EP2729258B1 - Cleaning-filling station for means for spraying a coating product - Google Patents

Cleaning-filling station for means for spraying a coating product Download PDF

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Publication number
EP2729258B1
EP2729258B1 EP12731483.9A EP12731483A EP2729258B1 EP 2729258 B1 EP2729258 B1 EP 2729258B1 EP 12731483 A EP12731483 A EP 12731483A EP 2729258 B1 EP2729258 B1 EP 2729258B1
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EP
European Patent Office
Prior art keywords
station
volume
connection means
cabin
carriage
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
EP12731483.9A
Other languages
German (de)
French (fr)
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EP2729258A1 (en
Inventor
Joseph TARANTINI
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.)
Sames Kremlin SAS
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Sames Technologies SAS
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Publication date
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Publication of EP2729258A1 publication Critical patent/EP2729258A1/en
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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
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
    • 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
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a cleaning and / or filling station for coating product spraying means mounted on a mobile arm of a robot.
  • coating product is meant any product intended to be projected onto an object to be coated, for example a primer, a paint or a varnish.
  • EP-B-1207964 describes a cleaning and / or filling station according to the preamble of claim 1. It is known to EP-A-0 274 322 to equip the movable end of the arm of a multi-axis robot with a projector associated with a tank containing a spray coating product. A station is used to replenish this tank's coating product. This station comprises means for connecting the tanks with different circuits in each of which circulates a coating product.
  • the robot places the projector in an area near the connection means, in order to replenish the projector and its tank of coating product after having possibly cleaned, in case product change.
  • the cleaning and / or filling time in such a unit is relatively long.
  • EP-A-1326716 It is also known to EP-A-1326716 to circulate a main tank in the vicinity of multi-axis robots equipped with projectors associated with secondary tanks. When it is necessary to fill a secondary tank with a coating product, the robot is directed towards the main tank and an associated cleaning station.
  • WO-2010/067015 teaches also to use an accumulator in a filling station, which allows a rapid filling of the tank associated with a projector, especially for so-called "main" shades.
  • the connecting means comprise a movable head between a retracted position, where it does not interfere with the installation of a subassembly comprising a headlight and a tank within a docking unit, and an active position, allowing the transfer of cleaning product and / or coating product to this subset.
  • This connecting head is generally actuated by a rod which passes through a partition of the cabin, with the interposition of a seal.
  • the drive systems, control and power are not necessarily adapted to operate in explosive atmosphere. They must therefore be isolated from the interior volume of the cabin in which the projection takes place.
  • the aforementioned joint tends to wear out, to the point that it is not fully effective after a period of use of a few hundred or thousands of hours.
  • the products used can chemically attack this seal whose life is all the more shortened.
  • the invention intends to remedy more particularly by proposing a new cleaning and / or filling station which comprises mobile connection means and with which the risks of leakage are substantially reduced.
  • the invention relates to a station for cleaning and / or filling a subassembly for projecting coating product mounted on a mobile arm of a robot, this station comprising a reception area for at least one projector belonging to the projection subassembly, and connecting means between at least one supply circuit and the projector in place in the reception zone, these connection means comprising at least one mobile part, in particular in translation, between a position retracted, remote from the projector in place in the receiving area, and an active position, wherein the connecting means allow the supply of the projector cleaner and / or coating product.
  • the station comprises a flexible membrane integral, on the one hand, with the mobile part of the connection means and, on the other hand, with a fixed protective envelope for a part of these connection means. , while the membrane is deformable and adapted to follow the movements of the movable part between its retracted and active positions.
  • the membrane makes it possible to isolate the interior volume of a cabin, in which the coating product propagates in the form of a cloud of droplets, with respect to the interior volume of the station which comprises apparatus supply and control of the connection means, which must be protected from splashes of coating product and isolated from the explosive atmosphere of the cabin.
  • the use of the membrane provides effective insulation, without the need to traverse partitions with means such as a rod and a seal that can wear.
  • an automaton or robot 1 is disposed near a conveyor 2 carrying objects to be coated, in this case bodies 3 motor vehicles.
  • the robot 1 is of the multi-axis type and comprises a frame 4 movable on a guide 4 'extending parallel to the conveying direction X-X'.
  • a partition 5 of a cabin C extends near the robot 1, parallel to the direction X-X '.
  • An arm 6 of the robot 1 is supported by the frame 4 and comprises a plurality of segments 6a, 6b and 6c articulated with respect to each other.
  • the frame 4 also consists of parts 4a and 4b articulated with respect to each other about a substantially vertical axis Z.
  • the segment 6c of the arm 6 supports a subassembly 7 in which a reservoir 8 of coating product and a projector 9 are provided.
  • the projector 9 is of the electrostatic and rotary type and carries a bowl 9a intended to be driven at high speed. by an air turbine provided in the body of the projector 9.
  • the subassembly 7 When a motor vehicle body 3 is in place at the level of the robot 1, the subassembly 7 is moved opposite this body and the projector 9 is activated, as shown in FIG. figure 1 , in order to coat this body with the product contained in the tank 8.
  • the quantity of product present in the tank 8 is adapted to the surface to be coated for a bodywork 3.
  • the robot 1 At the end of the coating of a body, and while another body is progressing towards the robot 1, along the conveying direction X-X ', the robot 1 is directed to a cleaning station 10- filling of the subassembly 7.
  • This station 10 is located in the vicinity of the robot 1, partially inside the cabin C and partially outside thereof.
  • the station 10 comprises a frame 101 made by a mechanically welded structure and which defines three distinct volumes V1, V2 and V3.
  • the volume V1 is delimited by a parallelepipedic envelope 111 and is closed, opposite the cabin C, by a door 102 articulated on the frame 101.
  • the volume V2 is delimited by a second envelope 112 which is parallelepiped at the bottom and comprises an upper portion 112A of rounded shape.
  • the volume V3 is delimited by a third envelope which is in a cylinder section with a straight vertical generatrix.
  • the casing 112 bears against the casing 111 and the volumes V1 and V2 communicate through the part of the front face 111A of the casing 111 which is masked by the casing 112 at the end. figure 2 .
  • the envelope 113 is pressed against the envelope 112 and the volumes V2 and V3 communicate by the part of the front face 112B of the envelope 112 which is not covered by the envelope 113.
  • This possibility of communication is represented by the communication arrows C12 and C23 at the figure 3 .
  • the envelopes 111, 112 and 113 together constitute an outer covering 110 of the station 10.
  • the station 10 defines a docking unit 120 which is intended to receive the subassembly 7 when it is necessary to clean it and / or to fill it with the coating product.
  • the unit 120 delimits a zone Z120 in which the subassembly 7 may be partially engaged in cleaning configuration and / or filling in the unit 120.
  • the zone Z120 is defined in the volume V3, that is to say in the part of the station 10 which is surrounded by the envelope 113.
  • This zone Z120 communicates with a rinsing box 121 sometimes referred to as a "recuperator” or “collector” which is connected to a separator 122 provided for separating the air from the liquids poured by the subset 7 of a robot 1 inside the rinsing box 121.
  • the separator 122 is connected, by pipes not shown, to a polluted air collection circuit and a liquid evacuation circuit projected to a purge.
  • the unit 120 also comprises a locking ring 123 of the subassembly 7 of a robot 1 in configuration engaged in the zone 120.
  • connection head 131 is provided to dock the subassembly 7 of a robot 1 in place in the zone Z120.
  • This connecting head is movable in translation along an axis Y perpendicular to the direction X-X 'and to the axis Z, as well as to the partition 5.
  • the head 131 belongs to connecting means 130 which also comprise a carriage 132 on which the head 131 is mounted and which is also movable along the Y axis.
  • This carriage supports an accumulator reservoir 133 whose output is connected via a conduit 134 represented by its center line, at the connection head 131, through a plate 132A forming part of the carriage 132.
  • the reservoir 133 is fed from a coating product change block 135 which is itself fed by flexible hoses 136 represented by their axis lines to figures 3 and 5 and which are each connected to a not shown dispensing valve which is arranged in the lower part of the volume V1.
  • the block 135 is in the immediate vicinity of the tank 133.
  • Tank 133 is not required. It is possible to directly feed the head 131 from the coating product changing block 135.
  • An electric motor 137 is mounted on the carriage 132 and it controls the displacement of a piston 138 engaged in the reservoir 133, in a direction Y1-Y'1 parallel to the axis Y.
  • the motor 137 therefore makes it possible to push a product coating material present in the reservoir 133 into the connection head 131 and through the pipe 134, as necessary.
  • a pneumatic cylinder 139 is mounted on the frame 101 and drives a rigid portion of the carriage 132, which makes it possible to control the movement of the carriage 132 and the elements that it supports parallel to the Y axis, as represented by the double arrow F1 in the figures.
  • the connection head 131 is engaged in an opening with circular section 112C formed in the front face 112B of the casing 112. Depending on the movement of the carriage 132 under the action of the jack 139, the head 131 protrudes more or less from the front panel 112B, as is apparent from the comparison of figures 3 and 4 , on the one hand, with figures 5 and 6 , on the other hand.
  • a flexible membrane 150 closes the opening 112C, which avoids the pollution of the volume V2, and through it, volumes V1 and V3, through the opening 112C.
  • the membrane 150 is of annular shape, adapted to the geometry of the carriage 132 and the opening 112C and the stroke of the connection head between its positions of the figures 3 and 4 , on the other hand, 5 and 6, on the other hand. More specifically, the membrane 150 has a first edge 151, which constitutes a radial inner edge with respect to the Y axis and which is sealingly fixed by a ring 152 on the plate 132A. The edge 151 is thus integral in translation and in leaktight connection with the head 131.
  • the membrane 150 also has a second edge 153, which constitutes a radially external edge with respect to the Y axis and which is sealed at the periphery. Opening 112C being gripped between two rings 154 and 155 themselves immobilized on the front face 112B by any appropriate means, including screws. The edge 153 is thus integral in translation and in leaktight connection with the casing 112.
  • the intermediate portion 156 of the membrane 150 is slightly convex with its concavity turned towards the interior volume of the cabin C, while it forms a single wave 157 in the configuration of the figures 5 and 6 .
  • the membrane may form several waves in this second configuration.
  • This intermediate portion is devoid of folds or bellows, so that it does not create a folded or pinched area in which could accumulate coating products or cleaning product when the station 10 is subject to a cleaning operation by spraying cleaning product from the inside of the cabin C.
  • a fold is a deformation of the membrane 50 which has a radius of curvature less than ten times the thickness of this membrane .
  • a bellows consists of several folds or juxtaposed corrugations.
  • the membrane 150 is made of polytetrafluoroethylene, which is a material resistant to the products commonly used in a product spray installation. coating and the temperature cycles encountered in such an installation. Alternatively, other synthetic materials resistant to the solvents and cleaning agents used in the station 10 may be used to make the membrane 150.
  • the membrane may be made of a natural material, for example rubber.
  • station 10 The operation of station 10 is as follows:
  • the station 10 When the robot 1 is oriented towards the bodies 3, while the projector 9 is running, the station 10 is in the configuration of the figures 3 and 4 . In this configuration, the connection head 131 is retracted to the volume V2, in a position where it is clear of the zone Z120.
  • the robot 1 pivots about the Z axis to bring its projector 9 into the zone Z120 of the docking unit 120, in a configuration corresponding to that shown schematically in phantom with figures 5 and 6 where the rest of the robot 1 is not shown, for the sake of clarity.
  • the ring 123 is rotated to lock the subassembly 7 in position and the projector 9 can be activated to dump into the box 121 the remaining amount of coating product.
  • guide pins 131 A provided on the head 131 are pushed towards the assembly 71 to allow relative centering of the members 131 and 71.
  • a cleaning product may be injected into the subassembly 7 and / or into the conduit 134 connecting the reservoir 133 to the head 131, from the block 135, itself fed by one of the pipes 136.
  • the jack 139 moves the head 131 away from the subassembly 7. It is then possible to release the subassembly 7 by unlocking the ring 123 and backing the head 131 away from the subassembly 7, thanks to a new action of the jack 139.
  • the membrane 150 follows the movements of the plate 132A by elastically deforming, which is possible because of its flexible nature.
  • the block 135 is mounted directly on the carriage 132, close to the tank 133 and the head 131, the losses of the coating product during a product change are minimal, since they depend on the length of the pipes between the elements 133 and 135.
  • the mounting of the membrane 150 on the casing 112 is reversible. Thus, when it is necessary to carry out maintenance operations, it is possible to separate the membrane 150 from the casing 112 to access the volumes V1, V2 and V3 of the station 10. More precisely, the ring 154, which remains integral with the edge 153, is detached from the front face 112B.
  • the carriage 132 which is shown in this figure very schematically, is supported by rails 140 which guide it along the Y axis. These rails are themselves supported by a slide 141 movable parallel to the Y axis thanks to telescopic slides 142.
  • the opening 112C is gaping.
  • a removable cap 160 is provided in the station 10 to be temporarily mounted on the opening 112C to seal and isolate the volumes V1, V2 and V3 of the interior volume of cabin C.
  • the station is installed through the wall 5 of the cabin C.
  • the position of the frame 101 relative to the partition 5 can be chosen by the designer of the cabin C, depending on the size of the latter and the travel of the robot 1. It is sufficient for the zone 120 and the head 131 to be in the zone reachable by the subassembly 7.
  • the envelope 112 may be more or less engaged in the interior volume of the cabin C. In other words, the length L112 of the casing 112 measured parallel to the Y axis is a variable for adjusting the position of the station 10 relative to the cabin C.
  • the trace of the partition 5 on the casing 112 can be moved between the front faces 111A and 112B, at the choice of the designer of the installation.
  • the invention allows the elements arranged in one of the volumes V1, V2 and V3 are not explosion-proof, while that should be the case if they were integrated directly into the interior volume of the cabin C or in a volume in communication with the cabin.
  • the invention is described below for a cleaning-filling station.
  • the invention is applicable to a station in which one proceeds only to the cleaning or only to the filling of a projection subassembly.
  • the invention is shown in the figures with a circular membrane 150. It is however applicable with other membrane geometries. In practice, the membrane is adapted to the geometry of the plate 132A and the opening 112C.
  • the zone Z120 for receiving the projector 9 can be defined along the front face 112B of the envelope 112, without producing a docking unit such that the unit 120.
  • the front face 112B of the casing 112 extends over the entire height of this casing and a collector of unused coating product and / or cleaning product is disposed in the vicinity of the floor of the cabin , in front of the station 10.
  • the covering 110 includes only the envelopes 111 and 112 and the reception zone Z120 is formed on the front of the envelope 112.
  • the casing 112 may be more or less engaged in the interior volume of the cabin C.
  • the volume V1 may, alternatively, be partially or completely disposed inside the cabin C.
  • the volume V1 When it is partially disposed in the volume of the cabin C, the volume V1 is in an intermediate configuration between a "in cab” position and a "out of cab” position.
  • the trace of the partition 5 on the covering 110 is at the level of the envelope 111, beyond the wall 111 A with respect to the volume V2.
  • the invention is shown in the figures in the case where the head 131 and the carriage 132 are movable in translation along the axis Y.
  • these elements can be rotatable, in particular by means of a cam system, between the retracted position and the active position of the head.

