EP2248596B1 - Dispositif de revêtement de pièces usinées - Google Patents

Dispositif de revêtement de pièces usinées Download PDF

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Publication number
EP2248596B1
EP2248596B1 EP09006151A EP09006151A EP2248596B1 EP 2248596 B1 EP2248596 B1 EP 2248596B1 EP 09006151 A EP09006151 A EP 09006151A EP 09006151 A EP09006151 A EP 09006151A EP 2248596 B1 EP2248596 B1 EP 2248596B1
Authority
EP
European Patent Office
Prior art keywords
robot
lacquering
movement
painting
cabin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP09006151A
Other languages
German (de)
English (en)
Other versions
EP2248596A1 (fr
Inventor
Thorsten Waldorf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AG Germany
Original Assignee
ABB AG Germany
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB AG Germany filed Critical ABB AG Germany
Priority to ES09006151T priority Critical patent/ES2381806T3/es
Priority to AT09006151T priority patent/ATE547183T1/de
Priority to EP09006151A priority patent/EP2248596B1/fr
Priority to DK09006151.6T priority patent/DK2248596T3/da
Publication of EP2248596A1 publication Critical patent/EP2248596A1/fr
Application granted granted Critical
Publication of EP2248596B1 publication Critical patent/EP2248596B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0436—Installations or apparatus for applying liquid or other fluent material to elongated bodies, e.g. light poles, pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/80—Movable spray booths

