EP1393816A1 - Dispositif de revêtement comprenant un pulvérisateur rotatif et son procédé de commande - Google Patents

Dispositif de revêtement comprenant un pulvérisateur rotatif et son procédé de commande Download PDF

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Publication number
EP1393816A1
EP1393816A1 EP03004672A EP03004672A EP1393816A1 EP 1393816 A1 EP1393816 A1 EP 1393816A1 EP 03004672 A EP03004672 A EP 03004672A EP 03004672 A EP03004672 A EP 03004672A EP 1393816 A1 EP1393816 A1 EP 1393816A1
Authority
EP
European Patent Office
Prior art keywords
atomizer
air
turbine
coating
gas
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
EP03004672A
Other languages
German (de)
English (en)
Other versions
EP1393816B1 (fr
Inventor
Harry Krumma
Michael Baumann
Frank Herre
Rainer Melcher
Bernhard Seiz
Stefano Giuliano
Gerald Glöckner
Marcus Kleiner
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 EP1393816A1 publication Critical patent/EP1393816A1/fr
Application granted granted Critical
Publication of EP1393816B1 publication Critical patent/EP1393816B1/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
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/001—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements incorporating means for heating or cooling, e.g. the material to be sprayed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/001—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means incorporating means for heating or cooling, e.g. the material to be sprayed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
    • B05B3/10—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member
    • B05B3/1035—Driving means; Parts thereof, e.g. turbine, shaft, bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0415—Driving means; Parts thereof, e.g. turbine, shaft, bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
    • B05B3/10—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member
    • B05B3/1092—Means for supplying shaping gas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0426—Means for supplying shaping gas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
    • B05B7/16—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas incorporating means for heating or cooling the material to be sprayed
    • B05B7/1606—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas incorporating means for heating or cooling the material to be sprayed the spraying of the material involving the use of an atomising fluid, e.g. air
    • B05B7/1613—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas incorporating means for heating or cooling the material to be sprayed the spraying of the material involving the use of an atomising fluid, e.g. air comprising means for heating the atomising fluid before mixing with the material to be sprayed

