EP2496364B1 - Beschichtungsverfahren und beschichtungsanlage mit dynamischer anpassung der zerstäuberdrehzahl und der hochspannung - Google Patents

Beschichtungsverfahren und beschichtungsanlage mit dynamischer anpassung der zerstäuberdrehzahl und der hochspannung Download PDF

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Publication number
EP2496364B1
EP2496364B1 EP10774142.3A EP10774142A EP2496364B1 EP 2496364 B1 EP2496364 B1 EP 2496364B1 EP 10774142 A EP10774142 A EP 10774142A EP 2496364 B1 EP2496364 B1 EP 2496364B1
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EP
European Patent Office
Prior art keywords
atomizer
painting
paint
coating
coating agent
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EP10774142.3A
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German (de)
English (en)
French (fr)
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EP2496364A1 (de
Inventor
Frank Herre
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Duerr Systems AG
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Duerr Systems AG
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Priority to PL10774142T priority Critical patent/PL2496364T3/pl
Publication of EP2496364A1 publication Critical patent/EP2496364A1/de
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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
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/126—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0422—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces comprising means for controlling speed of rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/053—Arrangements for supplying power, e.g. charging power
    • B05B5/0531—Power generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/08—Plant for applying liquids or other fluent materials to objects
    • B05B5/10—Arrangements for supplying power, e.g. charging power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/082—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to a condition of the discharged jet or spray, e.g. to jet shape, spray pattern or droplet size
    • 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
    • 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
    • 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
    • B05B13/0457—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0403—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces characterised by the rotating member
    • B05B5/0407—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces characterised by the rotating member with a spraying edge, e.g. like a cup or a bell
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0415—Driving means; Parts thereof, e.g. turbine, shaft, bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0426—Means for supplying shaping gas

Definitions

  • the invention relates to a coating method and a corresponding coating system for coating components with a coating agent, in particular for the coating of motor vehicle body components with a paint.
  • multiaxial painting robots are usually used, which lead a rotary atomizer as an application device.
  • the painting robot guides the rotary atomizer along programmed pathways over the component surface, whereby the webs are typically lined up in a meandering manner.
  • the component to be coated is moved past the atomizer by means of suitable conveyor technology or by a robot.
  • suitable conveyor technology for example roofing machines and side machines
  • such painting robots are very flexible in their web guide.
  • the number of rotary atomizers can be greatly reduced by the use of painting robots, but this leads to higher demands on the area performance and thus also on the coating speed.
  • the outflow quantity (ie the paint stream) and the shaping air flow are changed dynamically in order to achieve an optimum painting result to reach. For example, little or no steering air is applied when a large-scale painting is desired, for example, in the painting of large-area components (eg hood, roof surface) of motor vehicle body components. In a detail painting, however, a relatively large Lenkluftstrom is delivered to constrict the spray.
  • a disadvantage of the conventional painting is therefore the unsatisfactory flexibility and dynamics in painting.
  • EP 1 380 353 A1 are a coating method and a coating system according to the preamble of the independent claims known.
  • a highly dynamic adaptation of the high voltage for the electrostatic coating agent charging is only possible to a limited extent.
  • the invention is therefore based on the object to provide a correspondingly improved paint shop.
  • the invention is based on the technical knowledge that it is advantageous in the operation of a paint shop when during the movement of the atomizer not only the fluidic operating variables (eg paint flow, Lenkluftstrom) are changed dynamically, but also electrical and / or kinematic operating variables, such as the rotational speed of the rotary atomizer or the high voltage, with which the coating agent to be applied is charged electrostatically.
  • fluidic operating variables eg paint flow, Lenkluftstrom
  • electrical and / or kinematic operating variables such as the rotational speed of the rotary atomizer or the high voltage, with which the coating agent to be applied is charged electrostatically.
  • the dynamic change of the electrical and / or kinematic operating variables such as high voltage and / or rotational speed typically takes place during painting or coating, ie within the coating path predetermined by the program control of the coating system, along which the rotary atomizer is usually removed from the painting process. or coating robot is moved over the component surface during the application.
  • predetermined path points defined by the program control for example in the teach method or in another manner, for each of which the required (designated as brush) sets of operating quantities can be adjusted and changed according to the surface geometry of the component to be coated.
