotary atomizer 11 is then pressed between t2 and t3 with blue color, so that the rotary atomizer 11 at time t3 is ready to apply paint with blue color.

Zum Zeitpunkt t4 beendet der Rotationszerstäuber 12 dann den Lackierbetrieb, wohingegen der betriebsbereite Rotationszerstäuber 11 damit beginnt, Lack mit blauer Farbe zu applizieren.At time t4, the rotary atomizer 12 then terminates the painting operation, whereas the ready-to-use rotary atomizer 11 begins to apply paint of blue color.

Der Rotationszerstäuber 12 führt dagegen im Zeitraum zwischen t4 und t6 einen Farbwechsel durch. Hierzu wird der Rotationszerstäuber 12 zunächst zwischen t4 und t5 in herkömmlicher Weise gespült und anschließend zwischen t5 und t6 mit gelber Farbe angedrückt, so dass der Rotationszerstäuber 12 zum Zeitpunkt t6 betriebsbereit ist, um Lack mit gelber Farbe zu applizieren.In contrast, the rotary atomizer 12 performs a color change in the period between t4 and t6. For this purpose, the rotary atomizer 12 is first rinsed in a conventional manner between t4 and t5 and then pressed with yellow paint between t5 and t6, so that the rotary atomizer 12 is ready at time t6 to apply paint with yellow color.

Der Lackierroboter 1 kann also trotz zwischenzeitlicher Farbwechsel unterbrechungsfrei Lack applizieren, wodurch die Flächenleistung im Lackierbetrieb deutlich erhöht wird.The painting robot 1 can thus apply uninterrupted paint despite interim color change, whereby the area performance is significantly increased in the paint shop.

Figur 6 zeigt eine Betriebsart des erfindungsgemäßen Lackierroboters 1, die sich insbesondere dann eignet, wenn eine bestimmte Farbe (z.B. Silber) häufig verwendet wird ("High-Runner"), wohingegen die anderen Farben ("Low-Runner") seltener benötigt werden. Der Rotationszerstäuber 11 appliziert dann ausschließlich die häufig benötigte Farbe, so dass der Rotationszerstäuber 11 weder gespült noch angedrückt werden muss. Auf diese Weise werden bei der Lackierung mit der häufig benötigten Farbe die Spülmittel- und Farbverluste verringert. FIG. 6 shows an operating mode of the painting robot 1 according to the invention, which is particularly suitable when a certain color (eg silver) is frequently used ("high-runner"), whereas the other colors ("low-runners") are needed less often. The rotary atomizer 11 then applies only the frequently required color, so that the rotary atomizer 11 must be neither rinsed nor pressed. In this way, the flushing and color losses are reduced in the paint with the frequently required color.

Der andere Zerstäuber 12 dient dagegen zur Applikation der seltener benötigten Farben, so dass jeweils zwischen den Zeitpunkten t2 und t3 sowie t5 und t6 ein Farbwechsel erfolgt, wie vorstehend unter Bezugnahme auf Figur 5 beschrieben wurde.On the other hand, the other atomizer 12 is used to apply the less frequently required colors, so that a color change takes place in each case between the times t2 and t3 as well as t5 and t6, as described above with reference to FIG FIG. 5 has been described.

Figur 7 zeigt ein alternatives Ausführungsbeispiel des Endeffektors 10, der von der Roboterhandachse 9 des Lackierroboters 1 geführt werden kann. FIG. 7 shows an alternative embodiment of the end effector 10, which can be guided by the robot hand axis 9 of the painting robot 1.