Definitions

  • the invention relates to a coating device with a rotary atomizer mounted on a coating machine for series coating of workpieces and a process to control the operation of such a coating device according to the preamble of the independent claims.
  • the bell plate is used for electrostatic Series coating of workpieces such as vehicle bodies usual rotary atomizer with compressed air turbines driven at extremely high speeds (DE 34 29 075, DE 43 06 800, EP 0 796 663, EP 0 801 991 etc.).
  • the one flowing through the turbine Air has about the temperature when it enters the atomizer the environment and is due to the relaxation in the turbine Cooled temperatures that depend on the turbine power and, for example, in the coating systems used up to now were on the order of up to -20 ° C. If, among other things because of the in recent times, the desire for even higher ones has increased rapidly Speeds and paint flow rates the performance of the Turbine should be further increased, the cooling can Air at the turbine outlet is below -40 ° C.
  • the coating process could interfere if they are directly on the atomizer in the would exit, it is usually by the Sprayer-carrying arm of the coating machine, e.g. one Paint robot derived through, so that for example also the surfaces of the flange connection between the atomizer and the wrist of the machine and the adjacent areas of the machine arm are cooled down with the consequence corresponding Condensation. The resulting water drops can cause paint defects.
  • the Sprayer-carrying arm of the coating machine e.g. one Paint robot derived through, so that for example also the surfaces of the flange connection between the atomizer and the wrist of the machine and the adjacent areas of the machine arm are cooled down with the consequence corresponding Condensation.
  • the resulting water drops can cause paint defects.
  • the object of the invention is to provide a coating device or a process, especially in electrostatic Rotation atomizers with high drive power condensation the ambient air on components of the atomizer and / or the Prevent coating machine as much as possible.
  • a first measure to prevent the formation of condensation is heating the turbine drive gas which is in usually compressed air. With the warming of the drive air can cause excessive cooling in some coating systems should be avoided, but above all an immediate one Heating the exhaust air of the turbine is expedient while if only the supply air is heated, part of the thermal energy by conduction on condensation less affected air supply side of the atomizer is lost and / or undesirable heating of components there Atomizer. Generally the possibility of warming by the permissible maximum temperatures of the affected Components or conduit hoses etc. limited, for example, from plastic.
  • the heating of the exhaust air from the turbine can be particularly expedient be on a heat exchanger that on the one hand from the exhaust air and on the other hand separately from the supply air to the turbine or from one supplied liquid or gaseous medium such as e.g. heated air is flowed through.
  • a heat exchanger that on the one hand from the exhaust air and on the other hand separately from the supply air to the turbine or from one supplied liquid or gaseous medium such as e.g. heated air is flowed through.
  • the heated supply air through a single heating device is sufficient for the heat exchanger for heating the supply air and as an additional measure of the exhaust air without having to rely on two different types of heating Make additional air consumption. It is advantageous this also means that undesirably strong heating of supply air ducts and adjacent components can be avoided.
  • the exhaust air from the turbine can also be warmer by adding it Air can be heated.
  • Air can be heated directly on the Exhaust opening of the bearing unit of the turbine compressed air from the existing compressed air network of the coating system or from one Fan-conveyed air can be directed into the exhaust air flow.
  • the amount and temperature of this additional air can be used to avoid the undesirable condensation depending on the exhaust air temperature and set to relatively low values by the air humidity become.
  • the cooling of the components through expansion of the drive air the turbine depends on its load and is the stronger, the higher the speed, the amount of paint sprayed per unit of time, the diameter or the mass of the bell plate and the temporal utilization rate of the atomizer during a painting cycle are.
  • atomizers with high load can in addition to or instead of heating the drive air the turbine other measures may be advantageous.
  • a suitable option for this is i.a. the warming of the Internal clearance of the turbine, the shaft of which in a manner known per se an air bearing rotates.
  • the warming of the internal clearance has the The advantage that the internal clearance flows through a large part of the turbine and can thereby heat it more evenly.
  • the air volumes and thus the heat capacity of the Warehouse clearance relatively low. It may therefore be appropriate to use larger ones warmed air volumes (e.g. in the order of magnitude of 100 rpm) by additional, separate from the path of the drive air, i.e. in known atomizers and coating machines channels of the storage unit and / or others not provided Components of the atomizer or the coating machine to lead.
  • Another option is to heat the steering air, which in a manner known per se, if necessary, in various ways flows past the bearing unit of the turbine and / or through the Turbine flows through (DE 102 33 198).
  • the steering air temperature is set so that the one formed by the steering air Spray cone is not affected and not an undesirable Influence on the painting process.
  • gaseous or liquid heating media supplied from the outside components at risk from condensation in the cabin air of the atomizer and / or the coating machine also directly be warmed.
  • the Wrist and / or the robot arm corresponding channels for the heated media included.
  • the temperature of the supplied to reduce cooling Air or other media can preferably be dependent on one or more temperature sensors are controlled which e.g. the temperature of the supply air and / or exhaust air of the turbine, the Engine bearing air, possibly the steering air and / or from to the inlet and Exhaust air routes of the turbine air adjacent components of the atomizer or measure the coating machine and with an associated one Controls the preheating temperature in a closed control loop can control.
  • the preheating temperature can also based on predefined diagrams or saved program data depending on the speed and amount of paint, i.e. depending on the load to be controlled.
  • the arrangement of an electric heater for the atomizer supplied for the purpose described here preferably has electrically insulating heating media outside the atomizer especially with electrostatic atomizers with direct charging of the coating material the advantage that problems regarding the required electrical isolation between the heater and the components at high voltage potential of the atomizer can be avoided.
  • the usual outer housing of the atomizer to avoid the formation of condensate surrounded by an insulating sleeve on the outside of the atomizer be, preferably at a distance to form an insulating Air layer.
