EP2830779B1 - Dispositif de nettoyage à la neige carbonique et procédé associé à une installation de peinture - Google Patents

Dispositif de nettoyage à la neige carbonique et procédé associé à une installation de peinture Download PDF

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Publication number
EP2830779B1
EP2830779B1 EP13719014.6A EP13719014A EP2830779B1 EP 2830779 B1 EP2830779 B1 EP 2830779B1 EP 13719014 A EP13719014 A EP 13719014A EP 2830779 B1 EP2830779 B1 EP 2830779B1
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EP
European Patent Office
Prior art keywords
dry
component
cleaned
ice
painting
Prior art date
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Application number
EP13719014.6A
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German (de)
English (en)
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EP2830779A1 (fr
Inventor
Frank Herre
Marcus Frey
Michael Baumann
Georg M. Sommer
Thomas Buck
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Duerr Systems AG
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Duerr Systems AG
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Publication date
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Publication of EP2830779A1 publication Critical patent/EP2830779A1/fr
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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
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • B05B14/40—Arrangements for collecting, re-using or eliminating excess spraying material for use in 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
    • B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
    • B05B7/02—Spray pistols; Apparatus for discharge
    • B05B7/04—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge
    • B05B7/0416—Spray pistols; Apparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge with arrangements for mixing one gas and one liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
    • B08B7/0092—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by cooling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
    • B24C1/003—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods using material which dissolves or changes phase after the treatment, e.g. ice, CO2
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C5/00—Devices or accessories for generating abrasive blasts
    • B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C7/00—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts
    • B24C7/0046—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a gaseous carrier
    • B24C7/0053—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a gaseous carrier with control of feed parameters, e.g. feed rate of abrasive material or carrier

Definitions

  • the invention relates to a cleaning device suitable for a painting installation for cleaning at least one component of the painting installation, in particular for cleaning a component of a painting robot or a handling robot, and a corresponding cleaning method.
  • a cleaning device suitable for a painting installation for cleaning at least one component of the painting installation, in particular for cleaning a component of a painting robot or a handling robot, and a corresponding cleaning method.
  • the cleaning device a system is meant, which may also include the components to be cleaned and, if necessary, moving devices therefor and possibly required program controls, motion controls and other particular automatic controls.
  • a common cleaning method is the spray cleaning process using detergent and compressed air to dry the components to be cleaned.
  • Another common cleaning method is the mechanical cleaning method with brush, which is usually used in combination with the spray cleaning process.
  • a disadvantage of this conventional cleaning method is the required large amount of time for drying, the consumption of detergent and the size of the required cleaning technology.
  • the mechanical cleaning method with brush also has the disadvantage that the brush is susceptible to wear and can be contaminated even by paint.
  • dissolved bristles may become caught on the components to be cleaned and later during the painting process e.g. fall on to be coated motor vehicle bodies or their attachments and damage them.
  • DE 10 2011 103 117 A1 or WO 2012/163491 A1 a painting installation for coating objects conveyed by a painting booth with painting robots and with nozzles arranged on the booth wall for cleaning the atomizers of the painting robots, the nozzles applying CO 2 snow or CO 2 pellets to the areas to be cleaned of the atomizers.
  • the object of the invention is to provide an alternative and / or improved for a paint shop cleaning device for cleaning components of a paint shop.
  • the invention provides a cleaning device suitable for a painting installation for cleaning at least one component of the painting installation, in particular at least one component of a painting robot or a handling robot, wherein at least one dry ice nozzle for producing a component cleaning dry jet and in typical cases for the application of dry ice on the is provided to be cleaned component.
  • dry ice in particular comprises at least one of the following: snow (preferably carbon dioxide snow), dry snow, carbon dioxide (CO 2 ) and / or a two-phase carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles.
  • dry ice comprises alternatively or additionally any Grain sizes in solid state and / or in the form of isolated particles.
  • the dry ice or generally the carbon dioxide are preferably admixed or metered into a suitably pressurized carrier gas.
  • the invention provides for the first time a cleaning device with at least one dry ice nozzle for spraying dry ice onto a component to be cleaned, wherein both the cleaning device itself and the dry ice to be applied or sprayed are configured for use in a paint shop.
  • both the cleaning device itself and the dry ice to be applied or sprayed are configured for use in a paint shop.
  • the cleaning device itself must be configured for use in a paint shop (e.g., explosion proof, paint and solvent resistant, etc.), but also the dry ice produced.
  • conventional dry ice configurations applied for cleaning are unsuitable for use in paint shops, e.g. due to small particles of carbon dioxide or too large particles of carbon dioxide, with the result that the paint to be removed can not be removed adequately and / or the sensitive components to be cleaned are damaged.
  • a robot which guides the component to be cleaned and is preferably configured to position the component to be cleaned in front of the dry ice nozzle and / or move it relative to the dry ice nozzle during the cleaning operation (eg, rotate, transversely and / or rectilinear translational), whereby the component to be cleaned, for example can be cleaned over its entire outer circumference.
  • the distance between the dry ice nozzle and the component to be cleaned i. between the nozzle orifice and the surface of the component to be cleaned may preferably be between 1 mm and 30 mm during the irradiation.
  • the angle of the nozzle to the component surface can be suitably selected depending on the requirement.
  • the nozzle can also be aligned with the component so that the surface to be cleaned is only indirectly influenced or illuminated by the dry ice jet, since a "vorbeistrahlen" of the dry ice on the object to be cleaned can have a cleaning effect.