Dieses Ausführungsbeispiel des Endeffektors 10 unterscheidet sich von dem vorstehend beschriebenen Ausführungsbeispiel dadurch, dass die beiden Rotationszerstäuber 11, 12 antiparallel zueinander ausgerichtet sind. Dies ist insbesondere dann vorteilhaft, wenn die beiden Rotationszerstäuber 11, 12 nicht gleichzeitig, sondern abwechselnd betrieben werden, da der inaktive Rotationszerstäuber dann von dem Sprühstrahl des aktiven Rotationszerstäubers ferngehalten wird, wodurch einer Verschmutzung des inaktiven Rotationszerstäubers entgegengewirkt wird.This embodiment of the end effector 10 differs from the embodiment described above in that the two rotary atomizers 11, 12 are aligned in anti-parallel to each other. This is particularly advantageous when the two rotary atomizers 11, 12 are not operated simultaneously, but alternately, since the inactive rotary atomizer is then kept away from the spray of the active rotary atomizer, whereby contamination of the inactive rotary atomizer is counteracted.

Figur 8 zeigt ein Bewegungsschema des Endeffektors 10 mit den beiden Rotationszerstäubern 11, 12 bei einer Lackierung. Der Endeffektor 10 wird hierbei entlang linearer Arbeitshübe 20 geführt, wobei der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 rechtwinklig zu den Arbeitshüben 20 ausgerichtet ist. FIG. 8 shows a movement scheme of the end effector 10 with the two rotary atomizers 11, 12 in a paint job. The end effector 10 is in this case guided along linear strokes 20, wherein the end effector 10 with the two rotary atomizers 11, 12 is aligned at right angles to the working strokes 20.

Die beiden Rotationszerstäuber 11, 12 weisen hierbei auf dem zu beschichtenden Werkstück jeweils eine Sprühstrahlbreite b auf und sind in einem Abstand a zueinander angeordnet, wobei die Sprühstrahlbreite b gleich dem Abstand a zwischen den Rotationszerstäubern 11, 12 ist, so dass die Sprühstrahlen der benachbarten Rotationszerstäuber 11, 12 unmittelbar aneinander angrenzen, sich aber nicht überlappen.The two rotary atomizers 11, 12 each have a spray jet width b on the workpiece to be coated and are arranged at a distance a from one another, the spray jet width b being equal to the distance a between the rotary atomizers 11, 12, so that the spray jets of the adjacent rotary atomizers 11, 12 directly adjacent to each other, but do not overlap.

Zwischen den benachbarten Arbeitshüben 20 wird der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 hierbei rechtwinklig zu den Arbeitshüben 20 um eine vorgegebene Vorschubstrecke c vorwärts bewegt, wobei die Vorschubstrecke c gleich einem Drittel der Sprühstrahlbreite b ist, was zu einer entsprechenden Überlappung der in den einzelnen Arbeitshüben 20 erzeugten Sprühstrahlbahnen führt.Between the adjacent working strokes 20, the end effector 10 with the two rotary atomizers 11, 12 is moved forward at a right angle to the working strokes 20 by a predetermined feed distance c, wherein the feed distance c is equal to one third of the spray beam width b, resulting in a corresponding overlap in the individual working strokes 20 produced spray jet paths leads.

Nach drei parallelen Arbeitshüben 20 wird der Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12 dann um einen größeren Vorschub d seitlich versetzt, woraufhin wieder drei Arbeitshübe 20 durchgeführt werden.After three parallel working strokes 20, the end effector 10 with the two rotary atomizers 11, 12 is laterally offset by a larger feed d, whereupon again three working strokes 20 are performed.

Figur 9 zeigt ein ähnliches Bewegungsschema für den Endeffektor 10 mit den beiden Rotationszerstäubern 11, 12, wobei der Abstand a zwischen den benachbarten Rotationszerstäubern dagegen größer ist als die Sprühstrahlbreite b, so dass die von den beiden Rotationszerstäubern 11, 12 erzeugten Sprühstrahlbahnen einander nicht überlappen. FIG. 9 shows a similar motion scheme for the end effector 10 with the two Rotationszerstäubern 11, 12, wherein the distance a between the adjacent Rotationszerstäubern, however, is greater than the spray jet width b, so that the spray jet paths generated by the two Rotationszerstäubern 11, 12 do not overlap each other.

