EP2095884B1 - Anordnung zum Beschichten von Werkstücken - Google Patents

Anordnung zum Beschichten von Werkstücken Download PDF

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Publication number
EP2095884B1
EP2095884B1 EP09001280A EP09001280A EP2095884B1 EP 2095884 B1 EP2095884 B1 EP 2095884B1 EP 09001280 A EP09001280 A EP 09001280A EP 09001280 A EP09001280 A EP 09001280A EP 2095884 B1 EP2095884 B1 EP 2095884B1
Authority
EP
European Patent Office
Prior art keywords
lacquering
workpiece
movement
chassis
coating
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.)
Not-in-force
Application number
EP09001280A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2095884A1 (de
Inventor
Gerhard Dipl.-Ing. Fröhlich
Gunter Dr.-Ing. Börner
Thomas Dipl.-Ing. Kroll
John Winter
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 AG Germany
Original Assignee
ABB AG Germany
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 AG Germany filed Critical ABB AG Germany
Priority to PL09001280T priority Critical patent/PL2095884T3/pl
Publication of EP2095884A1 publication Critical patent/EP2095884A1/de
Application granted granted Critical
Publication of EP2095884B1 publication Critical patent/EP2095884B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B05B13/0431—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
    • B05B16/00—Spray booths
    • B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
    • 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
    • B05B16/80—Movable spray booths

