EP2160253B1 - Coating zone with inclined guide rails - Google Patents
Coating zone with inclined guide rails Download PDFInfo
- Publication number
- EP2160253B1 EP2160253B1 EP08759322A EP08759322A EP2160253B1 EP 2160253 B1 EP2160253 B1 EP 2160253B1 EP 08759322 A EP08759322 A EP 08759322A EP 08759322 A EP08759322 A EP 08759322A EP 2160253 B1 EP2160253 B1 EP 2160253B1
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- EP
- European Patent Office
- Prior art keywords
- conveyor
- coating zone
- coating
- guide rail
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/60—Ventilation arrangements specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—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
Definitions
- the invention relates to a zone of a coating system and a coating system with such zones.
- it is painting zones or other zones of a system for the series coating of application objects such as vehicle bodies or their attachments using robots including painting or other application robots, other manipulators such as accessories and / or handling robots such.
- Door or hood openers are examples of robots.
- increased-mounted robots may have the advantage of less disturbing the airflow flowing down from the cabin ceiling along the body sides into the cabin floor than the robots located on the floor adjacent to the body, which narrow the airway directly to the body, causing undesirable elevation can lead to the flow velocity.
- each a plurality of painting robots on two parallel guide rails which in turn are mounted on a arranged in the interior of the cabin frame with four similar to the known gantry robotic structures by cross braces interconnected legs.
- Varnishing booths for vehicle bodies with vertically mounted on the cabin walls robot guide rails and with several along the transport path of the conveyor successively arranged painting zones are from the EP 0 745 429 A1 known.
- the side walls of the paint booth extend from their upper ceiling wall vertically down to the floor level. Since the spray booth including the accessible control areas must not be too wide in terms of construction and investment costs, this results in principle disadvantages of the known painting zones. Firstly, the space available for the control areas is undesirably narrow. On the other hand, given the overall width and magnification of the control areas, the paths for the airflow flowing downwardly from the ceiling wall in the cabin would undesirably be narrowed.
- the object of the invention is to provide a coating or other zone of a coating system or a system with several such zones, in which or the accessibility of the application object by the robot or the further improved.
- the zones should be characterized by good space utilization with the best possible air flow and low construction costs.
- the accessibility of the application object is improved, especially in narrow paint booths.
- the guide rail is arranged obliquely in the conveying direction, preferably with an adjustable angle of inclination, so that the robot depending on the setting and its respective position in the rail longitudinal direction can be located differently high next to or above the body or the other application object. This also improves the accessibility of the object.
- a coating zone on one or, preferably, both sides of the conveying path at the level of elevated robot guide rails has an upper walk-on control area separated from the interior of the coating zone by sloping side walls, thereby progressively narrowing the interior upwardly at that area becomes.
- a significant advantage of the arrangement of the control devices in the vicinity of the robots controlled by them are the correspondingly short hose and line connections.
- the side walls preferably have an oblique course only at the upper accessible control area, whereas they may extend vertically upwards over the upper edge of the application objects, for example up to the upper one, at the bottom of the coating zone (typically grid-like) at the lower accessible control area control area.
- the coating zone typically grid-like
- the lower walk-on control area on at least one side of the conveyor can be used, for example, to observe the coating process without blindness by robots and for maintenance etc.
- further guide rails for additional robots on the side of the coating zone on one or preferably on both sides of the conveyor at the bottom of the coating zone or in the vicinity of the bottom plane.
- the guide rails can be arranged on each side of the coating zone at such a distance one above the other, that the respective robots can pass each other in the longitudinal direction parallel to the conveying path. It can also be provided on one or each side more than two guide rails, in particular at different heights, ie in three or more vertically spaced planes.
- the rails mentioned in connection with the present application can advantageously also be used for robots for auxiliary devices which can be moved on them and can be present in addition to application robots with atomizers (applicators) and / or handling robots (handlers).
- additional devices are any treatment devices, including mobile dryers, which can irradiate the application objects for drying with IR or UV radiation in a conventional manner, as well as cleaning devices and in particular also probes and measuring devices, as they are per se for measuring coating results and layer quality features Layer thickness, "wave scan", hue, gloss, brightness etc. and for detecting coating defects are known and common.
- the measurements can be made online, also for online quality measurement with possibly automatic error correction for subsequent application objects, for example according to EP 0 874 213 B1 or EP 1 176 388 A2 .
- the accessories may be located in a coating booth or in a separate repair or control zone, where they then od without application robot or door opener. Like. May be arranged on the mentioned guide rails.
- the accessories may be conveniently mounted on their own robots or with the help of interchangeable heads on universally serving as a carrier for different devices such as atomizers, dryers, measuring systems, etc. robots. If the additional devices are located in a coating zone, they may be movable on the rails of the application and / or handling robots provided there, or instead on their own rails, which may be offset in height against the rails of the application or handling rotors.
- robot as used herein is to be understood generally in terms of a freely programmable multi-axis automatic machine, preferably in articulated arm construction with at least six rotary axes (three main axes and three hand axes), wherein the main body of the successive axes of movement as a carriage on one of the rails considered here movable It is also possible, on a common, as a carriage on one and the same rail movable base body at least two robot designs with, for example, two or three main axes to mount, depending according to application, similar to robots that can be moved separately on the same or separate rails same or different functions (coating, handling, measuring, etc.) may have.
- support structures are provided which are arranged on at least one and preferably both side walls of the coating zone or control or repair zone and which are preferably fixedly connected to them and which are provided with support elements extending for example transversely to the transport path of the conveyor.
- these support elements need not be part of the actual sidewall, but may be away from the sidewall and / or extend away from the sidewall transversely of the transport path (preferably in a direction parallel to the plane of the ground).
- the support structures preferably have (in contrast to the transverse struts of the portal construction according to the above-mentioned WO 2004/037430 ) no support elements extending over the top of the application objects such as vehicle bodies, but below the ceiling wall through the interior of the coating zone and the vertical air flow disturb the cabin and / or could contaminate the application objects by adhering to them and redissolving color or other particles.
- these supporting structures are structurally combined with the supporting or stiffening elements of the dividing walls ("silhouettes") required at the inlet and / or outlet ends of the individual coating zones and which are customary per se.
- the purpose of these partitions arranged transversely to the conveying path may be e.g. consist of isolating a plurality of coating zones, each with a different air balance, arranged one behind the other in a paint booth, such as a zone for electrostatic application with rotary atomizers from a zone for air atomizers, in which different Beertsink Malawien are required, with air mixture and cross-currents between the zones must be avoided ,
- the transverse walls have safety features for personal protection.
- a stiffening structure of the partition walls can also serve as a support or support structure for the robot guide rails.
- the support or support structures of the rails may thus be an integral part of a stiffening of the partitions, or conversely, the stiffeners of the partitions may be an integral part of the support or support structures of the guide rails.
- the application objects can be conveyed through the considered zones in continuous continuous operation with robots usually traveling along the conveyor track or instead in the cyclic operation in which the object stands still during the treatment.
- coating zone 1 for vehicle bodies 2 may form part of a spray booth. However, the painting zones described and illustrated here and below may possibly also be arranged within a wider cabin.
- the bodies can be mounted on a conventional floor conveyor 3 (cf. Fig. 3 , in Fig. 1 not shown) along an example by rails 4 ( Fig. 3 ) defined transport path are passed through the coating zone 1.
- the coating zone is top of a horizontal ceiling wall 5, on both sides of parallel to the transport path arranged side walls 6 and 6 ', the bottom of the horizontal bottom 7 and at the inlet and / or outlet ends by transverse to the transport path arranged perpendicular partitions 8 and 8' limited.
- a substantially vertically downwardly directed air flow is passed through the coating zone 1 during operation, which are introduced, for example, by the ceiling wall provided for this purpose with passages or with a separate ventilation device and can escape through the floor 7, which is designed, for example, as a grid construction.
- the partitions 8 and 8 ' are tightly inserted between the wall elements surrounding them, ie in particular the side walls 6 and 6' and, if possible, also tight between the top wall 5 and the bottom 7, air mixing or cross flows in particular between adjacent zones with different air balance to prevent the two sides of the respective partition 8 and 8 '.
- openings 9 in the partitions 8 and 8 'for the bodies 2 on the conveyor 3 can be closed during this coating during the coating.
- closable doors (not shown) for the operating personnel can be located in the side walls 6, 6 'and / or partitions 8, 8', for example in a preferably metallic frame construction on one or both sides of the dividing wall 8, as described below described embodiment of Fig. 4 at 43 is shown. This results in advantages also in terms of safety as walk-in protection while creating escape routes.
