EP2185293B1 - Applikationssystem - Google Patents

Applikationssystem Download PDF

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Publication number
EP2185293B1
EP2185293B1 EP08847569A EP08847569A EP2185293B1 EP 2185293 B1 EP2185293 B1 EP 2185293B1 EP 08847569 A EP08847569 A EP 08847569A EP 08847569 A EP08847569 A EP 08847569A EP 2185293 B1 EP2185293 B1 EP 2185293B1
Authority
EP
European Patent Office
Prior art keywords
metering
applicator
application
pump
coating material
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08847569A
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German (de)
English (en)
French (fr)
Other versions
EP2185293A1 (de
Inventor
Lothar Rademacher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
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Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to PL08847569T priority Critical patent/PL2185293T3/pl
Publication of EP2185293A1 publication Critical patent/EP2185293A1/de
Application granted granted Critical
Publication of EP2185293B1 publication Critical patent/EP2185293B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1007—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material
    • B05C11/1013—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material responsive to flow or pressure of liquid or other fluent material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1047—Apparatus or installations for supplying liquid or other fluent material comprising a buffer container or an accumulator between the supply source and the applicator

Definitions

  • the invention relates to an application system for the in particular series application of a coating material of high viscosity such as sealing, adhesive, insulating or similar material according to the preamble of claim 1. Furthermore, the invention relates to a corresponding application robot and a corresponding applicator of this system.
  • the viscosity of waterborne basecoats which is strongly dependent on the shear rate according to the thixotropic behavior of such lacquers, is measured using the standardized method according to the DIN 53019 series of standards, the result is, for example, a shear rate (flow velocity of the sample under consideration) Shear gap in which the liquid flows) of 1000 / s typical values between 50 and about 200 mPas (at 20 ° C).
  • the coating compositions to be applied according to the invention have a suitably measured viscosity of more than 300 mPas, typically more than 500 mPas.
  • this can be for vehicle bodies for Sealing and the other purposes mentioned, also thixotropic material typically have a measured viscosity of 1.5 Pas to 7 Pas according to said method (or more than twice these values, if the shear rate instead of 1000 / s, for example, only 100 / s ).
  • the applicator of the application system according to the invention should preferably be suitable for coating material whose viscosity measured with the same measuring method is at least 5 times, in particular at least 7 times, the viscosity of wet paint, such as, in particular, the color lakes customary for vehicle painting.
  • the customary paint atomisers such as, for example, a rotary atomizer with built-in gear metering pump (US Pat. DE 10115463 A1 ).
  • a rotary atomizer with built-in gear metering pump US Pat. DE 10115463 A1
  • the so-called airless spray process in which the material is sprayed in contrast to the rotation or air atomization of paint alone by the material pressure at the application nozzle.
  • the working with air-based known applicators for surface material application as required for the underbody protection application or the insulation spraying.
  • the material pressure at the application nozzle depending on the nozzle type and material typically between 15 bar and 230 bar may be, while due to unavoidable pressure losses higher material pressure at the output
  • the metering device or the metering pump in typical cases can be between 25 bar and 350 bar and thus considerably higher than in paint application systems.
  • the application system according to the invention thus operate at a material pressure of at least 15 bar at the application nozzle and / or at least 25 bar at the outlet of the metering device or metering pump.
  • the metering is carried out as needed, ie during the coating, the volume flow (flow rate per unit time) of the coating material supplied to the applicator must be changeable with high precision and short response times depending on the respective partial areas of the workpiece, wherein the respective setpoints are stored in the higher-level system control and be dictated by her.
  • the dosing accuracy should be at least ⁇ 1% of the nominal value, with high repeat accuracy for temperature, viscosity and pressure fluctuations. Because of the required accuracy preferably continuous volume control is required.
  • the constituents of the metering system must be as free from dead space as possible, inter alia, to avoid hardening.
  • NAD material non-aqueous polymer dispersion
  • PUR up to 400 bar materials whose application high dosing pressure is achieved, for example in the case of PUR up to 400 bar.
  • the volume flow ie the flow rate, which may be in typical cases, for example, between 2 and 50 cc / sec.
  • the application must be controlled in such a way that not only the respectively required quantity of material is precisely metered, but also exactly the predetermined start and end points of the material seam are maintained. Because of the relatively fast application movements of a robot in practice, a very precise control of the activation and deactivation times of the application is required.
  • a metering system which can be used, inter alia, for sealing and adhesive materials is known, which consists essentially of a continuous piston or gear metering pump and a second metering stage downstream of it in the form of a cylinder container, the contents of which are held by a piston between two predetermined levels.
  • This metering system like other known Kolbendosier drove at least with sufficient dosing precision so bulky and heavy that it can not be attached to an application robot or installed, because its carrying capacity would be exceeded and / or its dynamics of movement and in some cases, the accessibility of the coated Workpiece areas would be affected, for example, inside a vehicle body.
