EP3227030A1 - Procédé de revêtement et installation de revêtement correspondante - Google Patents

Procédé de revêtement et installation de revêtement correspondante

Info

Publication number
EP3227030A1
EP3227030A1 EP15790035.8A EP15790035A EP3227030A1 EP 3227030 A1 EP3227030 A1 EP 3227030A1 EP 15790035 A EP15790035 A EP 15790035A EP 3227030 A1 EP3227030 A1 EP 3227030A1
Authority
EP
European Patent Office
Prior art keywords
coating
web
application device
spray pattern
component surface
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.)
Granted
Application number
EP15790035.8A
Other languages
German (de)
English (en)
Other versions
EP3227030B1 (fr
Inventor
Hans-Georg Fritz
Benjamin WÖHR
Marcus Kleiner
Timo Beyl
Moritz BUBEK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP3227030A1 publication Critical patent/EP3227030A1/fr
Application granted granted Critical
Publication of EP3227030B1 publication Critical patent/EP3227030B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/082—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to a condition of the discharged jet or spray, e.g. to jet shape, spray pattern or droplet size
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0278—Arrangement or mounting of spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • 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
    • B05B13/0421—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 rotating spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying

Definitions

  • the invention relates to a coating method for coating components, in particular for coating motor vehicle body components in a paint shop. Furthermore, the invention relates to a corresponding coating system.
  • the application device used is usually rotary atomizers, which emit a rotationally symmetrical coating agent jet and accordingly generate a rotationally symmetrical spray pattern on the component surface.
  • the angular orientation of such a rotary atomizer with respect to the longitudinal axis of the coating agent jet in this case generally plays no role, since the coating medium jet is rotationally symmetrical.
  • the angular position of the rotary atomizer can play a role if the coating agent jet is blown unbalanced by shaping air, which then leads to a correspondingly asymmetrical spray pattern on the component surface. So far, however, the attempt has not been made to influence the angular position of the rotary atomizer during operation targeted.
  • FIG. 7 shows a straight component edge 4 and a curved component edge 5, wherein the coating webs 1 conform to the curved component edge 5, which leads to uncoated regions 6 in the region of the other component edge 4.
  • the application device is not rotated during the movement along the path 3, so that the spray pattern 2 is always aligned with its longitudinal direction 7 at right angles to the path 3 and thus parallel to the web transverse direction. This alignment of the spray pattern 2 leads to a maximum web width of the coating web 7.
  • Paint is tilted relative to the component surface to compensate for asymmetries. However, this is not useful in painting webs that are not exactly rectangular.
  • the invention is therefore based on the object of preventing the uncoated regions 6 and the overcoated region 8 on the component surface when an application device is used which applies a coating agent beam which is not rotationally symmetrical and thus has an elongated spray pattern with a specific longitudinal direction on the component surface generated.
  • the invention initially provides, in accordance with the prior art, that an application device should have a layering component surface is guided along a predetermined coating web.
  • the application device dispenses a coating agent jet onto the component surface, wherein the coating agent beam is not rotationally symmetrical with respect to its beam axis and therefore generates an elongated spray pattern with a specific longitudinal direction on the component surface.
  • the spray pattern to be approximately rectangular. In such an elongated spray pattern, the angular position of the application device relative to the trajectory is not insignificant, as is the case with rotary atomizers.
  • the invention therefore provides that the application device is rotated about the beam axis during the movement over the component surface, so that the angular position of the longitudinal direction of the spray pattern changes relative to the web transverse direction or relative to the web path along the coating web. In this way, the width of the applied coating web along the coating web can be changed.
  • the application device is rotated so that the longitudinal direction of the spray pattern is aligned at right angles to the path, since the spray pattern then sweeps over the component surface with its maximum width.
  • the application device is rotated so that the longitudinal direction of the elongated spray pattern is parallel to the path, since the elongated
  • Spray pattern then sweeps the component surface with its smaller width.
  • the rotation of the application device during the movement of the application device along the coating path thus makes it possible to continuously adapt the width of the coating path between a maximum value and a minimum value.
  • the maximum value of the web width of the coating web is determined by the longitudinal extent of the spray pattern along the longitudinal direction of the spray pattern.
  • the minimum value of the web width of the coating web is determined by the transverse extent of the elongate spray pattern transversely to its longitudinal direction.
  • the web width can be adjusted continuously by a suitable rotation of the application device.
  • the term used in the context of the invention for a rotation of the application device is preferably based on the entire application device, which is rotated. To distinguish this is for example the rotation of the bell cup in a conventional rotary atomizer.
