US20170252765A1 - Applicator of coating product, multiaxis robot comprising such an applicator and application method of a coating product - Google Patents

Applicator of coating product, multiaxis robot comprising such an applicator and application method of a coating product Download PDF

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Publication number
US20170252765A1
US20170252765A1 US15/437,455 US201715437455A US2017252765A1 US 20170252765 A1 US20170252765 A1 US 20170252765A1 US 201715437455 A US201715437455 A US 201715437455A US 2017252765 A1 US2017252765 A1 US 2017252765A1
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United States
Prior art keywords
applicator
nozzles
distance
nozzle
coating product
Prior art date
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Abandoned
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US15/437,455
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English (en)
Inventor
Cyrille Medard
David Vincent
Cédric Le Strat
Patrick Ballu
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Exel Industries SA
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Exel Industries SA
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Publication date
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Assigned to EXEL INDUSTRIES reassignment EXEL INDUSTRIES ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LE STRAT, CEDRIC, MEDARD, Cyrille, VINCENT, DAVID, BALLU, PATRICK
Publication of US20170252765A1 publication Critical patent/US20170252765A1/en
Priority to US16/203,565 priority Critical patent/US11161134B2/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
    • 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
    • B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
    • B05B12/04—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
    • 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
    • B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B17/00—Apparatus for spraying or atomising liquids or other fluent materials, not covered by the preceding groups
    • B05B17/04—Apparatus for spraying or atomising liquids or other fluent materials, not covered by the preceding groups operating with special methods
    • B05B17/06—Apparatus for spraying or atomising liquids or other fluent materials, not covered by the preceding groups operating with special methods using ultrasonic or other kinds of vibrations
    • B05B17/0607—Apparatus for spraying or atomising liquids or other fluent materials, not covered by the preceding groups operating with special methods using ultrasonic or other kinds of vibrations generated by electrical means, e.g. piezoelectric transducers
    • B05B17/0653—Details
    • 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
    • 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
    • B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
    • B05D7/14—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to metal, e.g. car 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
    • B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
    • B05D7/50—Multilayers
    • B05D7/52—Two layers
    • B05D7/54—No clear coat specified
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • 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
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
    • B05C11/1018—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to distance of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0291—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work the material being discharged on the work through discrete orifices as discrete droplets, beads or strips that coalesce on the work or are spread on the work so as to form a continuous coating
    • 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
    • B05D1/28—Processes for applying liquids or other fluent materials performed by transfer from the surfaces of elements carrying the liquid or other fluent material, e.g. brushes, pads, rollers

Definitions

  • the invention relates to an applicator of a coating product, a multiaxis robot provided with this applicator and a method for applying a coating product on the surface of a part, such as the hood of a motor vehicle.
  • the method according to the invention makes it possible to apply two layers of coating product with a perfect junction between the two layers.
  • Another technique in particular described in US-A-2013/0284833, consists of using a multiaxis robot, comprising a moving arm on which a specific applicator is mounted.
  • This applicator is a printing head of the inkjet type, which includes at least one row of nozzles through which the coating product flows.
  • a stripe of paint with clean edges can therefore be applied by moving the arm of the robot in a direction perpendicular to the row of nozzles of the printing head.
  • the robot must perform several back and forth movements with trajectories programmed so that the stripes are adjacent; i.e., so that there is no non-overlapping zone between two passes of the printing head.
  • US-A-2013/0284833 discloses, in particular in paragraph [0174], that the nozzles of the printing head make it possible to apply a coating with a distribution having a trapezoidal thickness, in order to avoid excess thicknesses during overlapping and to obtain a coating with a constant thickness.
  • a clean edge as shown in FIG. 21D of this publication, some of the nozzles of the printing head are deactivated when the applicator passes.
  • junction is not perfect when the coating is applied on curved surfaces, like the hood of a car. Non-overlapping zones are then observed between two passes of the applicator.
  • the invention more particularly aims to resolve these drawbacks by proposing an applicator of coating products making it possible to obtain a perfect junction between two stripes from two successive passes, even on a curved surface, like the hood of a car.
  • the invention relates to an applicator of a coating product on a surface to be coated, including at least one row of nozzles, among which at least the first nozzle in the row includes a valve.
  • the applicator further comprises at least one distance sensor, to measure an application distance of the first nozzle from a point in front of the latter on a path of the applicator, and an electronic control unit of the valve, which is programmed to collect the distance measured by the distance sensor and, based on the collected distance value, to open or close the valve.
  • the applicator of a coating product may comprise any of the following features, considered in any technically possible combination:
  • the invention also relates to a multiaxis robot, comprising a moving arm on which an applicator as previously defined is mounted.