Figur 10 zeigt ein Schema zur Verdeutlichung der Lackierung eines horizontalen, gewölbten Kraftfahrzeugdachs 1, wobei für jeden von zwei Zerstäubern jeweils vier Zerstäuberpositionen 22.1-22.4 bzw. 23.1-23.4 dargestellt sind. FIG. 10 shows a scheme for illustrating the painting of a horizontal, curved motor vehicle roof 1, wherein for each of two atomizers four atomizer positions 22.1-22.4 and 23.1-23.4 are shown.

Aus dieser Darstellung und den dargestellten Entfernungsmarkierungen 24 ist ersichtlich, dass der Abstand zwischen den Rotationszerstäubern 11, 12 und dem Kraftfahrzeugdach 21 aufgrund der Wölbung des Kraftfahrzeugdachs 21 in den verschiedenen Arbeitshüben 20 unterschiedlich ist. Der Abstand zwischen den Rotationszerstäubern 11, 12 und dem Kraftfahrzeugdach 21 wird deshalb laufend ermittelt und bei der Ansteuerung der Rotationszerstäuber 11, 12 berücksichtigt. Die Ermittlung des Abstandes erfolgt hierbei durch eine Auswertung des durch die Bahnsteuerung vorgegebenen TCP (Tool Centre Point) und der vorgegebenen und damit ebenfalls bekannten Geometrie des Kraftfahrzeugdachs 21. Bei der Ansteuerung der Rotationszerstäuber 11, 12 kann dann beispielsweise der Lenkluftdruck oder die Turbinendrehzahl entsprechend angepasst werden, um unabhängig von der Wölbung des Kraftfahrzeugdachs 21 ein gleichmäßiges Lackbild zu erreichen.From this illustration and the illustrated distance markings 24 it can be seen that the distance between the rotary atomizers 11, 12 and the motor vehicle roof 21 is different due to the curvature of the motor vehicle roof 21 in the various working strokes 20. The distance between the rotary atomizers 11, 12 and the motor vehicle roof 21 is therefore continuously determined and taken into account in the control of the rotary atomizers 11, 12. The determination of the distance is carried out here by an evaluation of the predetermined by the path control TCP (Tool Center Point) and the predetermined and thus also known geometry of the motor vehicle roof 21. When controlling the rotary atomizer 11, 12 then, for example, the steering pressure or the turbine speed can be adjusted accordingly be to achieve a uniform paint appearance regardless of the curvature of the motor vehicle roof 21.

Figur 11 zeigt eine entsprechende Darstellung für die Lackierung einer gewölbten Kraftfahrzeugtür 25 durch zwei Rotationszerstäuber 26, 27, wobei anhand zweier in den Zeichnungen dargestellter Entfernungsmarkierungen 28, 29 ersichtlich ist, dass der Abstand für die beiden Rotationszerstäuber 26, 27 unterschiedlich ist und deshalb in diesem Ausführungsbeispiel bei der Ansteuerung der Rotationszerstäuber 26, 27 berücksichtigt wird. Schließlich zeigen die Figuren 12a und 12b eine Dosierpumpe 30 für den Lackierroboter 1, wobei die Dosierpumpe vorzugsweise in dem Roboterarm 8 oder in dem Roboterarm 7 angeordnet ist. FIG. 11 shows a corresponding representation for the painting of a curved motor vehicle door 25 by two rotary atomizers 26, 27, which is apparent from two shown in the drawings distance markers 28, 29 that the distance for the two rotary atomizers 26, 27 is different and therefore in this embodiment at the control of the rotary atomizers 26, 27 is taken into account. Finally, the show Figures 12a and 12b a metering pump 30 for the painting robot 1, wherein the metering pump is preferably arranged in the robot arm 8 or in the robot arm 7.

Die Dosierpumpe 30 weist eine Zuleitung 31 auf, über die der Dosierpumpe 30 Lack zugeführt wird.The metering pump 30 has a feed line 31, via which the metering pump 30 paint is supplied.