Landscapes

  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)

Description

L'invention a trait à une station de nettoyage et/ou remplissage pour des moyens de projection de produit de revêtement montées sur un bras mobile d'un robot.The invention relates to a cleaning and / or filling station for coating product spraying means mounted on a mobile arm of a robot.

Par « produit de revêtement », on entend tout produit destiné à être projeté sur un objet à revêtir, par exemple un apprêt, une peinture ou un vernis. EP-B-1207964 décrit une station de nettoyage et/ ou remplissage selon le préambule de la revendication 1. Il est connu de EP-A-0 274 322 d'équiper l'extrémité mobile du bras d'un robot multiaxes d'un projecteur associé à un réservoir contenant un produit de revêtement à pulvériser. Une station est utilisée pour réapprovisionner en produit de revêtement ce réservoir. Cette station comporte des moyens de raccordement des réservoirs avec différents circuits dans chacun desquels circule un produit de revêtement. Après une phase de projection sur un ou des objets à revêtir, le robot vient placer le projecteur dans une zone à proximité des moyens de raccordement, afin de réapprovisionner le projecteur et son réservoir en produit de revêtement après l'avoir éventuellement nettoyé, en cas de changement de produit. Le temps de nettoyage et/ou remplissage dans une telle unité est relativement long.By "coating product" is meant any product intended to be projected onto an object to be coated, for example a primer, a paint or a varnish. EP-B-1207964 describes a cleaning and / or filling station according to the preamble of claim 1. It is known to EP-A-0 274 322 to equip the movable end of the arm of a multi-axis robot with a projector associated with a tank containing a spray coating product. A station is used to replenish this tank's coating product. This station comprises means for connecting the tanks with different circuits in each of which circulates a coating product. After a projection phase on one or more objects to be coated, the robot places the projector in an area near the connection means, in order to replenish the projector and its tank of coating product after having possibly cleaned, in case product change. The cleaning and / or filling time in such a unit is relatively long.