  • the invention also relates to a method of applying a coating product on the surface of a part, this method being carried out using an applicator comprising at least one row of nozzles, among which at least the first nozzle in the row includes a valve, this method comprising the following steps:
  • step b) further comprises sub-steps consisting of:
  • the method comprises one or more of the following features, considered in any technically allowable combination:
  • step b) the robot follows its setpoint trajectory, the distance measured by the distance sensor at a point ahead of the first nozzle on the path of the applicator is substantially below a reference value, which corresponds to the application distance of the nozzles when there is no coating product.
  • a reference value which corresponds to the application distance of the nozzles when there is no coating product.
  • the application zone of the first nozzle at a point up ahead on the path of the applicator is already covered with coating product.
  • the valve of the first nozzle is closed, and no coating product is applied by the first nozzle when the latter reaches the point up ahead, which makes it possible to avoid an excess thickness at the junction between the two stripes.
  • the distance measured by the distance sensor at a point ahead of the first nozzle on the path of the applicator is substantially equal to the reference value.
  • the valve of the first nozzle is open. The first nozzle then coats the surface when it reaches the point up ahead on the path of the applicator. This makes it possible to avoid zones that are not covered and obtain a perfect junction between the two layers of coating product.
  • the valve of the first nozzle is therefore monitored dynamically, i.e., in real time, on the path of the applicator.
  • This dynamic adjustment makes it possible to apply a stripe of coating product with a perfect junction relative to another existing stripe, even on a curved surface such as the hood of a car.
  • the junction between two paint stripes is therefore provided by the dynamic control of the valve, without using an ultraprecise robot or an improved trajectory controller.
  • FIG. 1 is a schematic illustration of a multiaxis robot comprising a moving arm on which a coating product applicator according to the invention is mounted;
  • FIG. 2 is a partial elevation view in the direction of arrow II in FIG. 1 , showing the coating product applicator in a configuration where it makes a first pass over a surface to be coated, so as to form a first stripe;
  • FIG. 3 is a view similar to FIG. 2 , showing the coating product applicator in a configuration where it makes a second pass over a surface to be coated, so as to apply a second stripe adjacent to the first stripe;
  • FIG. 4 is a schematic sectional view of the applicator along line IV-IV of FIG. 3 ;
  • FIG. 5 is a schematic sectional view of the applicator along line V-V of FIG. 3 ;
  • FIG. 6 is a view similar to FIG. 3 , in which the applicator is according to a second embodiment of the invention.
  • FIG. 7 is a schematic sectional view along line VII-VII of FIG. 6 ;
  • FIG. 8 is a diagram relative to a third embodiment of an applicator according to the invention.
  • FIGS. 9 and 10 are views similar to FIG. 3 and show a coating product applicator according to a fourth embodiment, in a configuration where it makes a pass along an edge of a surface to be coated;
  • FIG. 11 is a schematic sectional view of the coating product applicator in plane XI-XI of FIG. 10 ;
  • FIG. 12 is a view similar to FIG. 3 showing a coating product applicator according to a fifth embodiment of the invention.
  • FIG. 13 is a view similar to FIG. 4 for a coating product applicator according to a sixth embodiment of the invention, this applicator being designed to offset the effect of gravity as well;
  • FIG. 14 is a view similar to FIG. 4 for a coating product applicator according to a seventh embodiment of the invention, this applicator being designed to obtain flawless coverage, even on a warped surface.
  • FIG. 1 shows a multiaxis robot 2 comprising a moving arm 4 on which a coating product applicator 6 is mounted.
  • the applicator 6 is a printing head of the inkjet type.
  • the coating product in question is paint, but it may also be a primer, ink or varnish.
  • the multiaxis robot 2 is positioned alongside a conveyor 10 moving motor vehicle bodies 8 .
  • the multiaxis robot 2 is designed to apply a stripe of paint B on the surface S of the hood of each body 8 moved by the conveyor 10 .
  • the robot 2 comprises a controller, not shown, programmed to control the arm 4 so as to follow a setpoint trajectory.
  • the coating product applicator 6 comprises a row of nozzles, referenced 60 . 1 to 60 . i in the figures, i being the number of nozzles in the row, which is greater than or equal to 2, and for example comprised between 10 and 100.
  • the nozzles 60 . 1 to 60 . i in the row are positioned perpendicular to the movement direction of the applicator 6 during the application of the coating product.
  • the nozzles 60 . 1 to 60 . i are configured to deposit the coating product dropwise. Once deposited, the drop spreads on the surface to be coated.
  • a spreading coefficient is defined as the ratio between the area of the surface that is coated once the drop has spread and the diameter of the drop. This spreading coefficient in particular depends on the type of coating product used. It is comprised between 5 and 10, often about 7.
  • the nozzles can be configured to form a continuous web of coating product.
  • the nozzles 60 . 1 to 60 . i are holes formed in a plate, the width of the drops or the web then corresponding to the width of the holes.
  • each nozzle 60 . 1 to 60 . i in the row comprises a valve 66 . 1 to 66 . i , respectively.
  • the valves 66 . 1 to 66 . i of the applicator 6 are each connected to a shared reservoir 64 of coating product.