  • a "vorbeistrahlen" of the dry ice on the object to be cleaned can have a cleaning effect.
  • carbon dioxide carrier gas By passing carbon dioxide carrier gas, the embrittlement embrittled and then replaced.
  • the dry ice nozzle may be arranged in a stationary manner.
  • the area to be cleaned (for example, an atomizer) can be divided into several cleaning sections, which are then approached and cleaned sequentially and in freely configurable sequence. These cycles can be freely parameterized and adjusted according to the pollution. Fixed cycles are also possible.
  • the component to be cleaned can always pursue its actual task in the paint booth. Only all sections together will result in a completely clean component.
  • the cycles or times when the individual sections are cleaned can be freely programmed and set.
  • the dry ice nozzle prefferably guided by means of the robot.
  • the robot is preferably configured to position the dry ice nozzle in front of the component to be cleaned and / or moved relative to the component to be cleaned during the cleaning operation (e.g., rotated, transversely and / or linearly translationally), whereby the component to be cleaned is e.g. can be cleaned over its entire outer circumference.
  • the robots are configured to move both the dry ice nozzle and the component to be cleaned during the cleaning process.
  • the movement of the dry ice nozzle and the component to be cleaned can preferably take place in opposite directions and / or consecutively or simultaneously.
  • the dry ice nozzle may e.g. be firmly attached to a robot. However, it is also possible that the dry ice nozzle is exchangeably mounted on a robot and e.g. is automatically recorded / replaced by a robot before a cleaning process and / or automatically stored / replaced after a cleaning process.
  • a robot carries both a nebulizer or a handling tool (e.g., a handling robot gripping tool) and the dry ice nozzle.
  • the dry ice nozzle is expediently attached to the robot such that the function of the atomizer or of the handling tool is not impaired by the dry ice nozzle.
  • the dry ice nozzle may e.g. be shielded by a cover of the atomizer or the handling tool.
  • the dry ice nozzle may be made adjustable in its nozzle contour and / or in its orientation, e.g. to allow adaptation to different outer contours of the component to be cleaned in order to be able to be directed in different orientations (eg different cleaning angles) on the component to be cleaned and / or the dry ice with different beam configurations (eg different beam widening angles, different beam widths, etc.). ) to be able to dispense from the dry ice nozzle.
  • the cleaning device may comprise corresponding adjustment means, which are operatively connected to the dry ice nozzle.
  • dry ice nozzles are positioned or positionable at the same height, e.g. in order to simultaneously clean different areas of the outer periphery of the component to be cleaned.
  • dry ice nozzles it is possible for dry ice nozzles to be positioned or positionable at different heights, e.g. in order to be able to clean simultaneously differing areas of the component to be cleaned (for example a bell cup, an electrode holder portion, in particular an electrode ring or electrode fingers, and / or a robot hand axis).
  • the dry ice nozzles may be arranged or arranged to cover the preferably entire outer periphery of the component to be cleaned during the cleaning process.
  • the dry ice nozzle is directed downwards during a cleaning process, so that detached dirt particles are discharged downwards.
  • This can e.g. be achieved by means of the mentioneddeeisdüsenverstellfunktion and / or by means of the dry ice nozzle carrying robot.
  • a protective element in particular a protective plate or a housing or a collecting funnel with or without suction) in order to prevent that dirt particles or dry ice detached during cleaning impinge on a component to be painted.
  • the cleaning device is preferably constructed in such a way that internal flushing processes, for example of an atomizer, can take place parallel to the cleaning by means of dry ice and expediently independent of the atomizer alignment (eg bell-plate axis obliquely in space; Etc.).
  • the component to be cleaned can be at least one of the following: an atomizer, which is guided by a painting robot; a handle (e.g., an opener or opener tool of a handling robot, particularly for opening doors, hoods, or flaps); a hand axis of a robot; a proximal robotic arm of a robot; a distal robot arm of a robot; a cabin wall of a paint booth, in particular a window pane in the cabin wall; a floor of a painting booth, in particular a grid in the floor of the painting booth; a guide rail for a robot (e.g., for moving the robot); a conveyor for transporting components to be painted by the paint shop; an electrode support ring of an atomizer; Light grid; silhouettes; Silhouette doors; components to be painted; and / or a frame for hanging of components to be painted.
  • a paint shop that are colored by paint particles, e.g. Overspray, can be contaminated, cleaned by means of the cleaning device
  • the cleaning device may e.g. be equipped with a supply device for supplying the dry ice with the dry ice or carbon dioxide to produce dry ice. Furthermore, a ring line for connecting the supply device with a plurality of dry ice nozzles via a respective branch line which branches off from the ring line to the respective dry ice nozzle may be provided.
  • a sensor in particular a camera sensor is provided, which determines the cleaning result.
  • this also includes monitoring of the cleaning process.
  • a temperature sensor may be provided which determines the temperature of the component to be cleaned. This can be useful cleaning performance (For example, the cleaning result) are preferably monitored virtually online.
  • the atomizer could partially evaluate the cleaning result itself, eg by measuring the current and / or the voltage at standstill / idle. From this, the success of the cleaning or generally the cleaning result can be determined.
  • the dry ice may be at least partially composed of a carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles.
  • the dry ice dispensed by the dry ice nozzle is thus preferably two- or more-phase (comprising carbon dioxide gas and carbon dioxide particles, if appropriate with transport air or another carrier gas).
  • the cleaning device in particular the dry ice nozzle, is configured such that the carbon dioxide, in particular the carbon dioxide mixture, is miscible with a pressurized carrier gas prior to leaving the dry ice nozzle, in particular can be mixed with a pressurized carrier gas.