Il est également connu de EP-A-1 326 716 de faire circuler un réservoir principal au voisinage de robots multiaxes équipés de projecteurs associés à des réservoirs secondaires. Lorsqu'il convient de remplir un réservoir secondaire avec un produit de revêtement, le robot est orienté vers le réservoir principal et une station de nettoyage associée.It is also known to EP-A-1326716 to circulate a main tank in the vicinity of multi-axis robots equipped with projectors associated with secondary tanks. When it is necessary to fill a secondary tank with a coating product, the robot is directed towards the main tank and an associated cleaning station.

WO-A-2010/067015 enseigne par ailleurs d'utiliser un accumulateur au sein d'une station de remplissage, ce qui permet un remplissage rapide du réservoir associé à un projecteur, en particulier pour des teintes dites « principales ». WO-2010/067015 teaches also to use an accumulator in a filling station, which allows a rapid filling of the tank associated with a projector, especially for so-called "main" shades.

Dans certains matériels connus, les moyens de raccordement comprennent une tête mobile entre une position rétractée, où elle ne gêne pas la mise en place d'un sous-ensemble comprenant un projecteur et un réservoir au sein d'une unité d'accostage, et une position active, permettant le transfert de produit de nettoyage et/ou de produit de revêtement vers ce sous-ensemble. Cette tête de raccordement est généralement actionnée par une tige qui traverse une cloison de la cabine, avec interposition d'un joint. En effet, les systèmes d'entraînement, de contrôle et d'alimentation ne sont pas forcement adaptés à fonctionner en atmosphère explosible. Ils doivent donc être isolés du volume intérieur de la cabine dans laquelle a lieu la projection. Le joint précité a tendance à s'user, au point qu'il n'est plus totalement efficace après une période d'utilisation de quelques centaines ou milliers d'heures. En outre, en cas de nettoyage de la cabine par l'intérieur, les produits utilisés peuvent agresser chimiquement ce joint dont la durée de vie est d'autant plus écourtée.In certain known materials, the connecting means comprise a movable head between a retracted position, where it does not interfere with the installation of a subassembly comprising a headlight and a tank within a docking unit, and an active position, allowing the transfer of cleaning product and / or coating product to this subset. This connecting head is generally actuated by a rod which passes through a partition of the cabin, with the interposition of a seal. Indeed, the drive systems, control and power are not necessarily adapted to operate in explosive atmosphere. They must therefore be isolated from the interior volume of the cabin in which the projection takes place. The aforementioned joint tends to wear out, to the point that it is not fully effective after a period of use of a few hundred or thousands of hours. In addition, in case of cleaning the cabin from the inside, the products used can chemically attack this seal whose life is all the more shortened.

C'est à ces inconvénients qu'entend plus particulièrement remédier l'invention en proposant une nouvelle station de nettoyage et/ou remplissage qui comprend des moyens de raccordement mobiles et avec laquelle les risques de fuite sont sensiblement diminués.It is these drawbacks that the invention intends to remedy more particularly by proposing a new cleaning and / or filling station which comprises mobile connection means and with which the risks of leakage are substantially reduced.

A cet effet, l'invention concerne une station de nettoyage et/ou remplissage d'un sous-ensemble de projection de produit de revêtement monté sur un bras mobile d'un robot, cette station comprenant une zone de réception pour au moins un projecteur appartenant au sous-ensemble de projection, et des moyens de raccordement entre au moins un circuit d'alimentation et le projecteur en place dans la zone de réception, ces moyens de raccordement comprenant au moins une partie mobile, notamment en translation, entre une position rétractée, à distance du projecteur en place dans la zone de réception, et une position active, où les moyens de raccordement permettent l'alimentation du projecteur en produit de nettoyage et/ou en produit de revêtement. Conformément à l'invention, la station comprend une membrane souple solidaire, d'une part, de la partie mobile des moyens de raccordement et, d'autre part, d'une enveloppe fixe de protection d'une partie de ces moyens de raccordement, alors que la membrane est déformable et adaptée pour suivre les déplacements de la partie mobile entre ses positions rétractée et active.For this purpose, the invention relates to a station for cleaning and / or filling a subassembly for projecting coating product mounted on a mobile arm of a robot, this station comprising a reception area for at least one projector belonging to the projection subassembly, and connecting means between at least one supply circuit and the projector in place in the reception zone, these connection means comprising at least one mobile part, in particular in translation, between a position retracted, remote from the projector in place in the receiving area, and an active position, wherein the connecting means allow the supply of the projector cleaner and / or coating product. According to the invention, the station comprises a flexible membrane integral, on the one hand, with the mobile part of the connection means and, on the other hand, with a fixed protective envelope for a part of these connection means. , while the membrane is deformable and adapted to follow the movements of the movable part between its retracted and active positions.

Grâce à l'invention, la membrane permet d'isoler le volume intérieur d'une cabine, dans lequel le produit de revêtement se propage sous la forme d'un nuage de gouttelettes, par rapport au volume intérieur de la station qui comprend des appareils d'alimentation et de contrôle des moyens de raccordement, lesquels doivent être protégés des éclaboussures de produit de revêtement et isolés de l'atmosphère explosible de la cabine. L'utilisation de la membrane permet une isolation efficace, sans nécessiter de traverser des cloisons avec des moyens tels qu'une tige et un joint qui peut s'user.Thanks to the invention, the membrane makes it possible to isolate the interior volume of a cabin, in which the coating product propagates in the form of a cloud of droplets, with respect to the interior volume of the station which comprises apparatus supply and control of the connection means, which must be protected from splashes of coating product and isolated from the explosive atmosphere of the cabin. The use of the membrane provides effective insulation, without the need to traverse partitions with means such as a rod and a seal that can wear.

Selon des aspects avantageux mais non obligatoires de l'invention, une telle station peut incorporer une ou plusieurs des caractéristiques suivantes, prises dans toute combinaison techniquement admissible :