  • the decisive factor is that the rotation of the application device also leads to a corresponding rotation of the spray pattern on the component surface.
  • the angle of rotation of the application device with respect to the trajectory also has an influence on the layer thickness. If the application device is rotated so that the maximum web width is reached, this leads to a minimum layer thickness, if the other coating parameters remain unchanged. On the other hand, if the application device is rotated in such a way that the web width is minimal, this leads to a maximum layer thickness, if the other coating parameters remain unaffected.
  • the twist angle of the application device thus has an influence on the resulting layer thickness, which is undesirable in itself, since the layer thickness should be kon ⁇ stant as possible.
  • One way to compensate for this disturbing effect of the angle of rotation on the layer thickness is to change the travel speed of the application device along the coating path accordingly. If the application device is rotated in such a way that a maximum web width of the coating web and a correspondingly minimum layer thickness are achieved, the undesired decrease in the coating thickness is compensated for by a slowing down of the travel speed. In contrast, if the application device is rotated in such a way that a minimum web width and a corresponding maximum layer thickness are achieved, the undesired increase in the layer thickness is compensated by a corresponding increase in the travel speed.
  • Another possibility of compensating the disturbing influence of the rotation of the application device on the layer thickness is to adjust the coating medium flow accordingly. If the application device is rotated in such a way that the web width is maximum and the layer thickness correspondingly minimal, the undesirable decrease in the layer thickness can be compensated by a corresponding increase in the coating agent flow (mass flow or volume flow). If the application device is rotated in this way, that the web width is minimal and the layer thickness corresponds to a maximum, the undesired increase in the layer thickness can be compensated for by reducing the coating medium flow.
  • V (a) V0 / cos ( ⁇ )
  • V0 Travel speed of the application device when the twist angle a. between the longitudinal direction of the spray pattern and the web transverse direction is zero
  • V () Adapted traversing speed at the current speed
  • the invention preferably also provides for several adjacent coating webs to be applied to the component surface, whereby the adjacent component surfaces should adjoin one another as completely as possible and without overlapping in order to avoid overcoated areas and undercoated areas ,
  • the invention is also suitable for the coating of component surfaces, which are not exactly rectangular as a whole, as is usually the case with motor vehicle body components.
  • the invention then provides that the applied coating webs are likewise not exactly rectangular in order to conform to the non-rectangular component surface. This can be achieved within the scope of the invention by the application device being continuously rotated during the travel of the individual coating webs in order in each case to achieve the desired web width. When the individual coating webs are moved off, the application device is thus rotated in each case so that no overlaps with adjacent coating webs or gaps between the adjacent coating webs occur.
  • the application device is moved by a multi-axis application robot over the component surface.
  • a multi-axis application robot are known from the prior art and therefore need not be described in detail. It is at this
  • the application robot is preferably a multi-axis robot with, for example, six or seven axes and a serial kinematics, wherein the application robot can optionally be mounted stationary or displaceable.
  • the parameter set can specify, for example, the speed of the application device, the acceleration of the application device, the angle of rotation of the application device, the rotational speed of the application device, the applied coating medium flow or the coating distance.
  • this parameter set is changed during the movement along the coating path, ie within a coating path.
  • This change of the parameter set can be done, for example, continuously.
  • the coating web it is alternatively also possible for the coating web to be subdivided into a plurality of successive web sections which are traversed one after the other, wherein the parameter set for controlling the application device and the application robot within the individual web sections is kept constant in each case and differs from one track section changes to the next.
  • the web width of the applied coating web can be changed by rotating the application device accordingly.
  • the twist angle of the application device is therefore preferably within the scope of the invention as a function of the desired
  • the parameter set for controlling the application robot and the application Ons advocatess can be changed from one track section to another track section.
  • this change takes place in a transition section.
  • the travel speed of the application device at the end of the transitional section is preferably calculated according to the following formula:
  • V3 VI / cos (3), with:
  • V3 traversing speed of the application device at the end of the transitional section
  • V3 traversing speed of the application device at the end of the transitional section
  • the section length S2 of the transition section is then preferably calculated according to the following formula:
  • V3 traversing speed of the application device at the end of the transitional section
  • ⁇ 2 rotational speed of the application device on the transition section.
  • Transitional section, VI traversing speed of the application device at the beginning of the transition section
  • ASD% layer thickness tolerance.