- the bodies 2 are arranged on the side walls in the interior of the coating zone 1 respectively guide rail assemblies 10 and 10 'for robot 11.
- the robots 11 may be equipped with conventional atomizers or other applicators for coating material.
- As support structure for the guide rails serve in the illustrated example vertical support 12 which are anchored hanging horizontally transverse to the transport support elements 13 in or on the top wall 5 and with lower, also horizontal transverse support members 14 in turn the guide rail assemblies 10 and 10 respectively ' wear.
- the carriers 12 are located on the side facing away from the interior of the coating zone 1 side of the guide rail assemblies 10 and 10 'and the respective side wall 6 and 6'.
- the ceiling wall 5 may in this example be part of the existing example of concrete ceiling construction of a larger room in which the coating zone 1 is installed.
- the partitions 8 and 8 ' are fixedly connected at least to the side walls 6 and 6' and can also be fastened with their frame 19 directly to the support structures of the guide rail arrangements 10 and 10 '.
- the coating zone 1 has on the side facing away from the interior of the side walls 6 and 6 'on the floor continuing there until 7 each a first walk-control area 15 or 15' for the operator 16. Further, preferably on both sides of the coating zone 1 above the First control area 16 and 16 'on the top of the guide rail assemblies 10 and 10' containing building structures also on the outside of the side walls 6 and 6 'respectively a second walk-control area 17 and 17' for the operating personnel 16 is provided. At least in the upper control areas 17 and 17 'can (not shown) control cabinets and other control and supply facilities for the robot 11 are located.
- the coating zone 1 includes only the high-level robot guide rail assemblies 10 and 10 ', but it is possible at the bottom 7 between the bodies 2 and the side walls 6 and 6' on one or both sides parallel to the guide rails of the assemblies 10 and 10 'one more guide rail for additional robots to assemble.
- the air inlet openings of the coating zone are in the between the upper end of the side walls. 6 and 6 'lying area of the ceiling wall. 5
- the vertical lower parts of the side walls 6 and / or 6 ' for example, be so high (about 2 m) that there just doors for the operator 16 can be installed.
- the side walls 6 and 6 'themselves must have no support function for other components of the coating zone and can at least substantially consist of transparent material such as glass, to allow the staff 16, the view into the interior.
- the partitions 8 and 8 ' may be transparent.
- the base 7, shown only schematically, may be a substructure or supporting structure mounted in turn on separate supports (not shown), in or below the electrical, pneumatic and supply line arrangements for the zone considered, for example including the paint supply loop lines in the case of FIG Paint booth can run.
- the base 7 For access to this coverage area, e.g. Flaps be provided in the bottom 7.
- Particularly useful may be a modular design of the zones described here, which can also be completely or at least partially pre-assembled at the plant manufacturer and transported in this state to the plant operator, so that the inter alia in EP 0 349 177 A explained advantages.
- pre-assembled modules can be made with the help of the above-mentioned base or support structure as a floor on existing foundations.
- the coating zone 21 after Fig. 2 largely corresponds to the exemplary embodiment Fig. 1 so that, for example, with respect to the guide rail assemblies 10 with the robots 11, the side walls 6 with the inclined parts 18, the control areas 15 and 17 and with respect to the partitions 8 a re-description is unnecessary.
- the guide rails are not suspended on a stable ceiling wall here, as in Fig. 1 but mounted on vertical support posts 22.
- the Support posts can in turn be supported with only schematically indicated at 24 horizontal transverse support elements on the here assumed to be stable bottom 7. Suitable transverse support elements may also be located below the floor 7.
- the air-permeable ceiling wall 25 of the coating zone 21 may be formed as in conventional paint booths.
- Fig. 3 illustrated coating zone 31 may correspond to the above-described embodiments with regard to the accessible control areas and the partially oblique side walls, although this is not shown here.
- the construction according to Fig. 3 But it is also suitable for a coating zone without these features.
- Fig. 1 and Fig. 2 in any case with respect to above the conveyor 3 and possibly above the bodies 2 arranged guide rail assemblies 10 for robot 11.
- the in Fig. 3 illustrated conveyor 3 with the rails 4 for the bodies 2 can also according to the embodiments Fig. 1 and Fig. 2 be used.
- the support structures for the raised guide rail arrangements 10 are formed here.
- These support structures essentially consist of frame structures 33, for example of the illustrated rectangular shape, with two vertical support posts 32 connected by upper and lower horizontal cross support elements 34.
- the frame constructions 33 in this example each lie in a plane perpendicular to the conveyor rails 4 on the conveyor 3 Depicted side of the guide rail assemblies 10 of the robot 11 and thus on the outside of the side walls 36 on a bottom portion 37.
- each of the ends of the guide rail assemblies 10 adjacent to the outside of the vertical side wall 36th such a frame may be arranged, which is supported on the bottom part 37 with the lower transverse support element 34 and carries the guide rail arrangement 10 on its upper transverse support element.
- the two frame structures 33 serving as support structures for the robot guide rails at the entry and exit ends of the coating zone 31 may preferably be connected in the vicinity of the ground plane and expediently under the conveyor 3 by a transverse strut 35.
- Such cross braces for the frame structures 33 can also be arranged at the height of the guide rail assemblies 10.
- the partition walls 8 of the coating zone 31 provided at the input and / or output ends can be useful between the frame structures 33 adjacent to them, which, in addition to their function as support structure for the robot guide rails, can simultaneously serve as stiffening or frame construction of the partition wall, and the cross struts 35 of the frame structures 33 are inserted.
- coating zone 41 is a modification of the embodiment according to Fig. 3 of which it essentially differs only in that the frames 43 serving as support structure for the guide rail arrangements 10 of the robots, which in principle correspond to the frame construction 33, do not extend on the side of the robot guide rails and the side walls facing away from the conveyor 3, but as shown are arranged on the conveyor side facing the conveyor.
- the guide rails 10 are here as shown on a horizontally outward extension of the upper transverse support members 44 of the frame 43.
- the partition 48 is sealingly between serving as a stiffening of the partition wall Frame 43, so the support structures of the robot guide rails inserted.
- the frame structures 43 (or 33 in Fig. 3 ) may contain transparent or other wall elements.
- transverse rails in front of and / or behind the treatment area inside or outside the coating zone (or a control or repair zone in the case of the mentioned additional devices), for example perpendicular to the conveying direction (Y direction).
- Y direction conveying direction
- Direction of the application objects running rails in the plane or the planes of the X-rails.
- cross rails can also be arranged above the application objects and are preferably connected to the one or more associated X-rails in the same plane, that the respective robot from the X-rail on the cross rail and vice versa and / or between the X-rails on opposite Change sides of the conveying path, for example, in a known manner from the conveyor technology.
- Another variant is to install instead of the described linear rail arrangements guide rails with particular horizontal circular or teilnikförmigem or, for example, oval curved, preferably with respect to the conveying path or with respect to a vertical axis symmetrical and preferably closed course.
- a rail arrangement above the application objects such as vehicle bodies may be particularly advantageous.
- Such modified rail arrangements may also be useful in installations in which essential features of the invention described here, in particular with respect to the oblique course of the side walls or the special support structure and its support elements are not realized, although on the other hand combined with each of the other features of the described invention can be.
- the XY rail arrangements with the ability to change over the robots and the rail arrangements with a curved or circular course are also suitable for suspended installation in a coating, control or repair zone.
- the hanging mounting for example, on a cabin ceiling or on an oblique side wall of a cabin, in particular in the in the application EP 06 111 359.3 be realized, the entire contents of which are incorporated in the disclosure of the present application.
- the mentioned arrangement of additional devices on guide rails can be combined with any of the other features described in the present application, also without being limited to the said essential features of the invention, since they have independent advantages such as e.g. good space utilization and reduction of the construction effort in a coating plant and when using common robots for different devices also has a reduction of the machine and tax expenditure.
- the zones described can be arranged one behind the other in a conventional line coating system. she However, they can also be arranged parallel to one another if the transport path of the application objects branches into a plurality of parallel branches, in each of which at least one of the treatment zones is arranged, as described in the patent application DE 10 2006 022 335 is described, the entire contents of which are incorporated in the disclosure of the present application.
- the robot guide rails should preferably be designed and arranged such that the rails and robots do not or at least substantially do not influence the air flow in the cabin. This is achieved by a slim design and / or by the positioning of the rail outside, in particular above the painting area.
- Fig. 5 shows the arrangement of a painting robot 11 on its guide rail 10, which in itself may have a design and construction, as is currently common in practice for high-altitude painting robots (see, for example EP 1 609 532 or WO 2005/046880 ), with the illustrated in cross-section substantially rectangular profile, on whose side facing the inside of the cabin, the base body 51 of the robot 11 is slidably mounted.