  • the valves 66 . 2 to 66 . i are optional for carrying out the invention.
  • valves 66 . 1 to 66 . i are electrically controlled valves, in particular piezoelectric valves.
  • Piezoelectric valves are so-called exciter valves, comprising a piezoelectric element that is deformable when an electric excitation is applied.
  • This type of valve works as follows. When the piezoelectric element is not excited, the fluid remains inside the reservoir 64 because the atmospheric pressure is higher than the pressure of the reservoir. Conversely, when the piezoelectric element is excited, for example with an alternating voltage, it then locally generates an overpressure allowing the fluid to flow outside the reservoir.
  • the flow rate of coating product ejected through the nozzles 60 . 1 to 60 . i can be adjusted by acting on the excitation frequency of the respective valves 66 . 1 to 66 . i . These are then called proportional valves.
  • a valve refers to any device making it possible to control the flow of the coating product.
  • the valves 66 . 1 to 66 . i are so-called shutoff valves, which work by selectively shutting off the fluid passage line.
  • another type of exciter valve can be considered to equip the applicator 6 .
  • This may be a valve with thermal, acoustic, pneumatic or electrostatic excitation.
  • the applicator 6 comprises remote sensors 62 . 1 to 62 . i that are positioned at points ahead of the nozzles 60 . 1 to 60 . i on the path of the applicator 6 .
  • the sensors 62 . 1 to 62 . i are arranged in a row, which is parallel to the row of nozzles 60 . 1 to 60 . i .
  • the applicator 6 includes as many distance sensors 62 . 1 to 62 . i as there are nozzles 60 . 1 to 60 . i .
  • Each sensor 62 . 1 to 62 . i is therefore associated with a nozzle.
  • the sensor 62 . 1 is associated with the nozzle 60 . 1 .
  • the position of the sensors 62 . 1 to 62 . i along the path of the applicator 6 at a moment t corresponds to that of the nozzles 60 . 1 to 60 . i at moment t+ ⁇ t, where ⁇ t is a duration that depends on the movement speed of the applicator 6 and the distance d 6 between the row of nozzles 60 . 1 to 60 . i and the row of sensors 62 . 1 to 62 . i , measured parallel to the movement direction of the applicator 6 .
  • the distance sensors 62 . 2 to 62 . i are optional for carrying out the invention.
  • the distance sensors 62 . 1 to 62 . i measure, at each moment t, the distance between the applicator 6 and the portion of the surface to be coated S that is across from them. Yet at moment t+ ⁇ t, the nozzles 62 . 1 to 62 . i reach the position of the sensors 60 . 1 to 60 . i at moment t.
  • the distance measured by the sensors 62 . 1 to 62 . i at moment t therefore respectively corresponds to the application distance of the nozzles 60 . 1 to 60 . i at moment t+ ⁇ t; i.e., the distance between the nozzles and the part to be coated, measured along a direction parallel to a spraying axis of the coating product through the nozzles.
  • Each distance sensor 62 . 1 to 62 . i therefore measures the application distance of the nozzle with which it is associated at a point, on the path of the applicator 6 , that is up ahead relative to the nozzle 60 . 1 to 60 . i associated with it.
  • each distance sensor 62 . 1 to 62 . i is a laser sensor, comprising a cell emitting a laser beam and a cell receiving a reflected laser beam, on the surface S.
  • the laser beam emitted by the emitting cell is substantially parallel to the spraying axis of the coating product through the nozzles 60 . 1 to 60 . i .
  • the precision of each sensor is less than 10 ⁇ m, in particular about 1 ⁇ m.
  • the applicator 6 further comprises an electronic control unit 68 .
  • the electronic control unit 68 controls the opening and closing of each of the valves 66 . 1 to 66 . i . To that end, the unit 68 sends each of the valves 66 . 1 to 66 . i control signals, among which the electric control signal S 1 of the valve 66 . 1 is schematically shown in FIG. 4 . Based on the received signal, the valve 66 . 1 opens or closes.
  • Each distance sensor 62 . 1 to 62 . i is connected to the unit 68 .
  • the electronic control unit 68 can therefore collect the distance measured by the sensors at each moment t.
  • the electronic control unit 68 is able to compare the distance measured by each of the sensors 62 .
  • This reference value D corresponds to the distance between the nozzles 60 . 1 to 60 . i and the surface to be coated as when the latter is not covered with coating product. In other words, the reference value D corresponds to the application distance of the nozzles 60 . 1 to 60 . i.
  • this reference value D is a predetermined value that is identical for all of the nozzles 60 . 1 to 60 . i . Furthermore, it is a constant value over time; i.e., the same distance d 1 is used irrespective of the position of the applicator 6 on its path. The distance d 1 can then be prerecorded in the memory of the electronic control unit 68 .