  • La membrane souple est de forme annulaire, avec un bord interne en liaison étanche avec la partie mobile des moyens de raccordement et un bord externe en liaison étanche avec l'enveloppe fixe.
  • La membrane souple est dépourvue de pli ou de soufflet.
  • La membrane souple est réalisée dans un matériau résistant aux solvants et/ou aux produits de nettoyage utilisés dans la station. En particulier, cette membrane peut être réalisée en polytétrafluoroéthylène.
  • La membrane est démontable et obture de façon étanche une ouverture ménagée dans l'enveloppe fixe.
  • Les moyens de raccordements comprennent un chariot mobile au sein d'un volume de la station qui est isolé de l'extérieur par l'enveloppe de protection et ce chariot supporte une tête de raccordement dont une partie au moins est située hors du volume isolé et un bloc de changement de produit de revêtement permettant d'alimenter la tête de raccordement avec un produit de revêtement sélectionné parmi plusieurs produits de revêtement.
  • Un réservoir intermédiaire alimenté par le bloc de changement de produit de revêtement alimente, à travers des moyens de connexion fluidique, la tête de raccordement avec le produit de revêtement sélectionné.
  • Un premier actionneur déplace le chariot, par rapport à un bâti de la station, parallèlement à une direction de translation de la partie mobile des moyens de raccordement, alors que le chariot supporte un premier actionneur de déplacement d'un piston interne au réservoir intermédiaire.
  • Le chariot et des moyens de guidage de ce chariot en translation sont montés sur un tiroir mobile, par rapport au bâti de la station, entre une position de travail où la partie mobile des moyens de raccordement peut atteindre sa position active, et une position de maintenance, où le chariot et les éléments qu'il supporte sont accessibles, à partir d'un côté de la station opposé à l'unité d'accostage.
  • Lorsque le tiroir est en position de maintenance, la membrane est désolidarisée de l'enveloppe fixe et laisse subsister une ouverture reliant un volume intérieur de la station et l'extérieur, du côté de l'unité d'accostage, alors que la station comprend des moyens d'obturation sélective de cette ouverture, indépendants de la membrane.
  • Un habillage de la station définit un premier volume, contenant des organes d'alimentation des moyens de raccordement et une partie arrière des moyens de raccordement, ce premier volume étant destiné à être installé en cabine, hors cabine ou dans une configuration intermédiaire dans une installation de revêtement, un deuxième volume, contenant une partie intermédiaire des moyens de raccordement, ce deuxième volume étant destiné à être installé au choix en cabine ou hors cabine ou dans une configuration intermédiaire dans une installation de revêtement, et un troisième volume, comprenant au moins la zone de réception et destiné à être installé en cabine dans une installation de revêtement.
  • En variante, un habillage de la station définit un premier volume contenant des organes d'alimentation des moyens de raccordement et une partie arrière des moyens de raccordement, ce premier volume étant destiné à être installé en cabine, hors cabine ou dans une configuration intermédiaire dans une installation de revêtement, un deuxième volume contenant une partie intermédiaire des moyens de raccordement, ce deuxième volume étant destiné à être installé, au choix, en cabine ou en limite de cabine, avec une paroi orientée vers la cabine devant laquelle est ménagée la zone de réception.
According to advantageous but non-obligatory aspects of the invention, such a station may incorporate one or more of the following features, taken in any technically permissible combination:
  • The flexible membrane is of annular shape, with an inner edge in leaktight connection with the movable part of the connection means and an outer edge in sealing connection with the fixed envelope.
  • The flexible membrane is devoid of fold or bellows.
  • The flexible membrane is made of a material resistant to solvents and / or cleaning products used in the station. In particular, this membrane can be made of polytetrafluoroethylene.
  • The membrane is removable and sealingly seals an opening in the fixed casing.
  • The connection means comprise a mobile carriage within a volume of the station which is insulated from the outside by the protective envelope and this carriage supports a connection head of which at least part is located outside the isolated volume and a coating product change block for supplying the connection head with a coating product selected from a plurality of coating products.
  • An intermediate reservoir fed by the coating product change block feeds, through fluidic connection means, the connection head with the selected coating product.
  • A first actuator moves the carriage, relative to a frame of the station, parallel to a direction of translation of the movable portion of the connection means, while the carriage supports a first actuator for moving an internal piston to the intermediate reservoir.
  • The carriage and means for guiding this carriage in translation are mounted on a movable drawer, relative to the frame of the station, between a working position where the movable part of the connection means can reach its active position, and a position of maintenance, where the carriage and the elements it supports are accessible from one side of the station opposite the docking unit.
  • When the slide is in the maintenance position, the membrane is separated from the fixed envelope and leaves an opening connecting an interior volume of the station and the outside, on the side of the docking unit, while the station comprises means for selectively closing this opening, independent of the membrane.
  • A covering of the station defines a first volume, containing feed members of the connection means and a rear part of the connection means, this first volume being intended to be installed in the cabin, out of the cabin or in an intermediate configuration in an installation coating, a second volume, containing an intermediate portion of the connecting means, the second volume being intended to be optionally installed in the cabin or out of the cabin or in an intermediate configuration in a coating installation, and a third volume, comprising at least the receiving zone and intended to be installed in a cabin in a coating plant.
  • In a variant, a covering of the station defines a first volume containing feed members of the connection means and a rear part of the connecting means, this first volume being intended to be installed in the cabin, out of the cabin or in an intermediate configuration in a coating plant, a second volume containing an intermediate portion of the connection means, this second volume being intended to be installed, optionally, in the cabin or at the cabin limit, with a wall facing the cabin in front of which is formed the area reception.

L'invention sera mieux comprise et d'autres avantages de celle-ci apparaîtront plus clairement à la lumière de la description qui va suivre d'une station de nettoyage-remplissage d'un sous-ensemble de projection conforme à son principe, donnée uniquement à titre d'exemple et faite en référence aux dessins annexés dans lesquels :

  • la figure 1 est une représentation schématique de principe, en cours de fonctionnement, d'une installation de projection de produit de revêtement incorporant une station conforme à l'invention,
  • la figure 2 est une vue en perspective, à plus grande échelle, et avec arrachements partiels, de la station de l'installation de la figure 1,
  • la figure 3 est une vue à plus grande échelle du détail III à la figure 1,
  • la figure 4 est une vue à plus grande échelle du détail IV à la figure 3,
  • la figure 5 est une vue comparable à la figure 3 lorsque l'installation est dans une autre configuration de fonctionnement,
  • la figure 6 est une vue à plus grande échelle du détail VI à la figure 5, et
  • la figure 7 est une vue en perspective, par un côté opposé à celui de la figure 2, de la station de nettoyage et/ou remplissage en configuration de maintenance.
The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of a cleaning-filling station of a projection subassembly according to its principle, given only by way of example and with reference to the appended drawings in which:
  • the figure 1 is a schematic representation of the principle, during operation, of a coating product projection installation incorporating a station according to the invention,
  • the figure 2 is a perspective view, on a larger scale, and with partial detachments, of the station of the installation of the figure 1 ,
  • the figure 3 is a larger-scale view of detail III to the figure 1 ,
  • the figure 4 is a larger-scale view of detail IV to the figure 3 ,
  • the figure 5 is a view comparable to the figure 3 when the installation is in another operating configuration,
  • the figure 6 is a larger-scale view of detail VI to the figure 5 , and
  • the figure 7 is a perspective view, on a side opposite to that of the figure 2 , of the cleaning station and / or filling in maintenance configuration.

A la figure 1, un automate ou robot 1 est disposé à proximité d'un convoyeur 2 transportant des objets à revêtir, en l'occurrence des carrosseries 3 de véhicules automobiles. Le robot 1 est du type multi-axes et comprend un châssis 4 mobile sur un guide 4' s'étendant parallèlement à la direction de convoyage X-X'. Une cloison 5 d'une cabine C s'étend à proximité du robot 1, parallèlement à la direction X-X'.To the figure 1 , an automaton or robot 1 is disposed near a conveyor 2 carrying objects to be coated, in this case bodies 3 motor vehicles. The robot 1 is of the multi-axis type and comprises a frame 4 movable on a guide 4 'extending parallel to the conveying direction X-X'. A partition 5 of a cabin C extends near the robot 1, parallel to the direction X-X '.

Un bras 6 du robot 1 est supporté par le châssis 4 et comprend plusieurs segments 6a, 6b et 6c articulés les uns par rapport aux autres. Le châssis 4 est également constitué de parties 4a et 4b articulées l'une par rapport à l'autre autour d'un axe Z sensiblement vertical.An arm 6 of the robot 1 is supported by the frame 4 and comprises a plurality of segments 6a, 6b and 6c articulated with respect to each other. The frame 4 also consists of parts 4a and 4b articulated with respect to each other about a substantially vertical axis Z.

Le segment 6c du bras 6 supporte un sous-ensemble 7 dans lequel sont prévus un réservoir 8 de produit de revêtement et un projecteur 9. Le projecteur 9 est de type électrostatique et rotatif et il porte un bol 9a destiné à être entraîné à haute vitesse par une turbine à air prévue dans le corps du projecteur 9.The segment 6c of the arm 6 supports a subassembly 7 in which a reservoir 8 of coating product and a projector 9 are provided. The projector 9 is of the electrostatic and rotary type and carries a bowl 9a intended to be driven at high speed. by an air turbine provided in the body of the projector 9.

Lorsqu'une carrosserie 3 de véhicule automobile est en place au niveau du robot 1, le sous-ensemble 7 est déplacé en regard de cette carrosserie et le projecteur 9 est activé, comme représenté à la figure 1, afin de revêtir cette carrosserie avec le produit contenu dans le réservoir 8. La quantité de produit présent dans le réservoir 8 est adaptée à la surface à revêtir pour une carrosserie 3.When a motor vehicle body 3 is in place at the level of the robot 1, the subassembly 7 is moved opposite this body and the projector 9 is activated, as shown in FIG. figure 1 , in order to coat this body with the product contained in the tank 8. The quantity of product present in the tank 8 is adapted to the surface to be coated for a bodywork 3.

Au terme du revêtement d'une carrosserie, et alors qu'une autre carrosserie est en cours de progression vers le robot 1, le long de la direction de convoyage X-X', le robot 1 est orienté vers une station 10 de nettoyage-remplissage du sous-ensemble 7. Cette station 10 est située au voisinage du robot 1, partiellement à l'intérieur de la cabine C et partiellement à l'extérieur de celle-ci.At the end of the coating of a body, and while another body is progressing towards the robot 1, along the conveying direction X-X ', the robot 1 is directed to a cleaning station 10- filling of the subassembly 7. This station 10 is located in the vicinity of the robot 1, partially inside the cabin C and partially outside thereof.