- the position of the robot is definable in the usual way with respect to the axes X, Y and Z of the cabin space, wherein the X-axis corresponds to the conveying direction, the Z-axis extends vertically upwards and the Y-axis is horizontal across the cabin wall 52 extends.
- the arrangement formed by the robot arms 50 is rotatably mounted about a common first robot axis (A1), which usually runs vertically in conventional systems.
- A1 first robot axis
- the plane of the underside of the rail profile against the horizontal plane and against the Z-axis order the rail longitudinal direction tilted, ie about the (not shown, perpendicular to the plane extending) X-axis, for example, by about 10 °, so that the guide plane located between the rail profile and the base 51 and thus the first axis parallel to the guide plane (A1) of the robot is inclined at the same angle against the vertical plane parallel to the conveying direction, preferably as shown in the tilting direction, in which the robot parts located below the rail are closer to the cabin wall than the parts located above.
- the common plane of the two robot arms is parallel to the inclined guide plane.
- the guide rail 10 is shown mounted on the top of a horizontally extending through the cabin wall 52 support 53 and with its horizontally facing away from the inner wall of the cabin end 54 to close to the cabin wall 52 to take advantage of the given cabin width as well.
- the maximum angle of rotation of the main body 50 of the robot about the first robot axis (A1) should preferably be greater than 90 °, for example approximately 93 °, which can be achieved by appropriate modification of the associated energy chain system.
- the as shown in the spray booth tilted arrangement of guide rails and thus the entire robot can also be useful for robots without the aforementioned first axis (A1).
- the tilt angle can also be adjustable.
- the robot guide rails 10 are shown extending horizontally, ie parallel to the cabin floor.
- the rails 10 may instead be around the Y-axis (FIG. Fig. 5 ), so are inclined in the conveying direction in a vertical plane parallel thereto, as indicated at 10 ', so that the height H of the rail above the cabin floor at one end is less than the height H' at the other end (or vice versa).
- the rails are higher at the input end or at the outlet end of the painting zone depends on the respective process technology.
- the sloping rails can be fixed.
- the inclination angle of the rails is adjustable, for example by hydraulic extension or shortening of their vertical supports 32, 33.
- the pivot axis can hereby lie at one end of the rail or instead also at a possibly variable middle position in the rail longitudinal direction.
- the adjustability of the angle of inclination should range from 0 (horizontal position) to an angle value which proves useful in practice.
- the illustrated tilt and tilt arrangements are suitable, inter alia, for each of the various above with reference to Fig. 1-4 described paint zones.
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- Coating Apparatus (AREA)
Abstract
Description
Die Erfindung betrifft eine Zone einer Beschichtungsanlage sowie eine Beschichtungsanlage mit derartigen Zonen. Insbesondere handelt es sich um Lackierzonen oder andere Zonen einer Anlage für die serienweise Beschichtung von Applikationsobjekten wie namentlich Fahrzeugkarossen oder deren Anbauteilen unter Verwendung von Robotern einschließlich Lackier- oder sonstigen Applikationsrobotern, sonstigen Manipulatoren beispielsweise für Zusatzgeräte und/oder von Handhabungsrobotern wie z.B. Tür- oder Haubenöffnern.The invention relates to a zone of a coating system and a coating system with such zones. In particular, it is painting zones or other zones of a system for the series coating of application objects such as vehicle bodies or their attachments using robots including painting or other application robots, other manipulators such as accessories and / or handling robots such. Door or hood openers.
In konventionellen Lackierkabinen für Fahrzeugkarossen mit Robotern sind deren Führungsschienen üblicherweise seitlich am Kabinenboden montiert. Aus verschiedenen Gründen kann aber die Anordnung von Roboterführungsschienen oberhalb des Förderers oder sogar oberhalb der Karossen zweckmäßiger sein, beispielsweise weil sie dort die Sicht durch die Seitenwand der Kabine und die Zugänglichkeit zu den Karossen oder sonstigen Applikationsobjekten weniger beeinträchtigen, und/oder weil die erhöht angeordneten Roboter eine entsprechend verbesserte Bewegungsfreiheit haben, und/oder weil die erhöht angeordneten Führungsschienen weniger durch Overspray verschmutzt werden, der durch die übliche Luftströmung in den Kabinen nach unten abgeführt wird. Ferner können erhöht montierte Roboter den Vorteil haben, dass sie die von der Kabinendecke nach unten an den Karossenseiten entlang in den Kabinenboden fließende Luftströmung weniger stören als am Boden neben der Karosse befindliche Roboter, die den Luftweg unmittelbar an der Karosse verengen, was zu unerwünschter Erhöhung der Strömungsgeschwindigkeit führen kann.In conventional paint booths for car bodies with robots whose guide rails are usually mounted laterally on the cabin floor. For various reasons, however, the arrangement of robot guide rails above the conveyor or even above the bodies may be more convenient, for example because they less affect visibility through the side wall of the cabin and accessibility to the bodies or other application objects, and / or because they are elevated Robots have a correspondingly improved freedom of movement, and / or because the elevated guide rails are less contaminated by overspray, which is dissipated by the usual air flow in the cabs down. Furthermore, increased-mounted robots may have the advantage of less disturbing the airflow flowing down from the cabin ceiling along the body sides into the cabin floor than the robots located on the floor adjacent to the body, which narrow the airway directly to the body, causing undesirable elevation can lead to the flow velocity.
Aus
Bei einer aus der
Aus der
Lackierkabinen für Fahrzeugkarossen mit vertikal übereinander an den Kabinenwänden montierten Roboterführungsschienen und mit mehreren entlang dem Transportweg des Förderers hintereinander angeordneten Lackierzonen sind aus der
Bei den bekannten Lackierzonen mit hochgelegten Roboterführungsschienen verlaufen die Seitenwände der Lackierkabine von deren oberen Deckenwand senkrecht nach unten zu der Bodenebene. Da die Lackierkabine einschließlich der begehbaren Steuerbereiche in Hinblick auf den Bau- und Investitionsaufwand nicht zu breit sein darf, ergeben sich hieraus prinzipielle Nachteile der bekannten Lackierzonen. Zum einen ist der für die Steuerbereiche verfügbare Raum unerwünscht eng. Andererseits würden bei gegebener Gesamtbreite und Vergrößerung der Steuerbereiche die Wege für die in der Kabine von der Deckenwand aus nach unten fließende Luftströmung unerwünscht eingeengt.In the known painting zones with raised robot guide rails, the side walls of the paint booth extend from their upper ceiling wall vertically down to the floor level. Since the spray booth including the accessible control areas must not be too wide in terms of construction and investment costs, this results in principle disadvantages of the known painting zones. Firstly, the space available for the control areas is undesirably narrow. On the other hand, given the overall width and magnification of the control areas, the paths for the airflow flowing downwardly from the ceiling wall in the cabin would undesirably be narrowed.
Ein anderes Problem ist die erforderliche Abstützung der erhöht angeordneten Führungsschienen, die naturgemäß schwieriger erreichbar ist als bei Führungsschienen am Kabinenboden. Ausreichende Stabilität von oberhalb des Förderers an einer Kabinenwand montierten Führungsschienen insbesondere ohne eigene Querträger auf der Höhe dieser Führungsschienen war bisher nur mit unerwünscht hohem Bauaufwand für entsprechend stabile Seitenwände erreichbar.Another problem is the required support of the elevated guide rails, which is naturally more difficult to achieve than with guide rails on the cabin floor. Sufficient stability of above the conveyor mounted on a cabin wall guide rails, especially without own cross member at the height of these guide rails was previously accessible only with undesirably high construction costs for correspondingly stable side walls.
Aufgabe der Erfindung ist die Schaffung einer Beschichtungs- oder sonstigen Zone einer Beschichtungsanlage bzw. einer Anlage mit mehreren solchen Zonen, in der bzw. denen die Erreichbarkeit des Applikationsobjekts durch den oder die Roboter weiter verbessert wird. Vorzugsweise sollen die Zonen sich durch gute Raumausnutzung bei möglichst guter Luftströmung und geringem Bauaufwand auszeichnen.The object of the invention is to provide a coating or other zone of a coating system or a system with several such zones, in which or the accessibility of the application object by the robot or the further improved. Preferably, the zones should be characterized by good space utilization with the best possible air flow and low construction costs.
Diese Aufgabe wird durch die Merkmale der Patentansprüche gelöst.This object is solved by the features of the claims.