Definitions

  • the invention relates to an arrangement for coating workpieces with a paint booth movable on rails along a travel axis, with two opposing portal-like openings and spray coating devices arranged on both sides of the travel axis, as well as reservoirs for coating material.
  • a painting robot leads a paint atomizer during the coating process according to the program along a predetermined path of movement at a predetermined speed around the workpiece to be coated, wherein the paint atomizer are usually given respective Zerstäuberparameter for the different sections of the trajectory.
  • a paint robot typically has six degrees of freedom of movement and is limited in its work area to a range of 2m to 3m around its base. With such a robot, for example, smaller workpieces such as bumpers of automobile bodies without a relative movement of robot base to workpiece paintable. But it is also quite Lackierroboter with a lower number of degrees of freedom - for example, three - conceivable.
  • the rotor blade When coating elongated workpieces, such as rotor blades of wind turbines, a movement of the very long workpiece during the coating process should be avoided if possible to avoid otherwise occurring paint defects safely. Namely, in the manufacturing process, the rotor blade is mostly fixed in a horizontal position on one side of the rotor flange, so that any movement of the rotor blade this vibrate, for example, with an amplitude of more than +/- 250mm at its free non-tensioned end, which makes a coating process almost impossible.
  • a disadvantage of a large length of a travel rail of a painting device, for example, 40m are both the high technical complexity for the establishment of a correspondingly long paint booth with Verfahrschiene and the resulting from the length of the cabin effort for their ventilation.
  • a generally common air sink rate of 0.3 m / s and a spray booth floor plan of 50 mx 6 m there is a requirement of approx. 320000 m 3 of air per hour, which also has to be filtered and conditioned.
  • a difficulty in the coating of rotor blades is that they have a width of 4-5m and more in their flange.
  • a painting of a preferably horizontally positioned rotor blade is ideally transverse to its longitudinal direction - that is perpendicular - in parallel Lackierbahnen.
  • Inhomogeneities of the layer thickness distribution are undesirable for rotor blades of wind turbines for aerodynamic reasons. In addition, they lead to an increased material consumption, because despite any inhomogeneities in the layer thickness for protection purposes of the rotor blade always a minimum layer thickness must be ensured, so an increased average layer thickness is necessary.
  • a painting which covers the width of 4-5m, in principle applicable, but only with a settling process.
  • a painting web is divided into two parts and the atomizer is switched off after painting the first painting web half at an interruption point.
  • the atomizer is switched off, the painting robot moves to a different position from which the second part of the painting line can be reached, with the atomizer again starting at the point of interruption after this so-called reorientation process. There, the atomizer is switched on again and the painting of the second half of the coating is done.
  • a paint spraying device which is provided for coating a vehicle in a paint spray booth with a Farbsprüharm, a pump and a motor and gear for operating the pump, in particular, the drive of a spatially arranged colorant pump is in the foreground.
  • the paint spraying device has a Farbsprüharm vertically movably arranged Farbsprüharm which is attached to a scaffolding located outside the paint spray booth. He has at its free end a spray nozzle.
  • the pump is located on the horizontally or vertically movable arm near a spray nozzle.
  • the drive motor for the pump is located outside the paint spray booth and drives the pump by means of a multi-part drivetrain.
  • a movable spray booth which is designed specifically for the spray coating of railway cars.
  • the spray booth can be moved on both sides of the rails for the wagons arranged rails.
  • the spray booth disclosed therein with a length of about 2 to 4 m is designed significantly shorter. It is designed as a bridge portal, which follows the usual outer contour of wagons at a small distance, and provided with vertically liftable platforms for the coating personnel, that is, the coating of the wagons is done exclusively manually by means of compressed air by spray gun, which are the coating material located on the platform Removing paint tanks.
  • Disadvantages are in particular a deterioration of the quality of painting at the point of interruption in relation to a continuous web without interruption and the increased material consumption.
  • the paint booth is provided with at least one spray coating device disposed therein which is designed as a painting robot, that they along with the at least one painting robot parallel to a working surface along the imaginary Axis is movable, wherein the at least one painting robot is movable by means of at least one first moving device relative to the painting booth perpendicular to the work surface.
  • the at least one painting robot is additionally movable transversely to the imaginary axis by means of at least one second movement device relative to the painting booth.
  • the at least one painting robot is additionally movable along the imaginary axis by means of at least one third movement device relative to the painting booth. Due to this additional degree of freedom of movement of the painting robot more complex movements are possible by which the number of Absetzvor réellen is further reduced. In addition, the design of the exercise program is simplified.
  • the workpiece or rotor blade to be painted is stored horizontally.
  • the movable spray booth which is shorter than the rotor blade, moved along the extension of the rotor blade, wherein the rotor blade - depending on the current positioning of the spray booth - protrudes on one side of the spray booth through a portal-like opening and from the opposite portal-like opening protrudes again.
  • the imaginary axis correlates substantially with the longitudinal extent of the rotor blade to be painted.
  • the arrangement of the painting or the robot on a respective movement device which can move the complete painting on and allows, conveniently pulling a paint over the entire rotor blade width without settling or reduces at least the number of settling required.
  • a stroke of a first motion device of, for example, 2.5m and a working range of the paint robot of +/- 2.5m about its robot base
  • the paint booth surrounds the rotor blade to be painted only in sections along its extension, which on the one hand in an advantageous manner shorter and thus simplified.
  • a lifting device for a painting robot allows effective enlargement of its working area, whereby interruption points in the parallel coating paths are predominantly avoidable and the quality of the coating is increased.
  • the sum of the degrees of freedom of movement of the at least one painting robot and the movement devices, by means of which the painting robot is movable relative to the painting booth is at least six. This allows the sprayer mounted on the sprayer to move within the work area in any orientation.
  • the at least one painting robot in turn has at least six degrees of freedom of movement.
  • the freedom of movement of the painting robot moving atomizer is thereby increased in an advantageous manner.
  • At least two painting robots can be moved by means of a common movement device relative to the painting cabin. This is the case, for example, in the case of a common first movement device or lifting device for two painting robots arranged on the same side of the cabin.
  • the design complexity of the arrangement is thereby reduced, which on the other hand leads to a restriction in the freedom of movement of the painting robot. Depending on the application, this restriction is irrelevant.
  • At least one painting robot is disposed within the painting booth on either side of the imaginary axis.
  • each page can be assigned by a rotor blade to be painted depending on a robot.
  • the painting booth is supported on at least two chassis arranged parallel to one another and can be moved together with them. This can be realized, for example, with metal wheels guided on rails. Moving the paint booth is thereby particularly simplified.
  • the paint booth is provided with a device for the supply and / or discharge and / or cleaning of air.
  • the achievable paint quality is thereby increased and reduces the risk of contamination within the spray booth.
  • the at least one portal-like opening can be changed by aperture elements in their opening cross-section.
  • the interior of the paint booth is closed to the outside to prevent soiling and also to ensure the highest possible painting quality.