  • the cleaning means may comprise a carrier gas supply means and / or a mixing means (e.g., a mixing chamber or the agglomeration chamber mentioned below) for mixing carbon dioxide, particularly the carbon dioxide mixture, with the pressurized carrier gas.
  • the pressurized carrier gas is preferably compressed air.
  • the carbon dioxide can be admixed to the carrier gas in the context of the invention and / or vice versa.
  • the purifier is thus conveniently configured to mix carbon dioxide, particularly the biphasic carbon dioxide mixture, with a pressurized carrier gas.
  • the cleaning device comprises a heating device for heating the pressurized carrier gas.
  • the surface to be cleaned is heated with a downstream fan with warm air in order to prevent it from falling below the dew point on the surface of the object to be cleaned. Heating may also be accomplished by other heating methods such as infrared radiation and other methods known in the art.
  • an electrical heating device such as e.g. a heating coil or a heating wire be incorporated to prevent excessive cooling of the surface.
  • the cleaning device may comprise an agglomeration chamber, to which fluid carbon dioxide can be supplied and in which a carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles, and thus expediently two-phase, can be formed by agglomeration of carbon dioxide snow crystals.
  • the carbon dioxide in particular the carbon dioxide mixture, may be mixed in the agglomeration chamber and / or said mixing chamber with a pressurized carrier gas (e.g., compressed air), e.g. be metered via a dosing agent.
  • a pressurized carrier gas e.g., compressed air
  • the mixing chamber and the agglomeration chamber can be connected to one another, for example, via a metering opening. But it is also possible that the agglomeration chamber and the mixing chamber overlap at least partially or the agglomeration chamber and the mixing chamber are one and the same chamber.
  • the mixing and / or agglomeration chamber is preferably located near or in front of the dry ice nozzle.
  • liquid carbon dioxide supplied to the agglomeration chamber is preferably expanded in the agglomeration chamber and / or at least partially converted into carbon dioxide crystals which are compressed and / or agglomerated.
  • the cleaning device may comprise at least one adjusting device (eg, a control and / or regulating device) to adjust the amount, pressure and / or temperature of the carrier gas for the carbon dioxide and / or carbon dioxide to produce the dry ice, whereby the cleaning effect can be influenced appropriately, eg before and / or during the cleaning process.
  • the setting can be regulated in a closed loop.
  • a continuous cooler between agglomeration chamber and carbon dioxide supply can be switched, in order then to allow a temperature control of the carbon dioxide.
  • the temperature control of the cooler can be freely parameterized, also via the robot controller.
  • a device is contained in the CO 2 supply, which prevents gas bubbles possibly occurring in the supply line of the liquid CO 2 supply, for example with a buffer bottle, in order to obtain a stable cleaning result.
  • the cleaning device may also comprise at least one control unit for checking (eg monitoring, detection, etc.) of at least one parameter which allows conclusions to be drawn on at least one of the following, in particular one of the following: pressure, quantity and / or temperature of Carbon dioxide for the production of dry ice; Pressure, amount and / or temperature of the dry ice itself; Pressure, quantity and / or temperature the carrier gas; Room temperature; Cleaning distance between dry ice nozzle and component to be cleaned; Position of the component to be cleaned; Orientation of the component to be cleaned; Position of the dry ice nozzle; Orientation (eg cleaning angle) of the dry ice nozzle; and / or temperature of the component to be cleaned.
  • the control unit may include, for example, measuring and / or sensor devices.
  • At least one output variable of the cleaning device is adjustable in dependence on at least one of the above-mentioned monitored parameters by means of at least one setting device (eg a control and / or regulating device) and the output variable is selected from at least one of the following: alignment (eg Cleaning angle) of the dry ice nozzle relative to the component to be cleaned; Amount, pressure and / or temperature of the carbon dioxide to produce the dry ice; Amount, pressure and / or temperature of the dry ice itself; Amount, pressure and / or temperature of the carrier gas; Cleaning distance between dry ice nozzle and component to be cleaned; Cleaning time; Cleaning interval; Positioning and / or moving parameters of the robot carrying the dry ice nozzle; and / or positioning and / or movement parameters of the robot carrying the component to be cleaned.
  • alignment eg Cleaning angle
  • the output variable is selected from at least one of the following: alignment (eg Cleaning angle) of the dry ice nozzle relative to the component to be cleaned; Amount, pressure and / or temperature of the carbon dioxide to
  • the cleaning device is suitably carried out explosion-proof, for example by means of grounded components, explosion-proof electrical components, electrically conductive materials, etc .. These are the statutory Basic principles for explosion protection of countries such as the ATEX Directive 94/9 / EC for Europe.
  • the cleaning device may comprise a valve, which preferably closes automatically for safety reasons or at least reduces carbon dioxide emissions, if by means of a detection device (eg a sensor) a successful or potential, in particular imminent excessive carbon dioxide leakage is detected.
  • the cleaning device and in particular the dry ice nozzle is preferably configured so that it can clean the component to be cleaned essentially exposed by the dry ice, so that e.g. Cleaning containers customary in the state of the art, into which the atomizers to be cleaned have to be introduced, are not required.
  • a cleaning container into which the components to be cleaned can be guided in order to be cleaned in the cleaning container by the dry ice preferably comprises an air flow generating means which generates a downward flow of air to guide down debris or dry ice discharged, e.g. beyond a paint booth floor (e.g., a grate) out of a paint booth.