  • the reference value D is specific to each nozzle and/or is not a constant function over time; i.e., this reference value D varies depending on the position of the applicator 6 on its path.
  • the distance D to which the distance sent by the sensors at each moment is compared can be acquired by learning, by moving the applicator 6 a first time “blank”; i.e., without applying coating product.
  • the values acquired by the sensors 62 . 1 to 62 . i during the learning then serve as reference distances, like the reference value D.
  • a method for applying a coating B on a surface to be coated S is described below in relation to FIGS. 2 to 5 . This method is carried out by the applicator 6 described above.
  • the surface S to be coated is the hood of a car 8 .
  • the coating B visible in FIG. 1 is formed by two layers B 1 and B 2 of coating product.
  • the layers of product B 1 and B 2 are stripes extending in the longitudinal direction of the hood.
  • the stripes B 1 and B 2 are applied to be adjacent; i.e., such that there is no non-covered zone between the stripes B 1 and B 2 .
  • FIG. 2 illustrates a step a) during which the applicator 6 makes a first pass to apply a first stripe B 1 on the surface to be coated S.
  • the movement direction of the applicator 6 is shown in FIG. 2 by an arrow A 1 .
  • the movement direction A 1 in fact corresponds to the direction vector of the movement line of the applicator 6 . This vector is parallel to the surface to be coated at all times.
  • the movement line of the applicator is a straight line.
  • the movement line of the applicator is a curve, with a curve radius substantially equal to that of the curved surface.
  • FIG. 3 illustrates a step b) during which the applicator 6 makes a second pass to apply a second stripe B 2 adjacent to the first stripe B 1 .
  • the movement direction of the applicator 6 during this second pass which is shown in FIG. 3 by an arrow A 2 , is substantially parallel to the movement direction A 1 of the applicator during the first pass.
  • the movement line of the applicator 6 during the first pass is a first curve
  • the movement line of the applicator during the second pass is a second curve parallel to the first curve.
  • Any plane normal to one curve from among the first and second curves is then also a plane normal to the other, the distance between two respective points of the two curves that are contained in this normal plane being substantially constant.
  • the applicator 6 is moved, during step b), as if to partially cover the first stripe B 1 ; i.e., as if to cover the edge B 1 . 1 of the first stripe B 1 intended to be adjacent to the second stripe B 2 .
  • the coverage is thus forced. This is particularly visible in FIG. 3 , where one can see that the applicator 6 slightly overhangs the first stripe B 1 . If all of the valves 66 . 1 to 66 . i were open during the second pass by the applicator 6 , the first stripe B 1 would then be covered over a certain width. In the example, the coverage width corresponds approximately to the width of the surface covered by a drop from the first nozzle once that drop has spread.
  • the coverage width can be the surface covered by several nozzles after spreading, in particular four or five successive nozzles.
  • the coverage width depends on several parameters related to the imprecision of the robot, the tubing phenomenon, repeatability problems, or the allowances of the jets.
  • the coverage width is comprised between approximately 1 mm and 5 mm.
  • the distance sensor 62 . 1 measures, at a moment t, the distance separating it from the surface to be coated S. As explained above, this measured distance corresponds to the application distance of the nozzle 60 . 1 at moment t+ ⁇ t. During sub-step b1), the distance sensor 62 . 1 therefore measures the application distance of the nozzle 60 . 1 at a point up ahead of it on the path of the applicator 6 .
  • the electronic control unit 68 then collects the distance measured by the sensor 62 . 1 and, during a sub-step b2), compares this distance with the reference value D.
  • An application zone of the nozzle is defined as a portion of the surface to be coated intended to be covered with coating product by the nozzle.
  • the application zone of a nozzle is not the zone that the nozzle is capable of coating at the moment t, but the zone that the nozzle will be capable of coating at the moment t+ ⁇ t on the path of the applicator 6 .
  • the distance measured by the distance sensor 62 . 1 at a point ahead of the first nozzle 60 . 1 on the path of the applicator is substantially below a reference value D.
  • the valve 66 . 1 of the first nozzle 60 . 1 is then closed during a sub-step b3) of the method according to the invention, and no coating product is applied by the first nozzle 60 . 1 when the latter reaches the point up ahead; i.e., at the moment t+ ⁇ t. An overthickness is thus avoided at the junction between the two stripes B 1 and B 2 .
  • the electronic control unit 68 considers that the value measured by a sensor is substantially lower than the reference value D when the difference between the two values, representing the actual thickness of the coating product deposited on the surface S, is less than 50% of the theoretical wet thickness.
  • the theoretical wet thickness corresponds to the thickness of the coating product on the surface S that one wishes to deposit before drying.
  • the electronic control unit 68 can consider that the value measured by the sensor is substantially lower than the reference value D when the difference between the two values is less than 20 ⁇ m.
  • step b) the robot deviates from its setpoint trajectory, the distance measured in step b1) by the distance sensor 62 . 1 at a point ahead of the first nozzle 60 . 1 on the path of the applicator 6 is substantially equal to the reference value D.