  • a rotor blade tapers in its cross section from its flange to the tip, so that the opening cross sections of the portal-like openings of the paint booth must correspond at least to the maximum cross section of the rotor blade to be painted.
  • the tip of a rotor blade areas in which the interior of the spray booth is not closed to the outside.
  • a similar sealing effect can be achieved according to the invention in that an airflow curtain can be generated along the opening cross-section of at least one portal-like opening.
  • the movement sequences of the at least one painting robot and at least one movement device can be predetermined by a common robot control.
  • a robot controller is a computing device which controls the robot's desired program of movement in drive signals of the drives of the respective moving members of the robot - e.g. Rotary movement of the robot base or a wrist - implements.
  • the at least one first movement device according to the invention which moves the painting robot itself, is at least partially also included in the movement sequence of the painting robot according to this embodiment. This allows, for example, a coordinated and continuous movement of the moving device, which, together with the movement of the painting robot itself, leads to the desired and appropriate movement of the atomizer attached to the robot. The movement is to make more fluid in this way, resulting in both time savings and improved paint quality.
  • the paint booth by means of a drive - for example, an electric motor - movable.
  • the cabin movement and the movements of the at least one painting robot can be predetermined by a common robot control, which likewise allows a more fluid movement.
  • Fig. 1 shows a first exemplary arrangement for coating workpieces in a sectional view.
  • a first workpiece 34 a rotor blade of a wind turbine, protrudes through a first portal-like opening 14 into a first painting booth 12. This is guided over a plurality of chassis or wheels 38 on parallel rails 39, which are located on a work surface 20.
  • a first painting robot 16 a schematically illustrated 6-axis robot, is vertically movable via a first movement device 22 mounted on a side wall of the painting booth, as indicated by the arrow 26. The movement of the first movement device 22 and the first painting robot are coordinated by a common, not shown, robot control.
  • a first atomizer 30 is mounted, which lacquered the rotor blade.
  • the atomizer 30 is coated according to the program in parallel meandering vertically along the surface of the rotor blade extending paint paths.
  • the first movement device performs periodic up and down movements, which, together with the movements of the first painting robot 16, leads to the program-oriented guidance of the atomizer 30 along the painting path.
  • the painting robot 16 is according to the program for the coating in the Fig. 1 left side of the rotor blade 34, while the mirror image on the other side provided second painting robot 18, which is movable up and down by another first moving device 24 in the direction of arrow 28, provided for the coating of the right side of the rotor blade 34 shown in the image is.
  • an opposite movement of the robots is advantageous, ie if the first atomizer 30 is located just at the upper edge of the rotor blade 34, then the second atomizer 32 is straight on the lower edge of the opposite side of the rotor blade 34th
  • devices for supplying air are provided in the paint booth, which is preferably cleaned or filtered to ensure a high paint quality. Due to the resulting slight overpressure in the painting booth 12, an inflow of non-purified air into the gap between the rotor blade and the portal-like opening 14 is predominantly reduced.
  • FIG. 2 shows a second exemplary arrangement for coating workpieces in a side view.
  • a second workpiece 62 to be coated likewise a rotor blade for a wind power plant, projects through a second portal-like opening 44 of a second painting booth 42 into it and out again through the third portal-like opening 46 at the opposite end.
  • the rotor blade 62 has its flange in the figure on the left side and is there with a holding device 70th attached.
  • the rotor blade 62 which tapers to the right, is thus kept horizontally suspended along its entire extent along the imaginary axis 60.
  • the second paint booth 42 is mounted on chassis or wheels 68 and movable parallel to the second work surface 64 along the imaginary axis 60, as indicated by the arrow 66. Preferably, this movement takes place via an electric drive.
  • the movement of the paint booth 42 is both continuously conceivable and at intervals. In this last example, the movement of the paint booth 42 takes place in interval steps which correspond approximately to the active length of a third movement device 56.
  • the third movement device 56 By means of the third movement device 56, it is possible to move a first movement device 52 and a third robot 48 mounted thereon, resulting in a total of eight degrees of freedom of motion for the third atomizer 50 in the case of a 6-axis third painting robot 48.
  • This over-redundancy in freedom of movement allows greater freedom in the design of the exercise program and ultimately allows avoidance of break points.
  • the direction of movement of the first movement device 52 takes place - comparable to Fig. 1 in the vertical direction 54, whereby the working area of the mounted thereon third robot 48 with third atomizer 50 is increased. This has the consequence in particular that interruption points of vertically extending painting paths can be avoided or else that higher workpieces 62 can be painted.
  • the third movement device 56 makes it possible to dispense with a continuous advance of the second painting booth 42, which in this example would be interpreted as a ninth degree of freedom in the movement.
  • This facilitates the control of the drive of the paint booth 12, which due to their Weight and size, for example, a length of 9m, a width of 6m and a height of 5.5m, means a lot of effort.
  • the painting of the partially illustrated rotor blade 62 is analogous to the description of Fig. 1 in meandering, paint paths along the surface of the rotor blade 62 and transversely to the first imaginary axis 60th
  • FIG. 3 shows a third exemplary arrangement for coating workpieces in a plan view.
  • a third paint booth 82 is guided on rails 104, not shown on chassis or wheels.
  • a third workpiece 102 also a rotor blade of a wind turbine, protrudes along a second imaginary axis 100 through a fourth portal-like opening 110 into the third painting booth 82 and on the opposite side through the fifth portal-like opening 112.
  • a second movement device 96 extends in the upper area of the third paint booth bridge-like between the two parallel to the imaginary axis side walls of the third painting booth 82. With the second moving device along a pivot axis 92, a method of a pivoting movement device 88 is enabled, which carries a fourth painting robot 84 ,
  • a circular segment-like movement of the fourth painting robot 84 is thus made possible about the pivot axis 92.
  • the second movement device 96 is in turn movable by means of a movement device, not shown, in the direction of the arrow 98 along the imaginary second axis 100.
  • the fourth painting robot can be moved along the line 108 transversely to the imaginary axis to the other side of the third painting booth, so that in this example a complete rotor blade can be painted on both sides by one and the same painting robot 88.
  • the position of the fourth painting robot on the other side of the cabin or the position of the robot supporting the pivoting device is indicated by dashed lines with the reference numerals 86 and 90.
  • the painting robot has also been moved by means of the pivoting device 88 to the other side of the pivot axis, so that adjust mirror image conditions between painting robot 88 and rotor blade 102 on both sides of the rotor blade. This is advantageous for the programming of the painting robot.
  • Fig. 4 shows a fourth and a fifth exemplary arrangement for coating workpieces in a sectional view.
  • a fourth workpiece 126 or a rotor blade projects through a sixth portal-like opening 124 into a fourth painting booth 122.
  • the cabin is - not visible from the figure - in the middle of the elongated extent of the rotor blade so that there is a smaller rotor blade cross-section than the rotor flange.
  • two first movable diaphragm elements 128 are provided.
  • a corresponding fifth painting booth 132 is shown, into which a flange-side piece of a fifth workpiece 136 or of a rotor blade projects through a seventh opening 134. Due to the larger cross-section of the rotor blade 136 at this point, the two second movable diaphragm elements have moved less far into the portal-like opening 134.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
  • Coating Apparatus (AREA)