Comme il apparaît plus clairement sur les figures 2 et suivantes, la station 10 comprend un bâti 101 réalisé par une structure mécanosoudée et qui définit trois volumes distincts V1, V2 et V3. Le volume V1 est délimité par une enveloppe parallélépipédique 111 et il est fermé, à l'opposé de la cabine C, par une porte 102 articulée sur le bâti 101. Le volume V2 est délimité par une deuxième enveloppe 112 qui est parallélépipédique en partie basse et comprend une partie supérieure 112A de forme arrondie. Le volume V3 est délimité par une troisième enveloppe qui est en tronçon de cylindre à génératrice rectiligne verticale.As it appears more clearly on the figures 2 and following, the station 10 comprises a frame 101 made by a mechanically welded structure and which defines three distinct volumes V1, V2 and V3. The volume V1 is delimited by a parallelepipedic envelope 111 and is closed, opposite the cabin C, by a door 102 articulated on the frame 101. The volume V2 is delimited by a second envelope 112 which is parallelepiped at the bottom and comprises an upper portion 112A of rounded shape. The volume V3 is delimited by a third envelope which is in a cylinder section with a straight vertical generatrix.

L'enveloppe 112 est en appui contre l'enveloppe 111 et les volumes V1 et V2 communiquent à travers la partie de la face avant 111A de l'enveloppe 111 qui est masquée par l'enveloppe 112 à la figure 2. De la même façon, l'enveloppe 113 est plaquée contre l'enveloppe 112 et les volumes V2 et V3 communiquent par la partie de la face avant 112B de l'enveloppe 112 qui n'est pas recouverte par l'enveloppe 113. Cette possibilité de communication est représentée par les flèches de communication C12 et C23 à la figure 3.The casing 112 bears against the casing 111 and the volumes V1 and V2 communicate through the part of the front face 111A of the casing 111 which is masked by the casing 112 at the end. figure 2 . In the same way, the envelope 113 is pressed against the envelope 112 and the volumes V2 and V3 communicate by the part of the front face 112B of the envelope 112 which is not covered by the envelope 113. This possibility of communication is represented by the communication arrows C12 and C23 at the figure 3 .

Les enveloppes 111, 112 et 113 constituent ensemble un habillage externe 110 de la station 10.The envelopes 111, 112 and 113 together constitute an outer covering 110 of the station 10.

La station 10 définit une unité d'accostage 120 qui est destinée à recevoir le sous-ensemble 7 lorsqu'il est nécessaire de le nettoyer et/ou de le remplir en produit de revêtement. Pour ce faire, l'unité 120 délimite une zone Z120 dans laquelle le sous-ensemble 7 peut être partiellement engagé en configuration de nettoyage et/ou remplissage dans l'unité 120. La zone Z120 est définie dans le volume V3, c'est-à-dire dans la partie de la station 10 qui est entourée par l'enveloppe 113. Cette zone Z120 communique avec une boîte de rinçage 121 parfois qualifiée de «récupérateur» ou « collecteur » qui est raccordée à un séparateur 122 prévu pour séparer l'air des liquides déversés par le sous-ensemble 7 d'un robot 1 à l'intérieur de la boîte de rinçage 121. Le séparateur 122 est relié, par des tuyaux non représentés, à un circuit de collecte d'air pollué et à un circuit d'évacuation des liquides projetés vers une purge.The station 10 defines a docking unit 120 which is intended to receive the subassembly 7 when it is necessary to clean it and / or to fill it with the coating product. To do this, the unit 120 delimits a zone Z120 in which the subassembly 7 may be partially engaged in cleaning configuration and / or filling in the unit 120. The zone Z120 is defined in the volume V3, that is to say in the part of the station 10 which is surrounded by the envelope 113. This zone Z120 communicates with a rinsing box 121 sometimes referred to as a "recuperator" or "collector" which is connected to a separator 122 provided for separating the air from the liquids poured by the subset 7 of a robot 1 inside the rinsing box 121. The separator 122 is connected, by pipes not shown, to a polluted air collection circuit and a liquid evacuation circuit projected to a purge.

L'unité 120 comprend également une bague 123 de verrouillage du sous-ensemble 7 d'un robot 1 en configuration engagée dans la zone 120.The unit 120 also comprises a locking ring 123 of the subassembly 7 of a robot 1 in configuration engaged in the zone 120.

Une tête de raccordement 131 est prévue pour venir accoster le sous-ensemble 7 d'un robot 1 en place dans la zone Z120. Cette tête de raccordement est mobile en translation selon un axe Y perpendiculaire à la direction X-X' et à l'axe Z, ainsi qu'à la cloison 5.A connection head 131 is provided to dock the subassembly 7 of a robot 1 in place in the zone Z120. This connecting head is movable in translation along an axis Y perpendicular to the direction X-X 'and to the axis Z, as well as to the partition 5.

La tête 131 appartient à des moyens de raccordement 130 qui comprennent également un chariot 132 sur lequel est montée la tête 131 et qui est également mobile selon l'axe Y. Ce chariot supporte un réservoir accumulateur 133 dont la sortie est reliée, par un conduit 134 représenté par son trait d'axe, à la tête de raccordement 131, à travers une platine 132A faisant partie du chariot 132. Le réservoir 133 est alimenté à partir d'un bloc de changement de produit de revêtement 135 qui est lui-même alimenté par des tuyaux souples 136 représentés par leurs traits d'axes aux figures 3 et 5 et qui sont chacun reliés à une vanne de distribution non représentée qui est disposée en partie basse du volume V1. Le bloc 135 est à proximité immédiate du réservoir 133. Il est ainsi possible d'alimenter successivement le réservoir 133 et la tête 131 avec un produit de revêtement liquide présélectionné correspondant à l'un de ceux alimentant les vannes disposées dans le volume V1. L'un des tuyaux 136 est relié à une vanne alimentée en liquide de nettoyage adapté au différents produits de revêtement supposés transiter par le réservoir 133, la tête de raccordement 131 et les tuyaux qui les relient.The head 131 belongs to connecting means 130 which also comprise a carriage 132 on which the head 131 is mounted and which is also movable along the Y axis. This carriage supports an accumulator reservoir 133 whose output is connected via a conduit 134 represented by its center line, at the connection head 131, through a plate 132A forming part of the carriage 132. The reservoir 133 is fed from a coating product change block 135 which is itself fed by flexible hoses 136 represented by their axis lines to figures 3 and 5 and which are each connected to a not shown dispensing valve which is arranged in the lower part of the volume V1. The block 135 is in the immediate vicinity of the tank 133. It is thus possible to successively supply the reservoir 133 and the head 131 with a preselected liquid coating product corresponding to one of those supplying the valves arranged in the volume V1. One of the pipes 136 is connected to a valve supplied with cleaning liquid adapted to the different coating products assumed to pass through the tank 133, the connecting head 131 and the pipes connecting them.

Le réservoir 133 n'est pas obligatoire. Il est possible d'alimenter directement la tête 131 à partir du bloc de changement de produit de revêtement 135.Tank 133 is not required. It is possible to directly feed the head 131 from the coating product changing block 135.

Un moteur électrique 137 est monté sur le chariot 132 et il commande le déplacement d'un piston 138 engagé dans le réservoir 133, selon une direction Y1-Y'1 parallèle à l'axe Y. Le moteur 137 permet donc de pousser un produit de revêtement présent dans le réservoir 133 jusque dans la tête de raccordement 131 et à travers le tuyau 134, lorsque cela est nécessaire.An electric motor 137 is mounted on the carriage 132 and it controls the displacement of a piston 138 engaged in the reservoir 133, in a direction Y1-Y'1 parallel to the axis Y. The motor 137 therefore makes it possible to push a product coating material present in the reservoir 133 into the connection head 131 and through the pipe 134, as necessary.