  • the valve 66 . 1 of the first nozzle 60 . 1 is open.
  • the first nozzle then coats the surface S when it reaches the point up ahead on the path of the applicator; i.e., at moment t+ ⁇ t. This makes it possible to avoid zones that are not covered between the stripes B 1 and B 2 and obtain a perfect junction between the two layers of coating product B 1 and B 2 .
  • the application zone Z 1 of the nozzle 60 . 1 is covered by the stripe B 1 applied during the first pass by the applicator 6 .
  • the laser beam F 2 emitted by the sensor 62 . 1 is reflected by the coating stripe B 1 in a laser beam F′ 2 , which is received by the receiving cell of the sensor 62 . 1 .
  • the time elapsed between the emission of the laser beam and the reception of the reflected laser beam is representative of the distance d 2 between the sensor 62 . 1 and the coating layer B 1 .
  • the sensor 62 . 1 communicates the distance d 2 to the unit 68 , which compares it with the reference value D.
  • the distance d 2 being shorter than the distance D, the electronic control unit 68 closes the valve 66 . 1 of the nozzle 60 . 1 , as symbolized in FIG. 4 by a cross.
  • the laser beam F 1 emitted by the other sensors 62 . 2 to 62 . i is reflected in a laser beam F′ 1 directly by the surface S to be coated.
  • the distance d 1 measured by the sensors 62 . 2 to 62 . i therefore substantially corresponds to the aforementioned reference value D.
  • the electronic control unit therefore does not close the corresponding valves 66 . 2 to 66 . i , as symbolized by the drops of product in FIG. 4 .
  • the width of the second stripe B 2 is therefore smaller than that of the first stripe B 1 .
  • the distance sensors 62 . 1 to 62 . i measure, at each moment t, the application distance of each of the nozzles 60 . 1 to 60 . i at moment t+ ⁇ t.
  • the electronic control unit 68 compares each of the values measured by the sensors 62 . 1 to 62 . i with the reference value D.
  • the electronic control unit 68 then closes all of the valves for which the distance measured by the corresponding sensors is below the reference value D and opens the other valves; i.e., all of the valves for which the distance measured by the corresponding sensors is substantially equal to the reference value D.
  • FIGS. 6 to 8 show a second and third embodiment of an applicator 6 according to the invention. Below, only the differences with respect to the first embodiment are mentioned in the interest of concision. Furthermore, all of the elements of the applicator 6 retain their numerical reference.
  • the applicator 6 comprises only one distance sensor 62 , which is positioned on the side of the first nozzle 60 . 1 .
  • This distance sensor 62 differs from the distance sensors 62 . 1 to 62 . i in that it is able to scan, with its laser beam, a line extending in a plane perpendicular to the movement direction of the applicator 6 .
  • the scanning angle ⁇ of the sensor 62 is such that the distance sensor 62 is able to determine the distance profile of the nozzles 60 . 1 to 60 . i ; i.e., to measure the application distance of several successive nozzles at points further ahead relative to the latter on the path of the applicator 6 .
  • the scanning angle ⁇ of the sensor 62 is such that the distance sensor 62 is able to measure the application distance of each of the nozzles 60 . 1 to 60 . i at points further ahead relative to the latter on the path of the applicator 6 .
  • the scanning angle ⁇ of the sensor 62 can be comprised between 10° and 120°, preferably about 90°.
  • One advantage of this second embodiment is that a single distance sensor is used for all of the nozzles, which limits the cost of the applicator 6 .
  • the method of applying the coating product using the applicator 6 according to this second embodiment differs from the method described above in relation to the embodiment of FIGS. 1 to 5 as follows.
  • the distance sensor 62 measures the application distance of each of the nozzles 60 . 1 to 60 . i at points further ahead relative to those on the path A 2 of the applicator 6 .
  • the electronic control unit 68 then collects these values from the sensor 62 .
  • the electronic control unit 68 Based on the distances measured by the distance sensor 62 , the electronic control unit 68 establishes a surface profile over all or part of the application width of the applicator 6 , and therefore a thickness profile of the coating applied on the surface.
  • the surface profile of the part corresponds to the intersection between the surface S to be coated in a plane perpendicular to the movement direction of the applicator 6 . What we call surface profile in reality is therefore a line.
  • this thickness profile approximately corresponds to a step function with a step value corresponding to the thickness of the layer of coating product B 1 applied on the surface.
  • the electronic control unit is capable, by analyzing the values of distances measured by the sensor 62 , of determining the position of the edge B 1 . 1 of the first stripe B 1 along the surface profile.
  • the surface is planar, such that the surface profile can be likened to a straight line X-X′ perpendicular to the movement direction of the applicator 6 and perpendicular to a spraying axis of the modules 60 . 1 to 60 . i . This is called a thickness edge.