Gemäß einem ersten Aspekt der Erfindung wird durch Kippen der Führungsschiene insbesondere eines Lackierroboters und damit des Arbeitsbereichs des Roboters um die Schienenlängsrichtung die Erreichbarkeit des Applikationsobjekts wie namentlich einer Fahrzeugkarosse vor allem in engen Lackierkabinen verbessert.According to a first aspect of the invention, by tilting the guide rail, in particular of a painting robot and thus of the working area of the robot about the rail longitudinal direction, the accessibility of the application object, such as a vehicle body, is improved, especially in narrow paint booths.
Gemäß einem zweiten Aspekt der Erfindung wird die Führungsschiene in Förderrichtung schräg angeordnet, vorzugsweise mit einstellbarem Neigungswinkel, so dass der Roboter sich je nach Einstellung und seiner jeweiligen Position in der Schienenlängsrichtung unterschiedlich hoch neben oder über der Karosse oder dem sonstigen Applikationsobjekt befinden kann. Auch dadurch wird die Erreichbarkeit des Objekts verbessert.According to a second aspect of the invention, the guide rail is arranged obliquely in the conveying direction, preferably with an adjustable angle of inclination, so that the robot depending on the setting and its respective position in the rail longitudinal direction can be located differently high next to or above the body or the other application object. This also improves the accessibility of the object.
Diese beiden Möglichkeiten können jeweils für sich vorteilhaft sein, aber auch miteinander kombiniert werden.These two options can each be advantageous for themselves, but also combined with each other.
Gemäß einem anderen Aspekt der Erfindung hat eine Beschichtungszone auf einer oder vorzugsweise auf beiden Seiten des Förderwegs auf der Höhe hochgelegter Roboterführungsschienen einen oberen begehbaren Steuerbereich, der von dem Innenraum der Beschichtungszone durch schräge Seitenwände getrennt ist, wodurch der Innenraum an diesem Bereich nach oben fortschreitend schmaler wird. Dadurch entsteht auf der Außenseite der schrägen Seitenwände ein entsprechend breiterer Raum des begehbaren Steuerbereichs, der sowohl für Steuereinrichtungen des oder der auf der hochgelegten Führungsschiene befindlichen Roboter als auch für das den Beschichtungsprozess beobachtende Personal und für Wartungsarbeiten nutzbar ist. Ein wesentlicher Vorteil der Anordnung der Steuereinrichtungen in der Nähe der von ihnen gesteuerten Roboter sind hierbei die entsprechend kurzen Schlauch- und Leitungsverbindungen. Zugleich vergrößert sich durch die schrägen Seitenwände der für die Luftströmung zur Verfügung stehende Strömungsquerschnitt der Beschichtungszone nach unten, wodurch die Behinderung der Luftströmung durch die Roboter in entsprechendem Maße ausgeglichen werden kann und die Strömungsgeschwindigkeiten sich innerhalb der Beschichtungszone weniger stark ändern als bei von oben bis unten senkrechten Wänden. Es ergibt sich also beispielsweise in einer Lackierkabine oder Lackierzone für Fahrzeugkarossen eine optimale Luftverteilung auch dann, wenn die Seitenwände neben der Karosse senkrecht verlaufen. Zu starke Luftströmung an den Karossen oder sonstigen Applikationsobjekten würde z.B. durch Mitnahme des zu applizierenden Beschichtungsmaterials den Auftragungswirkungsgrad reduzieren.According to another aspect of the invention, a coating zone on one or, preferably, both sides of the conveying path at the level of elevated robot guide rails has an upper walk-on control area separated from the interior of the coating zone by sloping side walls, thereby progressively narrowing the interior upwardly at that area becomes. This creates on the outside of the oblique side walls a correspondingly wider space of the walk-in control area, which can be used both for control devices of or on the raised guide rail robot as well as for the coating process observing staff and for maintenance. A significant advantage of the arrangement of the control devices in the vicinity of the robots controlled by them are the correspondingly short hose and line connections. At the same time increased by the oblique side walls available for the air flow flow cross section of the coating zone down, whereby the obstruction of the air flow can be compensated by the robot to a corresponding extent and the flow rates change less within the coating zone than from top to bottom vertical walls. Thus, for example, in a paint booth or painting zone for vehicle bodies, optimum air distribution is achieved even when the side walls are perpendicular to the body. Excessive air flow at the bodies or other application objects would reduce the application efficiency, for example by entrainment of the coating material to be applied.
Vorzugsweise haben die Seitenwände nur an dem oberen begehbaren Steuerbereich schrägen Verlauf, während sie an dem unteren begehbaren Steuerbereich, also an dem (typisch gitterartigen) Boden der Beschichtungszone vorzugsweise bis über den oberen Rand der Applikationsobjekte vertikal nach oben verlaufen können, beispielsweise bis zu dem oberen Steuerbereich. Dadurch wird eine unerwünscht große Gesamtbreite der Beschichtungszone im Bodenbereich vermieden.The side walls preferably have an oblique course only at the upper accessible control area, whereas they may extend vertically upwards over the upper edge of the application objects, for example up to the upper one, at the bottom of the coating zone (typically grid-like) at the lower accessible control area control area. As a result, an undesirably large overall width of the coating zone in the bottom area is avoided.
Wenn nur eine hochgelegte Roboterführungsschiene vorzugsweise auf beiden Seiten des Förderers vorhanden ist, kann der untere begehbare Steuerbereich auf mindestens einer Seite des Förderers z.B. zum Beobachten des Beschichtungsprozesses ohne Sichtbehinderung durch Roboter sowie für Wartungsarbeiten usw. genutzt werden. Ebenso ist es aber möglich, am Boden der Beschichtungszone oder in der Nähe der Bodenebene an der Seitenwand der Beschichtungszone auf einer oder vorzugsweise auf beiden Seiten des Förderers weitere Führungsschienen für zusätzliche Roboter zu montieren. Die Führungsschienen können auf jeder Seite der Beschichtungszone in einem solchen Abstand übereinander angeordnet sein, dass die jeweiligen Roboter einander in der zu dem Förderweg parallelen Längsrichtung passieren können. Es können auch mehr als zwei Führungsschienen auf einer oder jeder Seite vorgesehen sein, insbesondere in unterschiedlichen Höhen, also in drei oder mehr vertikal voneinander beabstandeten Ebenen. Für die Verteilung jeweils mehrerer Roboter auf den Führungsschienen z.B. einschließlich Lackier- und Handhabungsrobotern bestehen insbesondere die in den
Die im Zusammenhang mit der vorliegenden Anmeldung erwähnten Schienen können vorteilhaft auch für auf ihnen verfahrbare Roboter für Zusatzgeräte genutzt werden, die zusätzlich zu Applikationsrobotern mit Zerstäubern (Applikatoren) und/oder zu Handhabungsrobotern (Handlern) vorhanden sein können. Beispiele für Zusatzgeräte sind beliebige Behandlungsgeräte einschließlich mobiler Trockner, die in an sich bekannter Weise die Applikationsobjekte zum Trocknen mit IR- oder UV-Strahlung bestrahlen können, sowie Reinigungsgeräte und insbesondere auch Sonden und Messgeräte, wie sie an sich zum Messen von Beschichtungsergebnissen und Schichtqualitätsmerkmalen wie Schichtdicke, "wave scan", Farbton, Glanz, Helligkeit usw. und zum Feststellen von Beschichtungsfehlern bekannt und üblich sind. Die Messungen können online erfolgen, auch zur Online-Qualitätsmessung mit ggf. automatischer Fehlerkorrektur bei nachfolgenden Applikationsobjekten beispielsweise gemäß
Der hier verwendete Begriff "Roboter" ist allgemein im Sinne eines freiprogrammierbaren mehrachsigen Automaten zu verstehen, vorzugsweise in Knickarmbauweise mit mindestens sechs rotatorischen Achsen (drei Haupt- und drei Handachsen), wobei der Grundkörper der aufeinanderfolgenden Bewegungsachsen als Schlitten auf einer der hier betrachteten Schienen verfahrbar sein kann, ähnlich der Mitfahrachse (Achse 7) konventioneller Lackierroboter od. dgl. Es ist aber auch möglich, auf einem gemeinsamen, als Schlitten auf ein und derselben Schiene verfahrbaren Grundkörper mindestens zwei Roboterkonstruktionen mit beispielsweise jeweils zwei oder drei Hauptachsen zu montieren, die je nach Anwendungsfall ähnlich wie bei getrennt auf derselben oder gesonderten Schienen verfahrbaren Robotern gleiche oder unterschiedliche Funktionen (Beschichten, Handling, Messen usw.) haben können.The term "robot" as used herein is to be understood generally in terms of a freely programmable multi-axis automatic machine, preferably in articulated arm construction with at least six rotary axes (three main axes and three hand axes), wherein the main body of the successive axes of movement as a carriage on one of the rails considered here movable It is also possible, on a common, as a carriage on one and the same rail movable base body at least two robot designs with, for example, two or three main axes to mount, depending according to application, similar to robots that can be moved separately on the same or separate rails same or different functions (coating, handling, measuring, etc.) may have.