  • the adjustment of pressure and / or temperature of the carrier gas and / or of the carbon dioxide can preferably take place via a pressure regulator and / or a proportional valve, for example in order to influence the consumption quantities and / or cleaning action.
  • a pressure regulator and / or a proportional valve for example in order to influence the consumption quantities and / or cleaning action.
  • These may be arranged centrally or decentrally, wherein carbon dioxide control valves are expediently arranged in the vicinity of the dry ice nozzles. However, the control can be done centrally.
  • the carrier gas is preferably pressurized (e.g., compressed air).
  • the carrier gas serves, in particular, to accelerate the dry ice (for example in the form of the two-phase carbon dioxide mixture), preferably at supersonic speed.
  • the acceleration of the mixture of transport air or other carrier gas and carbon dioxide to supersonic can, for example, be done by a shaped according to the Laval850 nozzle.
  • Laval nozzle geometries are well known in the art.
  • the carbon dioxide fed to the agglomeration chamber is expediently fluid, in particular liquid.
  • the dry ice is preferably output as a dry ice jet from the dry ice nozzle.
  • the paint shop is preferably a paint shop for painting motor vehicle bodies and / or their attachments (e.g., bumpers, bumpers, bumpers, etc.).
  • the mentioned robots are preferably painting or handling robots.
  • the robots include any, preferably multi-axis, automatic movement machines.
  • the invention also includes a paint shop having a cleaning device as described herein.
  • the invention comprises a cleaning method to be used in a painting installation for cleaning at least one component of the painting installation, in particular at least one component of a painting robot or a handling robot, wherein dry ice is applied to the component to be cleaned for cleaning. Further method steps according to the invention will become apparent from the foregoing description of the cleaning device and the description below.
  • FIG. 1 shows a plan view of a part of a paint shop in the form of a paint booth 100, for example, for vehicle bodies or their cultivation and other parts and a cleaning device 1 according to an embodiment of the invention.
  • the cleaning device 1 comprises at least one dry ice nozzle 2 for the application of dry ice to a component B to be cleaned.
  • the dry ice is dispensed from the dry ice nozzle 2 in the form of a dry ice jet, in particular a carbon dioxide snow jet.
  • the component B to be cleaned is carried and guided by a robot RB which is configured to position the component B to be cleaned in front of the dry ice nozzle 2 and move it relative to the dry ice nozzle 2 during the cleaning operation, e.g. rotates, moves transversally or translatorily.
  • the dry ice nozzle 2 is arranged stationarily in the paint booth 100.
  • robots RB may typically be painting robots and / or handling robots, and component B may be atomizers or handling tools.
  • the cleaning device 1 comprises a supply device V for supplying the dry ice nozzle 2 with the dry ice or generally carbon dioxide for producing the dry ice.
  • the cleaning device 1 comprises a main supply line RL for connecting the supply device V with a plurality of dry ice nozzles 2 via a respective branch line SL, which branches off from the ring line RL to the respective dry ice nozzle 2.
  • the cleaning device 1 also comprises an in FIG. 1 control unit KE shown only schematically (eg, camera sensor, temperature sensor, etc.) for controlling at least one parameter that allows a conclusion on the cleaning device 1 associated hardware components, the required for the production of dry ice components (eg carbon dioxide and carrier gas), the cleaning process , especially the cleaning result, etc ..
  • KE shown only schematically (eg, camera sensor, temperature sensor, etc.) for controlling at least one parameter that allows a conclusion on the cleaning device 1 associated hardware components, the required for the production of dry ice components (eg carbon dioxide and carrier gas), the cleaning process , especially the cleaning result, etc ..
  • dry ice components eg carbon dioxide and carrier gas
  • control unit KE is in FIG. 1 separated from the dry ice nozzle 2 and the robot RB shown. In the context of the invention, however, it is possible that the control unit KE is formed in or on the robot RB, on or in the dry ice nozzle 2 and / or at another suitable position.
  • At least one output of the cleaning device 1 can be set, for example, regulated and / or controlled to the cleaning device 1 associated hardware components, the required for the production of dry ice components (eg carbon dioxide and carrier gas), the cleaning process, especially the cleaning result, etc to be able to adjust as required.
  • dry ice components eg carbon dioxide and carrier gas
  • the cleaning device 1 is designed explosion-proof.
  • the cleaning device 1 also comprises a valve SV, which closes automatically for safety reasons or a carbon dioxide emission at least reduced if by means of a detection device (eg a sensor) a successful or potential, eg imminent excessive carbon dioxide leakage is detected.
  • a detection device eg a sensor
  • the valve SV is shown at the outlet of the supply device V, but can be positioned at a variety of other suitable locations.
  • Fig. 2 shows a partially schematic side view of a portion of a cleaning device 1 according to another embodiment of the invention.
  • FIG. 2 two dry ice nozzles 2 are shown, which are each supported by a schematically indicated robot RT and movably guided.
  • the dry ice nozzles 2 emit dry ice 3 in the form of a dry ice jet.
  • the robots RT are configured to position the dry ice nozzles 2 in front of the component B to be cleaned, here shown as a rotary atomizer, and to move relative to the component to be cleaned during the cleaning process.
  • the robot RT can feed the dry ice nozzles 2 e.g. rotate at least partially around the component to be cleaned B, so that by means of only one dry ice nozzle 2, the entire outer periphery of the component to be cleaned B can be cleaned.
  • the upper dry ice nozzle 2 cleans an electrode ring of an atomizer and the lower dry ice nozzle 2 cleans a sprayer housing and / or the bell cup of the atomizer.