  • the position of the edge B 1 . 1 corresponds to the position of the point from which a clear distance variation measured by the sensor 62 is observed, this variation being due to the presence of the layer of coating product B 1 .
  • the sensitivity of the distance sensor 62 is such that the electronic control unit is capable of detecting the thickness edge irrespective of the surface geometry to be coated; i.e., even for a warped surface. Indeed, the precision of each sensor is less than 10 ⁇ m, in particular about 1 ⁇ m.
  • the electronic control unit 68 closes all of the valves that are positioned on a first side of the edge B 1 . 1 and opens the valves that are positioned on the second side of the edge B 1 . 1 .
  • the first side of the edge B 1 . 1 corresponds to the side where the surface S is coated with product to the left of the edge B 1 . 1 in FIG. 7
  • the second side of the edge B 1 . 1 corresponds to the side where the surface S has no coating product, to the right of the edge B 1 . 1 in FIG. 7 .
  • the electronic control unit 68 closes the valves of the nozzles 60 . 1 and 60 . 2 and opens the other valves.
  • the coating product is therefore only deposited in the locations of the surface S that are not covered by the stripe B 1 . It is thus possible to compensate a path defect of the robot and provide a perfect junction between the two stripes B 1 and B 2 , with no overthickness.
  • the applicator 6 comprises valves 66 . 1 to 66 . i with a controllable flow rate, or proportional valves.
  • the valves 66 . 1 to 66 . i are piezoelectric valves whose excitation frequency can be adjusted based on the desired flow rate.
  • valves 66 . 1 to 66 . i are solenoid valves of the shutoff type.
  • the flow rate of the valves is then controlled by adjusting the opening frequency of the valves.
  • the electronic control unit 68 establishes a thickness profile of the layer of coating product in a plane perpendicular to the movement direction of the applicator and monitors the flow rate of the valves 66 . 1 to 66 . i based on the thickness of the layer measured at each of the application points of the nozzles. More specifically, the thickness of the layer is compared at each point with the theoretical thickness of the layer of coating product, this theoretical thickness being recorded in memory in the electronic control unit.
  • the flow rate of the corresponding valve corresponds to 100% of the maximum flow rate. Conversely, if the thickness computed by the unit 68 at a point is comprised between 25% and 50% of the theoretical thickness, the flow rate of the corresponding valve corresponds to 75% of the maximum flow rate. If the thickness computed by the unit 68 at a point is comprised between 50% and 75% of the theoretical thickness, the flow rate of the corresponding valve corresponds to 50% of the maximum flow rate. Lastly, if the thickness computed by the unit 68 at a point is comprised between 75% and 100% of the theoretical thickness, the corresponding valve is closed.
  • the applicator 6 according to the third embodiment has the advantage that if the edge B 1 . 1 of the stripe B 1 is not a clean edge, for example due to the spreading of the coating product, the flow rate of the valves belonging to the nozzles arranged to apply the coating product on the edge B 1 . 1 is controlled to offset the lack of thickness at the junction.
  • FIGS. 9 to 12 show a fourth embodiment and a fifth embodiment of an applicator 6 according to the invention. Below, only the differences with respect to the first embodiment are mentioned in the interest of concision. Furthermore, all of the elements of the applicator 6 retain their numerical reference.
  • the applicator 6 of FIGS. 9 to 11 differs from that of the first embodiment by the programming of the electronic control unit 68 .
  • This particular programming of the unit 68 seeks to avoid wasting coating product by applying coating product in empty space.
  • This programming is advantageous if the applicator 6 is used to paint a surface defining the edge of a part, for example a longitudinal edge of the roof of a car.
  • the applicator 6 is considered to be oriented such that the first nozzle 60 . 1 is the nozzle of the row closest to the edge S. 1 of the surface to be coated S.
  • the applicator 6 is moved along the edge of the part to be coated, as shown by arrow A 3 in FIG. 9 .
  • the sensor 62 . 1 associated with the first nozzle 60 . 1 measures, at each moment t, the distance that separates it from the first object on which the beam S 3 that it emits is reflected. To that end, it assesses the time between the emission of the laser beam F 3 and the reception of the reflected laser beam F′ 3 . This distance corresponds to the application distance of the first nozzle 60 . 1 at a moment t+ ⁇ t.
  • the part to be coated will not be in the field of application of the nozzle 60 . 1 .
  • the electronic control unit 68 then closes the valve 66 . 1 of the first nozzle 60 . 1 so as not to apply coating product through the nozzle 60 . 1 at moment t+ ⁇ t and to thereby avoid wasting coating product.
  • the sensors 62 . 2 to 62 . i and the valves 66 . 2 to 66 . i are also optional to carry out the invention.
  • the distance sensors 62 . 1 to 62 . i dynamically measure, at each moment t, the application distance of each of the nozzles 60 . 1 to 60 . i at a point up ahead on the path of the applicator 6 .