Un vérin pneumatique 139 est monté sur le bâti 101 et attaque une partie rigide du chariot 132, ce qui permet de contrôler le déplacement du chariot 132 et des éléments qu'il supporte parallèlement à l'axe Y, comme représenté par la double flèche F1 sur les figures. La tête de raccordement 131 est engagée dans une ouverture à section circulaire 112C ménagée dans la face avant 112B de l'enveloppe 112. En fonction du mouvement du chariot 132 sous l'action du vérin 139, la tête 131 dépasse plus ou moins de la face avant 112B, comme cela ressort de la comparaison des figures 3 et 4, d'une part, avec les figures 5 et 6, d'autre part.A pneumatic cylinder 139 is mounted on the frame 101 and drives a rigid portion of the carriage 132, which makes it possible to control the movement of the carriage 132 and the elements that it supports parallel to the Y axis, as represented by the double arrow F1 in the figures. The connection head 131 is engaged in an opening with circular section 112C formed in the front face 112B of the casing 112. Depending on the movement of the carriage 132 under the action of the jack 139, the head 131 protrudes more or less from the front panel 112B, as is apparent from the comparison of figures 3 and 4 , on the one hand, with figures 5 and 6 , on the other hand.

Une membrane souple 150 obture l'ouverture 112C, ce qui évite la pollution du volume V2, et à travers lui, des volumes V1 et V3, à travers l'ouverture 112C.A flexible membrane 150 closes the opening 112C, which avoids the pollution of the volume V2, and through it, volumes V1 and V3, through the opening 112C.

La membrane 150 est de forme annulaire, adaptée à la géométrie du chariot 132 et de l'ouverture 112C et à la course de la tête de raccordement entre ses positions des figures 3 et 4, d'une part, 5 et 6, d'autre part. Plus précisément, la membrane 150 a un premier bord 151, qui constitue un bord radial interne par rapport à l'axe Y et qui est fixé de façon étanche par une bague 152 sur la platine 132A. Le bord 151 est ainsi solidaire en translation et en liaison étanche avec la tête 131. La membrane 150 a également un deuxième bord 153, qui constitue un bord radial externe par rapport à l'axe Y et qui est fixé de façon étanche à la périphérie de l'ouverture 112C en étant pincé entre deux bagues 154 et 155 elles-mêmes immobilisées sur la face avant 112B par tout moyen approprié, notamment des vis. Le bord 153 est ainsi solidaire en translation et en liaison étanche avec l'enveloppe 112.The membrane 150 is of annular shape, adapted to the geometry of the carriage 132 and the opening 112C and the stroke of the connection head between its positions of the figures 3 and 4 , on the other hand, 5 and 6, on the other hand. More specifically, the membrane 150 has a first edge 151, which constitutes a radial inner edge with respect to the Y axis and which is sealingly fixed by a ring 152 on the plate 132A. The edge 151 is thus integral in translation and in leaktight connection with the head 131. The membrane 150 also has a second edge 153, which constitutes a radially external edge with respect to the Y axis and which is sealed at the periphery. opening 112C being gripped between two rings 154 and 155 themselves immobilized on the front face 112B by any appropriate means, including screws. The edge 153 is thus integral in translation and in leaktight connection with the casing 112.

Dans la configuration des figures 3 et 4, la partie intermédiaire 156 de la membrane 150, entre les bords 151 et 153, est légèrement bombée avec sa concavité tournée vers le volume intérieur de la cabine C, alors qu'elle forme un vague unique 157 dans la configuration des figures 5 et 6. En variante, la membrane peut former plusieurs vagues dans cette deuxième configuration. Cette partie intermédiaire est dépourvue de plis ou de soufflets, de sorte qu'elle ne crée pas de zone pliée ou pincée dans laquelle pourraient s'accumuler des produits de revêtement ou du produit de nettoyage lorsque la station 10 fait l'objet d'une opération de nettoyage par projection de produit de nettoyage depuis l'intérieur de la cabine C. Au sens de l'invention, un pli est une déformation de la membrane 50 qui aurait un rayon de courbure inférieur à dix fois l'épaisseur de cette membrane. Un soufflet est constitué par plusieurs plis ou par des ondulations juxtaposées.In the configuration of figures 3 and 4 , the intermediate portion 156 of the membrane 150, between the edges 151 and 153, is slightly convex with its concavity turned towards the interior volume of the cabin C, while it forms a single wave 157 in the configuration of the figures 5 and 6 . Alternatively, the membrane may form several waves in this second configuration. This intermediate portion is devoid of folds or bellows, so that it does not create a folded or pinched area in which could accumulate coating products or cleaning product when the station 10 is subject to a cleaning operation by spraying cleaning product from the inside of the cabin C. For the purposes of the invention, a fold is a deformation of the membrane 50 which has a radius of curvature less than ten times the thickness of this membrane . A bellows consists of several folds or juxtaposed corrugations.

La membrane 150 est réalisée en polytétrafluoroéthylène, qui est un matériau résistant aux produits couramment utilisés dans une installation de projection de produit de revêtement et aux cycles de température rencontré dans une telle installation. En variante, d'autres matériaux synthétiques résistant aux solvants et aux produits de nettoyage utilisés dans la station 10 peuvent être employés pour réaliser la membrane 150.The membrane 150 is made of polytetrafluoroethylene, which is a material resistant to the products commonly used in a product spray installation. coating and the temperature cycles encountered in such an installation. Alternatively, other synthetic materials resistant to the solvents and cleaning agents used in the station 10 may be used to make the membrane 150.

En variante, la membrane peut être réalisée dans un matériau naturel, par exemple en caoutchouc.Alternatively, the membrane may be made of a natural material, for example rubber.

Le fonctionnement de la station 10 est le suivant :The operation of station 10 is as follows:

Lorsque le robot 1 est orienté vers les carrosseries 3, alors que le projecteur 9 est en marche, la station 10 est dans la configuration des figures 3 et 4. Dans cette configuration, la tête de raccordement 131 est rétractée vers le volume V2, dans une position où elle est dégagée de la zone Z120.When the robot 1 is oriented towards the bodies 3, while the projector 9 is running, the station 10 is in the configuration of the figures 3 and 4 . In this configuration, the connection head 131 is retracted to the volume V2, in a position where it is clear of the zone Z120.

A partir de la configuration de la figure 1, lorsque le sous-ensemble 7 du robot 1 doit être nettoyé et alimenté avec une quantité adaptée de produit de revêtement, le robot 1 pivote autour de l'axe Z pour amener son projecteur 9 dans la zone Z120 de l'unité d'accostage 120, dans une configuration correspondante à celle schématisée en traits mixtes aux figures 5 et 6 où le reste du robot 1 n'est pas représenté, pour la clarté du dessin. Dans cette configuration, la bague 123 est tournée pour verrouiller le sous-ensemble 7 en position et le projecteur 9 peut être activé pour déverser dans la boîte 121 la quantité restante de produit de revêtement.From the configuration of the figure 1 when the subassembly 7 of the robot 1 is to be cleaned and fed with a suitable amount of coating material, the robot 1 pivots about the Z axis to bring its projector 9 into the zone Z120 of the docking unit 120, in a configuration corresponding to that shown schematically in phantom with figures 5 and 6 where the rest of the robot 1 is not shown, for the sake of clarity. In this configuration, the ring 123 is rotated to lock the subassembly 7 in position and the projector 9 can be activated to dump into the box 121 the remaining amount of coating product.

Il est alors possible de déplacer le chariot 2 de la configuration des figures 3 et 4 à celle des figures 5 et 6, en amenant la tête 131 au contact d'un ensemble de vannes 71 prévu dans le sous-ensemble 7 pour collaborer de façon étanche avec la tête 131. Ce déplacement est obtenu grâce au vérin 139. Lors de ce mouvement, le réservoir 133 et le bloc 135 sont déplacés avec le reste du chariot 132. Le moteur 137 est alors actionné pour pousser le piston 138 en direction du sous-ensemble 7, ce qui a pour effet de permettre le transfert, dans le réservoir 8 et à travers le conduit 134 et la tête 131, du contenu du réservoir 133 ou de la teinte sélectionnée.It is then possible to move the carriage 2 of the configuration of the figures 3 and 4 to that of figures 5 and 6 , by bringing the head 131 into contact with a set of valves 71 provided in the subassembly 7 to collaborate sealingly with the head 131. This displacement is obtained thanks to the jack 139. During this movement, the tank 133 and the block 135 is moved with the rest of the carriage 132. The motor 137 is then actuated to push the piston 138 towards the subassembly 7, which has the effect of allowing the transfer in the tank 8 and through the conduit 134 and the head 131, the contents of the tank 133 or the selected shade.

Dans la position des figures 5 et 6, des pions de guidage 131 A prévus sur la tête 131 sont poussés vers l'ensemble 71 pour permettre un centrage relatif des organes 131 et 71.In the position of figures 5 and 6 , guide pins 131 A provided on the head 131 are pushed towards the assembly 71 to allow relative centering of the members 131 and 71.

