ES2217227T3 - COATING AND PROCEDURE APPARATUS FOR CONTROLLING A COATING DEVICE WITH DIFFERENT TOWELS. - Google Patents

Abstract

The coating system has at least two selectively usable nozzles (D1-D6) connected to a common line (8) and controllers (13,14) for controlling the flow of coating material to the common line. The nozzles can be moved to a common application position in which the selected nozzle is aligned with the outlet of the common line. AN Independent claim is also included for the following: a method of controlling a coating system for thickness of coating.

Description

Coating apparatus and procedure for control a coating device with nozzles different.

The invention relates to an apparatus of coating and a procedure to control a device coating to apply coating material with nozzles different according to the preamble of the claims independent.

Especially it is a series coating of work pieces, such as car bodies, with material for sealing, sealing, gluing and for purposes of damping, etc. with robots Here is the problem that for geometrically different welding seams and other areas of the bodywork different nozzles are necessary in each case with a different way of exit (narrow, wide, round), a different application procedure ("Swirl", jet of circular section, fan jet, "Airless" jet) and a different type of application (Airless, extrusion), which are they can also differentiate in each case regarding the control of application. For example, in Airless spray nozzles, the which spray the lining material without air support based on the pressure of the material and the shape of the nozzles, it is necessary for the adjustment and maintenance of the jet of desired spray a control and regulation of the pressure of the material. In other cases in which, for example, they are used slit-shaped nozzles, of which the material of coating is not pulverized but is extruded for formation of a track with a width that varies with volume of step, the step volume of the coating material must be controlled and regulated. To spray an adhesive for sheet metal bodywork is also known to swirl the adhesive on the head sprayer by pressurized air supply and adjust, with the relationship between the amounts of adhesive and pressurized air, the track width applied by spraying. The control in each case of the robots of the different coating devices Necessary demands a remarkable effort.

Coating robots are already known with multifunction application heads which contain two or Three different nozzles. An application head of this type known (Emp. EFTEC) is attached with its nozzles mounted fixed on a cylindrical tube with the possibility of turning around its axis (corresponding to axis 6 of the robot in the hand of the robot). The nozzles are connected, each through a controlled valve, to a conduction of supply of material that is common to them. With with respect to the axis of the robot 6 the three nozzles have in each case other material output addresses, ie "Tool Center Point "(TCP) different. In the known application head no discretionary different nozzles can be arranged. Starting from that for each nozzle it is necessary to house its own valve with the corresponding control is not without more possible, during a cycle of application, optionally regulate either the pressure or the step volume

By publication US-A-5 884 847 a known spraying device with several different nozzles that can optionally use, which are connected to a common driving path and are supported in a mobile way in a spray position that is common to them, in which the nozzle chosen in each case is centered with an outlet opening of the common driving path. The nozzles are arranged in a fixing which is supported with the possibility of turning with respect to the common driving path. This spraying device known serves to spray pesticides, especially from a plane.

The invention poses the problem of simplify the control of a suitable device for the serial coating of workpieces with where appropriate also a greater number of nozzles formed in different ways and that work with different application procedures.

This problem is solved by characteristics provided in the claims.

Through the invention it becomes possible to arrange in an application head of a different coating robot nozzles, which can be chosen discretionally depending on the needs, and with the help of the usual robot controls easily control the application procedure necessary in each case, especially through a provision of common valve to the nozzles. Only one robot is needed, whose application head can contain a number without problems relatively large nozzles formed differently, which they can be selected automatically, or they can also be selected change, which can reduce not only complexity of control but also the complexity of the appliances coating known so far. When, according to a form of preferred embodiment, the nozzles for the application are moved in each case to a position common to them, in which their addresses material outlet are aligned with each other, that is, when to despite the use of different nozzles work in each case with the same TCP, it is also also a control of the Simplified robot movement program.

The invention is explained in more detail about the basis of a preferred embodiment. In the drawing, the Figures show:

Fig. 1, a simplified representation of a control scheme of a body covering device of automobile;

Fig. 2, a representation, likewise schematic, of a revolver clamp suitable for several nozzles in the application head of a coating robot; Y

Fig. 3, a top view of the fastener of revolver according to Fig. 2.