Claims (11)

  1. Dispositif de revêtement de pièces usinées (34, 62, 102, 126, 136) avec une cabine de peinture (12, 42, 82, 122, 132) qui présente deux ouvertures en forme de portail (14, 44, 46, 110, 112, 124, 134) opposées l'une à l'autre le long d'un axe virtuel (60, 100), avec au moins un robot de peinture (16, 18, 48, 84, 86) disposé dans celle-ci, dans lequel la cabine de peinture (12, 42, 82, 122, 132) peut être déplacée (66, 108) de concert avec ledit au moins un robot de peinture (16, 18, 48, 84, 86), au moyen d'un entraînement, le long de l'axe virtuel (60, 100) parallèlement à une surface de travail (20, 64), et ledit au moins un robot de peinture (16, 18, 48, 84, 86) peut être déplacé par rapport à la cabine de peinture (12, 42, 82, 122, 132), perpendiculairement à la surface de travail (20, 64), au moyen d'au moins un premier dispositif de déplacement (22, 24, 52, 88, 90), caractérisé en ce que ledit au moins un robot de peinture (16, 18, 48, 84, 86) peut en plus être déplacé par rapport à la cabine de peinture (12, 42, 82, 122, 132), transversalement (108) à l'axe virtuel (60, 100), au moyen d'au moins un deuxième dispositif de déplacement (96) et peut en outre être déplacé par rapport à la cabine de peinture (12, 42, 82, 122, 132), le long (58) de l'axe virtuel (60, 100) au moyen d'au moins un troisième dispositif de déplacement (56, 88, 90).
  2. Dispositif selon la revendication 1, caractérisé en ce que la somme des degrés de liberté de déplacement dudit au moins un robot de peinture (16, 18, 48, 84, 86) et des dispositifs de déplacement (22, 24, 52, 56, 88, 90), au moyen desquels le robot de peinture (16, 18, 48, 84, 86) peut être déplacé par rapport à la cabine de peinture (12, 42, 82, 122, 132), est au moins égale à six.
  3. Dispositif selon l'une quelconque des revendications 1 ou 2, caractérisé en ce que ledit au moins un robot de peinture (16, 18, 48, 84, 86) présente au moins six degrés de liberté de déplacement.
  4. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins deux robots de peinture (16, 18, 48, 84, 86) peuvent être déplacés par rapport à la cabine de peinture (12, 42, 82, 122, 132) au moyen d'un dispositif de déplacement commun.
  5. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins un robot de peinture (16, 18, 48, 84, 86) est disposé respectivement de part et d'autre de l'axe virtuel (60, 100) à l'intérieur de la cabine de peinture (12, 42, 82, 122, 132).
  6. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la cabine de peinture (12, 42, 82, 122, 132) est supportée sur au moins deux trains roulants (38, 68) disposés parallèlement l'un à l'autre et peut être déplacée en commun avec ceux-ci.
  7. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la cabine de peinture (12, 42, 82, 122, 132) est dotée d'un dispositif pour l'arrivée et/ou l'évacuation et/ou l'épuration de l'air (36).
  8. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un rideau de circulation d'air peut être produit le long de la section transversale d'ouverture d'au moins une ouverture en forme de portail (14, 44, 46, 110, 112, 124, 134).
  9. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que le déroulement des déplacements dudit au moins un robot de peinture (16, 18, 48, 84, 86) et d'au moins un dispositif de déplacement (22, 24, 52, 56, 88, 90) peut être prédéterminé par une commande de robot commune.
  10. Dispositif selon la revendication 1, caractérisé en ce que le déroulement des déplacements dudit au moins un robot de peinture (16, 18, 48, 84, 86) et le déplacement de la cabine de peinture (12, 42, 82, 122, 132) peuvent être prédéterminés par une commande de robot commune.
  11. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins une des ouvertures en forme de portail (14, 44, 46, 110, 112, 124, 134) peut être modifiée au niveau de sa section transversale d'ouverture au moyen d'éléments d'écran (128, 138).
EP09006151A 2009-05-06 2009-05-06 Dispositif de revêtement de pièces usinées Not-in-force EP2248596B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ES09006151T ES2381806T3 (es) 2009-05-06 2009-05-06 Disposición para el revestimiento de piezas de trabajo
AT09006151T ATE547183T1 (de) 2009-05-06 2009-05-06 Anordnung zum beschichten von werkstücken
EP09006151A EP2248596B1 (fr) 2009-05-06 2009-05-06 Dispositif de revêtement de pièces usinées
DK09006151.6T DK2248596T3 (da) 2009-05-06 2009-05-06 Arrangement til påføring af en belægning på arbejdsemner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09006151A EP2248596B1 (fr) 2009-05-06 2009-05-06 Dispositif de revêtement de pièces usinées

