EP1922152A1 - Painting installation - Google Patents

Painting installation

Info

Publication number
EP1922152A1
EP1922152A1 EP06794366A EP06794366A EP1922152A1 EP 1922152 A1 EP1922152 A1 EP 1922152A1 EP 06794366 A EP06794366 A EP 06794366A EP 06794366 A EP06794366 A EP 06794366A EP 1922152 A1 EP1922152 A1 EP 1922152A1
Authority
EP
European Patent Office
Prior art keywords
cabin
applicator
conveyor
paint
installation according
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.)
Withdrawn
Application number
EP06794366A
Other languages
German (de)
French (fr)
Inventor
Hubert Croly Labourdette
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB France SAS
Original Assignee
ABB France SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB France SAS filed Critical ABB France SAS
Publication of EP1922152A1 publication Critical patent/EP1922152A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/126—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
    • 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
    • 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
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • B05B14/40—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings

Definitions

  • the present invention relates to an in-line painting installation, in particular of motor vehicle components.
  • the paint line will be advantageous if by simple program modification operations In the case of paint robots and parts conveyors, it is possible to accept parts of another type.
  • the current lines can be classified in two main categories: - those in which a continuous conveyor ensures the circulation of parts in different successive positions; in this case the movement is continuous and the speed of movement is that imposed by the station having the longest cycle time, the robots being fixed or accompanying at least partly the conveyor in each station;
  • the present invention better meets the expectations of users than existing installations both from the point of view of economy and that of flexibility while having a flexibility of operation to reduce the best cycle times.
  • the subject of the invention is therefore a paint installation comprising at least one painting booth crossed by each of the parts to be painted, this booth being located between an upper air distribution distributor and lower means for collecting, recovering and treatment of the air laden with paint particles, this booth being furthermore equipped with at least one paint applicator on the part, provided with several degrees of freedom and a motorized conveyor of the room, with a number of degrees of freedom lower than those of the applicator.
  • the position of the room in the reference of the cabin is controlled by the position of
  • the invention in fact takes into account the fact that the conveyor of each cell is an autonomous and rustic conveyor formed for example by a roller table.
  • the degrees of freedom of the room in the cabin are those of the conveyor, allowing the advance, the stop and the recoil of this conveyor.
  • one or two directions of rotation of the part can be added around a vertical pivot perpendicular to the directions of movement of the base conveyor. In any case, it is necessary to keep the conveyor part in the cabin the simplest for ease of maintenance.
  • the servocontrol of the conveyor motor at the position of the applicator also has the advantage of treating parts of different geometries in the same paint booth.
  • each cabin comprises two independent conveyors, driven by the applicator, which makes it possible to optimize the cycle times.
  • the paint installation according to the invention lends itself to advantageous modularization. Indeed, the sweeping air requirements are sufficiently reduced so that the facility for reprocessing this air including its separation - release - from the paint, can be contained in a cabin base of dimensions writable in horizontal dimensions of the cabin so that the cabin and its base are an autonomous unit inscribed in a substantially parallelepiped frame in which may also be included the air transfer ducts recycled between the base and the upper distributor.
  • FIG. 1 is a horizontal sectional diagram of a cabin of the state of the art
  • FIG. 2 is a diagram of a cabin in horizontal section according to the installation according to the invention.
  • FIG. 3 is a diagram in vertical section of a cabin according to the installation of the invention.
  • FIG. 4 is a horizontal cross-sectional diagram of two adjacent cabins in accordance with the installation according to the invention.
  • FIG. 1 shows a painting booth 1 limited by the vertical partitions 2 with an inlet 3 and an outlet 4. Inside this booth, There is a paint robot 5 which has five or six degrees of freedom and pores at its end an applicator (not shown) such as a spray gun or rotary paint spraying bowl. This spraying is generally done in an electrostatic field so as to create a first confinement of the jet, the droplets tending to follow the field lines between the applicator which is at a positive voltage and the object to be painted which is at the mass.