  • the rotary atomizer 1 shown in Fig. 1 has the in the structure described in DE 102 33 198 and can with its mounting flange 2 e.g. on the wrist of a painting robot be mounted. To drive its rotating bell plate 4 it contains a compressed air turbine 5, the drive air of which Painting robot is fed via the mounting flange 2, the supply of the drive air here for simplification is not shown.
  • a steering air ring 6 is provided in the bell-side End face of a housing 7 of the rotary atomizer 1 is arranged.
  • the steering air ring 6 are several axially aligned Steering air nozzles 8, 9 arranged, via which in the operation of the Rotary atomizer 1 a steering air flow axially outside on the conical Shell surface of the bell plate 4 are blown can.
  • a steering air flow axially outside on the conical Shell surface of the bell plate 4 are blown can.
  • the supply of the steering air for the two steering air nozzles 8, 9 takes place each through a flange opening 10, 11, which in the mounting flange 2 of the rotary atomizer 1 is arranged are.
  • the position of the flange opening 10, 11 within the End face of the mounting flange 2 is here by the Position of the corresponding connections on the associated mounting flange of the painting robot.
  • the external steering air nozzle 8 is used in a conventional manner powered by a steering air line 12 on the outside the compressed air turbine 5 between the housing 6 and the compressed air turbine 5 is guided along.
  • the flange opening opens 10 first in an axially extending bore 13, which is then in a radial bore 14 merges, which eventually the outside of a valve housing 15 into a space opens between the housing 7 and the valve housing 15.
  • the Steering air is then past the compressed air turbine 5 into a so-called Airspace 16, from where they finally passed through Branch bores 17 in the steering air ring 6 to the steering air nozzle 8 arrives.
  • the bores 23 in the section 21 of the compressed air turbine 5 consist of one of the lateral surface of the section 21 outgoing radial tap hole and one from the bell face end face of section 21 outgoing axial tap hole, which is a simple Assembly enables.
  • the air supply to the compressed air turbine 5 of the atomizer according to Fig. 1 can, for example, the scheme shown in Fig. 2 correspond. As described in EP 1 245 292, this is when there is an increased need for drive energy in the basic supply line the air turbine via a switchable separate channel Additional air supplied at a higher pressure.
  • the compressed air turbine has a bearing unit 101 for the bell cup 102 supporting, for example, air-bearing hollow shaft 103 with the turbine wheel 104.
  • the bearing unit 101 is located in the atomizer housing 105.
  • the turbine wheel 104 is driven by a external speed controller via a leading into the atomizer Hose 107 and one serving as an internal basic supply line Feed channel 108 of the atomizer is supplied with drive air A.
  • the turbine wheel receives from another output of the speed controller 104 via a valve VB and a separate line LB Brake air B.
  • the basic supply line 108 can also consist of several end in parallel at different locations on the turbine wheel Channels exist. As far as it has been described so far it is a conventional electrostatic rotary atomizer act.
  • the mode of operation of the speed controller the one, for example opto-electronically recorded actual value compares the turbine speed with a target value and at Deviations actuates the ventilation valves of an actuator and can also control a brake valve is known per se.
  • the turbine wheel 104 contains through the hose 107 and the channel 108 formed air supply path of the turbine e.g. pneumatically or electrically controlled valve arrangement 110 which locks off a separate duct 111 for connecting air, which also drives the turbine wheel 104 on this empties.
  • a plurality of additional channels 111 with a plurality of nozzles can also be used be provided on the turbine wheel.
  • the exhaust air from the turbine is on the way indicated at 113 out of the atomizer through the atomizer flange and e.g. in the arm of the painting robot.
  • valve arrangement 110 instead of a simple on / off function, the valve arrangement 110 also the way in channel 111 (or the ways in both channels 108 and 11) for the respective operating and control conditions throttle best values. This throttling can are automatically set and changed.
  • the drive air of the turbine is to be heated, after heating, it is shown schematically in FIG e.g. electric heater 115 preferably by passed a heat exchanger 116 through which the path 113 of the Exhaust air leads, which in the case of such facilities known way is heated by the supply air.
  • the heat exchanger 116 should be placed as close as possible to the atomizer when it is not built into the atomizer.
  • the temperature of the drive air A is regulated by a temperature controller 118 which compares the actual value signal t i coming from at least one temperature sensor (not shown) in the atomizer with a setpoint signal t s and, depending on this, the Heater 115 controls.
  • the control signal st of the heating device could also be predetermined without a control circuit by program data stored as setpoints.
  • FIG. 3 is a further exemplary embodiment of the invention electrostatic rotary atomizer shown, the largely e.g. the atomizer of FIG. 2 or a conventional Rotary atomizers correspond approximately to DE-A 43 06 800 can. Accordingly, it contains a bell cup 34 driving Compressed air turbine 35 with the associated bearing unit 31 and a valve housing 36 within the usual conical-cylindrical Outer housing 37, which is suitably made of plastic can exist. For example, from the valve housing 36 through a bore, as shown in Fig. 1 at 13 and 14 is, steering air into the space on the inside of the outer case 37 exit.
  • mounting pin 33 can the atomizer in the DE-A 43 06 800 known manner on an external flange 40 for example on the wrist of a painting robot or on another painting machine be attached.
  • the atomizer described so far could do anything with high humidity in operation on the outside of the outer housing 37 form condensate water, especially from the area where the steering air exits into the outer housing 37, up to the steering air ring (6 in Fig. 1).
  • the outer housing 37 of a similarly shaped, so here on the conical side facing the bell plate 34 and on the opposite side cylindrical insulating sleeve 42 enclosed.
  • the inside diameter of the insulating sleeve 42 is preferably 42 greater than the outside diameter over most of its length of the atomizer housing, i.e. of the outer housing 37 so that a heat-insulating air space 43 is formed between them.
  • the insulating sleeve 42 can be made of heat insulating material such as e.g. consist of a foam plastic and composed of half shells or be formed in one piece so that they on the Atomizer can be placed on the machine flange 40 is mounted.
  • Another possibility, not shown, for avoiding Condensation on the surface of the outer casing consists of moving the housing to one above the dew point of the environment to heat lying temperature, for example with a installed in the outer housing or arranged on the inside thereof Heating device.

