EP1733799B1 - Robot équipé de plusieurs appareils de pulvérisation - Google Patents

Robot équipé de plusieurs appareils de pulvérisation 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)
English (en)
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EP1733799A1 (fr
Inventor
Einar Endregaard
Frank Herre
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Duerr Systems AG
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Duerr Systems AG
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Publication date
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • 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.

Claims (32)

  1. Robot de peinture (1) destiné à déposer un produit de revêtement sur des pièces (17, 21, 25), comportant
    a) plusieurs axes mobiles, et
    b) un effecteur final (10), propre à être positionné dans l'espace, ainsi que
    c) plusieurs dispositifs d'application (11, 12), qui sont montés conjointement sur l'effecteur final (10),
    caractérisé
    d) en ce que les dispositifs d'application (11, 12) sont reliés à des systèmes d'alimentation en produit de revêtement, et
    e) en ce que le robot de peinture (1) comporte des conduites de rinçage, pouvant être commandées séparément, pour les différents dispositifs d'application (11, 12), et
    f) en ce que le robot de peinture (1) comporte des conduites de produit de revêtement, pouvant être commandées séparément, pour les différents dispositifs d'application (11, 12),
    g) de telle sorte que l'un des dispositifs d'application (11) peut être rincé, tandis que l'autre dispositif d'application (12) dépose le produit de revêtement,
    h) de telle sorte qu'un changement de produit de revêtement est effectué dans l'un des dispositifs d'application (11), tandis qu'un produit de revêtement est déposé avec l'autre dispositif d'application (12).
  2. Robot de peinture (1) selon la revendication 1, caractérisé en ce que les dispositifs d'application (11, 12) sont disposés l'un à côté de l'autre à une distance définie et projettent chacun dans la même direction un jet de pulvérisation avec une largeur de jet (b) définie.
  3. Robot de peinture (1) selon la revendication 2, caractérisé en ce que la largeur de jet (b) est au moins aussi grande que la distance entre les dispositifs d'application (11, 12), de telle sorte que les jets de pulvérisation des dispositifs d'application (11, 12) adjacents se chevauchent.
  4. Robot de peinture (1) selon la revendication 2, caractérisé en ce que la largeur de jet (b) est inférieure à la distance entre les dispositifs d'application (11, 12), de telle sorte que les jets de pulvérisation des dispositifs d'application (11, 12) adjacents ne se chevauchent pas.
  5. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que la largeur de jet (b) est réglable au moins sur un des dispositifs d'application (11, 12).
  6. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que les dispositifs d'application (11, 12) appartiennent à des types différents.
  7. Robot de peinture (1) selon la revendication 6, caractérisé en ce qu'un dispositif d'application (11) est un pulvérisateur de peinture à l'eau, tandis que l'autre dispositif d'application (12) est un pulvérisateur de solvant.
  8. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que l'effecteur final (10) est guidé par un axe (9) d'une main de robot multiaxe et par plusieurs bras de robot.
  9. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que la distance entre les dispositifs d'application (11, 12) est réglable.
  10. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que les dispositifs d'application (11, 12) sont des pulvérisateurs, des pulvérisateurs rotatifs ou des pistolets de pulvérisation.
  11. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que les dispositifs d'application (11, 12) sont disposés parallèlement ou antiparallèlement entre eux.
  12. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que les dispositifs d'application (11, 12) sont disposés en angle l'un par rapport à l'autre selon un angle défini.
  13. Robot de peinture (1) selon la revendication 12, caractérisé en ce que l'angle entre les dispositifs d'application (11, 12) mesure 45°, 90°, 180°.
  14. Robot de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que les dispositifs d'application (11, 12) ont une charge électrostatique extérieure ou charge électrostatique directe.
  15. Utilisation d'un robot de peinture (1) selon l'une quelconque des revendications précédentes pour le revêtement de carrosseries de véhicules automobiles.
  16. Procédé de fonctionnement pour un robot de peinture (1) multiaxes avec un effecteur final (10) propre à être positionné dans l'espace, plusieurs dispositifs d'application (11, 12) étant montés conjointement sur l'effecteur final (10), caractérisé en ce que les dispositifs d'application (11, 12) sont reliés à des systèmes d'alimentation en produit de revêtement séparés, de telle sorte qu'un changement de produit de revêtement est effectué dans l'un des dispositifs d'application (11, 12), tandis qu'un produit de revêtement est déposé au moyen de l'autre dispositif d'application (11, 12).
  17. Procédé de fonctionnement selon la revendication 16, caractérisé en ce que la largeur (b) du jet de pulvérisation est réglée sur au moins l'un des dispositifs d'application (11, 12).