  • the said electrical or kinematic operating variables can thus also be changed at these defined path points. Such changes are also conceivable at other locations related to the defined track points, for example when interpolating between adjacent track points.
  • the drive of conventional rotary atomizers usually takes place pneumatically by turbines in which
  • the possible braking effect is much lower than the possible acceleration effect. It is therefore very difficult control technology, the turbine to control so that the speed of the rotary atomizer follows a certain speed curve.
  • the rotational speed dynamics of the rotary atomizer are influenced by numerous factors, such as the available air pressure to drive the turbine, the mass of the bell cup, which can vary depending on the material used (aluminum, steel or titanium), the diameter of the bell cup, the current amount of varnish to be applied, the viscosity and the solids content and the mass of the varnish.
  • the invention now provides that in the operation of a coating system, the rotational speed of the rotary atomizer and / or the high voltage of the electrostatic coating agent charging is dynamically adjusted, i. during the movement of the atomizer along the given painting path.
  • This is to be distinguished from a virtually static change in the speed or the high voltage between successive Lackiervorticiann.
  • the term dynamic change used in the context of the invention therefore preferably refers to the fact that the electrical and / or kinematic operating variable (for example rotational speed, high voltage) is changed within a painting track.
  • further operating variables for example guide air flow, paint flow, outflow quantity, robot speed
  • fluid operating variables for example guide air flow, paint flow, outflow quantity, robot speed
  • An advantage of the invention is the higher dynamics, whereby a faster painting is possible, which in turn leads to shorter cycle times and thus reduces the unit cost (CPU: C ost p er U nit) during painting.
  • Another advantage of the invention is the improved coating result or a higher paint quality.
  • the dynamic adjustment of electrical operating variables allows a reduction in the number of high-voltage flashovers, resulting in fewer operational disturbances, which in turn is the so-called first-run rate improved, ie the error rate at the first run of the paint shop.
  • the invention advantageously allows air savings and thus a reduction in the unit cost (CPU) during painting.
  • the dynamics of the change in the electrical and / or kinematic operating variable (eg speed, high voltage) and / or the fluidic operating variable (eg paint flow, Lehklmontstrom) of the atomizer is so large that at a setpoint change, the response time is less than 2s , 1s, 500ms, 300ms, 150ms, 100ms, 50ms, 30ms or even less than 10ms.
  • the set time is the time required for a setpoint change to convert at least 95% of the setpoint change.
  • the term used in the context of the invention of an electrical and / or kinematic operating variable is preferably based on the rotational speed of the rotary atomizer and the high voltage of an electrostatic coating agent charging.
  • only the high voltage is changed dynamically while the rotational speed is set in a conventional manner.
  • both the rotational speed and the high voltage are changed dynamically.
  • an electrical and / or kinematic operating variable is not limited to the rotational speed of the rotary atomizer and the high voltage of the electrostatic coating agent charging, but also others electrical or kinematic operating variables of the atomizer or paint shop includes.
  • the electric current of the electrostatic coating agent charge it is also possible for the electric current of the electrostatic coating agent charge to be changed dynamically, which is advantageous in particular when the coating agent is charged by means of external charging, ie by means of external electrodes.
  • a fluidic operating variable preferably depends on the paint stream and the Lenkluftstrom, wherein in the case of several separate Lenkluftströme they can be dynamically adjusted independently of each other.
  • the term of a fluidic operating variable used in the context of the invention is not limited to the steering air flow and the paint flow, but fundamentally also includes other fluidic operating variables of the atomizer or the paint shop.
  • the main idea of the invention is that the operating variables are no longer kept constant, as in the prior art, by the additional dynamics in the rotational speed and high-voltage control, but that they are highly dynamic in the brush change (previously outflow quantity and steering clearances) for optimum painting eg the interior areas, but also the outdoor areas and detail areas can be parameterized.
  • control by painting rules and data fields is so intelligent that it is able to automatically change the correct parameter to optimally adapt to the spot to be painted.
  • An acceptable quality, highest efficiency and highest coating speed should be achieved.