  • a robot RT which is configured so that it positions the dry ice nozzle 2 in front of the component B to be cleaned and during the cleaning process eg up / down to different sections of the component to be cleaned B moves (eg, from the electrode ring or electrode fingers to the atomizer housing and subsequently to the bell cup and optionally the hand axis of the robot RB).
  • a robot RT which is configured so that it positions the dry ice nozzle 2 in front of the component B to be cleaned and during the cleaning process eg up / down to different sections of the component to be cleaned B moves (eg, from the electrode ring or electrode fingers to the atomizer housing and subsequently to the bell cup and optionally the hand axis of the robot RB).
  • the dry ice nozzles 2 can be permanently or interchangeably mounted on the robots RT. In the latter variant, it is possible that the dry ice nozzles 2 are automatically deposited after a cleaning process and are taken before a cleaning process. For this purpose, the dry ice nozzles 2 carrying robot RT can be configured accordingly.
  • the dry ice nozzles 2 comprise an in FIG. 2 schematically shown protective element S, which is designed as a fender or protective housing, to prevent that detached during the cleaning dirt particles or dry ice 3 meet a component to be painted.
  • Cleaning device 1 shown is designed so that the component to be cleaned B can be cleaned substantially exposed by the dry ice 3, and thus can be dispensed with in the prior art conventional cleaning container into which the component to be cleaned must be introduced.
  • the cleaning device 1 comprises an air flow generating device LE, which generates a downward flow of air to lead cleaned dirt or dry ice out 3 down, preferably on a Lackierkabinenboden in the form of a grid from the spray booth 100 addition. It should be mentioned, however, that the cleaning device 1 may well include a cleaning container, in which the component B to be cleaned, for example by means of of the robot RB is introduced to clean it by means of at least one dry ice nozzle 2.
  • FIG. 2 also shows a schematically illustrated adjustment ER, which is exemplarily with the robots RT carrying the dry ice nozzles 2, the dry ice nozzles 2 and the robot RB carrying the component B to be cleaned in order to adjust them as required.
  • the adjusting device ER can also be used, for example, to set the amount, pressure and temperature of the carbon dioxide-miscible carrier gas and of the carbon dioxide to produce the dry ice 3. It is possible to have an adjustment device ER, which possibly consists of several subunits, as in FIG FIG. 1 provide to set several components. However, it is also possible to provide a plurality of adjusting devices, each of which is associated with only a single component, for example.
  • both a dry ice nozzle 2 to be carried and guided by a robot RT and the component B to be cleaned by a robot RB and to be moved relative to one another during the cleaning process.
  • the movements are arbitrary.
  • the component to be cleaned B relative to the dry ice nozzle 2 for example, be rotated and moved translationally.
  • the dry ice nozzle 2 for example, at least partially to the cleaning component B is rotated and simultaneously or successively the dry ice nozzle 2 along the component to be cleaned is moved (for example, from the bell cup to the electrode ring).
  • the movements of the dry ice nozzle 2 and the component B to be cleaned can take place simultaneously or successively.
  • FIG. 2 shown dry ice nozzles 2 similar to in FIG. 1 even without the robot RT can be arranged, in particular stationary.
  • the component B to be cleaned can again be positioned in front of the dry ice nozzles 2 by the robot RB carrying and guiding it and moved relative to the dry ice nozzles 2, eg rotated (arrow P1) and / or moved transversally / translationally (arrow P2) ,
  • FIG. 3 shows a schematic diagram of a dry ice nozzle 2 a cleaning device 1 according to an embodiment of the invention.
  • the dry ice nozzle 2 comprises an agglomeration chamber AK which can be supplied with fluid carbon dioxide (CO 2) and in which a two-phase carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles can be formed by agglomeration of carbon dioxide snow crystals.
  • the agglomeration chamber AK supplied liquid carbon dioxide is expanded in the agglomeration AK and carbon dioxide crystals are formed, which are compressed and agglomerated.
  • the carbon dioxide mixture is mixed in the agglomeration chamber AK with a pressurized carrier gas TG (eg compressed air), preferably in order to accelerate it.
  • a pressurized carrier gas TG eg compressed air
  • the agglomeration chamber AK for example via a metering is connected to a mixing device in the form of a mixing chamber, and the carbon dioxide mixture is mixed in the mixing chamber with the pressurized carrier gas TG.
  • the agglomeration chamber AK assumes the function of a mixing chamber, so that the agglomeration chamber and the mixing chamber are virtually one and the same chamber.
  • FIG. 3 shows that the dry ice 3 consists at least partially of carbon dioxide, in particular a two-phase carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles.
  • the two-phase carbon dioxide mixture is mixed with the pressurized carrier gas TG prior to application of the dry ice 3 from the dry ice nozzle 2 in the agglomeration and / or mixing chamber.
  • the dry ice discharged from the dry ice nozzle 2 is thus preferably a two-phase carbon dioxide mixture which is provided with a pressurized carrier gas TG, and in particular in the form of a carbon dioxide snow jet is discharged from the dry ice nozzle 2.
  • the dry ice nozzle 2 is adjustable in its nozzle contour (for example, the beam widening angle can be changed, as indicated by the arrow P3).
  • the dry ice nozzle 2 may comprise an adjustment function in order to be able to change its orientation, in particular the cleaning angle.
  • the cleaning device 1 may also have a in FIG. 3 schematically indicated carrier gas heater TE for heating the carrier gas TG have.
  • the cleaning device 1 can comprise a plurality of dry ice nozzles 2, which are arranged so fixed or can be arranged so that they can preferably cover the entire outer circumference of the component B to be cleaned and / or that they correspond to the outer contour of the component B to be cleaned can.