Avant ou après ces opérations, un produit de nettoyage peut être injecté dans le sous-ensemble 7 et/ou dans le conduit 134 reliant le réservoir 133 à la tête 131, à partir du bloc 135, lui-même alimenté par l'un des tuyaux 136.Before or after these operations, a cleaning product may be injected into the subassembly 7 and / or into the conduit 134 connecting the reservoir 133 to the head 131, from the block 135, itself fed by one of the pipes 136.

Au terme de ces opérations, le vérin 139 éloigne la tête 131 du sous-ensemble 7. Il est alors possible de libérer le sous-ensemble 7 en déverrouillant la bague 123 et en faisant reculer la tête 131 à l'opposé du sous-ensemble 7, grâce à une nouvelle action du vérin 139.At the end of these operations, the jack 139 moves the head 131 away from the subassembly 7. It is then possible to release the subassembly 7 by unlocking the ring 123 and backing the head 131 away from the subassembly 7, thanks to a new action of the jack 139.

Lors des mouvements d'avance et de recul de la tête 131 et du chariot 132 le long de l'axe Y et par rapport au sous-ensemble 7, la membrane 150 suit les mouvements de la platine 132A en se déformant élastiquement, ce qui est possible du fait de son caractère souple.During the forward and backward movements of the head 131 and the carriage 132 along the Y axis and relative to the subassembly 7, the membrane 150 follows the movements of the plate 132A by elastically deforming, which is possible because of its flexible nature.

Comme le bloc 135 est monté directement sur le chariot 132, à proximité du réservoir 133 et de la tête 131, les pertes de produit de revêtement lors d'un changement de produit sont minimes, puisqu'elles dépendent de la longueur des tuyaux entre les éléments 133 et 135.Since the block 135 is mounted directly on the carriage 132, close to the tank 133 and the head 131, the losses of the coating product during a product change are minimal, since they depend on the length of the pipes between the elements 133 and 135.

Le montage de la membrane 150 sur l'enveloppe 112 est réversible. Ainsi, lorsqu'il convient de procéder à des opérations de maintenance, il est possible de désolidariser la membrane 150 de l'enveloppe 112 pour accéder aux volumes V1, V2 et V3 de la station 10. Plus précisément, la bague 154, qui reste solidaire du bord 153, est désolidarisée de la face avant 112B.The mounting of the membrane 150 on the casing 112 is reversible. Thus, when it is necessary to carry out maintenance operations, it is possible to separate the membrane 150 from the casing 112 to access the volumes V1, V2 and V3 of the station 10. More precisely, the ring 154, which remains integral with the edge 153, is detached from the front face 112B.

Comme il ressort plus particulièrement de la figure 7, le chariot 132 qui est représenté sur cette figure de façon très schématique, est supporté par des rails 140 qui le guident le long de l'axe Y. Ces rails sont eux-mêmes supportés par un tiroir 141 mobile parallèlement à l'axe Y grâce à des glissières télescopiques 142.As is clear from the figure 7 , the carriage 132 which is shown in this figure very schematically, is supported by rails 140 which guide it along the Y axis. These rails are themselves supported by a slide 141 movable parallel to the Y axis thanks to telescopic slides 142.

Lors d'une opération de maintenance et comme représenté à la figure 7, il est possible, après avoir désolidarisé le bord externe 153 de la membrane 150 par rapport à l'enveloppe 112, de faire reculer le tiroir 141, le chariot 132 et les éléments qu'il supporte par rapport à la face avant 112B de l'enveloppe 112 pour accéder facilement au chariot 132 et aux autres parties des moyens de raccordement 130.During a maintenance operation and as represented at figure 7 it is possible, after having disengaged the outer edge 153 of the membrane 150 relative to the casing 112, to retract the slide 141, the carriage 132 and the elements that it supports with respect to the front face 112B of the 112 to easily access the carriage 132 and other parts of the connection means 130.

Dans cette configuration, l'ouverture 112C est béante. Pour permettre l'utilisation de la cabine C lors d'une telle opération de maintenance, un bouchon amovible 160 est prévu dans la station 10 pour être monté temporairement sur l'ouverture 112C afin de l'obturer et d'isoler les volumes V1, V2 et V3 du volume intérieur de la cabine C.In this configuration, the opening 112C is gaping. To allow the use of the cabin C during such a maintenance operation, a removable cap 160 is provided in the station 10 to be temporarily mounted on the opening 112C to seal and isolate the volumes V1, V2 and V3 of the interior volume of cabin C.

La station est installée à travers la paroi 5 de la cabine C. La position du bâti 101 par rapport à la cloison 5 peut être choisie par le concepteur de la cabine C, en fonction de l'encombrement de celle-ci et du débattement du robot 1. Il suffit que la zone 120 et la tête 131 soient dans la zone atteignable par le sous-ensemble 7. L'enveloppe 112 peut être plus ou moins engagée dans le volume intérieur de la cabine C. En d'autres termes, la longueur L112 de l'enveloppe 112 mesurée parallèlement à l'axe Y est une variable d'ajustement de la position de la station 10 par rapport à la cabine C.The station is installed through the wall 5 of the cabin C. The position of the frame 101 relative to the partition 5 can be chosen by the designer of the cabin C, depending on the size of the latter and the travel of the robot 1. It is sufficient for the zone 120 and the head 131 to be in the zone reachable by the subassembly 7. The envelope 112 may be more or less engaged in the interior volume of the cabin C. In other words, the length L112 of the casing 112 measured parallel to the Y axis is a variable for adjusting the position of the station 10 relative to the cabin C.

Ainsi, la trace de la cloison 5 sur l'enveloppe 112 peut être déplacée entre les faces avant 111A et 112B, au choix du concepteur de l'installation.Thus, the trace of the partition 5 on the casing 112 can be moved between the front faces 111A and 112B, at the choice of the designer of the installation.

L'invention permet que les éléments disposés dans l'un des volumes V1, V2 et V3 ne soient pas antidéflagrants, alors que tel devrait être le cas s'ils étaient intégrés directement dans le volume intérieur de la cabine C ou dans un volume en communication avec la cabine.The invention allows the elements arranged in one of the volumes V1, V2 and V3 are not explosion-proof, while that should be the case if they were integrated directly into the interior volume of the cabin C or in a volume in communication with the cabin.

L'invention est décrite ci-dessous pour une station de nettoyage-remplissage. L'invention est applicable à une station dans laquelle on procède uniquement au nettoyage ou uniquement au remplissage d'un sous-ensemble de projection.The invention is described below for a cleaning-filling station. The invention is applicable to a station in which one proceeds only to the cleaning or only to the filling of a projection subassembly.

L'invention est représentée sur les figures avec une membrane 150 circulaire. Elle est toutefois applicable avec d'autres géométries de membrane. En pratique, la membrane est adaptée à la géométrie de la platine 132A et de l'ouverture 112C.The invention is shown in the figures with a circular membrane 150. It is however applicable with other membrane geometries. In practice, the membrane is adapted to the geometry of the plate 132A and the opening 112C.

Selon une variante de l'invention qui n'est pas représentée, la zone Z120 de réception du projecteur 9 peut être définie le long de la face avant 112B de l'enveloppe 112, sans réaliser une unité d'accostage telle que l'unité 120. Dans ce cas, la face avant 112B de l'enveloppe 112 s'étend sur toute la hauteur de cette enveloppe et un collecteur de produit de revêtement non utilisé et/ou de produit de nettoyage est disposé au voisinage du plancher de la cabine, devant la station 10. Dans ce cas, l'habillage 110 ne comprend que les enveloppes 111 et 112 et la zone de réception Z120 est ménagée sur l'avant de l'enveloppe 112.According to a variant of the invention which is not shown, the zone Z120 for receiving the projector 9 can be defined along the front face 112B of the envelope 112, without producing a docking unit such that the unit 120. In this case, the front face 112B of the casing 112 extends over the entire height of this casing and a collector of unused coating product and / or cleaning product is disposed in the vicinity of the floor of the cabin , in front of the station 10. In this case, the covering 110 includes only the envelopes 111 and 112 and the reception zone Z120 is formed on the front of the envelope 112.

Le personnel de maintenance peut aisément accéder à la zone Z120 de réception du projecteur, en cas de besoin.Maintenance personnel can easily access the Z120 receiving area of the projector, if needed.