Definitions

  • the invention relates to an arrangement for coating workpieces according to the preamble of claim 1, and to a method for coating a workpiece according to the preamble of claim 8.
  • Suitable painting devices are, for example, painting robots, which are provided with a paint atomizer.
  • a paint atomizer for example, painting robots, which are provided with a paint atomizer.
  • several against each other immovably arranged in the form of a portal paint sprayer, through which portal an object to be painted is movable to view as painting.
  • a painting robot leads the paint atomizer during the coating process according to the program along a predetermined path of movement at a predetermined speed around the workpiece to be coated, wherein the paint atomizer are usually given respective Zerstäuberparameter for the different sections of the trajectory.
  • a paint robot has six degrees of freedom of movement and is limited in its work area to a range of 2m to 3m around its base. With such a robot, for example, smaller workpieces such as bumpers of automobile bodies without a relative movement of robot base to workpiece paintable.
  • the movement of the very long workpiece during the coating process should be avoided as much as possible in order to avoid otherwise occurring paint defects safely.
  • the rotor blade is mostly fixed in a horizontal position on one side of the rotor flange, so that any movement of the rotor blade this vibrate, for example, with an amplitude of more than +/- 250mm at its free non-tensioned end, which makes a coating process almost impossible.
  • a disadvantage of a large length of a travel rail of a painting device, for example, 40m are both the high technical complexity for the establishment of a correspondingly long paint booth with Verfahrschiene and the resulting from the length of the cabin effort for their ventilation.
  • a generally common air sink rate of 0.3 m / s and a spray booth floor plan of 50 mx 6 m there is a requirement of approx. 320000 m 3 of air per hour, which must also be filtered and conditioned.
  • GB 706 600 discloses a generic arrangement for coating workpieces.
  • EP 1 506 819 discloses an apparatus for coating workpieces.
  • a length of the movable rail from 5m to 10m even with very long to be painted workpieces with, for example, 20m to over 70m length completely sufficient.
  • the painting robot has a very good reachability of a workpiece parallel to the travel rail along the travel rail, so that it is completely coatable.
  • the Verfahrschiene is connected to at least one chassis, which allows a uniform movement of the Verfahrschiene.
  • the chassis has at least two mutually parallel axes, which each provided with at least one guided in or on rails wheel.
  • the chassis has at least two mutually parallel axes, which each provided with at least one guided in or on rails wheel.
  • a particularly low-friction mobility of the chassis is given.
  • the guidance of the wheels of the chassis by means of a rail provides the path of the Verfahrschiene in turn, which preferably runs parallel to the path of movement of the painting robot on the Verfahrschiene itself.
  • positioning rails are arranged parallel to one another and rigidly coupled to one another at a fixed distance from one another.
  • the rigid coupling of the travel rails preferably takes place in such a way that the coupling means, for example a cross member, do not collide with a possible bearing of the workpiece when changing a working position of the device, for example a support which removes the load of the workpiece downwards.
  • the coupling means for example a cross member
  • Verfahrschienen also reduces the effort to spend the arrangement in a different working position.
  • a chassis carrying the travel rail is movable by means of a drive.
  • a change of the working position of an arrangement according to the invention is thereby further simplified.
  • a painting booth according to the invention is generally provided with a protective wall and optionally with a cover which completely surrounds the painting apparatus and its working area.
  • This protective wall is preferably provided at its two end faces, each with a portal-like opening, which allows to introduce a workpiece in the work space delimited by the paint booth or elongate components whose length exceeds the length of the paint booth to edit segments in the work space.
  • a method is made possible which permits the coating of a workpiece which is preferably immutable for the duration of the machining, the cross-section of the portal opening defining the maximum size of the workpiece which can be machined.
  • the paint booth is preferably open on its underside below the work area, that is, it has no floor connected to the paint booth, so as to allow, if necessary, the support of the workpiece from below.
  • Each painting device which in turn has a working area, is suitable for use in the paint booth.
  • This is, for example, an industrial robot with 6 degrees of freedom without its own travel rail but also a painting portal mentioned in the introduction, which can be moved along a positioning rail located in the paint booth.
  • the protective wall surrounding the paint booth represents a protection of the environment from the paint mist inevitably arising during the coating process.
  • the arrangement of the paint sprayer together with the spray booth on two or more chassis allows a simple change of a working position of the spray booth.
  • a workpiece which is longer than the working area of the painting device within the painting booth can be coated by moving the painting booth in the longitudinal direction in further working positions, the length of the traveling rail and thus also of the painting booth being shortened.
  • the painting device is formed by at least two painting robots, which are arranged on both sides of the working area.
  • Painting robots preferably those with 6 degrees of freedom of movement, have a high flexibility and a working range of about 2m to 3m around their base.
  • An arrangement of a painting device over an object to be painted, for example, on a connection carrier between two parallel positioning rails is within the meaning of the invention.
  • a mutual arrangement of the painting robot to the work area allows a two-sided coating of a portion of the workpiece in one and the same position of the paint booth.
  • the at least two painting robots provided are each longitudinally movable on a traveling rail arranged on both sides of the working area in the paint booth, these being supported on at least one chassis.
  • the working range of the painting robot within the paint booth is thus expanded and the number of positions required for coating a long workpiece positions of the paint booth is reduced in an advantageous manner.
  • a particularly preferred embodiment of the paint booth is provided with a device for supplying and / or discharging air, in which preferably also an air filter can be arranged.
  • the paint mist produced during the coating process can be sucked out of the paint booth in this way and the quality of the paint finish can thus be increased.
  • the paint booth is preferably operated under reduced pressure, ie more air is extracted in the floor area of the spray booth than flows in through the cabin ceiling.
  • the lack of air is through the opposite portal-like openings sucked in from the environment. As a result, the outlet of paint mist is reduced to the environment in an advantageous manner.