  • the controller should be ranked by the optimization priorities pretend. Then you could focus on shortest painting time, highest efficiency, lowest Lackiergard, lowest discharge rate, conservation of the robot (possible undynamic driving the robot), lowest risk of high voltage risk, best layer thickness distribution, lowest Lackmetsrisiko (runners, cooker), control of the degree of wetness of the paint, color etc., lay.
  • a state variable of the coating system is continuously determined during the movement of the atomizer, wherein the state variable can reproduce, for example, the geometry of the component surface at the Farbauf Economicsddling.
  • This state variable is then used for the dynamic adaptation of the electrical and / or kinematic operating variable and / or the fluidic operating variable. This means that the change in the electrical and / or kinematic operating variable and / or the fluidic operating variable takes place as a function of the determined state variable in order to optimize the coating result.
  • the determination of the state variable can be done within the scope of the invention, for example by a measurement.
  • the state variable of interest it is alternatively also possible for the state variable of interest to be available in any case as a control variable in a control device and then only has to be read out.
  • the state variable which is taken into account in the dynamic adaptation of the electrical and / or kinematic operating variable and / or the fluidic operating variable, reproduce the geometry of the component at the ink impact point. So is in a paint larger area, essentially level Component surfaces a widely fanned spray desirable to achieve a large area performance, so that the shaping air is then switched off expediently. In addition, then a relatively large paint stream can be selected to allow a correspondingly large area performance, the large paint stream can then be applied only with a correspondingly high speed of the rotary atomizer. Furthermore, when painting large-area, substantially flat component surfaces, the high voltage can be chosen to be relatively large, since the risk of electrical flashovers is then relatively low.
  • a relatively strongly constricted spray jet is desirable, so that a relatively large directing air flow is selected.
  • the high voltage of the coating agent charging should then be relatively small in order to avoid electrical flashovers.
  • the state variable which is taken into account in the dynamic adaptation of the operating variables, indicates whether an interior painting or exterior painting takes place.
  • a strong constricted spray is desirable
  • a relatively strong fanned spray is desirable, resulting in correspondingly different demands on the Lenkluftstrom.
  • interior painting and exterior paint also differ in the requirements of the high voltage of the coating agent charging, since, for example, in an interior at best a relatively small high voltage is possible to avoid flashovers.
  • the state variable which is taken into account in the dynamic adjustment of the operating variables, indicates whether the coating is currently done with or without electrostatic charging of the coating composition.
  • the state variable represents the distance between the color impingement point and an electrical earth point at which the component to be coated is electrically grounded.
  • the state variable represents the distance between the color impingement point and an electrical earth point at which the component to be coated is electrically grounded.
  • geometry and dynamics are also critical, as they are partially painted on electrically grounded components and partly on electrically insulated components, but fixed with steel fixtures.
  • the electrical current of the electrostatic coating agent charge is then dissipated via the wet paint to a ground point that is in communication with the device.
  • the isolation or proximity to the earth point must be taken into account, so that dynamic adaptation of the high voltage as a function of the distance to the earth point brings advantages.
  • the state variable which is taken into account in the dynamic adjustment of the operating variables, indicating whether the respective component is a plastic component or a component made of an electrically conductive material, which to the above leads mentioned advantages.
  • the state variable which is taken into account in the dynamic adaptation of the operating variables, indicates whether a detailed painting or surface coating is currently taking place. So insist on one Detail painting on the one hand and in a surface painting on the other hand, different requirements for paint flow, Lenkluftstrom, speed and high voltage coating agent charging.
  • the state variable taken into account in the dynamic adaptation of the operating variables may reflect whether the nebulizer is currently being cleaned or whether the nebulizer is being used to apply paint.
  • different requirements for paint flow, Lenkluftstrom, speed and high voltage of the coating agent charging may reflect whether the nebulizer is currently being cleaned or whether the nebulizer is being used to apply paint.
  • the above-mentioned examples of the state variable can also be combined with one another within the scope of the invention.
  • the operating variables can be adjusted dynamically as a function of a plurality of the state variables mentioned above by way of example.
  • the invention is not limited to the above-mentioned examples with regard to the state variables considered for dynamic adaptation, but in principle can also be implemented with other state variables.