  • an applicator such as a spray gun or rotary paint spraying bowl.
  • the object to be painted is carried by a support 6 which has been introduced into the cabin by the inlet 3 and which is secured to a conveyor 7 internal to the cabin, to move the carrier ⁇ inside of the cabin in the direction A of circulation of objects in the line.
  • the robot 5 of the applicator is housed in a recess 8 and its deflection angle is represented by the angle D in FIG. 1. This is the angle required for this robot so that the applicator can perform the task. all the work that has been requested since the piece to be painted enters the cabin until it comes out.
  • This deflection angle to which are added of course all the necessary extensions of the robot arm to carry out the application of the paint, define an area of the space contaminated by the paint which is not applied to the object. to paint.
  • This zone defines the location of the vertical partitions 2 of the cabin inside which a vertical flow of air is organized to precisely collect the contaminating paint particles. It has been realized that by arranging the relative movement of the applicator and the workpiece in a manner different from what exists at the present time and in particular by using the degrees of freedom of the carrier conveyor of the workpiece. better than they are used At the moment (walking, stopping or continuous running), it is possible to reduce the risk of this contamination zone and at the same time to reduce the size of the cabins and therefore the flow of sweeping air necessary for their proper functioning.
  • FIG. 2 illustrates a painting booth 10 made in accordance with the invention.
  • This servocontrol can for example consist of matching each point of the trajectory. 1 applicator in the reference in the cabin a point of the trajectory of the conveyor of this mark. It is thus possible to reduce the useful length of a cabin and thus to reduce the horizontal section. It is also possible to take advantage of the reduction in the amplitude of this angle D to modify the position of the applicator robot 5 by placing it in particular at an angle of the cabin as illustrated in FIG.
  • the angle D 2 is not the minimum that could be achieved by applying the means of the invention, but constitutes a compromise between this minimum value and the value D of the state of the art by means of which it was also possible to reduce the width of the cabin.
  • FIG 2 there is shown vertical walls 2a and 2b which form truncations of converging and divergent cab angles. These walls 2a and 2b may comprise openings for opening access openings inside the cabin or at the head of ap- application of the robot Windows 2c_ can be provided on the other parts of the walls 2.
  • FIG. 2 also shows the support 6 of an object to be painted 9 and the servo-control means U of the operation of a motor 11 for driving the conveyor 7 to the position in the space of the applicator robot 5.
  • the conveyor 7 is actually formed of two motorized conveyors 7a and 7b with two motors 11 and 12, the support 6 being secured to the conveyor 7a while a support 13 succeeding the support 6 is secured to the conveyor 7b.
  • the motor 12 of the conveyor 7b is also operatively controlled by the programmable unit 10 at the position of the applicator robot 5.
  • FIG. 3 a cabin 10 according to FIG. 2 is shown in vertical section. It can be seen that this cabin bounded by the walls 2 has in the upper part a distributor 14 for blowing air and in the lower part a unit 15 of washing of this blowing air to rid it of the paint particles which it carries, this unit 15 being connected on the one hand to tanks 16 for the recovery of the paint and the agents which carry it and on the other hand to a installation 17a, 17b of treatment and recycling of the blowing air which can be extended towards the distributor 14 superior.
  • a single conveyor 7 is shown in this figure and that it comprises a means 18 allowing a variation of the orientation of the support 6 of the object to be painted around a vertical axis 19.
  • FIG. 4 finally, we find some of the elements already described with the same references.
  • Two successive cabins 21 and 31 are shown here, each of which has two applicator robots such as 25a and 25b for the cab 21 and 35a and 35b for the cab 31 arranged in mirror with respect to a plane of symmetry. Longitudinal parallel to the running direction of the parts 9. With these lined robots, it is possible to process in a cabin two times more parts in the same cycle time while optimizing the horizontal section of the cabin.
  • each upright 40 being connectable to a corresponding upright of an adjacent module, each module comprising, as illustrated in FIG. 3, a cabin, an upper blower distributor , a blown-in air handling unit with paint separator
  • this processing unit forming the underbody of the cabin and the module also comprising conduits 41 for recycling treated air in the underbody in the direction the upper distributor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
  • Coating Apparatus (AREA)