  • the spray pattern is preferably sharp-edged, whereby the application device differs in ⁇ example of Rotationszerstäubern.
  • the spray pattern may be substantially rectangular. In the context of the invention, however, other forms of spray patterns are possible, such as elliptical spray patterns.
  • the coating webs can be curved in order to conform to an odd component edge.
  • the coating paths may be, for example, convex or concave. The side edges of the coating webs therefore do not have to run parallel to one another in the coating method according to the invention since the web width can be influenced by a corresponding rotation of the application device.
  • the application device is preferably guided over the component surface in such a way that the coating agent beam is aligned at the point of impact of the coating agent jet substantially at right angles to the component surface.
  • the invention also includes a corresponding coating system, as already apparent from the above description, so that a separate description of the coating system can be dispensed with at this point.
  • a robot controller rotates the application device during the movement along the coating path about the beam axis, so that the angle of rotation between the longitudinal direction of the spray pattern and the coating web changes along the coating path.
  • a robot control used in the context of the invention is to be understood in this case generally and may include, inter alia, all hardware and software components that serve to control the application device and the application robot.
  • the robot controller can be centrally concentrated in a single assembly. However, it is alternatively also possible to distribute the various functions of the robot controller to a plurality of modules that communicate with each other.
  • the entire activation processes of the robot controller are preferably automatically provided by a higher-level software tool.
  • Layer thickness tolerance, maximum allowable angle of rotation of the applicator, etc. calculates the software tool based on the mathematical calculations described independently the optimal trajectory with appropriate angles of rotation and the appropriate orientation of the application device.
  • FIG. 2 is a schematic representation of adjacent painting tracks for painting the roof of the motor vehicle body according to FIG. 1 in the lower area of FIG. 1;
  • FIG. 3 shows a modification of FIG. 2
  • FIG. 4 shows a schematic representation of a transition section of a painting track
  • FIG. 5 shows a modification of FIG. 4,
  • FIG. 6 shows a schematic illustration of a painting installation according to the invention
  • Figure 7 is a schematic representation for painting with parallel Lackierbahnen according to the prior art, resulting in uncoated areas, and a schematic representation of adjacent Lackierbahnen with overlaps between the adjacent Lackierbahnen according to the prior art.
  • FIGS. 7 and 8 show conventional coating methods. In the following, therefore, the same reference numerals are used for corresponding details.
  • Figures 1 and 2 show a schematic illustration of coating a roof 9, a motor vehicle body with ⁇ means of an application device which produces an approximately right ⁇ rectangular spray pattern 2, as shown in FIG. 2
  • the painting of the roof 9 is problematic because the roof 9 is not rectangular, but has curved side edges 10. It is therefore not possible simply to coat the roof 9 with parallel coating webs 1, since this would lead to uncoated regions 6 (see FIG. 7) or to overcoated regions 8 (see FIG.
  • the invention therefore provides that the application device is rotated along the path 3 and indeed around the
  • FIG. 2 shows in each case an angle of rotation ⁇ between the longitudinal direction 11 of the elongate spray pattern 2 on the one hand and a web transverse direction 12 on the other hand, the web transverse direction being oriented at right angles to the web 3. It can be seen from FIG. 2 that the twist angle ⁇ of the spray pattern 2 along the web 3 is changed in order to adapt the web width so that the coating webs 1 adjoin one another without gaps and without overlapping and thereby conform to the component edges 10.
  • FIG. 3 shows a modification of FIG. 2 with a different adaptation of the angle of rotation along the path 3.
  • the entire roof 9 is painted without overlaps and without gaps between the adjacent coating webs 1.
  • FIG. 4 shows a schematic illustration during the transition from a web section 13 with a maximum web width SB1 a web section 14 having a much smaller web width SB3.
  • each spray pattern 2 is rotated, as shown in Figure 4, wherein different angle of rotation states along the web ⁇ course 3 is shown.
  • Figure 5 shows a modification of Figure 4, so reference is made to avoid repetition of the above description.
  • a special feature here is that the path 3 is not exactly linear, but experiences a lateral offset in the transition section 15.
  • FIG. 6 shows, in a greatly simplified, schematic form, a painting installation according to the invention for carrying out the coating method according to the invention described above.
  • the painting plant consists essentially of a multi-axis painting robot 16, which can be carried out in a conventional manner and therefore need not be described in detail.
  • the painting robot 16 is controlled by a robot controller 17, wherein the robot controller 17 also controls an application device 18, which is positioned in front of the painting robot 16.
  • the robot controller 17 now controls the painting robot 16 so that the application device 18 is guided in adjacent coating paths over a component surface 19 to be painted, as has already been described in detail above.
  • the robot controller 17 controls the painting robot 16 so that the 18 to a beam axis 20 of the coating can be the center beam rotated Ap ⁇ lienss réelle, to adjust the web width of the applied coating sheet, as has been described in detail above ,