  • an operating quantity e.g., spray jet width
  • the other operating quantities e.g., draft air, paint stream
  • paint speed, high voltage, speed e.g., spray jet width
  • a geometry factor which determines the geometry of the atomizer is continuously determined during the movement of the atomizer Component surface at the color impact point reproduces.
  • the spray jet width is then adjusted accordingly, which then in turn leads to a corresponding adaptation of steering air flow, paint flow and / or coating speed (ie movement speed of the atomizer).
  • the high voltage on the painting web is changed in an interior painting due to the particular component shape, which automatically leads to a corresponding adjustment of the paint stream (outflow) and the shaping air.
  • the adaptation of the parameters or the operating variables taking place in the two examples mentioned above by way of example can be carried out automatically by software or by a control program.
  • the control program merely makes a proposal for adaptation, which can then be implemented by a programmer (teacher) or a plant operator.
  • the high voltage for the electrostatic coating agent charging is generated by means of a high voltage cascade, wherein a rapid reduction of the high voltage can be made by the high voltage cascade is connected by means of a Ableitschalters or a ground switch directly or via a bleeder to ground.
  • Cascade type high voltage generators for electrostatic coating equipment are well known in the art and have long been common ( US 6,381,109 . US 4,266,262 , etc.) and essentially comprise a multistage high-voltage cascade connected downstream of a high-voltage transformer gate, whose stages consist of diodes and capacitors.
  • changes in the high voltage consist in replacing the diodes of conventional cascades with high-voltage-resistant photodiodes which can be controlled by illumination and by whose light control the cascade and, suitably, each individual cascade stage can be switched on and off to change the high voltage or controlled with respect to its current.
  • the rotary atomizer is driven by an electric motor, such as from WO 2008/037456 is known per se, to allow a large speed dynamics.
  • an electrical electrical isolation can be provided in addition to the rotary atomizer, in order to allow electrostatic coating agent charging despite the electric or hydraulic drive of a lying at high voltage potential in operation rotary atomizer. Possibilities for this are described in the abovementioned WO document.
  • the drive of the rotary atomizer is carried out in a largely conventional manner pneumatically by a turbine.
  • the turbine can not only accelerate by means of compressed air, but also actively decelerate by means of compressed air in order to achieve the required speed dynamics.
  • additional drive or braking medium eg air
  • the invention makes it possible for the electrical and / or kinematic operating variables (for example rotational speed, high voltage) of the atomizer to be changed in synchronism with the fluidic operating variables (for example guide air flow, paint flow). This means that these different operating variables react synchronously to the setpoint change during a setpoint change.
  • the electrical and / or kinematic operating variables for example rotational speed, high voltage
  • the fluidic operating variables for example guide air flow, paint flow
  • the term of movement of the atomizer used in the context of the invention may have different meanings.
  • a meaning of this term provides that the component to be coated stands still while the atomizer is moved over the component surface of the stationary component.
  • another meaning of this term is that the atomizer stands still while the component with the component surface to be coated is moved along the atomizer.
  • a third meaning of this term provides that both the atomizer and the component to be coated are moved during the coating and thereby perform a relative movement.
  • the invention also encompasses a suitably adapted coating system which is suitable for a dynamic adaptation of the electro / kinematic operating variables (for example rotational speed, high voltage).
  • the Figures 1A-1C show the method steps according to the invention of a coating method in the form of a flow chart.
  • the coating method is used for painting motor vehicle body components in a paint shop, wherein the painting is carried out by rotary atomizers, which are each guided by a multi-axis painting robot.
  • rotary atomizers which are each guided by a multi-axis painting robot.
  • a first step S1 it is first determined whether an interior painting of an interior of a motor vehicle body component takes place or an exterior painting of exterior surfaces of the motor vehicle body component.
  • This distinction is important because, in the case of interior painting on the one hand and exterior painting on the other hand, different requirements apply to the operating variables (eg guide air flow, High voltage) of the rotary atomizer.
  • a wide-spread spray makes sense to paint as large as possible can.
  • a relatively strong constricted spray is desirable in order to paint more detailed.
  • a branch to a step S3 or a step S4 then takes place, depending on the type of coating (interior painting or exterior painting).