Abstract

The invention relates to a painting installation comprising at least one painting cabin (10), through which the pieces (9) to be painted extend. The cabin is defined by lateral walls (2) between an upper air blaster and lower means for recovering and treating air loaded with paint particles. In addition, the cabin is also equipped with at least one applicator (5) which is used to apply paint to the piece (9) and which has several degrees of freedom and a conveyor (7) which is used to convey the piece (9) and which has fewer degrees of freedom than the applicator (5). According to the invention, during the time that the piece is in the cabin, the position of the piece (9) in the reference system of the cabin is controlled by the position of the applicator (5) in said reference system by programmably servoing the motor (11) of the conveyor to the applicator.

Description

Installation de peinture. Painting installation.
La présente invention concerne une installation de peinture en ligne, notamment de composants de véhicules automobiles.The present invention relates to an in-line painting installation, in particular of motor vehicle components.
ARRIERE PLAN DE L'INVENTION La peinture de composants de carrosseries de véhicules automobiles s'effectue depuis de nombreuses années en ligne. Chaque composant traverse successivement plusieurs cabines de préparation, d'application, de séchage... Les principales préoccupations des opérateurs dans le domaine de la peinture tiennent d'une part, à la réduction de la consommation d'énergie en fonctionnement et d'autre part, à la flexibilité de la ligne. Un facteur important de la dépense d'énergie tient à la création et à l'entretien d'un balayage vertical par de l'air des postes d'application de la peinture afin de limiter le plus possible la contamination des éléments de la ligne par- les particules de peinture en suspension dans l'air qui n'ont pas été déposées sur l'objet à peindre. Ces particules sont entraînées vers le bas par un flux d'air vertical balayant la totalité du volume du poste de peinture, le courant d'air aboutissant dans un caisson inférieur où il subit un traitement permettant d'une part de séparer la peinture de l'air et d'autre part de régler son degré hygrométrique afin qu'il puisse, notamment, être avantageusement recyclé. La dépense d'énergie en soufflage est une dépense de fonctionnement qu'il est intéressant de minimiser.BACKGROUND OF THE INVENTION The painting of automotive body components has been online for many years. Each component passes successively several booths for preparation, application, drying ... The main concerns of the operators in the field of painting are on the one hand, the reduction of energy consumption in operation and other on the other hand, the flexibility of the line. An important factor in energy expenditure is the creation and maintenance of a vertical air scan of the paint application stations in order to minimize contamination of the line elements by - airborne paint particles that have not been deposited on the object to be painted. These particles are driven downwards by a vertical air flow sweeping the entire volume of the paint station, the air flow ending in a lower box where it undergoes a treatment allowing on the one hand to separate the paint from the other. air and secondly to adjust its hygrometric degree so that it can, in particular, be advantageously recycled. Blowing energy expenditure is an operating expense that is worth minimizing.
Pour ce qui concerne la flexibilité, les utilisa- teurs recherchent la plus grande diversité possible des produits à peindre pouvant passer dans une même ligne. En d'autres termes, la ligne de peinture sera avantageuse si par de simples opérations de modification de programma- tion des robots de peinture et des convoyeurs supports de pièces, on peut accepter des pièces d'un autre type.As far as flexibility is concerned, the users are looking for the greatest possible diversity of products to be painted that can pass in the same line. In other words, the paint line will be advantageous if by simple program modification operations In the case of paint robots and parts conveyors, it is possible to accept parts of another type.
Les lignes actuelles peuvent être classées en deux catégories principales : - celles dans lesquelles un convoyeur continu assure la circulation des pièces dans des différents postes successifs ; dans ce cas le mouvement est continu et la vitesse de circulation est celle imposée par le poste ayant le temps de cycle le plus long, les robots étant fixes ou accompagnant au moins en partie le convoyeur dans chaque poste ;The current lines can be classified in two main categories: - those in which a continuous conveyor ensures the circulation of parts in different successive positions; in this case the movement is continuous and the speed of movement is that imposed by the station having the longest cycle time, the robots being fixed or accompanying at least partly the conveyor in each station;
- celles dans lesquelles le convoyage des pièces est assuré de manière discontinue, les pièces étant traitées dans les postes successifs alors qu'elles sont arrê- tées et les robots de traitement mobiles autour des pièces fixes ; l'ensemble des pièces est ensuite transféré au poste suivant .those in which the conveying of the parts is provided in a discontinuous manner, the parts being processed in the successive stations while they are stopped and the mobile processing robots around the fixed parts; all the pieces are then transferred to the next item.
Aucune de ces deux catégories ne présente un avantage décisif en terme de flexibilité. OBJET DE L'INVENTIONNone of these two categories has a decisive advantage in terms of flexibility. OBJECT OF THE INVENTION
La présente invention répond mieux aux attentes des utilisateurs que les installations existantes tant du point de vue de l'économie que de celui de la flexibilité tout en présentant une souplesse de fonctionnement per- mettant de réduire au mieux les temps de cycle.The present invention better meets the expectations of users than existing installations both from the point of view of economy and that of flexibility while having a flexibility of operation to reduce the best cycle times.
BREVE DESCRIPTION DE L'INVENTIONBRIEF DESCRIPTION OF THE INVENTION