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Spray Control Apparatus (AREA)
  • Nozzles (AREA)

Abstract

L'invention concerne un procédé de revêtement pour le revêtement de composants, en particulier pour le revêtement de composants de carrosserie de véhicules automobiles dans une installation de mise en peinture. Le procédé de revêtement selon l'invention comprend les étapes suivantes : le déplacement d'un appareil d'application au-dessus d'une surface du composant à revêtir le long d'une voie de revêtement prédéterminée (1) et l'application d'un jet d'agent de revêtement au moyen de l'appareil d'application sur la surface du composant. Selon l'invention, le jet d'agent de revêtement est appliqué pendant que l'appareil d'application se déplace au-dessus de la surface du composant. Le jet d'agent de revêtement est en outre produit pour ne pas être à symétrie de rotation par rapport à son axe de jet et provoque donc sur la surface du composant une image injectée oblongue (2) ayant un sens longitudinal déterminé (7). L'invention vise en outre à mettre en œuvre les étapes suivantes : la rotation de l'appareil d'application autour de l'axe du jet par rapport à la voie de revêtement (1) pendant le déplacement de l'appareil d'application de manière que la position de l'angle (a) du sens longitudinal (7) de l'image injectée (2) varie par rapport au sens transversal de la voie (12) le long de la voie de revêtement (1).
EP15790035.8A 2014-12-01 2015-11-04 Procédé de revêtement et installation de revêtement correspondante Active EP3227030B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014017707.6A DE102014017707A1 (de) 2014-12-01 2014-12-01 Beschichtigungsverfahren und entsprechende Beschichtungsanlage
PCT/EP2015/002215 WO2016087016A1 (fr) 2014-12-01 2015-11-04 Procédé de revêtement et installation de revêtement correspondante

Publications (2)

Publication Number Publication Date
EP3227030A1 true EP3227030A1 (fr) 2017-10-11
EP3227030B1 EP3227030B1 (fr) 2019-01-30

Family

ID=54396826

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15790035.8A Active EP3227030B1 (fr) 2014-12-01 2015-11-04 Procédé de revêtement et installation de revêtement correspondante

Country Status (11)

Country Link
US (1) US10507483B2 (fr)
EP (1) EP3227030B1 (fr)
JP (1) JP6722186B2 (fr)
KR (1) KR102462202B1 (fr)
CN (1) CN106999974B (fr)
DE (1) DE102014017707A1 (fr)
ES (1) ES2723974T3 (fr)
HU (1) HUE043974T2 (fr)
MX (1) MX2017006867A (fr)
TR (1) TR201905322T4 (fr)
WO (1) WO2016087016A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117583213A (zh) * 2024-01-19 2024-02-23 常州铭赛机器人科技股份有限公司 凝胶高度补偿方法、装置、设备及其介质