Comme dans le premier mode de réalisation, l'enveloppe 112 peut être plus ou moins engagée dans le volume intérieur de la cabine C.As in the first embodiment, the casing 112 may be more or less engaged in the interior volume of the cabin C.

Dans le mode de réalisation représenté sur les figures et dans la variante ci-dessus, le volume V1 peut, en variante, être partiellement ou complètement disposé à l'intérieur de la cabine C. Lorsqu'il est partiellement disposé dans le volume de la cabine C, le volume V1 est dans une configuration intermédiaire entre une position « en cabine » et une position « hors cabine ». Lorsque le volume V1 est dans cette configuration intermédiaire, la trace de la cloison 5 sur l'habillage 110 est au niveau de l'enveloppe 111, au-delà de la paroi 111 A par rapport au volume V2.In the embodiment shown in the figures and in the variant above, the volume V1 may, alternatively, be partially or completely disposed inside the cabin C. When it is partially disposed in the volume of the cabin C, the volume V1 is in an intermediate configuration between a "in cab" position and a "out of cab" position. When the volume V1 is in this intermediate configuration, the trace of the partition 5 on the covering 110 is at the level of the envelope 111, beyond the wall 111 A with respect to the volume V2.

L'invention est représentée sur les figures dans le cas où la tête 131 et le chariot 132 sont mobiles en translation selon l'axe Y. En variante, ces éléments peuvent être mobiles en rotation, notamment grâce à un système à cames, entre la position rétractée et la position active de la tête.The invention is shown in the figures in the case where the head 131 and the carriage 132 are movable in translation along the axis Y. In a variant, these elements can be rotatable, in particular by means of a cam system, between the retracted position and the active position of the head.

Claims (12)

  1. A station (10) for cleaning and / or filling of a subassembly (7) for spraying coating product mounted on a moveable arm (6) of a robot (1), this station comprising :
    - a zone (Z120) for receiving at least one sprayer (9) belonging to the spraying sub assembly,
    - means for connection (130) between at least one feed circuit (136) and the sprayer in place in the receiving zone, these connection means comprising at least one part (131 -135) that can be moved between a retracted position (fig. 3, 4) at a distance from the sprayer in place in the receiving zone, and an active position (fig. 5, 6), wherein the connection means enable the sprayer to be fed with cleaning product and / or coating product,
    characterised in that the station comprises a flexible membrane (150) firmly attached, on the one hand, to the moveable part (131 -135) of the connection means (130) and, on the other hand, to a fixed casing envelope (112) for protecting a portion of the connection means, and in that this said membrane is deformable and suitable for following the displacements of the moveable part (131 -135) between the retracted and active positions thereof.
  2. A station according to claim 1, characterised in that the flexible membrane (150) has an annular shape, with an inner edge (151) connected in a sealed manner with the movable part (131 -135) of the connection means (130) and an outer edge (153) connected in a sealed manner with the fixed casing envelope (112).
  3. A station according to one of the preceding claims, characterised in that the flexible membrane (150) is free of folds or bellow pleats.
  4. A station according to one of the preceding claims, characterised in that the flexible membrane (150) is made out of a material that is resistant to solvents and / or to cleaning products used in the station, in particular it is made out of polytetrafluoroethylene.
  5. A station according to one of the preceding claims, characterised in that the flexible membrane (150) is removable and closes off in a sealed manner an opening (112C) provided in the fixed casing envelope (112).
  6. A station according to one of the preceding claims, characterised in that the connection means (130) comprise a carriage (132) that is moveable within a volume (V2) of the station which is isolated from the exterior by the protective casing envelope (112) and in this carriage supports
    - a connection head (131) of which at least one portion is located outside the isolated volume (V2),
    - a block for changing the coating product (135) that enables feeding the connection head with a coating product selected from among a number of coating products.
  7. A station according to claim 6, characterised in that an intermediate reservoir (133) fed by the coating product changing block (135) feeds, by way of the fluid connection means (134), the connection head (131) with the selected coating product.
  8. A station according to claim 7, characterised in that a first actuator (139) moves the carriage in relation to a frame (101) of the station (10), in a direction parallel to a direction of translation of the moveable part (131 - 135) of the connection means, and in that the carriage (132) supports a second actuator (137) for moving of a piston (138) internal to the intermediate reservoir (133).
  9. A station according to one of claims 6 to 8, characterised in that the carriage (132) and means (140) for guiding the carriage in translation are mounted on a sliding tray (141) moveable, relative to the frame (101) of the station (10), between a working position where the moveable part (131 -135) of the connection means (130) can reach its operative position, and a maintenance position (Fig. 7), where the carriage and the elements that it supports are accessible from one side of the station opposite to the docking unit (120).
  10. A station according to claim 9, characterised in that when the sliding tray (141) is in the maintenance position, the flexible membrane (150) is detached from the fixed casing envelope (112) and lets remain an opening (112C) that connects an interior volume (V2) of the station and the exterior, on the side of the docking unit (120), and in that the station comprises means (160) for selectively closing this opening, that are independent of the membrane.
  11. A station according to one of the preceding claims, characterised in that a casing (110) for the station defines
    - a first volume (V1) containing components for supplying the connection means (130) and a rear portion (137, 139) of the connection means, this first volume being designed to be installed, as chosen, in the cabin (C), out of the cabin (C) or in an intermediate configuration in a coating installation,
    - a second volume (V2), containing an intermediate portion of the connection means (130), this second volume being designed to be installed, as chosen either in the cabin, out of the cabin or in an intermediate configuration in a coating installation, and
    - a third volume (V3), comprising a docking unit (120) defining at least the receiving zone (Z120), and this third volume being designed to be installed in the cabin in a coating installation.
  12. A station according to one of claims 1 to 10, characterised in that a casing (110) for the station defines
    - a first volume (V1) containing components for supplying the connection means (130) and a rear portion of the connection means, this first volume being designed to be installed, as chosen, in the cabin (C), out of the cabin (C) or in an intermediate configuration in a coating installation,
    - a second volume (V2), containing an intermediate portion of the connection means (130), this second volume being designed to be installed, as chosen, either in the cabin, or just within the cabin confines, with a wall (112B) oriented in the direction towards the cabin in front of which the receiving zone (Z120) is provided.
EP12731483.9A 2011-07-06 2012-07-05 Cleaning-filling station for means for spraying a coating product Active EP2729258B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1156106A FR2977508B1 (en) 2011-07-06 2011-07-06 CLEANING-FILLING STATION FOR PROJECTION MEANS
PCT/EP2012/063174 WO2013004792A1 (en) 2011-07-06 2012-07-05 Cleaning-filling station for means for spraying a coating product

Publications (2)

Publication Number Publication Date
EP2729258A1 EP2729258A1 (en) 2014-05-14
EP2729258B1 true EP2729258B1 (en) 2015-09-09

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Application Number Title Priority Date Filing Date
EP12731483.9A Active EP2729258B1 (en) 2011-07-06 2012-07-05 Cleaning-filling station for means for spraying a coating product

Country Status (10)

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US (1) US10946404B2 (en)
EP (1) EP2729258B1 (en)
JP (1) JP6039662B2 (en)
KR (1) KR101967010B1 (en)
CN (1) CN103635263B (en)
BR (1) BR112014000174A8 (en)
CA (1) CA2841791C (en)
ES (1) ES2551264T3 (en)
FR (1) FR2977508B1 (en)
WO (1) WO2013004792A1 (en)

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FR3108045B1 (en) * 2020-03-11 2023-02-10 Exel Ind Installation comprising a sprayer and associated method

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Also Published As

Publication number Publication date
BR112014000174A2 (en) 2017-02-07
KR101967010B1 (en) 2019-04-08
FR2977508A1 (en) 2013-01-11
JP6039662B2 (en) 2016-12-07
WO2013004792A1 (en) 2013-01-10
CA2841791A1 (en) 2013-01-10
CN103635263B (en) 2016-03-23
KR20140038502A (en) 2014-03-28
FR2977508B1 (en) 2013-08-16
RU2014104086A (en) 2015-08-20
EP2729258A1 (en) 2014-05-14
BR112014000174A8 (en) 2017-10-03
CA2841791C (en) 2019-07-02
US20140144545A1 (en) 2014-05-29
US10946404B2 (en) 2021-03-16
ES2551264T3 (en) 2015-11-17
JP2014518155A (en) 2014-07-28
CN103635263A (en) 2014-03-12

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