Ainsi, l'invention a donc pour objet une installation de peinture comportant au moins une cabine de peinture traversée par chacune des pièces à peindre, cette cabine étant située entre un répartiteur supérieur de soufflage d'air et des moyens inférieurs de collecte, récupération et traitement de l'air chargé de particules de peinture, cette cabine étant en outre équipée d'au moins un applicateur de peinture sur la pièce, doté de plusieurs degrés de liberté et d'un convoyeur motorisé de la pièce, doté d'un nombre de degrés de liberté inférieur à ceux de 1 'applicateur .Thus, the subject of the invention is therefore a paint installation comprising at least one painting booth crossed by each of the parts to be painted, this booth being located between an upper air distribution distributor and lower means for collecting, recovering and treatment of the air laden with paint particles, this booth being furthermore equipped with at least one paint applicator on the part, provided with several degrees of freedom and a motorized conveyor of the room, with a number of degrees of freedom lower than those of the applicator.
Selon l'invention, pendant le temps de séjour de la pièce dans la cabine, la position de la pièce dans le repère de la cabine est commandée par la position deAccording to the invention, during the residence time of the room in the cabin, the position of the room in the reference of the cabin is controlled by the position of
1 ' applicateur dans ce repère au moyen d'un asservissement du moteur du convoyeur à 1 'applicateur .1 applicator in this frame by means of a servo motor from the conveyor to the applicator.
L'un des résultats de cette liaison asservie du convoyeur et de 1 ' applicateur (qui peut être réalisée point par point : à chaque point de 1 ' applicateur correspond une position du convoyeur) est de pouvoir confiner les mouvements relatifs de la pièce et de 1 ' applicateur dans un espace dont le volume est le plus petit possible. Par conséquent, les extensions du bras de robot appartenant à 1 ' applicateur peuvent être minimisées au point qu'il peut être possible de limiter les mouvements de 1 ' applicateur dans un secteur de l'espace d'angle plus étroit que celui nécessaire auparavant. Ainsi l'applica- teur peut être logé dans l'angle d'une cabine, ce qui permet de réduire l'emprise au sol de celle-ci et donc la section du volume balayé par le courant d'air. Il s'ensuit, toutes choses égales par ailleurs, une économie d1 énergie . Les parois verticales qui délimitent une telle cabine peuvent être alors divergentes à partir de l'entrée de la cabine et convergentes vers sa sortie, l' applicateur étant logé au voisinage de l'une de ces parois obliques . II faut noter qu'on obtient un confinement maximum lorsque 1 ' applicateur de peinture est fixe et que tous les degrés de libertés relatifs de la pièce à peindre par rapport à l 'applicateur sont portés par le convoyeur de la pièce. Il s'agit là cependant d'une condi- tion théorique qui ne peut pas correspondre à la réalité d'une ligne de peinture™ En effet, un tel convoyeur serait constitué par un robot avec au moins six axes. Cette solution serait d'un coût totalement prohibitif. De plus, il n'est pas envisageable de prévoir des robots pour la manipulation d'une carrosserie entière alors que l'invention s'y prête. Enfin, un tel robot convoyeur serait nécessairement exposé à la contamination et le coût de son entretien serait également très élevé. L'invention en réalité, prend en compte le fait que le convoyeur de chaque cellule est un convoyeur autonome et rustique formé par exemple par une table à rouleaux. Les degrés de liberté de la pièce dans la cabine sont ceux du convoyeur, permettant l'avance, l'arrêt et le recul de ce convoyeur. Dans une version plus élaborée, on peut y ajouter un ou deux sens de rotation de la pièce autour d'un pivot vertical perpendiculaire aux sens de déplacement du convoyeur de base. En tout état de cause, il convient de conserver au convoyeur de la pièce dans la cabine la plus grande simplicité pour en faciliter l'entretien. L'asservissement du moteur du convoyeur à la position de 1 ' applicateur présente par ailleurs l'avantage de traiter des pièces de géométries différentes dans une même cabine de peinture. En effet, la trajectoire de 1 'applicateur est' apprise ou programmée et à partir de cette nouvelle trajectoire pour une nouvelle pièce, il suffit de modifier les paramètres d'asservissement du fonctionnement du convoyeur à cette nouvelle trajectoire pour obtenir le résultat voulu. De plus, grâce à l'invention, on peut gagner au moins partiellement du temps nécessaire soit au transfert d'une pièce d'un poste à l'autre, soit au changement de teinte d'une pièce à l'autre. De manière préférée, chaque cabine comporte deux convoyeurs indépendants .pilotés par l ' applicateur, ce qui permet d'optimiser les temps de cycles.One of the results of this slave connection of the conveyor and the applicator (which can be achieved point by point: at each point of the applicator corresponds to a position of the conveyor) is to be able to confine the relative movements of the workpiece and The applicator in a space whose volume is as small as possible. Therefore, the extensions of the robot arm belonging to the applicator can be minimized to the point that it may be possible to limit the movements of the applicator in a narrower sector of the angle space than previously required. Thus the applicator can be housed in the angle of a cabin, which reduces the footprint of the latter and therefore the section of the volume swept by the air stream. Hence, all things being equal, an economy of 1 energy. The vertical walls which define such a cabin may then be divergent from the entry of the cabin and converging towards its exit, the applicator being housed in the vicinity of one of these oblique walls. It should be noted that maximum confinement is achieved when the paint applicator is stationary and all degrees of relative freedom of the workpiece relative to the applicator are carried by the workpiece conveyor. However, this is a condition Theoretical reasoning that can not correspond to the reality of a painting line ™ Indeed, such a conveyor would be constituted by a robot with at least six axes. This solution would be of a totally prohibitive cost. In addition, it is not conceivable to provide robots for handling a whole body while the invention lends itself. Finally, such a conveyor robot would necessarily be exposed to contamination and the cost of its maintenance would also be very