EP1252935A2 - Procédé de commande du fonctionnement d'une installation de revêtement - Google Patents

Procédé de commande du fonctionnement d'une installation de revêtement Download PDF

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Publication number
EP1252935A2
EP1252935A2 EP02008016A EP02008016A EP1252935A2 EP 1252935 A2 EP1252935 A2 EP 1252935A2 EP 02008016 A EP02008016 A EP 02008016A EP 02008016 A EP02008016 A EP 02008016A EP 1252935 A2 EP1252935 A2 EP 1252935A2
Authority
EP
European Patent Office
Prior art keywords
coating
amount
machine
control
controlled
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
EP02008016A
Other languages
German (de)
English (en)
Other versions
EP1252935B1 (fr
EP1252935A3 (fr
Inventor
Hans-Jürgen Dr. Nolte
Frank Herre
Harry Krumma
Jürgen Haas
Mathias Schwarzwälder
Markus Beuter
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 EP1252935A2 publication Critical patent/EP1252935A2/fr
Publication of EP1252935A3 publication Critical patent/EP1252935A3/fr
Application granted granted Critical
Publication of EP1252935B1 publication Critical patent/EP1252935B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area

Definitions

  • the invention relates to a method and a system for operational control a coating system according to the generic term of independent claims.
  • it is about the large-scale coating of workpieces such as vehicle bodies or components or attachments of bodies with frequently changing colors using painting robots or other program-controlled multi-axis coating machines.
  • the coating material can be exchangeable and / or refillable cartridges or other Storage containers are fed, the content of which, for example for coating a body part or body parts or at least for a coating process or for a predetermined limited number of coating operations is dimensioned (DE 198 58 397, EP 0 796 664, EP 0 796 665 etc.), or alternately to the coating machines connectable, preferably pigged Line systems (DE 100 33 987).
  • the volumetric dosage of the coating material when supplying the atomizers or other application organs.
  • the coating devices When changing colors, the coating devices are known to be cleaned and rinsed, what with Loss of paint and detergent is connected.
  • Another way to determine the amount of consumption is their calculation based on the speed and running time of the Usually used volumetric dosing pump with defined delivery volume per revolution or stroke. Further you can see the amount consumed based on the opening hours the atomizer's main needle or other color valve or other application organ of the coating machine calculate taking into account the respective discharge size.
  • the opening times can either refer to the Valve switching points programmed on the conveying path of the workpiece be determined or by kinematic formulas, with which the machine movements can be calculated.
  • the object of the invention is to specify a method or system, with which the required for a coating process The amount of material can be determined more precisely than previously can.
  • Due to the invention can always before the start of a coating process with moving machine and in particular even before commissioning (start-up) of the coating system the required quantities of material with the largest possible Accuracy can be determined so that the required Reserve quantities and thus the paint consumption on one Minimum can be reduced, without color and Loss of time of the manual measuring method mentioned above. Except when the system starts up, this includes in systems with high Number of colors and / or if the workpieces are changed frequently with a large number of model variants of considerable Advantage.
  • the actual Operating processes simulated and thus determined in advance In particular, delays z. B. due to signal propagation times taken into account in the actual control of the coating machine. More generally, any change in operating conditions can occur be taken into account in the pre-calculation.
  • the robot control known per se can be used, in which the motion sequence and the valve switching times in Can be tracked in real time and thus for the quantity calculation usable times can be determined exactly can, although the robot actually does the movements in question only later on during the actual coating. Due to the simulation, it is known exactly when after the coating material actually a valve opening signal emerges from the atomizer and when the material flow is switched off again.
  • the invention is illustrated by the flow chart shown in FIG explained in more detail using the example of a painting robot.
  • TCP Tool Center Point
  • the robot controller RC which is also used for machine control used during the actual coating , including both the traversing programs and the Motion control software MCU (Motion Control Unit).
  • the amount of paint is used as a product in this process step from the programmed opening time of the main needle valve of the atomizer and the paint volume flow calculated what because the assumed volumetric dosage with the required Accuracy is possible.
  • step 3 the calculated color quantity value is then below Consideration of the dynamic system behavior, i.e. all significantly influences the programmed opening time Corrected parameters.
  • these are the sum of the delays due to the various switching operations and taking into account the computing time of the robot controller during the actual coating.
  • the signal propagation times over the bus system with which the computer communicates with the external machine controls are considered as delays. The result is that amount of color actually needed.
  • the input signal can be, for example, an electrical one Signal to control a solenoid valve, which in turn after the delay caused by the system opens or closes the atomizer's color outlet.
  • valve opening duration (e.g. of the main needle valve) between the generation of the switching signals at times t 0 and t 1 .
  • the calculation of the amount of material based on this assumed switching behavior would be relatively inaccurate, since, among other things, the movement behavior of the robot is not taken into account.
  • FIG. 4 shows the simulation in step 2 in FIG. 1 the underlying valve opening duration is shown 3 and is more precise because of the movement behavior and at least the most important other den Robot-related circumstances are taken into account in the simulation can be.
  • FIG. 5 shows the course of the color volume flow, which results in reality, for example, which can be used in step 3 in FIG. 1 to correct the simulation result.
  • the valve under consideration only opens after a delay time t k , which results, among other things, from signal communication via a data bus, etc. between the computer and the drive control circuits of the robot and is known from specialist literature and / or on the basis of the respective system configuration or can be measured beforehand.
  • the full volume flow is achieved in accordance with the respective system behavior, that is to say in accordance with the response behavior also referred to in system technology as “system identification”, which can be determined by known parameter estimation methods.
  • system identification which can be determined by known parameter estimation methods.
  • the volume flow decreases again during the time t' s . All these times are taken into account in the correction.
  • the computer system used must Material quantity calculation with all current parameters z. B. for the motion drive and other program control data be supplied, but no connection to the Have drive control circuits of the coating machine.