Publications (2)

Publication Number Publication Date
EP2248596A1 EP2248596A1 (fr) 2010-11-10
EP2248596B1 true EP2248596B1 (fr) 2012-02-29

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP09006151A Not-in-force EP2248596B1 (fr) 2009-05-06 2009-05-06 Dispositif de revêtement de pièces usinées

Country Status (4)

Country Link
EP (1) EP2248596B1 (fr)
AT (1) ATE547183T1 (fr)
DK (1) DK2248596T3 (fr)
ES (1) ES2381806T3 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2486705B (en) * 2010-12-23 2013-03-13 Spraybooth Technology Ltd Spray booths
CN102193558B (zh) * 2011-03-04 2012-08-08 北京交通大学 可缩放的基于风滚草仿生的被动驱动型探测机器人
DE102011110802A1 (de) * 2011-08-22 2013-02-28 Oerlikon Trading Ag, Trübbach Lackiervorrichtung
DE102012003998A1 (de) * 2012-02-28 2013-08-29 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Anlage und Verfahren zur Bearbeitung von Profilsträngen
CN108144766B (zh) * 2016-12-06 2021-07-02 江西昌河航空工业有限公司 一种桨叶喷漆工装

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9001451U1 (de) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programmierhilfe für einen mehrachsigen Manipulator
US20020023586A1 (en) * 2000-08-22 2002-02-28 Walter Jahn Electrostatic power coating system

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB706600A (en) 1951-04-19 1954-03-31 Devilbiss Co Travelling spray booth
US5656085A (en) 1995-11-27 1997-08-12 Behr Systems, Inc. Paint spray apparatus with remote pump drive
DE10337803A1 (de) * 2003-08-14 2005-03-17 Eisenmann Lacktechnik KG (Komplementär: Eisenmann Stiftung) Vorrichtung zum Behandeln der Oberfläche von Werkstücken, insbesondere von Fahrzeugkarosserien

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9001451U1 (de) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programmierhilfe für einen mehrachsigen Manipulator
US20020023586A1 (en) * 2000-08-22 2002-02-28 Walter Jahn Electrostatic power coating system

Also Published As

Publication number Publication date
ES2381806T3 (es) 2012-05-31
DK2248596T3 (da) 2012-06-25
ATE547183T1 (de) 2012-03-15
EP2248596A1 (fr) 2010-11-10

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