high. The invention in fact takes into account the fact that the conveyor of each cell is an autonomous and rustic conveyor formed for example by a roller table. The degrees of freedom of the room in the cabin are those of the conveyor, allowing the advance, the stop and the recoil of this conveyor. In a more elaborate version, one or two directions of rotation of the part can be added around a vertical pivot perpendicular to the directions of movement of the base conveyor. In any case, it is necessary to keep the conveyor part in the cabin the simplest for ease of maintenance. The servocontrol of the conveyor motor at the position of the applicator also has the advantage of treating parts of different geometries in the same paint booth. In fact, the trajectory of the applicator is learned or programmed and from this new trajectory for a new part, it suffices to modify the parameters of servocontrol of the operation of the conveyor to this new trajectory to obtain the desired result. Moreover, thanks to the invention, it is possible to gain at least partially the time required either for the transfer of a piece from one item to another, or for the change of color from one piece to another. Preferably, each cabin comprises two independent conveyors, driven by the applicator, which makes it possible to optimize the cycle times.
Enfin, l'installation de peinture selon l ' inven- tion se prête à une modularisation avantageuse. En effet, les besoins en air de balayage sont suffisamment réduits pour que l'installation de retraitement de cet air comprenant sa séparation - relargage - d'avec la peinture, puisse être contenus dans un soubassement de la cabine de dimensions inscriptibles dans celles horizontales de la cabine de sorte que la cabine et son soubassement constituent une unité autonome inscrite dans un bâti sensiblement parallélépipédique dans lequel peuvent également être incluses les gaines de transfert de l'air recyclé entre le soubassement et le répartiteur supérieur.Finally, the paint installation according to the invention lends itself to advantageous modularization. Indeed, the sweeping air requirements are sufficiently reduced so that the facility for reprocessing this air including its separation - release - from the paint, can be contained in a cabin base of dimensions writable in horizontal dimensions of the cabin so that the cabin and its base are an autonomous unit inscribed in a substantially parallelepiped frame in which may also be included the air transfer ducts recycled between the base and the upper distributor.
D'autres caractéristiques et avantages de l'invention ressortiront de la description des exemples de réalisation donnés ci-après à titre purement indicatif.Other features and advantages of the invention will emerge from the description of the exemplary embodiments given below purely for information.
BREVE DESCRIPTION DES DESSINS II sera fait référence aux dessins annexés parmi lesquels :BRIEF DESCRIPTION OF THE DRAWINGS Reference will be made to the accompanying drawings in which:
- la figure 1 est un schéma en coupe horizontale d'une cabine de l'état de la technique,FIG. 1 is a horizontal sectional diagram of a cabin of the state of the art,
- la figure 2 est un schéma d'une cabine en coupe horizontale conforme à l'installation selon l'invention,FIG. 2 is a diagram of a cabin in horizontal section according to the installation according to the invention,
- la figure 3 est un schéma en coupe verticale d'une cabine conforme à l'installation de l'invention,FIG. 3 is a diagram in vertical section of a cabin according to the installation of the invention,
- la figure 4 est un schéma en coupe horizontale de deux cabines adjacentes conformes à l'installation se- Ion l'invention.FIG. 4 is a horizontal cross-sectional diagram of two adjacent cabins in accordance with the installation according to the invention.
DESCRIPTION DETAILLEE DE L'INVENTION A la figure 1 on a représenté une cabine de peinture 1 limitée par les cloisons verticales 2 avec une entrée 3 et une sortie 4. A l'intérieur de cette cabine, se trouve un robot de peinture 5 gui dispose de cinq ou six degrés de liberté et por.te à son extrémité un applicateur non représenté tel qu'un pistolet ou un bol rotatif de pulvérisation de la peinture. Cette pulvérisation se fait généralement dans un champ électrostatique de manière à créer un premier confinement du jet, les gouttelettes tendant à suivre les lignes de champ s ' instaurant entre 1 'applicateur qui est à une tension positive et l'objet à peindre qui est à la masse. L'objet à peindre est quant à lui porté par un support 6 qui a été introduit dans la cabine par l'entrée 3 et qui est solidaire d'un convoyeur 7 interne à la cabine, permettant de déplacer ce support β à l'intérieur de la cabine dans le sens A de circulation des objets dans la ligne. Le robot 5 de 1 ' applicateur est logé dans une niche 8 et son angle de débattement est représenté par l'angle D sur la figure 1. Il s'agit de l'angle nécessaire à ce robot pour que 1 'applicateur puisse effectuer la totalité du travail qui lui est demandé depuis que la pièce à peindre entre dans la cabine jusqu'à ce qu'elle en sorte. Cet angle de débattement auquel s'ajoutent bien entendu toutes les extensions nécessaires du bras du robot pour réaliser l'application de la peinture, définissent une zone de l'espace contaminé par la pein- ture qui n'est pas appliquée sur l'objet à peindre. L'étendue de cette zone définit l'emplacement des cloisons verticales 2 de la cabine à l'intérieur desquelles on organise un flux vertical d'air pour justement collecter les particules de peinture contaminantes. On s'est rendu compte qu'en organisant le mouvement relatif de 1 'applicateur et de la pièce d'une manière différente de ce qui existe à l'heure actuelle et en particulier en utilisant les degrés de liberté du convoyeur porteur de la pièce mieux qu'ils ne sont utilisés à l'heure actuelle (marche, arrêt ou défilement continu), on parvient à réduire llemprise de cette zone de contamination et par la même occasion à réduire la taille des cabines donc le flux d'air de balayage nécessaire à leur bon fonctionnement.DETAILED DESCRIPTION OF THE INVENTION FIG. 1 shows a painting booth 1 limited by the vertical partitions 2 with an inlet 3 and an outlet 4. Inside this booth, There is a paint robot 5 which has five or six degrees of freedom and pores at its end an applicator (not shown) such as a spray gun or