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016014919A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Applikationsvorrichtung und Verfahren zum Applizieren eines Beschichtungsmittels
DE102016014953A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Lackieranlage und entsprechendes Lackierverfahren
DE102016014943A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Druckkopf mit Temperiereinrichtung
DE102016014946A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Druckkopf zur Applikation eines Beschichtungsmittels auf ein Bauteil
DE102016014948A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Druckkopf und zugehöriges Betriebsverfahren
DE102016014956A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungseinrichtung und zugehöriges Betriebsverfahren
DE102016014944A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungsverfahren und entsprechende Beschichtungseinrichtung
DE102016014955A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungseinrichtung und entsprechendes Beschichtungsverfahren
DE102016014952A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungseinrichtung zur Beschichtung von Bauteilen
DE102016014947A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Druckkopf zur Applikation eines Beschichtungsmittels
DE102016014951A1 (de) 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungseinrichtung und zugehöriges Betriebsverfahren
DE102018003096A1 (de) 2018-04-17 2019-10-17 Burkhard Büstgens Drop-on-Demand - Beschichtung von Oberflächen
DE102019112113A1 (de) * 2019-05-09 2020-11-12 Dürr Systems Ag Beschichtungsverfahren und entsprechende Beschichtungsanlage
WO2021084798A1 (fr) * 2019-10-29 2021-05-06 京セラ株式会社 Film de revêtement, automobile et procédé de revêtement
JP7453246B2 (ja) * 2019-10-29 2024-03-19 京セラ株式会社 塗装膜、自動車および塗装方法
CN113996457B (zh) * 2020-03-06 2022-07-01 梅卡曼德（北京）机器人科技有限公司 喷胶轨迹信息确定方法及装置
US11845270B2 (en) 2020-04-07 2023-12-19 Abb Schweiz Ag Ink-jet type vehicle coating machine and vehicle coating method
EP4169625A4 (fr) * 2020-06-18 2024-03-20 Abb Schweiz Ag Robot de peinture et procédé de peinture mettant en oeuvre le robot de peinture
CN114401795B (zh) 2020-06-29 2023-05-26 Abb瑞士股份有限公司 涂装机器人
CN115350849B (zh) * 2022-10-19 2023-02-03 二重（德阳）重型装备有限公司 锻造喷涂系统及喷涂方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2530261C2 (de) 1974-10-22 1986-10-23 Asea S.p.A., Mailand/Milano Programmiereinrichtung für einen Manipulator
JPS601060B2 (ja) * 1977-11-07 1985-01-11 保土谷化学工業株式会社 園芸用自動散水装置
US4334495A (en) 1978-07-11 1982-06-15 Trw Inc. Method and apparatus for use in making an object
JPS594772Y2 (ja) * 1979-02-16 1984-02-13 株式会社スリ−ボンド 塗布装置
JP3313949B2 (ja) 1995-08-15 2002-08-12 エービービー株式会社 車体の自動塗装方法
DE102006032804A1 (de) * 2006-07-14 2008-01-17 Dürr Systems GmbH Lackieranlage und zugehöriges Betriebsverfahren
DE102010004496B4 (de) * 2010-01-12 2020-06-18 Hermann Müller Verfahren zum Betrieb einer Vorrichtung zum Beschichten und/oder Bedrucken eines Werkstückes
JP2013000706A (ja) * 2011-06-20 2013-01-07 Alpha- Design Kk 基板遮蔽層形成方法及び装置及びプログラム
DE102011114382A1 (de) * 2011-09-23 2013-03-28 Dürr Systems GmbH Beschichtungsverfahren und Beschichtungseinrichtung mit einer Kompensation von Unsymmetrien des Sprühstrahls
DE102013002412A1 (de) 2013-02-11 2014-08-14 Dürr Systems GmbH Applikationsverfahren und Applikationsanlage

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117583213A (zh) * 2024-01-19 2024-02-23 常州铭赛机器人科技股份有限公司 凝胶高度补偿方法、装置、设备及其介质
CN117583213B (zh) * 2024-01-19 2024-04-02 常州铭赛机器人科技股份有限公司 凝胶高度补偿方法、装置、设备及其介质