  • the flag IL thus indicates whether interior painting or exterior painting is to be carried out, so that the flag IL is then stored for later consideration in the dynamic adjustment of the operating quantities (for example guide air flow, paint flow, speed, high voltage) of the rotary atomizer.
  • step S5 it is determined in a step S5 whether a detailed painting or a surface coating should take place.
  • This distinction is also important because different requirements are placed on the spray jet on the one hand and on surface painting on the other hand.
  • a detail painting a strongly constricted spray is desirable, whereas in a surface painting a highly fanned spray is sought, which is associated with correspondingly different demands on the steering air flow.
  • a branch to a step S7 or a step S8 then takes place, depending on the type of coating (detailed painting or surface painting).
  • the flag DL thus indicates whether a detail painting or a surface painting is carried out so that the flag DL is stored for later consideration in the dynamic adaptation of the operating variables (for example speed, steering air flow, paint flow, high voltage) of the rotary atomizer.
  • a next step S9 it is then determined whether the coating is to take place with an electrostatic coating agent charge or without an electrostatic coating agent charge. This distinction is important because a minimum distance to the grounded body component must be maintained in an electrostatic coating agent coating to avoid electrical flashovers. If, on the other hand, no electrostatic coating agent charging takes place, then there is also no risk of electrical flashovers, so that there are no restrictions in the positioning of the rotary atomizer in this respect.
  • a branch is then made depending on the activation or deactivation of the electrostatic (ESTA: electrostatic) coating agent charging to a step S10 or to a step S11.
  • ESA electrostatic
  • the flag HS thus indicates whether electrostatic coating agent charging takes place or not in the painting operation, so that the flag HS is stored for later consideration in the dynamic adaptation of the operating variables (for example speed, high voltage, directing air flow, paint flow) of the rotary atomizer.
  • the flags IL, DL and HS are therefore state variables which reflect the current state of the paint shop, wherein these state variables can be adopted, for example, from the system control of the paint shop.
  • the desired spray jet width SB is then determined, which is also preprogrammed and can therefore usually be easily read from the associated program memory which controls the painting process.
  • the spray jet width SB is the width of a coating path on the component surface, within which the layer thickness amounts to at least 50% of the maximum layer thickness.
  • a geometry factor GF is then determined as the state variable, which reproduces the component geometry at the color impingement point.
  • the geometric factor GF can, for example, in the plant control (CAD: C omputer A ided D esign) from the stored CAD model of the part to be painted motor vehicle body are derived, so that no measurements are required to determine the geometry factor.
  • a next step S14 the distance A between the ink impact point on the component to be painted on the one hand and the electrical end point of the component is then determined on the other hand, wherein the component is electrically grounded at the earth point.
  • the electric current is dissipated via the wet paint towards the earth point, so that the insulation or the proximity to the end point should be taken into consideration at each different color impingement point in order to achieve an optimum painting result.
  • the drawing speed v of the painting robot is determined, wherein the drawing speed v is the speed at which the painting robot moves the rotary atomizer over the component surface during painting.
  • step S16 it is then determined whether the component to be painted is a plastic component or a metal component, so that this distinction can also be taken into account in the dynamic adaptation of the operating variables (for example speed, high voltage, paint current, steering air flow).
  • the operating variables for example speed, high voltage, paint current, steering air flow.
  • a step S17 then takes place depending on the type of the component to be painted (plastic component or metal component) a branch to a step S18 or a step S19.
  • step S20 it is determined in a step S20 whether the rotary atomizer is to be cleaned or whether the Rötationszerstäuber applied in the normal painting paint.
  • a branch takes place to a step S22 or to a step S23.
  • the Figure 1C with the steps S24-S28 shows how the operating variables (eg speed, high voltage, Lenkluftstrom, paint flow) of the rotary atomizer depending on the previously determined state variables (eg Geometry factor GF, spray jet width SB, etc.) are dynamically adjusted.
  • operating variables eg speed, high voltage, Lenkluftstrom, paint flow
  • state variables eg Geometry factor GF, spray jet width SB, etc.
  • a determination of the lacquer flow Q LACK corresponds to a predetermined function f1 as a function of the previously determined state variables In. DL, HS, A, MA, RB, v, GF and SB.
  • the function f1 can hereby be stored in the form of a characteristic field in the plant control.