  • Suitable robots and applicators for the application of sealing material on vehicle bodies are among others US 6 053 434 and EP 1 521 642 known.
  • the applicators of these robots consist essentially of a tubular lance part, at the outer end of which is an arrangement of, for example, three alternatively selectable nozzles.
  • a control valve for the material supplied to the applicator from the outside is installed in the applicator, with the (and according to the main need of conventional paint sprayer) the on and off times of the application and thus the initial and end points of the applied material web are controlled.
  • DE 10 2005 044796 A1 describes a metering device for liquid or pastuse media to be applied by an industrial robot, such as an adhesive or sealant, which is fed via a pressure control valve of a controlled Zahnraddosierpumpe, which conveys the material with adjustable volume flow to an exhaust valve.
  • US 5 046 666 discloses an application system for high viscosity material such as sealants and adhesives, which is mounted on the second arm of a two-armed robot for coating planar workpiece surfaces.
  • the application system contains a screw pump arranged directly on the application nozzle, the speed of which can be set proportional to the speed of the nozzle, and whose direction of rotation can be reversed to interrupt the application.
  • JP 07116580 discloses an application robot for highly viscous liquids, on the outside about a horizontal axis pivotable forearm on the outside of a conveyor system is arranged with a gear pump for constant flow.
  • US 5,890,656 discloses another application adhesive for viscous adhesive with a gear pump, which is arranged directly on a nozzle arrangement with a plurality of nozzles. This assembly is mounted on a wrist of the robot with the motor of the last axis of the wrist driving the gear pump.
  • the object of the invention is to achieve the shortest possible connection between the metering device and the applicator and the most accurate metering and application, avoiding the disadvantages of known systems for material of high viscosity, without the machine in terms of carrying capacity, dynamics of movement and / or accessibility of the coated Significantly affect workpiece areas. This should be achieved with the least possible effort.
  • the hose length is reduced to the corresponding short piece to the applicator on the robot wrist.
  • the achievable application and dosing dynamics are correspondingly high.
  • the metering pump should preferably be able to generate a desired material pressure itself and at least for a short time independently of its input-side material supply pressure, which if necessary can also be substantially higher than its inlet pressure. Further, the conveying direction of the metering pump should preferably be reversible (reversible), so that it is also able, the output-side pressure, so the form at the applicator regardless of the material supply pressure to reduce temporarily. This can be expedient in particular when integrating the metering pump into a robot arm towards the end of a material seam so that there is no surplus of material due to expansion of the hose connection to the application nozzle when the application is subsequently switched back on.
  • the metering pump should preferably be self-sealing at a standstill, so that no material exits from its outlet even at high inlet pressure.
  • This feature makes it possible to control the material delivery through the nozzle by switching the metering pump on and off itself and to dispense with the control valve, which is necessarily connected upstream of the known applicators of the nozzle and controlled by external signals. This possibility exists in particular when the metering pump is integrated in the applicator and when the nozzle is connected as directly as possible to the outlet of the metering pump.
  • the metering pump according to the invention on or preferably in a robot arm or even better on or in the applicator itself on or installed, it should be as small and light as possible despite the possibility of high pressure generation and high dosing precision.
  • the metering pump is a rotary positive displacement pump and in particular one with at least one rotating screw or Screw working pump.
  • rotary positive displacement pumps are known as screw, screw, screw or progressing cavity pumps and are commercially available.
  • a metering device or metering pump in the system described here means a conveying device with which the volume flow, that is to say the volume of the coating material delivered per unit time, can be determined, for example. can be changed automatically during the application depending on the respective currently coated portions of the component to be coated.
  • This demand-dependent change in the metering rate is known in piston dispensers achieved by demand-dependent control of the piston speed, while it can be achieved in rotary displacement pumps by controlling the rotational speed, in particular by program control.
  • This system essentially comprises a regulated first metering device which controls the pressure or the volume flow of the coating material to be applied by the applicator as a function of setpoints which are predetermined by an automatic system controller, a sensor for generating a measured value which corresponds to the pressure or the volume flow of the coating material flowing to the applicator, a control device for controlling the first metering device as a function of the predetermined desired values and from the measured value of the transmitter and a second metering device connected to the outlet of the first metering device for the coating material flowing to the applicator, which controls its pressure or volume flow as a function of the predetermined desired values for fine metering of the applied coating material.
  • the first metering device and / or the second metering device used for fine metering are each controlled by their own, preferably self-contained control loop, which compares a measured value corresponding to the pressure or the volume flow of the coating material flowing to the applicator with the predetermined desired values.