  • a robot carries both a nebulizer and a dry ice nozzle, which is attached to the robot and arranged so that the function of the nebulizer is not affected by the dry ice nozzle.
  • the dry ice nozzle may e.g. be shielded by a cover of the atomizer.
  • FIG. 4 shows the possibility of partially irradiating the object to be cleaned partially with dry ice and cleaning, using the example of an application component 40 shown schematically as a rotary atomizer Fig. 4
  • Upper part of this component 40 can be directly irradiated (not shown), while the lower portion 41 in the vicinity of the bell cup 44 is indirectly illuminated and cleaned.
  • the dry ice nozzle 42 is thus not directed directly to the here cylindrical or conical surface of the region 41, but arranged so that the dry ice jet 43 laterally or tangentially past the surface to be cleaned.
  • This "Vorbeistrahlen" has the advantage that, for example, the surface to be cleaned is not deformed or damaged by the impact of the particles.
  • the Vorbeistrahlen the cold carbon dioxide carrier gas mixture in this case causes a cooling of the contaminated surface and removal of pollution by the air flow.
  • other surfaces can also be illuminated indirectly and be cleaned, while again other component areas can be cleaned by direct application of dry ice to the respective component.
  • FIG. 5 shows a possible division of the surface of a coating device 50, which is divided into sections for sequential cleaning.
  • the coating device 50 is a part of the rotary atomizer of a painting robot (not shown, but see robot RB and component B in FIG Fig. 2 ) with adjoining areas or sections 51, 52, 53 and 54.
  • Each section can be approached separately with a painting robot and then cleaned by the painting robot rotating the coating device 50 in the programmed position 360 ° around the dry ice nozzle. After this cleaning, the painting robot can continue its "normal" paint job until the next section is about to be cleaned.
  • the control of the various cycles and dependencies are specified by the robot controller, or they can also be determined and implemented, for example, depending on the degree of contamination by visual measurement methods.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Nozzles (AREA)

Claims (15)

  1. Dispositif de nettoyage d'installation de peinture (1) pour le nettoyage d'au moins un composant (B) d'une installation de peinture, avec un composant à nettoyer, qui appartient au groupe suivant :
    a) pulvérisateur guidé par un robot de peinture, ou autre composant d'un robot de peinture,
    b) poignée d'un robot de manipulation ou autre composant d'un robot de manipulation,
    c) axe manuel d'un robot de peinture ou d'un robot de manipulation,
    d) bras de robot proximal d'un robot de peinture ou d'un robot de manipulation,
    e) bras de robot distal d'un robot de peinture ou d'un robot de manipulation,
    f) caillebottis dans le sol de la cabine de peinture,
    g) bâti pour la suspension de composants à peindre,
    h) anneau de charge extérieur tournant annulaire d'un pulvérisateur ou doigt d'électrode,
    caractérisé par au moins une buse de neige carbonique (2) disposée de manière fixe ou mobile pour l'application de neige carbonique (3) qui se compose au moins partiellement d'un mélange de dioxyde de carbone comprenant du gaz de dioxyde de carbone et des particules de dioxyde de carbone, sur le composant (B) à nettoyer, avec une chambre d'agglomération (AK) à laquelle peut être amené du dioxyde de carbone fluide et dans laquelle le mélange de dioxyde de carbone peut être formé par agglomération de cristaux de neige de dioxyde de carbone,
    dans lequel le composant (B) à nettoyer est guidé par un robot (RB) qui est configuré de sorte qu'il positionne le composant (B) à nettoyer devant la buse de neige carbonique (2) et le déplace pendant le processus de nettoyage par rapport à la buse de neige carbonique (2).
  2. Dispositif de nettoyage d'installation de peinture (1) pour le nettoyage d'au moins un composant (40) d'une installation de peinture, avec un composant à nettoyer, qui appartient au groupe suivant :
    a) pulvérisateur guidé par un robot de peinture, ou autre composant d'un robot de peinture,
    b) poignée d'un robot de manipulation ou autre composant d'un robot de manipulation,
    c) axe manuel d'un robot de peinture ou d'un robot de manipulation,
    d) bras de robot proximal d'un robot de peinture ou d'un robot de manipulation,
    e) bras de robot distal d'un robot de peinture ou d'un robot de manipulation,
    f) caillebottis dans le sol de la cabine de peinture,
    g) bâti pour la suspension de composants à peindre,
    h) anneau de charge extérieur tournant annulaire d'un pulvérisateur ou doigt d'électrode,
    caractérisé par au moins une buse de neige carbonique (42) disposée de manière fixe ou mobile pour la génération d'un jet de neige carbonique nettoyant le composant,
    et par un robot (RB) guidant le composant (40) à nettoyer qui est configuré de sorte qu'il positionne le composant (40) à nettoyer devant la buse de neige carbonique (42) et le déplace pendant le processus de nettoyage par rapport à la buse de neige carbonique (42),
    dans lequel, pour le rayonnement indirect d'une surface (41) à nettoyer du composant (40), la buse de neige carbonique (42) n'est pas dirigée directement sur cette surface (41) mais disposée et orientée et le robot (RB) déplace le composant (40) à nettoyer par rapport à la buse de neige carbonique (42) de sorte que le jet de neige carbonique (43) passe latéralement ou tangentiellement sur la surface (41) à nettoyer.