According to Fig. 1 a coating robot 1 carries in its hand joint 2 a material application head 3 with several nozzles (Fig. 2 and 3) placed in a holder of revolver 4 with possibility of rotation. Robot 1 is in a cabin, through whose wall 6 a conduit 8 for the material lining leads to the inside of the cabin and the head of Application 3. Regarding the coating material, it can be treated of fluid or pasty synthetic material masses (eg PVC or similar), such as those usually used for shutter of seams, for the sealing of low, the application of adhesive and with other goals in car bodies.

For the control of the coating apparatus, they find outside the wall of cabin 6, two systems of control connected to each other, which can be separated spatially with each other. While the usual RC robot control it is located in one of the distribution cabinets 10 another closet of distribution 11 may also contain the usual system itself SPS control programmed with superior memory with the corresponding display. In the distribution cabinet 11, they can find, together with the SPS control system and combined with it, a quantity regulator 13 and a pressure regulator 14 for the coating material flowing in the head of application 3, whose theoretical values v_ {s} or p_ {s} are predetermined by the control of robot C and are adjusted and varied depending on the operation. In addition, the control of RC robot controls with an r signal, through the control system SPS, the position of the revolver clamp 4 for the selection of the nozzles that are needed in each case. The SPS control system on the other hand controls the control of the RC robot in the way usual, among other things for the choice of programs clue needed in each case.

In the case of robot controls capable of processing can also be taken over the entire control, including the functions described here of the SPS control system, by the control of the RC robot, so that the subdivision disappears in RC and SPS.

Regulators 13 and 14 must keep constant the passage volume or the pressure of the coating material in the closed regulation circuit and compare their values theoretical v_ {s} or p_ {s} in each case with real values v_ {i} or p_ {i}, which are supplied as measurement signals by a step 16 volume measuring cell connected in the material conduit 8 or a pressure sensor 17 found in the application head 3. In case of deviations are generated corresponding av control signals. The combination of regulators 13 and 14 with the SPS control system or with the control of the RC robot has the advantage of simplifying the system of control, since no mutual adaptation is necessary and may use, for similar purposes, regulation systems in themselves similar as well as, among others, a visualization of the process  common. The regulating element of a pressure regulator additional may, for example, be connected outside the cabin, at the entrance of the material line 8.

When the speed of robot movement (TCP speed) remains constant during a process of coating, regulators 13, 14 normally also maintain constant the amount of material or pressure. The movement of robot can be programmed however also in such a way that the movement speed during coating vary by sections. In this case it may be appropriate, for example to get a track width of material despite invariable, vary the amount of material in the corresponding measure or, said of a more generally, vary the theoretical value v_ {s} or p_ {s} in each case using a speed-dependent "Override" factor of movement.

For the rotation of the revolver holder 4 is a drive (Fig. 2) is arranged in the application head 3, which is controlled by an ar signal from the SPS control system or of the control of the RC robot. The corresponding positions of the revolver holder 4 and with it the nozzle chosen in each case they are set, for example, by an initiator arrangement (not represented) in application head 3 and sent back as rf signal to the SPS control system or the RC robot control.

\hbox{Fig. 2}

contiene una disposición de válvula 20, la cual puede estar formada por una válvula de aguja, cuya aguja 22 puede ser ajustada por un émbolo (no representado) accionado eléctricamente en el asiento de la válvula 23 para una apertura variablemente grande de la válvula. El material de revestimiento fluye a través de un canal transversal (no representado) a la zona de asiento de la válvula y desde allí hacia el canal 25 que conduce hacia la salida 24 de la disposición de válvula 20. El accionamiento de válvula está indicado mediante la flecha 21. En lugar de una aguja la válvula puede contener también otro elemento de regulación que se pueda accionar mediante un émbolo, p. ej. un disco o similar. El control del accionamiento de válvula tiene lugar mediante una señal av que, dependiendo de la tobera elegida en cada caso, viene del regulador de cantidad 13 o del regulador de presión 14, de manera que la apertura de la válvula mantiene constante o bien el volumen de paso y con ello, por ejemplo, la anchura de una pista de obturación o, en lugar de esto, la presión en el valor ajustado en cada caso de manera variable por el control del robot RC. Por el mismo camino que la señal de regulación av se pueden suministrar señales de control adicionales para abrir y cerrar la válvula.The application head 3 represented in the

