EP2095884B1 - Workshop for coating workpieces - Google Patents

Abstract

The arrangement (100) has lacquering robots (12, 32) which are arranged on traversing rails (14, 34), where the robots are movable on the traversing rails along a displacement direction. The traversing rails are movable relative to a stationary reference point parallel to a working surface. The traversing rails are connected with carriers (16, 18, 36, 38) which allow traverse movement of the traversing rail. The traversing rails are arranged parallel to each other and are rigidly coupled with each other. The carriers support the traversing rails and are movable using a drive. Independent claims are also included for the following: (1) a lacquering cabin comprising a lacquering device (2) a method for coating a workpiece.

Description

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.

It is generally known that so-called painting devices are used for coating workpieces, in particular with paint or paints. Suitable painting devices are, for example, painting robots, which are provided with a paint atomizer. In addition, for example, 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.

Typically, 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.

For painting larger workpieces, such as automobile bodies, it is customary to provide such a robot with a seventh degree of freedom of movement by this is attached to its own associated travel rail, with all seven degrees of freedom are taken into account completely in the control of the robot. Such a robot is now along its travel rail, which typically has a length of 4m to 10m in the automotive field, along the object to be painted movable.

Especially with elongated workpieces results in a corresponding length of a travel rail of a robot or a painting.

When coating elongated workpieces, such as rotor blades of wind turbines, 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. Namely, in the manufacturing process, 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. For example, with 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.

Based on this prior art, it is an object of the invention to provide an arrangement of the type mentioned, which allows the coating of elongated workpieces without sacrificing quality in the simplest possible way.

It is another object of the invention to provide a corresponding coating method for this purpose.

This object is achieved by the features of claim 1.

Thus, 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. At the same time, 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.

As a result of the inventively provided mobility of the travel rail in turn, this can take together with the paint different working positions with respect to the workpiece to be coated, so that workpieces with any length, for example, is significantly greater than the length of the Verfahrschiene be coated.

Advantageously, thus the high production cost, which was incurred in the coating with stationary Verfahrschiene since then, drastically reduced and at the same time the production quality is significantly improved.

According to a preferred embodiment of the arrangement according to the invention the Verfahrschiene is connected to at least one chassis, which allows a uniform movement of the Verfahrschiene. By this modular structure of the arrangement of the design effort to implement the mobility of the travel rail is reduced significantly in a favorable manner.

According to a further variant of the arrangement according to the invention, the chassis has at least two mutually parallel axes, which each provided with at least one guided in or on rails wheel. Through the use of wheels 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.

In this way, the restriction of the freedom of movement of the painting robot due to a shortened Verfahrschiene by a simple movement of the Verfahrschiene even in the same direction is advantageously compensated.

According to a further particularly preferred embodiment of the arrangement, 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.

A rigid coupling of Verfahrschienen also reduces the effort to spend the arrangement in a different working position.

In the case of a parallel arrangement of two, preferably opposing, moving rails on which painting devices are movably arranged in each case, painting of a workpiece on both sides is possible.

According to an alternative embodiment, 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.

Thus, by means of the painting booth according to the invention, 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.

Furthermore, 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.

At the same time remains in an advantageous manner, the coating mist formed during coating within the spray booth.

According to the embodiment of the arrangement according to the invention, 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.

According to the embodiment of the arrangement according to the invention, 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.

According to a further preferred embodiment, 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.

Depending on the length of the workpiece to be coated results in the paint booth 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 design effort of the media supply and disposal is thereby advantageously reduced. In addition, due to the significantly shorter hose length between paint supply and paint, for example, results in an improved turn-on of the paint sprayer and thus a higher quality of Lackierergebnisses.

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.

With this method, the coating of workpieces is possible, which are longer than the working range of a painting device within the spray booth.

According to the paint booth and the workpiece are fixed against each other during the coating process of a section. A mutual movement, for example due to an acceleration or braking movement of a painting robot on his rigidly connected to the spray booth travel rail is thus excluded and the painting result is improved.

In a further embodiment of the method according to the invention 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.

In a preferred variant of the method according to the invention, the program-related movement of the paint booth is predetermined by a robot controller.

When using a Lackierroboters with Verfahrschiene and a total of seven degrees of freedom of movement, for example, 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.

When using a painting robot with six degrees of freedom and without traversing rail, 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.

Advantageously, the 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.

In a further embodiment of the method, 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.

Further advantageous embodiment possibilities can be found in the further dependent claims.

Based on embodiments shown in the figures, the invention, advantageous embodiments and other advantages to be described and explained in more detail.