  3. Dispositif de nettoyage d'installation de peinture (1) selon la revendication 1 ou 2, caractérisé en ce que la buse de neige carbonique (2) est guidée de manière mobile par un robot (RT) qui est configuré de sorte qu'il positionne la buse de neige carbonique (2) devant le composant (B) à nettoyer et la déplace pendant le processus de nettoyage par rapport au composant (B) à nettoyer.
  4. Dispositif de nettoyage d'installation de peinture selon la revendication 3, caractérisé en ce
    a) que la buse de neige carbonique (2) est montée fixement sur le robot (RT), ou
    b) que la buse de neige carbonique (2) est montée de manière interchangeable sur le robot (RT).
  5. Dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce
    a) qu'un robot porte non seulement un pulvérisateur mais aussi la buse de neige carbonique (2), et
    b) que la buse de neige carbonique (2) est montée sur le robot de sorte que la fonction du pulvérisateur ne soit pas entravée par la buse de neige carbonique (2), en particulier par un recouvrement pour la buse de neige carbonique (2).
  6. Dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que la buse de neige carbonique (2) est réglable dans son contour de buse et/ou dans son orientation afin de permettre une adaptation à différents contours extérieurs du composant (B) à nettoyer,
    et/ou que le composant (B) à nettoyer présente un contour extérieur prédéfini et plusieurs buses de neige carbonique (2) sont prévues, lesquelles sont ou peuvent être disposées de sorte qu'elles recouvrent la périphérie extérieure du composant (B) à nettoyer et/ou correspondent au contour extérieur du composant (B) à nettoyer.
  7. Dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce
    a) que la buse de neige carbonique (2) est dirigée pendant un processus de nettoyage vers le bas de sorte que des particules de saleté détachées soient évacuées vers le bas, et/ou
    b) qu'un élément de protection (S) est prévu, en particulier une tôle de protection ou un boîtier, afin d'empêcher que des particules de saleté détachées lors du nettoyage ou de la neige carbonique (3) n'atteignent un composant à peindre.
  8. Dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé par
    a) un dispositif d'alimentation (V) pour l'alimentation de la buse de neige carbonique (2) en neige carbonique (3) ou dioxyde de carbone pour la génération de neige carbonique (3), et/ou
    b) une conduite d'alimentation (RL) pour le raccordement du dispositif d'alimentation (V) avec plusieurs buses de neige carbonique (2) par respectivement un câble de dérivation (SL) qui bifurque de la conduite d'alimentation (RL) vers la buse de neige carbonique (2) respective, et/ou
    c) un dispositif de mélange pour le mélange de dioxyde de carbone ou neige carbonique (3) avec un gaz porteur, et/ou
    d) un chauffage de gaz porteur (TE) pour le chauffage du gaz porteur, et/ou
    e) un capteur, en particulier un capteur de caméra, qui détermine le résultat de nettoyage, et/ou
    f) un capteur de température pour la détermination de la température du composant (B) à nettoyer.
  9. Dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que la neige carbonique (3) se compose au moins partiellement d'un mélange de dioxyde de carbone qui comprend un gaz de dioxyde de carbone et des particules de dioxyde de carbone, et qui peut être mélangé avant l'application de la neige carbonique (3) de la buse de neige carbonique (2) avec un gaz porteur mis en pression dans la buse de neige carbonique (2),
    et/ou que le mélange de dioxyde de carbone peut être mélangé dans la chambre d'agglomération (AK) et/ou une chambre de mélange avec un gaz porteur mis en pression afin d'accélérer la neige carbonique (3) à appliquer, dans lequel en particulier du dioxyde de carbone liquide est relâché dans la chambre d'agglomération (AK) et des cristaux de dioxyde de carbone apparaissent, lesquels sont compactés et agglomérés.
  10. Dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que la quantité, la pression et/ou la température du gaz porteur pouvant être mélangé au dioxyde de carbone et du dioxyde de carbone sont réglables pour la génération de la neige carbonique (3) au moyen d'au moins un dispositif de réglage (ER) afin d'influencer l'action de nettoyage, de préférence avant ou pendant le processus de nettoyage, et/ou caractérisé par au moins une unité de contrôle (KE) pour le contrôle d'au moins un paramètre qui permet une déduction relative à au moins une de ce qui suit :
    - pression, quantité et/ou température du dioxyde de carbone pour la génération de la neige carbonique (3),
    - pression, quantité et/ou température de la neige carbonique (3),
    - pression, quantité et/ou température d'un gaz porteur,
    - température ambiante,
    - distance de nettoyage entre la buse de neige carbonique (2) et le composant (B) à nettoyer,
    - position du composant (B) à nettoyer,
    - orientation du composant (B) à nettoyer,
    - position de la buse de neige carbonique (2),
    - orientation de la buse de neige carbonique (2),
    dans lequel en particulier en fonction de l'au moins un paramètre au moins une grandeur de départ du dispositif de nettoyage d'installation de peinture (1) peut être réglée au moyen d'au moins un dispositif de réglage (ER) et la grandeur de départ est sélectionnée dans le groupe comprenant :
    - orientation de la buse de neige carbonique (2) par rapport au composant (B) à nettoyer,
    - quantité, pression et/ou température du dioxyde de carbone pour la génération de la neige carbonique (3),
    - quantité, pression et/ou température de la neige carbonique (3),
    - quantité, pression et/ou température du gaz porteur,
    - distance de nettoyage entre la buse de neige carbonique (2) et le composant (B) à nettoyer,
    - durée de nettoyage,
    - intervalle de nettoyage,
    - paramètre de positionnement/déplacement du robot (RB) portant la buse de neige carbonique,
    - paramètre de positionnement/déplacement du robot (RB) portant le composant (B) à nettoyer.