Landscapes

  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Coating With Molten Metal (AREA)
  • Coating Apparatus (AREA)
  • Fertilizers (AREA)
EP02008016A 2001-04-25 2002-04-10 Procédé de commande du fonctionnement d'une installation de revêtement Expired - Lifetime EP1252935B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10120272A DE10120272A1 (de) 2001-04-25 2001-04-25 Verfahren zur Betriebssteuerung einer Beschichtungsanlage
DE10120272 2001-04-25

Publications (3)

Publication Number Publication Date
EP1252935A2 true EP1252935A2 (fr) 2002-10-30
EP1252935A3 EP1252935A3 (fr) 2008-05-21
EP1252935B1 EP1252935B1 (fr) 2009-08-05

Family

ID=7682677

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02008016A Expired - Lifetime EP1252935B1 (fr) 2001-04-25 2002-04-10 Procédé de commande du fonctionnement d'une installation de revêtement

Country Status (4)

Country Link
EP (1) EP1252935B1 (fr)
AT (1) ATE438464T1 (fr)
DE (2) DE10120272A1 (fr)
ES (1) ES2329114T3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003085464A1 (fr) * 2002-04-11 2003-10-16 Cad-Fem Gmbh Dispositif et procede pour simuler des processus de production
DE102006026051A1 (de) * 2006-05-31 2007-12-06 Abb Patent Gmbh Verfahren zur Ermittlung einer benötigten Lackmenge

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10150826A1 (de) 2001-10-15 2003-04-17 Duerr Systems Gmbh Verfahren und Programmsteuersystem zur Steuerung einer Beschichtungsanlage
DE102005055247A1 (de) * 2005-11-19 2006-09-28 Daimlerchrysler Ag Verfahren und Vorrichtung zur Untersuchung eines Sprühvorgangs
ES2411280B1 (es) * 2011-12-30 2014-01-15 Seat, S.A. Sistema de control de pintura en una sala de mezclas.
DE102022106432A1 (de) 2022-03-18 2023-09-21 Dürr Systems Ag Beschichtungsanlage und zugehöriges Betriebsverfahren mit einer Simulation der benötigten Beschichtungsmittelmenge

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0796665A2 (fr) 1996-03-18 1997-09-24 Dürr Systems GmbH Système et procédé d'alimentation en peinture d'une installation de revetment
EP0796664A2 (fr) 1996-03-18 1997-09-24 Dürr Systems GmbH Installation de revêtement à réservoir interchangeable
DE19858397A1 (de) 1998-12-17 2000-06-21 Duerr Systems Gmbh Verfahren und System zur Farbversorgung einer elektrostatischen Beschichtungsanlage
DE10033987A1 (de) 2000-07-13 2002-01-24 Duerr Systems Gmbh Verfahren zur Versorgung eines Beschichtungsorgans für die elektrostatische Serienbeschichtung von Werkstücken und Versorgungssystem hierfür

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3722734A1 (de) * 1987-07-09 1989-01-19 Behr Industrieanlagen Verfahren und anlage zum serienweisen beschichten von werkstuecken
US5847963A (en) * 1995-10-19 1998-12-08 Gaiski; Stephen N. Method for monitoring the effect of adjustments of paint application equipment
US6073055A (en) * 1997-11-10 2000-06-06 Basf Corporation Computerized virtual paint manufacturing and application system
DE19838805A1 (de) * 1998-08-26 2000-03-09 Duerr Systems Gmbh Verfahren und System zur Farbversorgung einer Beschichtungsanlage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0796665A2 (fr) 1996-03-18 1997-09-24 Dürr Systems GmbH Système et procédé d'alimentation en peinture d'une installation de revetment
EP0796664A2 (fr) 1996-03-18 1997-09-24 Dürr Systems GmbH Installation de revêtement à réservoir interchangeable
DE19858397A1 (de) 1998-12-17 2000-06-21 Duerr Systems Gmbh Verfahren und System zur Farbversorgung einer elektrostatischen Beschichtungsanlage
DE10033987A1 (de) 2000-07-13 2002-01-24 Duerr Systems Gmbh Verfahren zur Versorgung eines Beschichtungsorgans für die elektrostatische Serienbeschichtung von Werkstücken und Versorgungssystem hierfür

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003085464A1 (fr) * 2002-04-11 2003-10-16 Cad-Fem Gmbh Dispositif et procede pour simuler des processus de production
DE102006026051A1 (de) * 2006-05-31 2007-12-06 Abb Patent Gmbh Verfahren zur Ermittlung einer benötigten Lackmenge
EP1862269A3 (fr) * 2006-05-31 2008-07-09 ABB PATENT GmbH Prodédé pour déterminer la quantité de laque nécessaire

Also Published As

Publication number Publication date
DE50213733D1 (de) 2009-09-17
EP1252935B1 (fr) 2009-08-05
EP1252935A3 (fr) 2008-05-21
DE10120272A1 (de) 2002-10-31
ES2329114T3 (es) 2009-11-23
ATE438464T1 (de) 2009-08-15

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