  • containers for liquid media for example storage and / or collecting containers for paint and / or solvents, are arranged thereon movably with the paint booth, so that expensive supply lines for the various liquids are dispensable.
  • a travel of 50m and more By arranging the media container on the paint booth, a correspondingly long media line, for example for paint, is avoided by the movable paint booth to a stationary paint supply, for example by means of a paint line.
  • the solution of the third object namely to provide a method for coating a workpiece in a paint booth with the features described above, wherein the workpiece is longer than the work area bounded by the paint booth is characterized by the characterizing features of claim 8.
  • the painting booth is hereby moved to coat a respective section in a position in which the portion of the workpiece intended for coating is arranged in the working area and thus enclosed by the painting booth and can be coated by means of the painting device.
  • any number of sections to be coated and any number of adjacent positions of the paint booth are provided, wherein the paint booth is moved almost continuously during the coating process of several section.
  • the current relative position of the paint booth to the workpiece is the reference for the movement of the painting. In this case, this should largely avoid program-specific traversing movement on the travel rail, which results in dynamic forces on the paint booth in its travel direction.
  • the program-related movement of the paint booth is predetermined by a robot controller.
  • the movement of the paint booth is to be regarded as the eighth degree of freedom, with corresponding movements are given in the same manner as in the seven other degrees of freedom of one and the same robot control.
  • the traversing movement of the painting booth is treated in terms of control engineering like a traversing movement of the painting robot on a traversing rail.
  • control of the movement is taken over by an existing robot control, which thus controls and coordinates all movements of painting robot and paint booth.
  • the movement of movement of the paint booth is determined on the basis of the surface of the workpiece to be painted in a respective section. The smaller the area per length of a section to be painted of the workpiece, the faster a further working position is approached.
  • the painting time for a workpiece can thus be reduced in an advantageous manner.
  • Fig. 1 shows an exemplary arrangement 10 of a painting robot 12 on a movable rail 14. This arrangement is to be regarded as part of a further arrangement, which in Fig. 2 is shown and which represents two interconnected parallel rails.
  • the painting robot 12 preferably has seven degrees of freedom of movement, including the travel rail, also referred to as the 'seventh axis'.
  • An arrow indicates the two traversing directions 90, along which the painting robot 12 can be moved on the travel rail 14 in accordance with the specification by a machining program which determines the path of movement of a paint sprayer connected to the painting robot 12 and not shown.
  • the Verfahrschiene 14 is a standard Verfahrschiene for Painting robot, which is usually offered by the same manufacturer, as the associated painting robot.
  • the Verfahrschiene 14 is connected at its two ends, each with a first chassis 16 and a second chassis 18.
  • the chassis 16, 18 as a basic structure carrier of a suitable material, for example steel, which in the Fig. 1 are indicated as bars.
  • Each chassis has in the example shown three axes, with each of which wheels 50 are connected. In the illustrated example, one wheel per axis is visible, which is guided in each case on a rail 20, which may correspond to a commercial railroad track.
  • a guide of the wheels 50 on the rail 20 can be realized, for example, by suitable trolleys, similar to an impeller of a railway car.
  • the rail 20 is connected to a work surface 99, for example, a hall floor made of concrete.
  • a part of in Fig. 2 would be provided arrangement of two connected traversing rails, would be provided due to the required stability of the device instead of a respective two wheels 50 per axle and two rails 20.
  • the predetermined by the rail 20 forward and backward travel direction of the chassis corresponds to the two traversing directions 90 of the painting robot on the Verfahrschiene.
  • Fig. 2 again shows a plan view of an exemplary arrangement 100 of two painting robots 12, 32 on two coupled traverse rails 14, 34.
  • the first Verfahrschiene 14 is as already in Fig. 1 shown from a different perspective connected to a first chassis 16 and a second chassis 18, and out with not shown in this illustration wheels on a rail 20, which also remove the load of the assembly on the rail 20.
  • the positioning rail 34 is connected to a third chassis 36 and a fourth chassis 38 in an analogous structure, which in turn are guided on wheels 50, not shown, on a parallel to the rail 20 extending rail 40.
  • the two displacement rails 14, 34 are arranged at a parallel distance at a distance from each other, which makes it possible to arrange a workpiece 92 to be painted between them.
  • the painting robots located on the travel rails face each other, Thus, they have a working area in the direction of the workpiece 92 to be painted.
  • the first chassis 16 and the third 36 chassis are rigidly coupled to one another via a first connecting element 60.
  • the second 18 and the fourth 38 chassis are rigidly coupled together in a similar manner via a second connecting element 61.
  • Suitable connecting elements 60, 61 are, for example, steel girders in the form of a gantry.
  • the portal-like shape avoids collision of the connecting elements 60, 61 with the workpiece 92. This arrangement is as a basic structure of the in Fig. 3 view painting booth shown.
  • Fig. 3 shows a frontal view of in Fig. 2 illustrated arrangement, wherein in addition to the first connecting element 60 at its lower outer region on both sides a respective horizontal support surface 62 is shown. This preferably runs over the entire length of the paint booth and serves as a work and storage area.
  • a first 64, second 66, third 68 and fourth container 70 are shown standing on the two footprints 62. These containers are used for example for the supply of paint and / or solvent but also for the disposal of the program according to the purpose used for cleaning solvents.
  • the workpiece 92 to be coated is shown on a holder 94 befindlich.
  • the portal-like shape of the first connecting element 60 avoids collisions with the workpiece 92 and its holder 94.
  • Fig. 2 the painting robots 12 and 32, which are arranged on the travel rails 14 and 34, which in turn are located on chassis, of which in this illustration the first chassis 16 and the third chassis 36 are visible.
  • the wheels 50 which are guided by means of the rails 20 and 40, a running surface which is in contact with the upper edge of the respective rail 20, 40 and a running ring for the guide is shown.
  • Fig. 4 shows the same frontal view of an exemplary paint booth as Fig. 3 However, the front page now but with a cabin wall 72, which has a portal-like opening 74, is shown.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Paints Or Removers (AREA)
  • Manipulator (AREA)
EP09001280A 2008-02-29 2009-01-30 Anordnung zum Beschichten von Werkstücken Not-in-force EP2095884B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL09001280T PL2095884T3 (pl) 2008-02-29 2009-01-30 Układ do powlekania przedmiotów obrabianych