  • the first metering device is controlled by a closed control loop which contains an actuator for adjusting the pressure or the volume flow of the coating material flowing to the second metering device as a function of the setpoint values compared with the actual value.
  • This dosing system can be realized with low construction, control and maintenance costs as a pure flow system with the possibility of continuous continuous dosing, which in contrast to known continuous systems has the advantage of the greatest possible dosing accuracy (usually less than 1% deviation from the nominal value). A comparable accuracy was previously achievable only with discontinuous piston dosing.
  • the system works according to the master-slave principle with the first dosing stage as master and the second dosing stage as slave.
  • a simple, compact, low-cost and low-maintenance metering device can be used in a conventional manner such as a low-wear and low-maintenance flow regulator with a metering valve as an actuator or an even simpler dosing pressure regulator.
  • the rotating screw or screw pump or other rotary positive displacement pump of the application system described here can be used for the second metering stage required for the metering of the meter.
  • the main advantages of the invention are therefore first of all the shortest possible connection between the metering device and the applicator and extremely accurate metering ( ⁇ 1%), targeted adjustability of the admission pressure of the nozzle during reversing operation of the metering pump as well as high metering dynamics, especially with fast brush changes, ie rapid reactions on changes in the coating controlling parameters such as Pressure and / or volume flow of the material flowing or sprayed through the nozzle. Furthermore, a continuous metering is possible, whereby the production capacity in the coating of workpieces can be increased. When using suitable pumps, it is also possible to meter abrasive materials. In terms of design, a compact, space-saving attachment or installation of the metering pump is made possible, and it can eliminate the disturbing in some known systems external mounts for metering.
  • the invention is suitable for any high viscosity material, both 1K and 2K material.
  • the two components can be mixed in a manner known per se in a space provided in the applicator. It is also possible to apply two components simultaneously to the workpiece, for example simultaneously sealants and adhesives in a single operation.
  • Fig. 1 Dosing system shown is designed so that it can be used either for pressure control as well as for flow control. Not all components are required for each case.
  • the coating material to be applied by an applicator 10 for example sealing material required for vehicle bodies or parts thereof, is supplied from a material supply device 12 through an input line 13 and a material pressure regulator 14 to a first metering device 20 and from there through a connecting line 21 to a second metering device 30. From the output of the second metering device 30, the coating material flows through a line 31, for example, a hose, to the input of the applicator 10.
  • the material delivery is effected by the pressure prevailing in the lines 13, 21 and 31 pressure.
  • the dashed lines represent eg electrical or pneumatic signal control lines.
  • the material pressure regulator 14 serves to regulate the admission pressure of the metering system at the material input of the first metering device 20 and contains for this purpose a switched into the input line 13 control valve 22 and an associated pressure sensor 23.
  • the control valve 22 can in a conventional manner of a in the application control 40th contained associated control device (not shown) in the closed loop in response to the actual pressure value, which is measured by the pressure sensor 23 at the material output of the control valve 22, and a predetermined desired form setpoint value to be controlled.
  • the material pressure regulator 14 is here set to a constant material pressure which is greater than the maximum pressure required in the application operation in the system.
  • the first metering device 20 includes a switched into the connecting line 21 metering valve 22, which serves in a conventional manner as an actuator of a closed loop and is operated for example by an electric reversible motor M20 with associated gear G, as well as its own pressure sensor 23, the pressure at the material outlet of the metering valve 22 measures.
  • A likewise contained in the application control 40 associated control device (not shown), the motor M20 in response to the actual pressure value of the pressure sensor 23 and / or in response to an actual value at the output of the second metering device 30 and of the in the usual way with the Actual value control of compared setpoint values.
  • the setpoint values are variable as needed for the desired dosage of the coating material during the application and are specified to the control loop by the higher-level automatic system control (not shown).
  • the second metering device 30 is used for fine metering of the coating material and preferably includes a rotary positive displacement pump 32, which is drivable by a reversible motor M30 in both directions and can operate as an actuator of a closed loop.
  • the connecting line 21 may contain a check valve 35 between the material outlet of the first metering device 20 and the material inlet of the second metering device 30 in order to prevent pressure build-up to the metering valve 22 with additional pressure build-up by the fine metering device.
  • the measured value of the pressure sensor 36 acting directly on the fine metering device in accordance with another function also for adjusting the static pressure in the system, ie at the material input of the metering device.
  • This static pressure can be adjusted by a control device contained in the application controller 40.
  • a flow measuring cell is provided 37 connected in the line 31, which measures the volume flow of the flowing to the applicator 10 coating material in an equally possible operation of the system and this actual value of the associated control device in the application control 40 supplies.