  18. Procédé de fonctionnement selon la revendication 17, caractérisé en ce qu'une largeur (b) du jet de pulvérisation est réglée de telle sorte que les jets de pulvérisation des dispositifs d'application (11, 12) se chevauchent l'un l'autre.
  19. Procédé de fonctionnement selon la revendication 17 ou 18, caractérisé par les étapes suivantes :
    - détermination de la distance entre le dispositif d'application (11, 12) et la pièce (17, 21, 25) à revêtir,
    - réglage de la largeur (b) du jet de pulvérisation au moins sur un des dispositifs d'application (11, 12) en fonction de la distance déterminée, de telle sorte que les jets de pulvérisation des dispositifs d'application (11, 12) adjacents se chevauchent l'un l'autre.
  20. Procédé de fonctionnement selon la revendication 19, caractérisé en ce que le robot de peinture (1) dépose sans interruption des produits de revêtement différents.
  21. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 20, caractérisé en ce que l'un des dispositifs d'application (11) dépose toujours un produit de revêtement déterminé, tandis que l'autre dispositif d'application (12) dépose tous les autres produits de revêtement possibles.
  22. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 21, caractérisé en ce que l'un des dispositifs d'application (11) dépose une peinture à l'eau, tandis que l'autre dispositif d'application (11) dépose une peinture au solvant.
  23. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 22, caractérisé en ce que, pour le rinçage des dispositifs d'application (11, 12), l'effecteur final (10) est déplacé vers un bord de la pièce (17, 21, 25) à revêtir.
  24. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 23, caractérisé en ce que l'effecteur final (10), pendant le revêtement d'une carrosserie de véhicule automobile, est déplacé devant ou derrière la carrosserie pour le rinçage des dispositifs d'application (11, 12).
  25. Procédé de fonctionnement selon l'une quelconque des revendications 19 à 24, caractérisé en ce que l'effecteur final (10) est guidé dans une direction de levage définie le long de la surface de la pièce à revêtir, l'effecteur final (10) avec les dispositifs d'application (11, 12) étant orienté sensiblement perpendiculairement à la direction de levage.
  26. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 25, caractérisé en ce que l'effecteur final (10) est guidé dans une direction de levage définie le long de la surface de la pièce à revêtir, l'effecteur final (10) avec les dispositifs d'application (11, 12) étant orienté sensiblement parallèlement à la direction de levage.
  27. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 26, caractérisé en ce que la pièce (17, 21, 25) à revêtir est transportée dans une direction de transport définie, l'effecteur final (10) avec les dispositifs d'application (11, 12) étant orienté sensiblement perpendiculairement à la direction de transport.
  28. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 27, caractérisé en ce que la pièce (17, 21, 25) à revêtir est transportée dans une direction de transport définie, l'effecteur final (10) avec les dispositifs d'application (11, 12) étant orienté sensiblement parallèlement à la direction de transport.
  29. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 28, caractérisé en ce que l'effecteur final (10) avec les dispositifs d'application (11, 12) est guidé à plusieurs reprises sur la pièce (17, 21, 25) à revêtir dans des courses de travail parallèles ou antiparallèles, la distance entre les différentes courses de travail étant inférieure à la largeur (b) du jet de pulvérisation.
  30. Procédé de fonctionnement selon la revendication 29, caractérisé en ce que l'effecteur final (10), après un nombre défini de courses de travail, est déplacé vers l'avant sur une distance d'avance définie perpendiculairement aux courses de travail.
  31. Procédé de fonctionnement selon l'une quelconque des revendications 16 à 30, caractérisé par les étapes suivantes :
    - détermination de la distance entre les différents dispositifs d'application (11, 12) et la surface de la pièce à revêtir, séparément pour chaque dispositif d'application (11, 12),
    - adaptation sur les dispositifs d'application (11, 12) d'au moins un paramètre de service en fonction de la distance déterminée pour le dispositif d'application (11, 12) respectif.
  32. Procédé de fonctionnement selon la revendication 31, caractérisé en ce que l'adaptation concerne les paramètres de service suivants :
    - pression de l'air de guidage,
    - plusieurs pressions d'air de guidage différentes,
    - vitesse de rotation des turbines,
    - pression du produit de revêtement,
    - haute tension pour la charge du produit de revêtement,
    - débit du produit de revêtement et/ou
    - largeur (b) du jet de pulvérisation.
EP06011633A 2005-06-13 2006-06-06 Robot équipé de plusieurs appareils de pulvérisation Active EP1733799B1 (fr)

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DE102005027236A DE102005027236A1 (de) 2005-06-13 2005-06-13 Applikationsroboter mit mehreren Applikationsgeräten

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EP (1) EP1733799B1 (fr)
AT (1) ATE457834T1 (fr)
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ES (1) ES2340787T3 (fr)

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

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