 \ hbox {Fig. two} 

It contains a valve arrangement 20, which may be formed by a needle valve, the needle 22 of which can be adjusted by a piston (not shown) electrically actuated in the valve seat 23 for a variably large opening of the valve. The coating material flows through a transverse channel (not shown) to the valve seating area and from there to the channel 25 leading to the outlet 24 of the valve arrangement 20. The valve drive is indicated by arrow 21. Instead of a needle, the valve may also contain another regulating element that can be operated by means of a plunger, e.g. ex. a disc or similar The control of the valve actuation takes place by means of an av signal which, depending on the nozzle chosen in each case, comes from the quantity regulator 13 or the pressure regulator 14, so that the opening of the valve keeps the volume constant or either by the way and with it, for example, the width of a sealing track or, instead, the pressure in the value set in each case in a variable manner by the control of the RC robot. Additional control signals to open and close the valve can be supplied along the same path as the regulation signal av.

The pressure sensor 17 for the generation of the signal corresponding to the real value p_ {i} is connected in the channel 25 of the valve arrangement 20. Its arrangement and the pressure measurement in the application head 3 and in the direct proximity of the application nozzle chosen in each case has essential advantages, because of the reduction of the section of regulation, during the regulation of the pressure.

The tubular outlet 24 of the valve arrangement 20, which is located in the application head 3, is surrounded along the front surface 26 that runs transversely with respect to she, in which, with mutual shutter, is in contact in a way sliding a revolver disc 28 resting on the head of application 3 with possibility of rotation with respect to it. The disc of revolver 28, which serves as fixation 4 in Fig. 1, has an axis of rotation 29 displaced, according to the representation, in parallel with respect to the axis of the valve outlet 24 and is rotated by a drive found in application head 3, the which is indicated by arrow 30 and is controlled by the ar signal (Fig. 1).

As can be seen in Fig. 3 they are arranged on revolver disc 28, on a circle concentric with respect to the axis of rotation 29, with a radius equal to the distance between the axis of rotation and the axis of the valve outlet, with uniform mutual angular distances, for example, six nozzles of application D1 to D6. In the chosen example, the output addresses of the material of all the nozzles run parallel to the valve output shaft of valve arrangement 20. In its nozzle side is connected in each case with an opening through the revolver disc 28, whose axis is aligned with the axis of the valve outlet, when the nozzle in issue has been turned towards valve arrangement 20. So therefore, all the nozzles have the direction of exit of the material defined by the output shaft of the valve arrangement 20. In instead they are possible also, in case of disposal corresponding of the nozzles in the revolver disc 28, others exit directions, preferably common to the nozzles, by inclined or radial example with respect to the axis of the arrangement of valve 20.

The application functions and forms of nozzles D1-D6 that may be screwed p. ex. interchangeable on the side of the revolver disc 28 away from the valve arrangement 20, are themselves known and usual. Can be use especially for sewing seams in the area of the low ones or for Seansealing in cabins or, as far as that the same synthetic material be used, also for the Combined application in these fields. Another possibility of Application is the spraying of insulation mats, to the extent in which the application head does not have to be heated or in These cases will provide a heating. It is also possible sprayed sheets, where for an application with margins defined you can use a fan jet nozzle with quantity regulation and for surface spraying a Airless nozzle with pressure regulation. Other examples of application are the application of a disc adhesive and sealing of beading pleats.

According to the invention, for example, choose one of the nozzles D1-D3, adjust and maintain constant, with the help of regulator 13 (Fig. 1), the amount of material while choosing one of the other three nozzles will keeps the material pressure constant with the help of regulator 14.