rotary paint spraying bowl. This spraying is generally done in an electrostatic field so as to create a first confinement of the jet, the droplets tending to follow the field lines between the applicator which is at a positive voltage and the object to be painted which is at the mass. The object to be painted is carried by a support 6 which has been introduced into the cabin by the inlet 3 and which is secured to a conveyor 7 internal to the cabin, to move the carrier β inside of the cabin in the direction A of circulation of objects in the line. The robot 5 of the applicator is housed in a recess 8 and its deflection angle is represented by the angle D in FIG. 1. This is the angle required for this robot so that the applicator can perform the task. all the work that has been requested since the piece to be painted enters the cabin until it comes out. This deflection angle, to which are added of course all the necessary extensions of the robot arm to carry out the application of the paint, define an area of the space contaminated by the paint which is not applied to the object. to paint. The extent of this zone defines the location of the vertical partitions 2 of the cabin inside which a vertical flow of air is organized to precisely collect the contaminating paint particles. It has been realized that by arranging the relative movement of the applicator and the workpiece in a manner different from what exists at the present time and in particular by using the degrees of freedom of the carrier conveyor of the workpiece. better than they are used At the moment (walking, stopping or continuous running), it is possible to reduce the risk of this contamination zone and at the same time to reduce the size of the cabins and therefore the flow of sweeping air necessary for their proper functioning.
La figure 2 illustre une cabine 10 de peinture réalisée conformément à l'invention. En asservissant le mouvement du convoyeur 7 à la position de l ' applicateur de peinture, on comprend qu'il est possible de réduire l'amplitude de l'angle D. Cet asservissement peut par exemple consister à faire correspondre à chaque point de la trajectoire de 1 ' applicateur dans le repère dans la cabine un point de la trajectoire du convoyeur de ce repère. On parvient ainsi à réduire la longueur utile d'une cabine et donc à en diminuer la section horizontale. On peut également profiter de la réduction de l'amplitude de cet angle D pour modifier la position du robot applicateur 5 en le plaçant notamment dans un angle de la cabine comme illustré à la figure 2, ce qui permet de trouver un compromis entre l'obtention d'une réduction de la longueur de la cabine dans le sens de déplacement A du convoyeur et de la largeur de cette cabine puisqu'il est possible de supprimer la niche 8 de la figure 1. En d'autres termes l'angle D' représenté à la figure 2 n'est pas celui minimal que^ l'on pourrait atteindre en appliquant les moyens de 1 ' invention, mais constitue un compromis entre cette valeur minimale et la valeur D de 'l'état de la technique grâce auquel on a pu également réduire la largeur de la cabine . A la figure 2 on a représenté des parois verticales 2a et 2b qui forment des troncatures des angles de la cabine convergentes et divergentes. Ces parois 2a et 2b peuvent comporter des ouvrants pour ménager des ouvertures d'accès à l'intérieur de la cabine où à la tête d'ap- plication du robot Des vitres 2c_ peuvent être prévues sur les autres parties des parois 2.Figure 2 illustrates a painting booth 10 made in accordance with the invention. By slaving the movement of the conveyor 7 to the position of the paint applicator, it will be understood that it is possible to reduce the amplitude of the angle D. This servocontrol can for example consist of matching each point of the trajectory. 1 applicator in the reference in the cabin a point of the trajectory of the conveyor of this mark. It is thus possible to reduce the useful length of a cabin and thus to reduce the horizontal section. It is also possible to take advantage of the reduction in the amplitude of this angle D to modify the position of the applicator robot 5 by placing it in particular at an angle of the cabin as illustrated in FIG. 2, which makes it possible to find a compromise between the obtaining a reduction of the length of the cabin in the direction of movement A of the conveyor and the width of this cabin since it is possible to remove the niche 8 of FIG. 1. In other words the angle D 2 is not the minimum that could be achieved by applying the means of the invention, but constitutes a compromise between this minimum value and the value D of the state of the art by means of which it was also possible to reduce the width of the cabin. In Figure 2 there is shown vertical walls 2a and 2b which form truncations of converging and divergent cab angles. These walls 2a and 2b may comprise openings for opening access openings inside the cabin or at the head of ap- application of the robot Windows 2c_ can be provided on the other parts of the walls 2.
A la figure 2 on a aussi représenté le support 6 d'un objet à peindre 9 et les moyens d'asservissement U du fonctionnement d'un moteur 11 d'entraînement du convoyeur 7 à la position dans l'espace du robot applicateur 5.FIG. 2 also shows the support 6 of an object to be painted 9 and the servo-control means U of the operation of a motor 11 for driving the conveyor 7 to the position in the space of the applicator robot 5.
Dans un mode préféré de réalisation, le convoyeur 7 est en réalité formé de deux convoyeurs motorisés 7a et 7b avec deux moteurs 11 et 12, le support 6 étant solidaire du convoyeur 7a tandis qu'un support 13 succédant au support 6 est solidaire du convoyeur 7b. Le moteur 12 du convoyeur 7b est également asservi en fonctionnement par l'unité programmable 10 à la position du robot appli- cateur 5. Par cette disposition, on peut donc gérer au mieux la position relative de deux supports consécutifs 6 et 13 afin d'optimiser les temps de travail en préparant en temps masqué la venue d'un objet solidaire du support 13 pendant que l'objet 9 du support 6 est traité en pein- ture . La commande asservie des moteurs 11 et 12 permet d'obtenir des vitesse variables dans un sens B ou dans l'autre C de chacun des convoyeurs 7a, 7b, ainsi que des temps d ' arrêt .In a preferred embodiment, the conveyor 7 is actually formed of two motorized conveyors 7a and 7b with two motors 11 and 12, the support 6 being secured to the conveyor 7a while a support 13 succeeding the support 6 is secured to the conveyor 7b. The motor 12 of the conveyor 7b is also operatively controlled by the programmable unit 10 at the position of the applicator robot 5. By this arrangement, it is therefore possible to best manage the relative position of two consecutive supports 6 and 13 in order to optimize the working time by preparing in time masked the arrival of an object secured to the support 13 while the object 9 of the support 6 is treated in paint. The slave control of the motors 11 and 12 makes it possible to obtain variable speeds in a direction B or in the other C of each of the conveyors 7a, 7b, as well as stopping times.