Wie eingangs schon erwähnt wurde, sind für die Montage der oberhalb des Förderers und, wenn es zweckmäßig ist, oberhalb der oberen Ränder der Karossen oder sonstigen Applikationsobjekte angeordneten Führungsschienen für ggf. jeweils mehrere nebeneinander arbeitende Roboter besondere Tragstrukturen erforderlich, die bisher entweder durch in die Beschichtungs- oder Behandlungszone gestellte Rahmenkonstruktionen oder durch geeignete Ausbildung der Seitenwände selbst realisiert wurden. Gemäß einem weiteren Aspekt der Erfindung sind dagegen an mindestens einer und vorzugsweise beiden Seitenwänden der Beschichtungszone bzw. Kontroll- oder Reparaturzone angeordnete und vorzugsweise fest mit ihnen verbundene Tragstrukturen vorgesehen, die mit sich quer zu dem Transportweg des Förderers erstreckenden Stützelementen z.B. auf oder unter dem Boden der Zone oder auch an der Deckenwand abgestützt sein können, so dass die Seitenwände selbst keine tragende Funktion übernehmen müssen und entsprechend einfach und beispielsweise zur Beobachtung des Beschichtungsprozesses zu einem großen Teil auch im unteren Bereich transparent ausgebildet sein können. Diese Stützelemente müssen also kein Bestandteil der eigentlichen Seitenwand sein, sondern können von der Seitenwand entfernt sein und/oder sich quer zu dem Transportweg (vorzugsweise in einer zu der Bodenebene parallelen Richtung) von der Seitenwand weg erstrecken.As already mentioned, are for mounting above the conveyor and, if appropriate, above the upper edges of the bodies or other application objects arranged guide rails for possibly more each side by side working robots special support structures required previously either by in the Coating or treatment zone Asked frame constructions or by suitable design of the side walls themselves have been realized. According to a further aspect of the invention, on the other hand support structures are provided which are arranged on at least one and preferably both side walls of the coating zone or control or repair zone and which are preferably fixedly connected to them and which are provided with support elements extending for example transversely to the transport path of the conveyor. may be supported on or under the floor of the zone or on the ceiling wall, so that the side walls themselves do not have to perform a supporting function and can be designed according to simple and, for example, for monitoring the coating process to a large extent in the lower area transparent. Thus, these support elements need not be part of the actual sidewall, but may be away from the sidewall and / or extend away from the sidewall transversely of the transport path (preferably in a direction parallel to the plane of the ground).
Andererseits haben die Tragstrukturen vorzugsweise (im Gegensatz zu den Querstreben der Portalkonstruktion nach der eingangs erwähnten
Besonders zweckmäßig kann es sein, wenn diese Tragstrukturen konstruktiv mit den Trag- oder Versteifungselementen der an den Eintritts- und/oder Ausgangsenden der einzelnen Beschichtungszonen erforderlichen und an sich üblichen Trennwände ("Silhouetten") kombiniert werden. Der Zweck dieser quer zu dem Förderweg angeordneten Trennwände kann z.B. darin bestehen, mehrere in einer Lackierkabine hintereinander angeordnete Beschichtungszonen mit jeweils unterschiedlichem Lufthaushalt voneinander zu isolieren, etwa eine Zone für elektrostatische Applikation mit Rotationszerstäubern von einer Zone für Luftzerstäuber, in denen unterschiedliche Luftsinkgeschwindigkeiten erforderlich sind, wobei Luftmischung und Querströmungen zwischen den Zonen möglichst vermieden werden müssen. Außerdem haben die Querwände Sicherheitsfunktionen für den Personenschutz.It may be particularly expedient if these supporting structures are structurally combined with the supporting or stiffening elements of the dividing walls ("silhouettes") required at the inlet and / or outlet ends of the individual coating zones and which are customary per se. The purpose of these partitions arranged transversely to the conveying path may be e.g. consist of isolating a plurality of coating zones, each with a different air balance, arranged one behind the other in a paint booth, such as a zone for electrostatic application with rotary atomizers from a zone for air atomizers, in which different Lufttsinkgeschwindigkeiten are required, with air mixture and cross-currents between the zones must be avoided , In addition, the transverse walls have safety features for personal protection.
Eine Möglichkeit besteht beispielsweise darin, diese quer zu dem Förderweg angeordneten Trennwände unmittelbar an den Tragstrukturen der hochgelegten Roboterführungsschienen zu befestigen, wodurch der Aufwand für eigene Halterungen der Trennwände entfällt. Insbesondere kann aber eine Versteifungsstruktur der Trennwände auch als Trag- oder Stützstruktur für die Roboterführungsschienen dienen. Die Trag- oder Stützstrukturen der Schienen können also integraler Bestandteil einer Versteifung der Trennwände sein, oder umgekehrt können die Versteifungen der Trennwände integraler Bestandteil der Trag- oder Stützstrukturen der Führungsschienen sein.One possibility is, for example, to attach these arranged transverse to the conveyor partitions directly to the support structures of the raised robot guide rails, thereby eliminating the burden of their own brackets of the partitions. In particular, however, a stiffening structure of the partition walls can also serve as a support or support structure for the robot guide rails. The support or support structures of the rails may thus be an integral part of a stiffening of the partitions, or conversely, the stiffeners of the partitions may be an integral part of the support or support structures of the guide rails.
Die Applikationsobjekte können im kontinuierlichen Durchlaufbetrieb mit in der Regel längs der Förderbahn mitfahrenden Robotern oder stattdessen im Taktbetrieb, bei dem das Objekt während der Behandlung stillsteht, durch die betrachteten Zonen gefördert werden.The application objects can be conveyed through the considered zones in continuous continuous operation with robots usually traveling along the conveyor track or instead in the cyclic operation in which the object stands still during the treatment.
An den in der Zeichnung weitgehend schematisch und vereinfacht dargestellten Ausführungsbeispielen wird die Erfindung näher erläutert. Es zeigen:
- Fig. 1
- eine Beschichtungszone gemäß einem ersten Ausfüh- rungsbeispiel der Erfindung;
- Fig. 2
- ein zweites Ausführungsbeispiel der Erfindung;
- Fig. 3
- eine Beschichtungszone gemäß einem dritten Ausfüh- rungsbeispiel;
- Fig. 4
- eine Abwandlung des Ausführungsbeispiels nach
Fig. 3 ; und - Fig. 5
- die Anordnung eines Lackierroboters auf einer um ih- re Längsrichtung gekippten Führungsschiene.
- Fig. 1
- a coating zone according to a first embodiment of the invention;
- Fig. 2
- a second embodiment of the invention;
- Fig. 3
- a coating zone according to a third embodiment;
- Fig. 4
- a modification of the embodiment according to
Fig. 3 ; and - Fig. 5
- the arrangement of a painting robot on a tilted about its longitudinal direction guide rail.
Für gleiche oder einander entsprechende Elemente werden im Folgenden auch für die verschiedenen Ausführungsbeispiele gleiche Bezugszahlen verwendet.For identical or corresponding elements, the same reference numbers will be used below for the different embodiments.