Weiterhin weist die Dosierpumpe 30 zwei Ausgangsleitungen 32, 33 auf, die den Rotationszerstäuber 11 bzw. den Rotationszerstäuber 12 mit Lack versorgen. Die Lackförderung erfolgt hierbei durch zwei Zahnräder 34, 35, die von einer gemeinsamen Welle 36 angetrieben werden.Furthermore, the metering pump 30 has two output lines 32, 33, which supply the rotary atomizer 11 and the rotary atomizer 12 with paint. The paint promotion takes place here by two gears 34, 35 which are driven by a common shaft 36.

Claims (32)

  1. Paint robot (1) for coating of workpieces (17, 21, 25) with a coating medium, comprising
    a) several moveable axes, and
    b) a spatially positionable end effector (10), and
    c) several application devices (11, 12) which are jointly attached to the end effector (10),
    characterized in that
    d) the application devices (11, 12) are connected to separate supplies of coating medium, and
    e) the paint robot (1) comprises separately controllable purge lines for the individual application devices (11, 12), and
    f) the paint robot (1) comprises separately controllable coating medium lines for the individual application devices (11, 12),
    g) so that one of the application devices (11) can be purged while the other application device (12) applies the coating medium,
    h) so that a change of coating medium can be performed on the one application device (11), while a coating medium is applied with the other application device (11).
  2. Paint robot (1) according to claim 1, characterized in that the application devices (11, 12) are located next to each other at a specified distance and each dispense a spray jet having a predetermined spray jet width (b) in the same direction.
  3. Paint robot (1) according to claim 2, characterized in that the spray jet width (b) is at least as large as the distance between the application devices (11, 12) so that the spray jets of the adjacent application devices (11, 12) overlap.
  4. Paint robot (1) according to claim 2, characterized in that the spray jet width (b) is smaller than the distance between the application devices (11, 12), so that the spray jets of the adjacent application devices (11, 12) do not overlap.
  5. Paint robot (1) according to one of the preceding claims, characterized in that the spray jet width (b) is adjustable for at least one of the application devices (11, 12).
  6. Paint robot (1) according to one of the preceding claims, characterized in that the application devices (11, 12) belong to different types.
  7. Paint robot (1) according to claim 6, characterized in that one of the application devices (11) is a water-based paint atomizer, while the other one of the application devices (12) is a solvent-based atomizer.
  8. Paint robot (1) according to one of the preceding claims, characterized in that the end effector (10) is guided by a multi-axis robot hand wrist (9) and several robot arms.
  9. Paint robot (1) according to one of the preceding claims, characterized in that the distance between the application devices (11, 12) is adjustable.
  10. Paint robot (1) according to one of the preceding claims, characterized in that the application devices (11, 12) are atomizers, rotary atomizers or spray guns.
  11. Paint robot (1) according to one of the preceding claims, characterized in that the application devices (11, 12) are aligned in parallel or anti-parallel relative to each other.
  12. Paint robot (1) according to one of the preceding claims, characterized in that the application devices (11, 12) are angled with respect to each other at a specified angle.
  13. Paint robot (1) according to claim 12, characterized in that the angle between the application devices (11, 12) is 45°, 90°, 180°.
  14. Paint robot (1) according to one of the preceding claims, characterized in that the application devices (11, 12) comprise an electrostatic external charging or a direct charging.
  15. Use of a paint robot (1) according to one of the preceding claims for painting of vehicle body parts.
  16. Operating method for a multi-axis paint robot (1) comprising a spatially positionable end effector (10), wherein several application devices (11, 12) are jointly guided at the end effector (10), characterized in that the application devices (11, 12) are connected with separate supplies of coating medium, so that a change of coating medium is performed on one of the application devices (11, 12), while a coating medium is applied with the other application device (11, 12).
  17. Operating method according to claim 16, characterized in that the spray jet width (b) is adjusted for at least one of the application devices (11, 12).
  18. Operating method according to claim 17, characterized in that the spray jet width (b) is adjusted so that the spray jets of the application devices (11, 12) overlap each other.