Also Published As

Publication number Publication date
TR201905322T4 (tr) 2019-05-21
EP3227030B1 (fr) 2019-01-30
WO2016087016A1 (fr) 2016-06-09
KR20170089882A (ko) 2017-08-04
DE102014017707A1 (de) 2016-06-02
HUE043974T2 (hu) 2019-09-30
DE102014017707A8 (de) 2016-08-11
KR102462202B1 (ko) 2022-11-03
ES2723974T3 (es) 2019-09-04
US10507483B2 (en) 2019-12-17
JP2018502702A (ja) 2018-02-01
CN106999974A (zh) 2017-08-01
CN106999974B (zh) 2019-10-22
MX2017006867A (es) 2017-08-28
US20170341098A1 (en) 2017-11-30
JP6722186B2 (ja) 2020-07-15

Similar Documents

Publication Publication Date Title
EP3227030B1 (fr) Procédé de revêtement et installation de revêtement correspondante
EP3804863B1 (fr) Procédé d'application et système d'application
EP1733799B1 (fr) Robot équipé de plusieurs appareils de pulvérisation
EP3307491B1 (fr) Robot pour installation de revêtement, en particulier robot manipulateur
EP2022329A2 (fr) Dispositif de pulvérisation mobile doté d'une tige de pulvérisation et procédé de réglage de ses buses de pulvérisation
EP3058820A1 (fr) Procede de commande et/ou de reglage de mouvement d'un dispositif de distribution agricole
WO2013026554A1 (fr) Procédé de commande pour un robot
EP2839740B1 (fr) Procédé de commande de mouvement et/ou de réglage d'un dispositif d'épandage agricole
DE10359280A1 (de) Sprühbeschichtungsvorrichtung
DE102011010505A1 (de) Anpassung der Dynamik zumindest eines Roboters
EP2496364B1 (fr) Dispositif de revêtement et installation de revêtement avec adaptation dynamique de la vitesse du pulvérisateur et de la haute tension
EP2791008B1 (fr) Dispositif de revêtement et procédé correspondant
EP2758181B1 (fr) Méthode et dispositif de revêtement avec compensation de l'asymétrie du jet de pulvérisation
DE102004049471A1 (de) Vorrichtung zum Auftragen einer Konservierungsschicht und Verfahren zum Auftragen derselben
EP2986395B1 (fr) Procédé et installation de peinture d'un composant doté d'une nervure
EP2248596B1 (fr) Dispositif de revêtement de pièces usinées
WO2017182604A1 (fr) Unité de mise en peinture
EP1419824B1 (fr) Dispositif de revêtement de pièces avec poudre
DE202010002572U1 (de) Lackieranlage
EP3035794A1 (fr) Procédé de commande de mouvement et/ou de réglage d'un dispositif de distribution
DE19637730C1 (de) Verfahren zum automatischen Beschichten von Werkstücken
EP3411196A1 (fr) Robot à plusieurs axes ainsi que procédé de commande dudit robot pour peindre des objets
EP3670001B1 (fr) Procédé de conservation d'espace creux, buse de mélange et dispositif de conservation d'espace creux doté d'une telle buse de mélange
EP3321163B1 (fr) Procédé d'amortissement du mouvement de roulis d'une embarcation
DE102006006848A1 (de) Verfahren und Vorrichtung zum Herstellen einer Klebeverbindung

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20170418

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
RIC1 Information provided on ipc code assigned before grant

Ipc: B05D 1/02 20060101ALI20180717BHEP

Ipc: B05B 13/04 20060101ALI20180717BHEP

Ipc: B05B 12/08 20060101AFI20180717BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20180907

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1092820

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190215

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502015007835

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190530

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190501

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190430

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190530

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2723974

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20190904

REG Reference to a national code

Ref country code: HU

Ref legal event code: AG4A

Ref document number: E043974

Country of ref document: HU

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502015007835

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20191031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191130

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191104

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191130

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20191130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191104

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1092820

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201104

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201104

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190130

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230512

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SK

Payment date: 20231031

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20231123

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20231102

Year of fee payment: 9

Ref country code: IT

Payment date: 20231121

Year of fee payment: 9

Ref country code: HU

Payment date: 20231122

Year of fee payment: 9

Ref country code: FR

Payment date: 20231120

Year of fee payment: 9

Ref country code: DE

Payment date: 20231121

Year of fee payment: 9

Ref country code: CZ

Payment date: 20231027

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240129

Year of fee payment: 9