A la figure 3 on a représenté en coupe verticale une cabine 10 conforme à la figure 2. On constate que cette cabine limitée par les parois 2 possède en partie supérieure un répartiteur 14 d'air de soufflage et en partie inférieure, une unité 15 de lavage de cet air de soufflage pour le débarrasser des particules de peinture dont il est porteur, cette unité 15 étant connectée d'une part à des cuves 16 de récupération de la peinture et des agents qui la portent et d'autre part d'une installation 17a, 17b de traitement et recyclage de l'air de soufflage qui peut être reconduit en direction du répartiteur 14 supérieur. On notera qu'un seul convoyeur 7 est représenté sur cette figure et que celui-ci comporte un moyen 18 permettant une variation de l'orientation du support 6 de l'objet à peindre autour d'un axe vertical 19. Sur la figure 4 enfin, on retrouve certains des éléments déjà décrits avec les mêmes références.In FIG. 3, a cabin 10 according to FIG. 2 is shown in vertical section. It can be seen that this cabin bounded by the walls 2 has in the upper part a distributor 14 for blowing air and in the lower part a unit 15 of washing of this blowing air to rid it of the paint particles which it carries, this unit 15 being connected on the one hand to tanks 16 for the recovery of the paint and the agents which carry it and on the other hand to a installation 17a, 17b of treatment and recycling of the blowing air which can be extended towards the distributor 14 superior. Note that a single conveyor 7 is shown in this figure and that it comprises a means 18 allowing a variation of the orientation of the support 6 of the object to be painted around a vertical axis 19. In FIG. 4 finally, we find some of the elements already described with the same references.
On a ici représenté deux cabines successives 21 et 31 qui chacune possède deux robots applicateurs tels que 25a et 25b pour la cabine 21 et 35a et 35b pour la cabine 31 disposés en miroir l'un de l'autre par rapport à un plan de symétrie longitudinal parallèle à la direction de cheminement des pièces 9. Avec ces robots doublés, on peut traiter dans une cabine deux fois plus de pièces dans un même temps de cycle tout en optimisant la section horizontale de la cabine. Si des objets 9 de la cabine 31 sont solidaires d'un support 6 lui-même attelé au convoyeur 37a de cette cabine, les objets 9 traités dans la cabine 21 sont portés par un support 13 attelé au convoyeur 27b de la cabine 21 de sorte que lorsque ces pièces parviendront à la cabine 31, le support 13 sera pris en charge par le convoyeur 37b distinct du convoyeur 37a afin de pouvoir ajuster au mieux les positions relatives des pièces entrantes et des pièces en traitement dans la cabine 31. On aperçoit sur cette figure 4 les montants verticaux 40 d'une structure de bâti parallélé- pipédique, chaque montant 40 étant assemblable à un montant correspondant d'un module adjacent, chaque module comprenant comme illustré à la figure 3, une cabine, un répartiteur de soufflage supérieur, une unité de traite- ment de l'air soufflé chargé de peinture avec séparateurTwo successive cabins 21 and 31 are shown here, each of which has two applicator robots such as 25a and 25b for the cab 21 and 35a and 35b for the cab 31 arranged in mirror with respect to a plane of symmetry. Longitudinal parallel to the running direction of the parts 9. With these lined robots, it is possible to process in a cabin two times more parts in the same cycle time while optimizing the horizontal section of the cabin. If objects 9 of the cabin 31 are secured to a support 6 itself attached to the conveyor 37a of this cabin, the objects 9 treated in the cabin 21 are carried by a support 13 coupled to the conveyor 27b of the cabin 21 so when these parts reach the cabin 31, the support 13 will be supported by the conveyor 37b separate from the conveyor 37a in order to be able to better adjust the relative positions of the incoming parts and parts in treatment in the cabin 31. We can see on this FIG. 4 the vertical uprights 40 of a parallelepipedic frame structure, each upright 40 being connectable to a corresponding upright of an adjacent module, each module comprising, as illustrated in FIG. 3, a cabin, an upper blower distributor , a blown-in air handling unit with paint separator
(relargage) de la peinture et recyclage de l'air, cette unité de traitement formant le soubassement de la cabine et le module comportant également des conduites 41 de recyclage de l'air traité dans le soubassement en direction du répartiteur supérieur.(Release) of the paint and recycling of the air, this processing unit forming the underbody of the cabin and the module also comprising conduits 41 for recycling treated air in the underbody in the direction the upper distributor.
Grâce à cette structure modulaire, il est tout à fait possible de transformer une ligne existante qui comprend par exemple les deux cabines adjacentes 21 et 31 de la figure 4 en extrayant de la ligne le module qui porte la cabine 31 pour le remplacer par exemple par un module d'aiguillage (un carrousel) offrant une sortie pour la cabine 21 et trois entrées pour trois lignes de traitement parallèles ou secondaires afin de pouvoir répondre à une évolution de l'installation requise par l'utilisateur. With this modular structure, it is quite possible to transform an existing line which comprises for example the two adjacent cabins 21 and 31 of Figure 4 by extracting from the line the module which carries the cabin 31 to replace it for example by a switching module (carousel) providing an output for the cabin 21 and three inputs for three parallel or secondary processing lines in order to respond to a change in the installation required by the user.