  19. Operating method according to claim 17 or 18, characterized by the following steps:
    - Determining the distance between the application device (11, 12) and the workpiece (17, 21, 25) to be coated,
    - adjusting the spray jet width (b) for at least one of the application devices (11, 12) depending on the determined distance so that the spray jets of the adjacent application devices (11, 12) overlap each other.
  20. Operating method according to claim 19, characterized in that the paint robot (1) applies different coating media without interruption.
  21. Operating method according to one of claims 16 to 20, characterized in that one of the application devices (11) always applies a specific coating medium, while the other one of the application devices (12) applies all other possible coating media.
  22. Operating method according to one of claims 16 to 21, characterized in that one of the application devices (11) applies a water-based paint, while the other application device (11) applies a solvent-based paint.
  23. Operating method according to one of claims 16 to 22, characterized in that the end effector (10) is driven to an edge of the workpiece (17, 21, 25) to be coated for purging the application devices (11, 12).
  24. Operating method according to one of claims 16 to 23, characterized in that during painting a vehicle body the end effector (10) is driven before or behind the vehicle body for purging the application devices (11, 12).
  25. Operating method according to one of claims 19 to 24, characterized in that the end effector (10) is guided along the surface of the workpiece to be coated in a predetermined pass direction, wherein the end effector (10) with the application devices (11, 12) is aligned essentially at a right angle to the pass direction.
  26. Operating method according to one of claims 16 to 25, characterized in that the end effector (10) is guided along the surface of the workpiece to be coated in a predetermined pass direction, wherein the end effector (10) with the application devices (11, 12) is aligned essentially in parallel to the pass direction.
  27. Operating method according to one of claims 16 to 26, characterized in that the workpiece (17, 21, 25) to be coated is transported in a predetermined transport direction, wherein the end effector (10) with the application devices (11, 12) is aligned essentially at a right angle to the transport direction.
  28. Operating method according to one of claims 16 to 27, characterized in that the workpiece (17, 21, 25) to be coated is transported in a predetermined transport direction, wherein the end effector (10) with the application devices (11, 12) is aligned essentially in parallel to the transport direction.
  29. Operating method according to one of claims 16 to 28, characterized in that the end effector (10) with the application devices (11, 12) is guided multiple times in parallel or anti-parallel work strokes over the workpiece (17, 21, 25) to be coated, wherein the distance between the individual work strokes is smaller than the spray jet width (b).
  30. Operating method according to claim 29, characterized in that the end effector (10) is advanced by a predetermined advance distance essentially at a right angle relative to the work strokes after a predetermined number of work strokes.
  31. Operating method according to one of claims 16 to 30, characterized by the following steps:
    - Determining the distance between the individual application devices (11, 12) and the surface of the workpiece to be coated (11, 12) separately for each application device (11, 12),
    - adapting at least one operating parameter of the application devices (11, 12) depending on the distance determined for the respective application device (11, 12).
  32. Operating method according to claim 31, characterized in that the following operating parameter is adapted:
    - Shaping air pressure,
    - several different shaping air pressures,
    - turbine rotation speed,
    - coating medium pressure,
    - high voltage for charging the coating medium,
    - mass flow of the coating medium, and/or
    - spray jet width (b).
EP06011633A 2005-06-13 2006-06-06 Robot with several coating devices Active EP1733799B1 (en)

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DE102005027236A DE102005027236A1 (en) 2005-06-13 2005-06-13 Application robot with several application devices

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AT (1) ATE457834T1 (en)
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US8192800B2 (en) 2012-06-05
EP1733799A1 (en) 2006-12-20
ES2340787T3 (en) 2010-06-09
US20100330292A1 (en) 2010-12-30
DE502006006146D1 (en) 2010-04-01
US20070042123A1 (en) 2007-02-22
US7762207B2 (en) 2010-07-27
DE102005027236A1 (en) 2006-12-21
ATE457834T1 (en) 2010-03-15

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