Die in
Darstellungsgemäß beispielsweise etwa auf halber Höhe der Seitenwände 6, 6' und vorzugsweise oberhalb der Oberseiten der Karossen 2 sind an den Seitenwänden im Innenraum der Beschichtungszone 1 jeweils Führungsschienenanordnungen 10 bzw. 10' für Roboter 11 angeordnet. Die Roboter 11 können mit üblichen Zerstäubern oder sonstigen Applikatoren für Beschichtungsmaterial bestückt sein. Als Tragstruktur für die Führungsschienen dienen bei dem dargestellten Beispiel vertikale Träger 12, die hängend mit horizontal quer zu dem Transportweg liegenden Stützelementen 13 in oder an der Deckenwand 5 verankert sind und mit unteren, ebenfalls horizontal quer liegenden Stützelementen 14 ihrerseits die Führungsschienenanordnungen 10 bzw. 10' tragen. Die Träger 12 befinden sich auf der dem Innenraum der Beschichtungszone 1 abgewandten Seite der Führungsschienenanordnungen 10 bzw. 10' und der jeweiligen Seitenwand 6 bzw. 6'. Die Deckenwand 5 kann bei diesem Beispiel Bestandteil der z.B. aus Beton bestehenden Deckenkonstruktion eines größeren Raumes sein, in dem die Beschichtungszone 1 installiert ist.As shown, for example, about halfway up the
Die Trennwände 8 und 8' sind zumindest mit den Seitenwänden 6 und 6' fest verbunden und können mit ihrem Rahmen 19 auch unmittelbar an den Tragstrukturen der Führungsschienenanordnungen 10 und 10' befestigt sein.The
Die Beschichtungszone 1 hat auf der ihrem Innenraum abgewandten Seite der Seitenwände 6 und 6' auf dem sich bis dort fortsetzenden Boden 7 jeweils einen ersten begehbaren Steuerbereich 15 bzw. 15' für das Bedienungspersonal 16. Ferner ist vorzugsweise auf beiden Seiten der Beschichtungszone 1 oberhalb des ersten Steuerbereichs 16 bzw. 16' auf der Oberseite der die Führungsschienenanordnungen 10 bzw. 10' enthaltenden Baukonstruktionen ebenfalls auf der Außenseite der Seitenwände 6 bzw. 6' jeweils ein zweiter begehbarer Steuerbereich 17 bzw. 17' für das Bedienungspersonal 16 vorgesehen. Zumindest in den oberen Steuerbereichen 17 und 17' können sich (nicht dargestellte) Steuerschränke und sonstige Steuer- und Versorgungseinrichtungen für die Roboter 11 befinden.The
Bei dem dargestellten Beispiel enthält die Beschichtungszone 1 nur die hochgelegten Roboterführungsschienenanordnungen 10 und 10', doch besteht die Möglichkeit, am Boden 7 zwischen den Karossen 2 und den Seitenwänden 6 bzw. 6' auf einer oder beiden Seiten parallel zu den Führungsschienen der Anordnungen 10 und 10' je eine weitere Führungsschiene für zusätzliche Roboter zu montieren.In the illustrated example, the
Die Seitenwände 6 und 6' verlaufen darstellungsgemäß an dem unteren Steuerbereich 15 bzw. 15' von dem Boden 7 aus senkrecht nach oben bis zu der die Führungsschienenanordnungen 10 bzw. 10' enthaltenden Baukonstruktionen und somit bei dem dargestellten Beispiel bis zu einer Höhe oberhalb der Karossen 2. Der an dem oberen begehbaren Steuerbereich 17 bzw. 17' von den Roboterführungsschienen nach oben verlaufende Teil 18 der Seitenwände 6 und 6' ist dagegen darstellungsgemäß schräg nach innen geneigt, so dass der Innenraum der Beschichtungszone 1 an diesen Steuerbereichen stetig schmaler wird. Der schräge Verlauf der Seitenwände 6 und 6' kann darstellungsgemäß vor Erreichen der Deckenwand 5 wieder in einen vertikalen Teil übergehen, der jedoch in Vertikalrichtung kürzer ist als der schräge Teil 18. Die Lufteinlassöffnungen der Beschichtungszone befinden sich in dem zwischen dem oberen Ende der Seitenwände 6 und 6' liegenden Bereich der Deckenwand 5.The
Die senkrechten unteren Teile der Seitenwände 6 und/oder 6' können beispielsweise so hoch (ca. 2 m) sein, dass dort gerade Türen für das Bedienungspersonal 16 eingebaut werden können.The vertical lower parts of the
Die Seitenwände 6 und 6' müssen selbst keine Tragfunktion für andere Bestandteile der Beschichtungszone haben und können zumindest zum wesentlichen Teil aus transparentem Werkstoff wie Glas bestehen, um dem Personal 16 die Sicht in den Innenraum zu ermöglich. Auch die Trennwände 8 und 8' können transparent sein.The
Bei dem nur schematisch dargestellten Boden 7 kann es sich um eine ihrerseits auf (nicht dargestellten) gesonderten Stützen gelagerte Unter- oder Tragkonstruktion handeln, in oder unter der elektrische, pneumatische und Versorgungsleitungsanordnungen für die betrachtete Zone beispielsweise einschließlich der Ringleitungen für die Farbversorgung im Fall einer Lackierkabine verlaufen können. Für den Zugang zu diesem Versorgungsbereich können z.B. Klappen in dem Boden 7 vorgesehen sein.The
Besonders zweckmäßig kann ein modularer Aufbau der hier beschriebenen Zonen sein, die auch vollständig oder wenigstens teilweise beim Anlagenhersteller vormontiert und in diesem Zustand zu dem Anlagenbetreiber transportiert werden können, so dass sich die u.a. in
Die Beschichtungszone 21 nach
Die in
Anders als bei den zuvor beschriebenen Ausführungsbeispielen sind hier insbesondere die Tragstrukturen für die hochgelegten Führungsschienenanordnungen 10 ausgebildet. Diese Tragstrukturen bestehen im Wesentlichen aus Rahmenkonstruktionen 33 beispielsweise der dargestellten rechteckigen Form mit zwei durch obere und untere horizontale Querstützelemente 34 verbundenen vertikalen Tragstützen 32. Die Rahmenkonstruktionen 33 stehen bei diesem Beispiel jeweils in einer vertikal quer zu den Förderschienen 4 liegenden Ebene auf der dem Förderer 3 abgewandten Seite der Führungsschienenanordnungen 10 der Roboter 11 und damit auf der Außenseite der Seitenwände 36 auf einem Bodenteil 37. Darstellungsgemäß kann unter jedem der Enden der Führungsschienenanordnungen 10 angrenzend an die Außenseite der an dieser Stelle vertikalen Seitenwand 36 ein derartiger Rahmen angeordnet sein, der sich mit dem unteren Querstützelement 34 auf dem Bodenteil 37 abstützt und auf seinem oberen Querstützelement die Führungsschienenanordnung 10 trägt. Es können auch (nicht dargestellte) weitere derartige Rahmen oder sonstige Stützen vorhanden sein. Die beiden als Tragstrukturen für die Roboterführungsschienen dienenden Rahmenkonstruktionen 33 an den Ein- und Ausgangsenden der Beschichtungszone 31 können vorzugsweise in der Nähe der Bodenebene und zweckmäßig unter dem Förderer 3 durch eine Querstrebe 35 verbunden sein. Derartige Querstreben für die Rahmenkonstruktionen 33 können auch auf der Höhe der Führungsschienenanordnungen 10 angeordnet werden.In contrast to the exemplary embodiments described above, in particular the support structures for the raised
Die an den Ein- und/oder Ausgangsenden vorgesehenen Trennwände 8 der Beschichtungszone 31 können zweckmäßig zwischen die parallel zu ihnen angrenzenden Rahmenkonstruktionen 33, die hierbei neben ihrer Funktion als Tragstruktur für die Roboterführungsschienen zugleich als Versteifungs- oder Rahmenkonstruktion der Trennwand dienen können, und ggf. die Querstreben 35 der Rahmenkonstruktionen 33 eingefügt sein.The
Die in
Die beschriebenen Ausführungsbeispiele können in verschiedener Hinsicht abgewandelt werden, insbesondere auch hinsichtlich der Schienenanordnungen. Beispielsweise kann es zweckmäßig sein, innerhalb oder außerhalb der Beschichtungszone (oder einer Kontroll- oder Reparaturzone im Fall der erwähnten Zusatzgeräte) vor und/oder hinter dem Behandlungsbereich Querschienen anzuordnen, beispielsweise senkrecht (Y-Richtung) zu den parallel zu der Förderrichtung (X-Richtung) der Applikationsobjekte verlaufende Schienen in der Ebene bzw. den Ebenen der X-Schienen. Diese Querschienen können auch oberhalb der Applikationsobjekte angeordnet sein und sind vorzugsweise so mit der oder den zugehörigen X-Schienen in derselben Ebene verbunden, dass die betreffenden Roboter von der X-Schiene auf die Querschiene und umgekehrt und/oder zwischen den X-Schienen auf entgegengesetzten Seiten des Förderwegs überwechseln können, beispielsweise in einer an sich aus der Fördertechnik bekannten Weise.The described embodiments can be modified in various ways, in particular also with regard to the rail arrangements. For example, it may be expedient to arrange transverse rails in front of and / or behind the treatment area inside or outside the coating zone (or a control or repair zone in the case of the mentioned additional devices), for example perpendicular to the conveying direction (Y direction). Direction) of the application objects running rails in the plane or the planes of the X-rails. These cross rails can also be arranged above the application objects and are preferably connected to the one or more associated X-rails in the same plane, that the respective robot from the X-rail on the cross rail and vice versa and / or between the X-rails on opposite Change sides of the conveying path, for example, in a known manner from the conveyor technology.