Fig. 1

eine erste beispielhafte Anordnung eines Lackierroboter auf einer bewegli- cher Verfahrschiene,

Fig. 2

eine Draufsicht auf eine beispielhafte Anordnung von zwei Lackierrobotern auf zwei gekoppelten Verfahrschienen,

Fig. 3

eine erste Frontalsicht auf eine beispielhafte Lackierkabine sowie

Fig. 4

eine zweite Frontalsicht auf eine beispielhafte Lackierkabine mit Stirnwand

Show it:

Fig. 1

a first exemplary arrangement of a painting robot on a movable Verfahrschiene,

Fig. 2

a top view of an exemplary arrangement of two painting robots on two coupled rails,

Fig. 3

a first frontal view of an exemplary spray booth as well

Fig. 4

a second frontal view of an exemplary spray booth with end wall

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. Preferably, 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. In the event that in Fig. 1 illustrated arrangement not - as described above - 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. Parallel to this, 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.

Also shown are as in 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. In 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.

LIST OF REFERENCE NUMBERS

10

Exemplary arrangement of painting robots on movable travel rail

12

First painting robot

14

First travel rail

16

First chassis

18

Second chassis

20

First track

32

Second painting robots

34

Second travel rail

36

Third chassis

38

Fourth chassis

40

Second rail

50

wheel

60

First connection element

61

Second connecting element

62

footprint

64

First container

66

Second container

68

Third container

70

Fourth container

72

Cabin wall with portal-like opening

74

Portal-like opening

90

traversing

92

workpiece

94

bracket

99

working surface

100

Top view of two coupled travel rails with robots and chassis

101

Frontal view of exemplary spray booth

102

Frontal view of exemplary spray booth with end wall

Claims (11)

1. Arrangement for the coating of workpieces (92) with a lacquering cabin which has two mutually opposite porchway-like openings (74), between which a working area is provided, and is supported on at least two chassis (16, 18, 26, 38), which are arranged parallel to one another, and can be moved together with them, and with at least one laquering apparatus for the coating of workpieces (92),
   characterized in that
   the lacquering apparatus is formed by at least two lacquering robots (12, 32) which are arranged on both sides of the working area, that the lacquering robots (12, 32) are arranged on a movement rail (14, 34) and can be moved thereon along a movement direction (90), wherein the movement rail (14, 34) is itself supported on at least one chassis (16, 18, 26, 38) and can be moved relative to a stationary reference point, parallel to a working surface (99).
2. Arrangement according to Claim 1, characterized in that the movement rail (14, 34) is connected to at least one chassis (16, 18, 26, 38) which allows movement of the movement rail (14, 34)
3. Arrangement according to Claim 2, characterized in that the chassis (16, 18, 26, 38) has at least two shafts, which are arranged parallel to one another and are each provided at at least one end with wheels (50) which are guided in/on rails (20, 40).
4. Arrangement according to one of the preceding claims, characterized in that movement rails (14, 34) are arranged parallel to one another and are rigidly coupled to one another.
5. Arrangement according to one of the preceding claims, characterized in that the chassis (16, 18, 26, 38) which supports the movement rail (14, 34) can be moved by means of a drive.
6. Arrangement according to one of the preceding claims, characterized in that the lacquering cabin is provided with an apparatus for supplying and/or carrying away and/or cleaning of air.
7. Arrangement according to one of the preceding claims, characterized in that the lacquering cabin is provided with containers for liquid media (64, 66, 68, 70) for example supply containers and/or reservoirs for lacquer and/or solvent.
8. Method for the coating of a workpiece in a lacquering cabin according to one of the preceding claims, with the workpiece (92) being longer than the working area which is bounded by the lacquering cabin, with the workpiece (92) being coated sequentially, and for this purpose the workpiece (92) being subdivided into a plurality of axially mutually adjacent sections, furthermore in order to coat a respective section, the lacquering cabin being moved to a position in which that section of the workpiece (92) which is intended to be coated is arranged in the working area, and is thus surrounded by the lacquering cabin and can be coated by means of the lacquering apparatus (12, 32), characterized in that, during the process of coating one section, the lacquering cabin and the workpiece (92) are fixed with respect to one another.
9. Method according to Claim 8, characterized in that any desired number of sections and any desired number of positions are provided, and in that the lacquering cabin is moved virtually continuously during the process of coating a plurality of sections.
10. Method according to either of Claims 8 or 9, characterized in that the movement of the lacquering cabin is predetermined by a robot control system.
11. Method according to one of Claims 9 to 10, characterized in that the movement of the lacquering cabin is determined on the basis of a surface to be lacquered on the workpiece in a section to be lacquered.

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