  • step S25 the steering air flow Q STEERING AIR is then determined according to a function f2 as a function of the state variables IL, DL, HS, A, MA, RB, v, GF and SB, whereby the function f2 also takes the form of a characteristic map in the system control can be deposited.
  • step S26 similarly, the high voltage U for the electrostatic coating agent charging in accordance with a function f3 is set in dependence on the previously determined state variables IL, DL, HS, A, MA, RB, v, GF and SB.
  • the function f3 can also be stored in the form of a characteristic field in the system control.
  • step S27 the rotational speed n of the rotary atomizer is then set according to a function f4 as a function of the previously determined state variables IL, DL, HS, A, MA, RB, v, GF and SB.
  • step S28 the rotary atomizer is then driven by the electrical or kinematic operating variables U and n and by the fluidic operating variables Q LACK and Q STEERING AIR .
  • FIG. 2 shows a first example of automatic parameter adjustment by software.
  • a geometry factor GF is determined, which reproduces the component geometry at the color impingement point.
  • the spray jet width SB is then set as a function of the geometry factor GF in accordance with a predetermined function f1.
  • a correspondingly strongly constricted spray jet with a correspondingly small spray jet width SB is desirable.
  • a fanned spray with a correspondingly large spray jet width SB is desirable.
  • the steering air flow Q STEERING AIR is then set as a function of the desired spray jet width SB in accordance with a predetermined function f2, wherein besides the desired spray jet width SB also other state variables can be taken into account, which is only schematically illustrated here.
  • the paint stream Q LACK is then determined as a function of the desired spray jet width SB in accordance with a predetermined function f3.
  • a correspondingly large paint flow Q LACK is required in order to achieve the desired layer thickness.
  • the next step S5 then provides that the drawing speed v of the painting robot is set as a function of the desired spray jet width SB in accordance with a predetermined function f4.
  • a step S6 the rotary atomizer is then controlled with the thus determined operating variables Q LACK , Q LENKLUFT and the painting robot is moved with the optimized pulling speed v over the component surface.
  • the geometric factor GF is determined in order to derive therefrom the optimum spray jet width SB.
  • the determination of the spray jet width SB then leads to a corresponding adaptation of the steering air flow Q STEERING AIR , the paint flow Q LACK and the drawing speed v.
  • This automatic parameter adjustment is continuously repeated during the operation of the painting robot during the movement of the rotary atomizer, so that the operating variables are adapted dynamically to the geometry of the component at the ink impact point.
  • FIG. 3 shows a second example of an automatic parameter adjustment during painting, wherein the in FIG. 3 shown process steps S1-S5 are continuously repeated during the painting operation during the movement of the rotary atomizer to allow a dynamic adjustment of the operating variables of the rotary atomizer.
  • a geometry factor GF is again determined, which reproduces the component geometry at the color impingement point.
  • step S2 the high voltage U for the electrostatic paint charging then becomes dependent on the geometry factor GF determined according to a predetermined function f1.
  • the paint flow Q LACK is then determined as a function of the geometry factor GF in accordance with a predetermined function f2.
  • step S4 the steering air flow Q STEERING AIR is also defined as a function of the geometric factor GF in accordance with a predetermined function f3.
  • step S5 the rotary atomizer is then driven with the operating variables U, Q LACK and Q STEERING AIR adjusted in this way .
  • steps S1-S5 are continuously repeated during operation of the painting during the movement of the rotary atomizer to dynamically adjust the operating variables U, Q LACK and Q STEERING AIR during the movement of the rotary atomizer to the component geometry in order to achieve an optimal painting result.
  • FIG. 4 shows in greatly simplified form a painting according to the invention with a multi-axis painting robot 1, which leads as an application device, an electrostatic rotary atomizer 2, as indicated by the dashed block arrow.
  • the painting robot is controlled by a robot controller 3, the robot controller 3 specifying the position of the tool center point (TCP) of the painting robot 1 and thereby moving the rotary atomizer 2 to predetermined, programmed painting paths.
  • TCP tool center point
  • the rotary atomizer 2 is controlled by a control unit 4, as will be described below.