Eine andere Abwandlungsmöglichkeit besteht darin, statt der beschriebenen linearen Schienenanordnungen Führungsschienen mit insbesondere horizontalem kreis- oder teilkreisförmigem oder beispielsweise oval gekrümmtem, vorzugsweise bezüglich des Förderwegs oder bezüglich einer vertikalen Achse symmetrischem und vorzugsweise geschlossenem Verlauf zu installieren. Auch hierbei kann eine Schienenanordnung oberhalb der Applikationsobjekte wie z.B. Fahrzeugkarossen besonders vorteilhaft sein.Another variant is to install instead of the described linear rail arrangements guide rails with particular horizontal circular or teilkreisförmigem or, for example, oval curved, preferably with respect to the conveying path or with respect to a vertical axis symmetrical and preferably closed course. Again, a rail arrangement above the application objects such as vehicle bodies may be particularly advantageous.
Derart abgewandelte Schienenanordnungen können auch in Anlagen zweckmäßig sein, in denen wesentliche Merkmale der hier beschriebenen Erfindung insbesondere bezüglich des schrägen Verlaufs der Seitenwände bzw. der besonderen Tragstruktur und ihrer Stützelemente nicht realisiert sind, obwohl sie andererseits auch mit jedem der sonstigen Merkmale der beschriebenen Erfindung kombiniert werden können. Insbesondere eignen sich die X-Y-Schienenanordnungen mit Überwechselmöglichkeit der Roboter sowie die Schienenanordnungen mit gekrümmtem oder kreisförmigem Verlauf auch für hängende Montage in einer Beschichtungs-, Kontroll- oder Reparaturzone. Die hängende Montage beispielsweise an einer Kabinendecke oder an einer schrägen Seitenwand einer Kabine kann insbesondere in der in der Anmeldung
Auch die erwähnte Anordnung von Zusatzgeräten auf Führungsschienen kann mit jedem der sonstigen in der vorliegenden Anmeldung beschriebenen Merkmale kombiniert werden, ebenfalls ohne auf die genannten wesentlichen Merkmale der Erfindung beschränkt zu sein, da sie hiervon unabhängige Vorteile wie z.B. gute Raumausnutzung und Reduzierung des Bauaufwands in einer Beschichtungsanlage und bei Verwendung gemeinsamer Roboter für verschiedene Geräte auch eine Reduzierung des Maschinen- und Steueraufwands hat.Also, the mentioned arrangement of additional devices on guide rails can be combined with any of the other features described in the present application, also without being limited to the said essential features of the invention, since they have independent advantages such as e.g. good space utilization and reduction of the construction effort in a coating plant and when using common robots for different devices also has a reduction of the machine and tax expenditure.
Generell ist die Kombination jedes der in dieser Anmeldung beschriebenen Merkmale mit einem oder mehreren anderen beschriebenen Merkmalen ohne Beschränkung auf sonstige Merkmale möglich und je nach Realisierungsfall vorteilhaft.In general, the combination of each of the features described in this application with one or more other features described without limitation to other features is possible and advantageous depending on the implementation.
Die beschriebenen Zonen können in einer konventionellen Linien-Beschichtungsanlage hintereinander angeordnet sein. Sie können aber auch parallel zueinander angeordnet sein, wenn der Transportweg der Applikationsobjekte in mehrere parallele Zweige verzweigt, in denen jeweils mindestens eine der Behandlungszonen angeordnet ist, wie es in der Patentanmeldung
Bei allen Ausführungsbeispielen der Erfindung mit Beschichtungszonen sollen die Roboterführungsschienen vorzugsweise so gestaltet und angeordnet sein, dass die Schienen und Roboter die Luftströmung in der Kabine nicht oder zumindest nicht wesentlich beeinflussen. Dies wird durch eine schlanke Bauform und/oder durch die Positionierung der Schiene außerhalb, insbesondere oberhalb des Lackierbereichs erreicht.In all embodiments of the invention with coating zones, the robot guide rails should preferably be designed and arranged such that the rails and robots do not or at least substantially do not influence the air flow in the cabin. This is achieved by a slim design and / or by the positioning of the rail outside, in particular above the painting area.
Die Führungsschiene 10 ist darstellungsgemäß auf der Oberseite eines horizontal durch die Kabinenwand 52 reichenden Trägers 53 montiert und mit ihrem horizontal der Innenwand der Kabine abgewandten Ende 54 bis nahe an die Kabinenwand 52 zurückgesetzt, um die gegebene Kabinenbreite möglichst gut auszunutzen.The
Der maximale Drehwinkel des Grundkörpers 50 des Roboters um die erste Roboterachse (A1) soll vorzugsweise größer sein als 90°, beispielsweise ungefähr 93°, was durch entsprechende Modifizierung des zugehörigen Energiekettensystems erreichbar ist.The maximum angle of rotation of the
Bei einer schmalen, z.B. wie dargestellt 4600 mm breiten Kabine wird durch die gekippte Anordnung ein gewünschter Lackierprozess mit den dafür notwendigen Abständen (beispielsweise 370 mm bzw. 338 mm) des Roboters 11 und seines Zerstäubers 56 von einer 1800 mm breiten Karosse ermöglicht.For a narrow, e.g. As shown 4600 mm wide cabin is the tilted arrangement a desired painting process with the necessary intervals (for example 370 mm or 338 mm) of the
Die wie beschrieben nach innen in die Sprühkabine gekippte Anordnung von Führungsschienen und damit des gesamten Roboters kann auch bei Robotern ohne die erwähnte erste Achse (A1) sinnvoll sein. Der Kippwinkel kann auch einstellbar sein.The as shown in the spray booth tilted arrangement of guide rails and thus the entire robot can also be useful for robots without the aforementioned first axis (A1). The tilt angle can also be adjustable.
Der eingangs erwähnte zweite Aspekt der Erfindung wird anhand von
Die erläuterten Kipp- und Neigungsanordnungen eignen sich u.a. für jede der verschiedenen oben anhand von
Claims (13)
- A coating zone, in particular in a coating booth for vehicle bodies, comprising- a conveyor (3) for transporting an application object (2) through the coating zone,- one or two guide rails (10) extending through the coating zone next to the conveyor (3), on mutually opposing sides in the case of two guide rails, and arranged above the conveyor (3) and preferably approx. at the level of the top of the object (2) or thereabove, for movable guidance of at least one robot (11) along the conveyor (3), and- load-bearing structures (12, 22) on one or both sides of the conveyor (3) for supporting the at least one guide rail (10), with load-bearing pillars (22, 33) extending vertically downwards from the level of the guide rail (10),- wherein the robot (11) has a first axis (A1) for joint rotation of the moving members (50) of the robot in relation to the main body (51) guided by the guide rail (10),- and wherein the guide rail (10) and the guided main body (51) of the robot (11) are arranged in such a way that the first axis (A1) of the robot is inclined relative to a vertical plane parallel to the conveying direction (3).
- The coating zone according to claim 1, characterised in that the angle of inclination of the first axis (A1) relative to the vertical plane amounts to roughly 10°.
- The coating zone according to claim 1 or claim 2, characterised in that the guide rail (10) is mounted on the top of a support (53) extending horizontally through a side wall (52) of the coating zone and is set back with its end (54) remote from the interior of the zone as far as the vicinity of the side wall (52).
- The coating zone according to any one of the preceding claims, characterised in that the maximum angle of rotation of the main body (50) about the first axis (A1) is greater than 90°.
- The coating zone preferably according to claim 1 comprising- a conveyor (3) for transporting an application object (2) through the coating zone,- one or two guide rails (10) extending through the coating zone, next to the conveyor (3), on mutually opposing sides in the case of two guide rails, and arranged above the conveyor (3) and preferably approx. at the level of the top of the object (2) or thereabove, for movable guidance of at least one robot (11) along the conveyor (3), and- load-bearing structures (12, 22) on one or both sides of the conveyor (3) to support the at least one guide rail (10),- characterised in that the guide rail (10) is arranged to be inclined or tiltable in a vertical plane parallel to the conveying direction relative to the horizontal plane.
- The coating zone according to any one of the preceding claims, characterised in that the angle of inclination of the guide rail (10) and thus of the robot (11) is adjustable in relation to the horizontal plane and may be set to desired values.