The described embodiment example can be modified and / or completed within the framework of the invention. Especially it may be appropriate to code the individual nozzles for the generation of return signals for control. You can also have place in the application head 3 a temperature measurement of the coating material in order to make possible a temperature compensation of material viscosity.

From the constructive point of view there are alternative possibilities to hold revolver discs described, of moving the nozzles in the operating position in front of the valve outlet that is common to them, for example by means of a linearly movable fixation or a fixation of spherical head, etc.

Claims (13)

1. Procedure for controlling a coating device (1) to apply coating material comprising at least two different nozzles (D1-D6), from which the coating material comes out depending on the controls (RC, SPS, 13, 14) , in which in each case one of the nozzles is chosen for the application and the coating material is supplied by the conduction path (8) common to the nozzles, characterized in that the passage of the coating material through the conduction path (8) common is controlled by a first control (13), when coating material is applied through one of the nozzles (D1-D3), while it is controlled by a second control (14), which differs from the first control (13), when coating material is applied through another nozzle (D4-D6). 2. Method according to claim 1, characterized in that with the first control (13) a quantity regulation is carried out and with the other control (14) a regulation of the pressure of the coating material passing through the path of common conduction (8). 3. Method according to claim 1 or 2, characterized in that a valve arrangement (20) common to the nozzles is actuated with the two volume controls (13, 14). Method according to one of the preceding claims, characterized in that during the nozzle change the nozzle (D1-D6) chosen in each case is moved from a position, in which it is away from the exit (24) of the common driving path. , automatically towards this outlet, while the nozzle previously used is removed from the outlet. 5. Method according to one of the preceding claims, characterized in that the nozzles (D1-D6) chosen are moved in each case for the application to a position that is common to them, in which the directions, in which the material leaves them of lining, are aligned with each other. 6. Coating apparatus for applying coating material with a coating device (1), comprising at least two different nozzles (D1-D6) that can be optionally used, which are connected to a conduction path (8) which it is common for them, and controls (13, 14) for the control of the passage of the coating material through the common conduction path (8), characterized in that the passage of the coating material through the common conduction path (8) It is controlled by a first control (13), when coating material is applied through one of the nozzles (D1-D3), while it is controlled by a second control (14), which differs from the first control (13 ), when the coating material is applied through another nozzle (D4-D6). 7. Coating apparatus according to claim 6, characterized in that the nozzles (D1-D6) are mobilely supported on the lining device in a common application position in which the nozzle chosen in each case is centered with an exit opening (24) of the common driving path. 8. Coating apparatus according to claim 6 or 7, characterized in that the nozzles (D1-D6) are arranged in a fixing (4, 28) which is supported with the possibility of rotation with respect to a common valve arrangement (20) to the nozzles, which controls the passage of the coating material through the common conduction path (8). 9. The coating apparatus according to claim 8, characterized in that the valve arrangement (20) is located in the application head (3) of the coating device (1). 10. Coating apparatus according to one of claims 6 to 9, characterized in that the coating device (1) contains, in the conduction path common to the nozzles (D1-D6), a valve arrangement (20), of the which the coating material exits in a given direction, and because the fixing (4, 28) of the nozzles (D1-D6) can be rotated around an axis (29) displaced parallel to this direction. 11. Coating apparatus according to one of claims 8 to 10, characterized in that the valve arrangement (20) can be controlled for the adjustment and regulation of the pressure and / or the volume of passage of the coating material. 12. Coating apparatus according to claim 11, characterized in that the valve arrangement (20) contains a regulating element (22) operable by a plunger. 13. Coating apparatus according to one of claims 6 to 12, characterized in that the nozzles (D1-D6) are arranged in a robot or other multi-axis movement automaton and in its control (RC) the theoretical values of the regulators of Pressure and quantity (13, 14) can be adjusted for the coating material that flows along the common conduction path (8) depending on the nozzle (D1-D6) chosen in each case.