  • the robot 2 therefore determines, in real time, whether the distance measured by each of the sensors 62 . 1 to 62 . i is greater than the reference value D.
  • the electronic control unit 68 then closes all of the valves for which the distance measured by the corresponding sensors substantially exceeds the reference value D and opens the other valves; i.e., all of the valves for which the distance measured by the corresponding sensors is substantially equal to the reference value D.
  • each of the valves 66 . 1 to 66 . i based on the distances measured by their respective sensors makes it possible to apply a coating product on very warped surfaces, like the surface S of FIGS. 9 and 10 , which defines a curvilinear edge S. 1 , while moving the applicator 6 in a straight line and without losing coating product.
  • the applicator 6 of FIG. 12 differs from that of the first embodiment in that it further comprises a second row of distance sensors, respectively referenced 63 . 1 to 63 . i , which are positioned perpendicular to the movement A 4 of the applicator 6 .
  • the sensors 63 . 1 to 63 . i are thickness measuring sensors positioned on a delay relative to the nozzles 60 . 1 to 60 . i on the path of the applicator 6 .
  • the position of the nozzles 60 . 1 to 60 . i at the moment t corresponds to the position of the sensors 63 . 1 to 63 .
  • ⁇ t′ is a duration that depends on the movement speed of the applicator 6 and the distance d 6 ′ between the row of nozzles 60 . 1 to 60 . i and the row of sensors 62 . 1 to 62 . i , measured parallel to the movement direction of the applicator 6 . If the distance d 6 ′ is equal to the distance d 6 previously defined, the duration ⁇ t′ is equal to the duration ⁇ t. Otherwise, the durations ⁇ t and ⁇ t′ are different.
  • the distance sensors 63 . 1 to 63 . i are identical to the distance sensors 62 . 1 to 62 .
  • the distance applicator 63 . 1 to 63 . i sends the distance that it measures to the electronic control unit 68 , which compares the measured distances with the reference value D to determine the thickness of the film of coating product applied on the surface S.
  • the sensors 63 . 1 to 63 . i therefore make it possible to check the uniformity of the thickness of the film deposited by the applicator 6 .
  • the applicator 6 can make a new pass, to make the thickness of the coating product applied on the surface S uniform.
  • the applicator 6 comprises only one thickness measuring sensor, comparable to the distance sensor 62 .
  • FIG. 13 shows a coating product applicator according to a sixth embodiment of the invention. Below, only the differences with respect to the first embodiment are described in the interest of concision.
  • the applicator of FIG. 13 is designed to compensate the effect of gravity g on the drops of product discharged through the nozzles 60 . 1 to 60 . i.
  • the effect of gravity g is negligible on the direction of the drops of coating product discharged through the nozzles 60 . 1 to 60 . i .
  • the printing head is inclined by 90°, as shown in FIG. 13 , the drops of coating product are deflected, under the effect of gravity g, relative to the spraying axis of the nozzles, which is horizontal in the example. The deflection of the drops can cause coverage flaws and/or overthickness zones.
  • the applicator 6 is repositioned when the surface S to be coated is vertical or inclined.
  • This repositioning step consists of moving the applicator 6 with a certain amplitude and in a direction A 5 parallel to an axis of the row of nozzles 60 . 1 to 60 . i to offset the deviation of the coating product due to gravity g.
  • the direction A 5 of this offset is oriented upward. It is also perpendicular to the movement direction of the applicator, which, in the example of FIG. 13 , is perpendicular to the plane of FIG. 13 .
  • the movement amplitude of the applicator 6 during the repositioning step is computed dynamically based on the incline of the applicator 6 relative to the ground, the application distance of the nozzles 60 . 1 to 60 . i , the ejection speed of the product through the nozzles and the size of the drops of coating product, with the understanding that the size of the drops corresponds to the size of the nozzles 60 . 1 to 60 . i . All of these parameters are recorded in memory in the controller of the robot 2 , which is not shown in the figures.
  • the incline value of the applicator 6 relative to the ground is updated automatically based on the orientation of the applicator 6 in the “tool” reference.
  • the amplitude of the offset can also be extracted from a pre-recorded abacus, in which all of the movement values to be applied to compensate the effect of gravity based on the different influencing parameters are recorded.
  • the repositioning step is carried out by the multiaxis robot 2 . More specifically, the amplitude of the offset is computed by the controller of the robot, which sends a control signal to the actuator of the robot arm to move the applicator in the provided direction and with the provided amplitude.
  • the electronic control unit 68 is programmed to close the valve of the nozzle(s) that may, due to gravity, spray coating product on a zone Z 1 of the surface S that is already covered.
  • the applicator 6 moves at an altitude such that the nozzles 60 . 1 and 60 . 2 are able to spray drops of product on the zone Z 1 already covered by the stripe B 1 of coating product.
  • the valves 66 . 1 and 66 . 2 are therefore closed.