Claims

REVENDICATIONS
1. Installation de peinture comportant au moins une cabine (10) de peinture traversée par chacune des pièces (9) à peindre, cette cabine étant limitée par des parois latérales (2) entre un distributeur (14) supérieur de soufflage d'air et des moyens (15, 16, 17a, 17b) inférieurs de récupération et de traitement de l'air chargé de particules de peinture, cette cabine étant en outre équipée d'au moins un applicateur (5) de peinture sur la pièce (9), doté de plusieurs degrés de liberté et d'un convoyeur (7) de la pièce (9) doté d'un nombre de degrés de liberté inférieur à ceux de 1 ' applicateur (5), caractérisée en ce que, pendant le temps de séjour de la pièce dans la cabine, la position de la pièce (9) dans le repère de la cabine est commandée par la position de l' applicateur (5) dans ce repère au moyen d'un asservissement programmable du moteur (11) du convoyeur à 1 ' applicateur .1. Painting installation comprising at least one paint booth (10) traversed by each of the parts (9) to be painted, this booth being limited by side walls (2) between an upper air supply distributor (14) and lower means (15, 16, 17a, 17b) for the recovery and treatment of the paint-laden air, this booth being furthermore equipped with at least one paint applicator (5) on the part (9) , provided with several degrees of freedom and a conveyor (7) of the part (9) having a lower number of degrees of freedom than the applicator (5), characterized in that, during the time of living room in the cabin, the position of the room (9) in the reference of the cabin is controlled by the position of the applicator (5) in this frame by means of a programmable servocontrol of the engine (11) of the conveyor to the applicator.
2. Installation selon la revendication 1, carac- térisée en ce que 1 ' applicateur (5) est disposé dans un angle des parois latérales de la cabine.2. Installation according to claim 1, charac- terized in that the applicator (5) is disposed in an angle of the side walls of the cabin.
3. Installation selon la revendication 1 ou la revendication 2, caractérisée en ce que les parois latérales (2) de la cabine de peinture comportent dans le sens de circulation (A) des pièces, une partie divergente (2a.) à l'entrée (3) de la cabine et une partie convergente (2b) à la sortie (4) de la cabine, l 'applicateur (5) étant adjacent à l'une de ses parties inclinées.3. Installation according to claim 1 or claim 2, characterized in that the side walls (2) of the paint booth have in the direction of circulation (A) parts, a divergent portion (2a.) At the entrance. (3) of the cabin and a converging portion (2b) at the exit (4) of the cabin, the applicator (5) being adjacent to one of its inclined portions.
4. Installation selon la revendication 3, carac- térisée en ce que certaines des parties convergentes (2b) et/ou divergentes (2a) des parois de la cabine comportent des ouvertures d'accès à l'intérieur de la cabine ou à la tête active de 1 'applicateur (5) .4. Installation according to claim 3, charac- terized in that some of the converging portions (2b) and / or divergent (2a) of the walls of the cabin have access openings to the interior of the cabin or to the head active application 1 (5).
5. Installation selon l'une des revendications 3 et 4, caractérisée en ce que les autres parties de cabine sont pourvues de baies vitrées .5. Installation according to one of claims 3 and 4, characterized in that the other cab parts are provided with bay windows.
6. Installation selon l'une quelconque des revendications précédentes, caractérisée en ce que la cabine comporte deux convoyeurs (7a, 7b) asservis à l'applica- teur (5) .6. Installation according to any one of the preceding claims, characterized in that the cabin comprises two conveyors (7a, 7b) slaved to the applicator (5).
7. Installation selon l'une quelconque des revendications précédentes, caractérisée en ce que la cabine appartient à un module autonome comportant en soubasse- ment les moyens de traitement de l'air et de son recyclage (15, 16, 17a, 17b) , en sommet les moyens de répartition (14) du soufflage d'air ainsi que les gaines (41) de transfert de l'air recyclé entre le soubassement et le répartiteur (14) supérieur. 7. Installation according to any one of the preceding claims, characterized in that the cabin belongs to an autonomous module comprising in basement the air treatment means and its recycling (15, 16, 17a, 17b), at the top of the distribution means (14) of the air blowing as well as the sheaths (41) of transfer of recycled air between the base and the upper distributor (14).
EP06794366A 2005-09-07 2006-08-29 Painting installation Withdrawn EP1922152A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0509140A FR2890323B1 (en) 2005-09-07 2005-09-07 PAINTING INSTALLATION
PCT/FR2006/002000 WO2007028873A1 (en) 2005-09-07 2006-08-29 Painting installation

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EP1922152A1 true EP1922152A1 (en) 2008-05-21

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CN (1) CN101272867A (en)
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WO (1) WO2007028873A1 (en)

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WO2011121255A1 (en) * 2010-04-02 2011-10-06 Faurecia Bloc Avant Modular painting line
ITMI20130490A1 (en) 2013-03-29 2014-09-30 Sat Surface Aluminium Technologies S P A PAINTING CABIN FOR ELEMENTS TO BE PAINTED WITH CONSIDERABLE LENGTH
ITFI20130099A1 (en) * 2013-05-03 2014-11-04 Makor S R L Unipersonale EQUIPMENT FOR THE TREATMENT OF SEMI-FINISHED PRODUCTS

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US4539932A (en) * 1983-04-01 1985-09-10 General Motors Corporation Robot painting system for automobiles
GB8501776D0 (en) * 1985-01-24 1985-02-27 Haden Drysys Int Ltd System for applying material to surface areas of the body
JPS6475077A (en) * 1987-09-12 1989-03-20 Taikisha Kk Spray electrostatic coating method
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US20080271670A1 (en) 2008-11-06
FR2890323A1 (en) 2007-03-09
CN101272867A (en) 2008-09-24
FR2890323B1 (en) 2007-11-30

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