  • the rotary atomizer 2 has a steering air valve 5, which is controlled by the control unit 4, so that the control unit 4 adjusts the steering air flow Q STEERING AIR , which is emitted by the rotary atomizer 2 for shaping the spray jet.
  • the rotary atomizer 2 has a pneumatic turbine 7, which drives a bell cup of the rotary atomizer 2.
  • a special feature of the turbine 7 is that the turbine 7 can be pneumatically actively accelerated and braked to allow high speed dynamics.
  • the control unit 4 can set an acceleration air flow Q + and a brake air flow Q - in order to set the desired rotational speed of the rotary atomizer 2.
  • the rotary atomizer 2 has a high-voltage electrode 8 in order to electrostatically charge the applied coating agent, which leads to a high order winding rate.
  • the high-voltage electrode 8 can be designed as an inner electrode or as an outer electrode, and is supplied by a high-voltage cascade 9 with a specific high voltage U, the high-voltage cascade 9 is also controlled by the control unit 4 in order to achieve the desired high voltage U.
  • the high-voltage cascade via a bleeder 10 and a bleeder 11 is connected to ground in order to reduce the high voltage U quickly.
  • the diverter switch 11 is also controlled by the control unit 4, so that the high voltage U can be rapidly reduced, if this is desirable in the context of dynamic parameter adjustment.
  • the high-voltage cascade can also be controlled in particular with photodiodes provided for this purpose, as has already been explained above.
  • the paint shop has a system controller 12, which communicates bidirectionally with the robot controller 3 and the control unit and supplies, for example, state variables of the paint shop to the control unit 4, so that the control unit 4 these state variables in the dynamic adaptation of the steering air flow Q STEERING AIR , the paint stream Q LACK , the acceleration air Q + , the brake air Q and the high voltage U can take into account.
  • a system controller 12 which communicates bidirectionally with the robot controller 3 and the control unit and supplies, for example, state variables of the paint shop to the control unit 4, so that the control unit 4 these state variables in the dynamic adaptation of the steering air flow Q STEERING AIR , the paint stream Q LACK , the acceleration air Q + , the brake air Q and the high voltage U can take into account.

Landscapes

  • Electrostatic Spraying Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Spray Control Apparatus (AREA)
EP10774142.3A 2009-11-04 2010-11-02 Beschichtungsverfahren und beschichtungsanlage mit dynamischer anpassung der zerstäuberdrehzahl und der hochspannung Active EP2496364B1 (de)

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PL10774142T PL2496364T3 (pl) 2009-11-04 2010-11-02 Sposób powlekania i instalacja do powlekania z dynamicznym dopasowaniem prędkości obrotowej rozpylacza i wysokiego napięcia

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DE102009051877A DE102009051877A1 (de) 2009-11-04 2009-11-04 Beschichtungsverfahren und Beschichtungsanlage mit dynamischer Anpassung der Zerstäuberdrehzahl und der Hochspannung
PCT/EP2010/006681 WO2011054496A1 (de) 2009-11-04 2010-11-02 Beschichtungsverfahren und beschichtungsanlage mit dynamischer anpassung der zerstäuberdrehzahl und der hochspannung

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DE102013218611A1 (de) * 2013-09-17 2015-03-19 Peter Schiller Verfahren und Vorrichtung zur Qualitätssicherung bei Beschichtungsverfahren
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DE102016001073B4 (de) * 2016-02-02 2018-10-25 Eisenmann Se Mehrachsroboter sowie Verfahren zu dessen Steuerung bei der Lackierung von Gegenständen
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CN113853252A (zh) * 2019-03-25 2021-12-28 卡莱流体技术有限公司 静电涂覆系统及方法
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CN102596422B (zh) 2016-02-24
WO2011054496A1 (de) 2011-05-12
JP2013509991A (ja) 2013-03-21
EP2496364A1 (de) 2012-09-12
JP5752701B2 (ja) 2015-07-22
DE102009051877A1 (de) 2011-05-05
HUE026377T2 (en) 2016-05-30
US20120219700A1 (en) 2012-08-30
PT2496364E (pt) 2016-02-10
US10052644B2 (en) 2018-08-21
CN102596422A (zh) 2012-07-18
ES2559234T3 (es) 2016-02-11
PL2496364T3 (pl) 2016-04-29

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