  • the valves to be closed are primarily identified based on the altitude of the applicator 6 relative to the stripe B 1 of coating product covering part of the surface S.
  • the altitude of the applicator 6 is a setpoint parameter controlled by the robot controller.
  • FIG. 14 shows a coating product applicator according to a seventh embodiment of the invention. Below, only the differences with respect to the other embodiments are described in the interest of concision.
  • the applicator of FIG. 14 is designed to obtain flawless coverage, even on a warped surface S.
  • the applicator 6 of FIG. 14 comprises proportional valves.
  • each nozzle 60 . k from among the nozzles 60 . 1 to 60 . i is intended to coat a certain portion Sk of the surface S, k being a natural integer between 1 and i.
  • the nozzle 60 . 2 is intended to coat the portion S 2 of the surface S during the movement of the applicator 6
  • the nozzle 60 . 6 is intended to coat the portion S 6 of the surface S.
  • these surface portions appear in the form of segments in bold lines.
  • the respective portions of the nozzles 60 . 1 to 60 . i are adjacent.
  • the width of the surface portions Sk depends on the width of the nozzles and the spreading coefficient. When the surface portion Sk is substantially perpendicular to the spraying axis of the nozzles, the area of the surface portion Sk substantially corresponds to the area of the coated surface, under a nominal flow rate, once the drop from the nozzle 60 . k has spread.
  • the surface portion Sk is not substantially perpendicular to the spraying axis of the nozzles, as is for example the case for the surface portion S 2 relative to the nozzle 60 . 2 , the area of the coated surface, under a nominal flow rate, is smaller than the area of the surface portion Sk to be coated. There is therefore a coverage flaw.
  • the applied flow rate is higher when the corresponding surface portion to be coated is inclined, so as to offset the lack of coating product.
  • the end points of the surface portion S 2 are shown with their references S 2 . 1 and S 2 . 2 , the deviation between these two points being represented by the measurement ⁇ D 2 corresponding to the difference between the distance D 1 and the distance D 2 .
  • the electronic unit 68 therefore compares a distance D 1 , measured parallel to the spraying axis of the nozzles, between the point S 2 . 1 and the distance sensor, and a distance D 2 , measured parallel to the spraying axis of the nozzles, between the point S 2 . 2 and the distance sensor.
  • the coating product flow rate flowing through a nozzle 60 . k is higher as the distance deviation ⁇ D k becomes higher.
  • the relationship between the flow rate and the distance deviation ⁇ D k is a linear-type relationship.
  • the surface portion S 6 intended to be covered by the nozzle 60 . 6 has a smaller area than the surface portion S 2 intended to be covered by the nozzle 60 . 2 .
  • the flow rate of coating product applied by the nozzle 60 . 2 is higher than the flow rate of coating product applied by the nozzle 60 . 6 .
  • the applicator 6 comprises several rows of nozzles aligned with one another.
  • the applicator 6 further comprises a second row of nozzles positioned downstream of the sensor(s) 63 . 1 to 63 . i on the path of the applicator 6 .
  • the second row of nozzles is positioned on a delay relative to each thickness measuring sensor 63 . 1 to 63 . i on the path of the applicator 6 .
  • This second row of nozzles also comprises i nozzles, which are distributed identically to the row of nozzles 60 . 1 to 60 . i .
  • This second row of nozzles makes it possible to offset any coverage flaw, or lack of thickness, detected by the sensor(s) 63 . 1 to 63 .
  • Such a lack of thickness may appear when a nozzle in the first row; i.e., the upstream row of nozzles 60 . 1 to 60 . i , is clogged, or at least has a malfunction.
  • a lack of thickness may also appear when coating a warped surface, as shown in FIG. 14 relative to the seventh embodiment, or upon faulty coverage at the junction between two stripes of coating product.
  • Another advantage of this alternative is that the control of the valves 66 . 1 to 66 . i of the first row of nozzles can be simplified because the coverage flaws can be corrected practically instantaneously.
  • the applicator 6 comprises a single valve 66 . 1 , corresponding to the valve of the first nozzle 60 . 1 of the row.
  • the applicator 6 comprises only one sensor 62 . 1 provided to measure the application distance of the first nozzle 60 . 1 at a point up ahead of it on the path of the applicator 6 .
  • only the first nozzle 60 . 1 and the last nozzle 60 . i of the row include a valve 66 . 1 and 66 . i , respectively.
  • the applicator 6 comprises only two distance sensors 62 . 1 and 62 . i , respectively, provided to measure the application distance of the first nozzle 60 . 1 and the last nozzle 60 . i , respectively, at a point up ahead of them on the path of the applicator 6 .
  • ultrasound sensors According to another alternative that is not shown, other types of distance sensors can be considered, such as ultrasound sensors.

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  • Life Sciences & Earth Sciences (AREA)
  • Wood Science & Technology (AREA)
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  • Coating Apparatus (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
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EP3213823B1 (fr) 2018-09-26
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