- The coating zone according to any one of claims 1 to 6, comprising- an upper ceiling (5), through which feed air enters the coating zone,- two side walls (6) arranged on opposing sides of the conveyor (3), which extend from the ceiling (5) downwards as far as a floor level (7),- a first walk-in control region (15), which is located at floor level (7) on the outside remote from the conveyor (3) of at least one of the two side walls (6),- and comprising a second walk-in control region (17), which is located on the outside of at least one of the two side walls (6) in the vicinity of the guide rail (10) above the first walk-in control region (15) and above the conveyor (3),
wherein the side wall (6) extends obliquely upwards at the upper walk-in control region (17) with a progressive reduction in the width of the interior of the coating zone. - The coating zone according to claim 7, characterised in that the at least one guide rail (10) is arranged above or in the vicinity of the upper end of the lower control region (15) and/or vertically between the two control regions (15, 17).
- The coating zone according to any one of the preceding claims comprising- one or more mutually separate load-bearing structures (12, 22, 33, 43) on one or both sides of the conveyor (3) for lateral support of the at least one guide rail (10),- an upper ceiling (5),- and comprising two side walls (6) arranged on opposing sides of the conveyor (3), which extend from the ceiling (5) downwards as far as a floor level (7),- wherein the load-bearing structure (12, 22, 33, 43) arranged laterally on the side wall(s) (6) next to the transport path (4) of the conveyor (3), leaving the transport path open, is supported on or under the floor level (7) or on the ceiling (5) with supporting elements (14, 24, 34) extending transversely of the transport path (4).
- The coating zone according to any one of the preceding claims, characterised in that in each case two guide rails for robots are arranged one above the other on one or both sides of the conveyor (3).
- The coating zone according to any one of the preceding claims, comprising- at least one coating robot on at least one of the guide rails,- wherein at least one add-on unit needed in addition to the atomisers or other application devices of the coating installation, such as for example mobile dryers, probes and/or measuring instruments, is displaceable on at least one of the guide rails.
- The coating zone according to claim 11, characterised in that an add-on unit and an application device of the coating installation are displaceable in the zone on a common guide rail or in each case on their own guide rails.
- A coating installation having a plurality of coating zones (1, 21, 31, 41) according to any one of the preceding claims, wherein the individual coating zones are arranged one after the other or parallel to one another along the transport path (4).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202007008852U DE202007008852U1 (en) | 2007-06-25 | 2007-06-25 | Coating zone with guide rails |
PCT/EP2008/005061 WO2009000491A1 (en) | 2007-06-25 | 2008-06-23 | Coating zone with inclined guide rails |
Publications (2)
Publication Number | Publication Date |
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EP2160253A1 EP2160253A1 (en) | 2010-03-10 |
EP2160253B1 true EP2160253B1 (en) | 2011-05-04 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08759322A Active EP2160253B1 (en) | 2007-06-25 | 2008-06-23 | Coating zone with inclined guide rails |
Country Status (6)
Country | Link |
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US (1) | US8544409B2 (en) |
EP (1) | EP2160253B1 (en) |
CN (1) | CN101778678B (en) |
AT (1) | ATE507906T1 (en) |
DE (2) | DE202007008852U1 (en) |
WO (1) | WO2009000491A1 (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2932103A1 (en) * | 2008-06-05 | 2009-12-11 | Abb France | PAINT CABIN |
DE102008038761A1 (en) * | 2008-08-12 | 2010-02-25 | Abb Ag | Cabin for coating workpieces, particularly automobile bodies, has side walls, top cover for limiting volume of cabin area, and transport device for workpieces |
DE102009020114A1 (en) * | 2009-05-06 | 2010-11-11 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Cleaning system for motor vehicle body components |
DE102014009945A1 (en) | 2014-07-04 | 2016-01-07 | Dürr Systems GmbH | Painting process and paint shop for decorative painting |
CN104331542B (en) * | 2014-08-12 | 2017-10-03 | 清华大学 | A kind of spray robot erect-position planing method of large-scale free form surface |
CN104549849B (en) * | 2014-12-19 | 2017-01-11 | 上海交通大学 | Automatic spraying robot device |
CN104437952A (en) * | 2014-12-26 | 2015-03-25 | 四川省隆鑫科技包装有限公司 | Spraying chamber |
US11413640B2 (en) | 2016-08-08 | 2022-08-16 | Alexander I. Jittu | Paint/coating applicator locating apparatus and method |
US11541493B2 (en) * | 2019-06-19 | 2023-01-03 | Adnanotek Corp. | Multi-axis mechanism device |
CN112570190A (en) * | 2019-09-30 | 2021-03-30 | 杜尔系统股份公司 | Processing apparatus and processing method |
CN112893011A (en) * | 2021-01-19 | 2021-06-04 | 深圳市森城橡胶有限公司 | Silica gel dispensing equipment and dispensing method thereof |
CN114887812B (en) * | 2022-05-18 | 2023-04-14 | 盐城东方天成机械有限公司 | Paint spraying equipment for automobile body |
CN115475718A (en) * | 2022-09-27 | 2022-12-16 | 江苏科技大学 | Tiltable all-directional spraying double-arm robot for ship segmentation |
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JPH026868A (en) | 1988-06-25 | 1990-01-11 | Taikisha Ltd | Method for setting coating device in coating booth and coating machine operating unit constituting part of coating booth |
JPH05200333A (en) * | 1992-01-27 | 1993-08-10 | Toyota Motor Corp | Automatic coating machine |
JP2756482B2 (en) | 1995-05-31 | 1998-05-25 | 川崎重工業株式会社 | Robot Placement Method and Structure in Automotive Painting Line |
DE19717593A1 (en) | 1997-04-25 | 1998-10-29 | Duerr Systems Gmbh | Measuring system for assessing the surface quality |
FR2806012B1 (en) | 2000-03-10 | 2002-08-09 | Abb Flexible Automation Gmbh | ROBOTIZED INSTALLATION FOR ONLINE PAINTING OF AN OBJECT, IN PARTICULAR A BODYWORK |
DE10036741A1 (en) | 2000-07-27 | 2002-02-07 | Duerr Systems Gmbh | Process and control system for checking the coating quality of workpieces |
DE10231504B4 (en) * | 2002-07-12 | 2006-09-07 | Eisenmann Maschinenbau Gmbh & Co. Kg | Coating plant with a skid conveyor system |
DE60311519T2 (en) * | 2002-10-23 | 2007-11-29 | Fanuc Robotics America, Inc., Rochester Hills | MODULAR COATING DEVICE |
DE10337803A1 (en) | 2003-08-14 | 2005-03-17 | Eisenmann Lacktechnik KG (Komplementär: Eisenmann Stiftung) | Device for treating the surface of workpieces, in particular vehicle bodies |
ES2313106T3 (en) | 2003-11-06 | 2009-03-01 | Fanuc Robotics America, Inc. | COMPACT ROBOTIC PAINTING CABIN. |
DE102004030858B3 (en) | 2004-06-25 | 2005-11-03 | Dürr Systems GmbH | Coating system and associated operating method |
DE102004056493A1 (en) | 2004-06-25 | 2006-01-12 | Dürr Systems GmbH | Paint-spray line for painting motor vehicle body parts, has two linear guides moveable along application and handling robots, where each of two linear guides is provided to guide one of application robots and one of handling robots |
DE102005013014A1 (en) * | 2005-03-21 | 2006-10-05 | Dürr Systems GmbH | Coating plant and associated method |
DE102006022335A1 (en) | 2006-05-12 | 2007-11-15 | Dürr Systems GmbH | Coating plant for vehicle body painting, has transport section, along which multiple coating objects are transported and treated in treatment stations, where transport section are arranged in treatment stations |
-
2007
- 2007-06-25 DE DE202007008852U patent/DE202007008852U1/en not_active Expired - Lifetime
-
2008
- 2008-06-23 CN CN2008801029476A patent/CN101778678B/en active Active
- 2008-06-23 US US12/666,632 patent/US8544409B2/en active Active
- 2008-06-23 DE DE502008003435T patent/DE502008003435D1/en active Active
- 2008-06-23 WO PCT/EP2008/005061 patent/WO2009000491A1/en active Application Filing
- 2008-06-23 EP EP08759322A patent/EP2160253B1/en active Active
- 2008-06-23 AT AT08759322T patent/ATE507906T1/en active
Also Published As
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US8544409B2 (en) | 2013-10-01 |
CN101778678A (en) | 2010-07-14 |
ATE507906T1 (en) | 2011-05-15 |
DE502008003435D1 (en) | 2011-06-16 |
CN101778678B (en) | 2013-06-19 |
US20100251963A1 (en) | 2010-10-07 |
EP2160253A1 (en) | 2010-03-10 |
WO2009000491A1 (en) | 2008-12-31 |
DE202007008852U1 (en) | 2007-10-04 |
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