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008011998A DE102008011998A1 (de) 2008-02-29 2008-02-29 Anordnung zum Beschichten von Werkstücken

Publications (2)

Publication Number Publication Date
EP2095884A1 EP2095884A1 (de) 2009-09-02
EP2095884B1 true EP2095884B1 (de) 2010-10-20

Family

ID=40673215

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09001280A Not-in-force EP2095884B1 (de) 2008-02-29 2009-01-30 Anordnung zum Beschichten von Werkstücken

Country Status (13)

Country Link
US (1) US8127710B2 (da)
EP (1) EP2095884B1 (da)
JP (1) JP5599979B2 (da)
CN (1) CN101518772B (da)
AT (1) ATE485110T1 (da)
BR (1) BRPI0902766B1 (da)
CA (1) CA2655768C (da)
DE (2) DE102008011998A1 (da)
DK (1) DK2095884T3 (da)
ES (1) ES2353836T3 (da)
MX (1) MX2009002199A (da)
PL (1) PL2095884T3 (da)
PT (1) PT2095884E (da)

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DE102010023578B4 (de) 2010-06-12 2018-02-22 Abb Ag Lackieranlage zum Beschichten / Lackieren eines langgestreckten Werkstückes
GB2483892A (en) * 2010-09-23 2012-03-28 Vestas Wind Sys As Automatically guided apparatus and method for treatment of structural parts
CN103392106B (zh) * 2010-12-24 2016-01-20 兰吉特·查理哈 涉及环境湿度条件的用于烘干茶叶的环境空气加热系统
EP2474399B1 (de) 2011-01-06 2019-02-20 Flooring Technologies Ltd. Verfahren und Vorrichtung zur gezielten Beeinflussung der technologischen Eigenschaften einzelner Bereiche einer Holzwerkstoffplatte, eines vorverdichteten Holzwerkstoffvlieses oder eines Holzfaserkuchens
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ES2436222B1 (es) * 2012-05-25 2014-11-07 Robotics Special Applications, S.L. Máquina robotizada para pintar torres de aerogeneradores y estructuras similares
ITRM20120309A1 (it) * 2012-07-03 2014-01-04 G A P Spa Gruppo mobile per l'aspirazione ed il trattamento dei fumi e delle polveri derivanti da lavorazioni di metalli od altri materiali ed in particolare dalla lavorazione dei metalli con la tecnica del taglio a fiamma
CN105772310A (zh) * 2016-05-25 2016-07-20 耒阳市亚湘电子科技有限公司 一种网络滤波器标签喷漆机构
WO2018107328A1 (zh) * 2016-12-12 2018-06-21 吴江市金澜机械制造有限公司 柔性补偿机器人自动上下料系统
CN106975580A (zh) * 2017-05-24 2017-07-25 钦州学院 船体外壁喷漆装置
CN107139186B (zh) * 2017-06-19 2023-09-12 上海发那科机器人有限公司 一种机器人玻璃涂漆手爪
CN108284015B (zh) * 2018-03-09 2024-01-23 上海发那科机器人有限公司 一种高防护喷涂轨道
CN108452993B (zh) * 2018-05-31 2024-04-12 东莞市众泰自动化设备有限公司 一种全自动喷漆机
DE102018131368A1 (de) * 2018-12-07 2020-06-10 Homag Gmbh Bereitstellungssystem, Verfahren zum Bestücken einer Zufuhrvorrichtung mit einem Beschichtungsmaterial und Verwendug eines Manipulators
CN112570190A (zh) * 2019-09-30 2021-03-30 杜尔系统股份公司 处理设备和处理方法
CN112604867A (zh) * 2020-12-09 2021-04-06 世科工业设计沧州有限公司 一种机械设备加工车间用环保型涂装设备
CN112642626B (zh) * 2020-12-15 2022-03-04 电子科技大学中山学院 一种板式家具自动化喷漆装置
CN115324315B (zh) * 2021-05-10 2023-10-20 广东博智林机器人有限公司 地坪漆涂敷机器人的作业控制方法及装置
CN113695128A (zh) * 2021-11-01 2021-11-26 成都兴原再生资源股份有限公司 金属零件再制造用喷涂装置
CN114849955A (zh) * 2022-04-19 2022-08-05 山东亿盛铝业股份有限公司 一种可拆卸的铝合金展柜及其制造装置
CN115921168B (zh) * 2023-02-10 2023-10-03 东莞市华纬涂装设备有限公司 一种多工位喷涂机械手

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Also Published As

Publication number Publication date
EP2095884A1 (de) 2009-09-02
CN101518772A (zh) 2009-09-02
JP2009208075A (ja) 2009-09-17
US20090217869A1 (en) 2009-09-03
ATE485110T1 (de) 2010-11-15
CA2655768A1 (en) 2009-08-29
DE502009000129D1 (de) 2010-12-02
CA2655768C (en) 2017-01-17
PL2095884T3 (pl) 2011-04-29
CN101518772B (zh) 2014-05-07
MX2009002199A (es) 2009-08-31
US8127710B2 (en) 2012-03-06
BRPI0902766A2 (pt) 2010-05-25
DE102008011998A1 (de) 2009-09-10
DK2095884T3 (da) 2011-03-14
PT2095884E (pt) 2011-01-14
JP5599979B2 (ja) 2014-10-01
BRPI0902766B1 (pt) 2020-12-29
ES2353836T3 (es) 2011-03-07

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