  • the control device can control the cylinder unit 32 of the second metering device 30 serving as an actuator for direct volume flow control.
  • the flow measuring cell 37 measures the volume flow of the coating material flowing to the applicator 10, which results as a result of both metering devices 20 and 30, it may also be expedient to additionally control the control circuit of the first metering device with the measured value of the flow measuring cell 37. With knowledge of the respective pressure at both metering devices, both control loops can be controlled separately. The measured values of the flow measuring cell 37 can be converted in the application control 40 into corresponding pressure values.
  • the flow measuring cell 37 could also be dispensed with.
  • an additional pressure sensor 42 directly to the material inlet of the applicator 10.
  • the measured value of this pressure sensor 42 is not necessary for the actual dosing control according to the above explanations, but it can e.g. in the application control 40 in the adaptation of the system serve to eliminate the influences of temperature and / or viscosity.
  • the circulation circuit can pass through the applicator 10, as is known per se in coating systems.
  • the to the applicator 10th leading line 31 connected to a return line 51 via a switching valve 50 which is closed during the application and is opened in coating pauses.
  • the circulation loop does not have to go to the applicator 10 or even, as in this embodiment, through the applicator 10.
  • the circulation circuit it is also possible for the circulation circuit to extend only to one of the robot arms, for example to the forearm (robot axis 3).
  • the circulation circuit can pass through the metering device 30, and an output line 51 'then forms the continuation of the circulation circuit.
  • the output line 51 ' is connected to the illustrated direction changeover valve 53, from which the circulation circuit continues back to the circulation connection 52 in front of the inlet of the material supply device 12. If the circulation circuit does not pass through the metering device 30, the switching valve 53 can be omitted and the back pressure in the second cylinder chamber 39 can be derived through the line 55 directly from the material supply.
  • the in Fig. 2 6-axis application robot shown schematically consists conventionally of a base body G with a rotatable drive housing A, on which the pivotable arrangement of the arms 1 and 2 is mounted.
  • the drive motors for the rotational movement of the drive housing and for the pivotal movement of the arm 1 can be located, while the drive motor for the arm 2 in the arm 1 can be mounted.
  • the applicator 10 is mounted with the elongated, eg tubular lance part 60 typical for sealing application, for example. at its outer end, the nozzle assembly 61 is located with one or more selectable in a conventional manner nozzles.
  • the applicator 10 may be one of the initially mentioned Airless- or working with air support known spraying devices, which are suitable in contrast to the usual rotary or other paint atomizers for the present invention to be applied higher-viscosity coating compositions and this work with significantly higher material pressure.
  • the only schematically indicated metering pump 32 is integrated in the arm 2, which may be, for example, a screw pump of the typical for this type of pump slim and elongated design.
  • This metering pump is connected to the applicator 10 via a relatively short piece of tubing 62 (not shown) which may be routed through the arm 2 and through the wrist structure 4 or outside.
  • the (not shown) leading to the metering pump 32 material supply line may possibly extend inside the robot arm.
  • For program-controlled drive of the metering pump 32 it can, for example via a further extending through the arm 2 shaft 63 and possibly a transmission with the drive motor 64 (corresponding to M30 in Fig. 1 ).
  • the drive motor 64 of the metering pump for example an electric or pneumatic servo or other motor, can also be expediently arranged at the rear end of the arm 2, for example next to the motor and gear units 5 or also transversely to them.
  • the metering pump drive can therefore insofar and possibly also with regard to the engine type at least in principle correspond to the construction and arrangement of a conventional axis drive of the robot. In other cases, however, it may be more appropriate to grow the drive motor 64 directly to the metering pump 32.
  • the invention is not limited to the illustrated example of a 6-axis robot, it may also be provided fewer or more axes and a wrist with fewer or more than three axes.
  • the program control required for the metering pump drive directly into the robotic control which is already present, so that no substantial effort is required for additional application control. It is also possible to realize the metering pump drive with its own application control. In this case, the metering pump drive can be treated simply like a (optionally additional) robot axis.
  • the metering pump could also be integrated elsewhere, for example in the arm 1 in the robot, with their drive motor, for example, also in or on the arm 1 or in the drive housing A.
  • Fig. 3 illustrated arrangement of the metering pump 32 in the lance portion 60 of the applicator 10, wherein the output of the metering pump 32 at 62 directly and without hose connection and connected as a special possibility without the interposition of a controlled by external signals for switching on and off the application valve to the nozzle assembly 61 can be.
  • the applicator 10 is connected in a manner known per se with its terminal block 68 at the (in Fig. 3 not shown) robot wrist mounted.
  • the drive motor of the dosing pump 32 may also be located in the applicator directly on the pump or otherwise in or on the arm 1 of the robot. For a drive shaft and the material supply line of the metering pump 32 Corresponding to how FIG. 2 be valid.
  • FIG. 3 schematically shown arrangement of a pump in particular of the above-mentioned preferred type in (or on) an applicator may also be useful and advantageous for purposes other than the application and metering system actually described here, for example, only as a conveyor for any fluids.