  11. Dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de nettoyage d'installation de peinture (1)
    - est réalisé de manière à être protégé contre des explosions, et/ou
    - comprend au moins une vanne (SV) qui, pour des raisons de sécurité, se ferme automatiquement ou réduit au moins un rejet de dioxyde de carbone lorsqu'au moyen d'un dispositif de détection une sortie de dioxyde de carbone excessive potentielle ou réalisée est déterminée,
    et/ou que le dispositif de nettoyage d'installation de peinture (1) est réalisé afin de nettoyer le composant (B) à nettoyer sensiblement dégagé par la neige carbonique (3) et de préférence un dispositif de génération de courant d'air (LE) est prévu, lequel génère vers le bas un courant d'air afin de guider une saleté nettoyée ou neige carbonique (3) émise vers le bas, de manière appropriée au-delà d'un sol de cabine de peinture d'une cabine de peinture.
  12. Dispositif de nettoyage d'installation de peinture selon l'une quelconque des revendications précédentes, caractérisé en ce que la distance entre la buse de neige carbonique (2) et la surface à nettoyer du composant (B) est entre 1 mm et 30 mm.
  13. Dispositif de nettoyage d'installation de peinture selon l'une quelconque des revendications précédentes, caractérisé en ce que différentes sections (51-54) d'un composant (50) à nettoyer sont irradiées séquentiellement à différents moments de nettoyage prédéterminés ou pouvant être choisis avec la neige carbonique, et que le composant (50) peut être utilisé entre ces différents moments de nettoyage pour des processus de travail correspondant à son but d'utilisation,
    et/ou qu'un dispositif est prévu pour le chauffage de la surface de composant à nettoyer en liaison avec le rayonnement de neige carbonique, pour lequel en particulier au moins une des caractéristiques suivantes est prévue :
    a) une soufflante à air chaud est dirigée sur la surface à nettoyer ;
    b) la surface à nettoyer est chauffée avec un rayonnement à infrarouge ;
    c) le composant (B) à nettoyer contient, pour le chauffage de la surface à nettoyer, des canaux par lesquels de l'air chaud est conduit ;
    d) le composant (B) à nettoyer contient un dispositif de chauffage électrique chauffant la surface à nettoyer,
    et/ou que la buse de neige carbonique (2) est réalisée en tant que buse de Laval.
  14. Installation de peinture avec un dispositif de nettoyage d'installation de peinture (1) selon l'une quelconque des revendications précédentes.
  15. Procédé de nettoyage d'installation de peinture pour le nettoyage d'au moins un composant (B) d'une installation de peinture, dans lequel le composant à nettoyer appartient au groupe suivant :
    a) un pulvérisateur qui est guidé par un robot de peinture ou un autre composant d'un robot de peinture,
    b) une poignée d'un robot de manipulation ou un autre composant d'un robot de manipulation,
    c) un axe manuel d'un robot de peinture ou d'un robot de manipulation,
    d) un bras de robot proximal d'un robot de peinture ou d'un robot de manipulation,
    e) un bras de robot distal d'un robot de peinture ou d'un robot de manipulation,
    f) un caillebottis dans le sol de la cabine de peinture,
    g) un bâti pour la suspension de composants à peindre,
    h) un anneau de charge extérieur tournant annulaire d'un pulvérisateur ou doigt d'électrode, caractérisé en ce
    que le composant (B, 40) à nettoyer est guidé par un robot (RB) qui est configuré de sorte qu'il positionne le composant à nettoyer devant une buse de neige carbonique (2, 42) et le déplace pendant le processus de nettoyage par rapport à la buse de neige carbonique,
    et que pour le nettoyage du composant (B) un jet de neige carbonique qui se compose au moins partiellement d'un mélange de dioxyde de carbone comprenant un gaz de dioxyde de carbone et des particules de dioxyde de carbone, est appliqué par une buse de neige carbonique (2) sur le composant (B) à nettoyer, dans lequel le mélange de dioxyde de carbone est formé dans une chambre d'agglomération (AK) à laquelle du dioxyde de carbone fluide est amené, par agglomération de cristaux de neige de dioxyde de carbone,
    ou pour le rayonnement indirect d'une surface (41) à nettoyer du composant (40), une buse de neige carbonique (42) est disposée et orientée et le composant (40) à nettoyer n'est pas dirigé par le robot (RB) par rapport à la buse de neige carbonique (42) directement sur cette surface (41), mais est déplacé de sorte que le jet de neige carbonique (43) passe latéralement ou tangentiellement sur la surface (41) à nettoyer.
EP13719014.6A 2012-03-30 2013-03-28 Dispositif de nettoyage à la neige carbonique et procédé associé à une installation de peinture Active EP2830779B1 (fr)

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DE102012006567A DE102012006567A1 (de) 2012-03-30 2012-03-30 Trockeneis-Reinigungseinrichtung für eine Lackieranlage
PCT/EP2013/000955 WO2013143707A1 (fr) 2012-03-30 2013-03-28 Dispositif de nettoyage à la neige carbonique et procédé associé à une installation de peinture

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WO2013143707A1 (fr) 2013-10-03
MX2014011501A (es) 2014-12-05
CN104271254A (zh) 2015-01-07
US10279453B2 (en) 2019-05-07
DE102012006567A1 (de) 2013-10-02
JP2015518415A (ja) 2015-07-02
CN104271254B (zh) 2018-06-01
US20150158145A1 (en) 2015-06-11
EP2830779A1 (fr) 2015-02-04

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