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Coating Apparatus (AREA)
  • Spray Control Apparatus (AREA)
EP08847569A 2007-11-07 2008-11-05 Applikationssystem Active EP2185293B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL08847569T PL2185293T3 (pl) 2007-11-07 2008-11-05 System aplikowania

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007053073A DE102007053073A1 (de) 2007-11-07 2007-11-07 Applikationssystem
PCT/EP2008/009317 WO2009059753A1 (de) 2007-11-07 2008-11-05 Applikationssystem

Publications (2)

Publication Number Publication Date
EP2185293A1 EP2185293A1 (de) 2010-05-19
EP2185293B1 true EP2185293B1 (de) 2012-06-06

Family

ID=40433831

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08847569A Active EP2185293B1 (de) 2007-11-07 2008-11-05 Applikationssystem

Country Status (8)

Country Link
US (1) US8434958B2 (pl)
EP (1) EP2185293B1 (pl)
KR (1) KR101485145B1 (pl)
CN (1) CN101855024B (pl)
DE (1) DE102007053073A1 (pl)
ES (1) ES2389132T3 (pl)
PL (1) PL2185293T3 (pl)
WO (1) WO2009059753A1 (pl)

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DE102013015313A1 (de) * 2013-09-16 2015-03-19 Dürr Systems GmbH Applikationsanlage und entsprechendes Applikationsverfahren

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KR20100092442A (ko) 2010-08-20
CN101855024B (zh) 2013-05-01
EP2185293A1 (de) 2010-05-19
PL2185293T3 (pl) 2012-11-30
WO2009059753A1 (de) 2009-05-14
US20100260531A1 (en) 2010-10-14
KR101485145B1 (ko) 2015-01-22
ES2389132T3 (es) 2012-10-23
DE102007053073A1 (de) 2009-06-04
US8434958B2 (en) 2013-05-07
CN101855024A (zh) 2010-10-06

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