Landscapes

  • Electrostatic Spraying Apparatus (AREA)
  • Glanulating (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
EP03004672A 2002-08-28 2003-03-03 Dispositif de revêtement comprenant un pulvérisateur rotatif et son procédé de commande Expired - Lifetime EP1393816B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10239517 2002-08-28
DE10239517A DE10239517A1 (de) 2002-08-28 2002-08-28 Beschichtungseinrichtung mit einem Rotationszerstäuber und Verfahren zum Steuern ihres Betriebes

Publications (2)

Publication Number Publication Date
EP1393816A1 true EP1393816A1 (fr) 2004-03-03
EP1393816B1 EP1393816B1 (fr) 2007-05-02

Family

ID=31197462

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03004672A Expired - Lifetime EP1393816B1 (fr) 2002-08-28 2003-03-03 Dispositif de revêtement comprenant un pulvérisateur rotatif et son procédé de commande

Country Status (5)

Country Link
US (1) US6972052B2 (fr)
EP (1) EP1393816B1 (fr)
AT (1) ATE361149T1 (fr)
DE (2) DE10239517A1 (fr)
ES (1) ES2284997T3 (fr)

Cited By (6)

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Publication number Priority date Publication date Assignee Title
WO2007015335A1 (fr) 2005-08-01 2007-02-08 Abb K.K. Dispositif de revêtement électrostatique
FR2906162A1 (fr) * 2006-09-25 2008-03-28 Sames Technologies Soc Par Act Projecteur de produit de revetment et installation de projection de produit de revetement comprenant un tel projecteur
DE102008007438A1 (de) * 2008-02-01 2009-08-13 Abb Ag Verfahren zum Wiederanfahren eines Roboters
DE102011006617A1 (de) * 2011-04-01 2012-10-04 Bayerische Motoren Werke Aktiengesellschaft Zerstäuber zum Beschichten eines Werkstücks
WO2013113483A1 (fr) * 2012-02-01 2013-08-08 Eisenmann Ag Pulvérisateur rotatif
WO2017008888A1 (fr) * 2015-07-15 2017-01-19 Dürr Systems Ag Installation de revêtement et procédé de fonctionnement correspondant

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FR2860996B1 (fr) * 2003-10-20 2005-12-16 Sames Technologies Projecteur rotatif de produit de revetement et installation de projection de produit de revetement comprenant un tel projecteur
WO2006024861A1 (fr) * 2004-09-03 2006-03-09 Gsi Group Ltd Dispositif d'entrainement
CN100512975C (zh) * 2005-06-02 2009-07-15 Abb株式会社 旋转喷雾头式涂装机
US8664812B2 (en) 2006-03-17 2014-03-04 Inpro/Seal Llc Current diverter ring
US20110204734A1 (en) * 2005-06-25 2011-08-25 Orlowski David C Motor Grounding Seal
US8604653B2 (en) 2005-06-25 2013-12-10 Inpro/Seal, LLC Current diverter ring
JP4612030B2 (ja) * 2005-08-01 2011-01-12 Ａｂｂ株式会社 静電塗装装置
EP1820873A1 (fr) * 2006-01-17 2007-08-22 Siemens Aktiengesellschaft Procédé de fabrication des composants de turbine
DE102006019890B4 (de) * 2006-04-28 2008-10-16 Dürr Systems GmbH Zerstäuber und zugehöriges Betriebsverfahren
DE102007005313A1 (de) * 2007-02-02 2008-08-07 Itw Gema Ag Beschichtungspulver-Fördervorrichtung
DE102007030724A1 (de) * 2007-07-02 2009-01-08 Dürr Systems GmbH Beschichtungseinrichtung und Beschichtungsverfahren mit konstanter Lenklufttemperatur
MX2011010611A (es) * 2009-04-09 2011-12-16 Inpro Seal Llc Anillo desviador de corriente.
USD636843S1 (en) * 2009-11-13 2011-04-26 Duerr Systems Gmbh Rotary atomizer
USD657014S1 (en) * 2009-11-13 2012-04-03 Duerr Systems Gmbh Rotary atomizer component
USD636844S1 (en) * 2009-11-13 2011-04-26 Duerr Systems Gmbh Rotary atomizer component
USD643510S1 (en) * 2009-11-13 2011-08-16 Duerr Systems Gmbh Rotary atomizer
JP5738546B2 (ja) * 2010-06-07 2015-06-24 トヨタ自動車株式会社 静電塗装装置および静電塗装方法
US9022361B2 (en) 2012-01-05 2015-05-05 Ledebuhr Industries, Inc. Rotary atomizer drip control method and apparatus
US9831739B2 (en) 2012-06-18 2017-11-28 Inpro/Seal Llc Explosion-proof current diverting device
ES3030959T3 (en) 2012-06-18 2025-07-02 Inpro/Seal Llc Current diverter ring
JP6548752B2 (ja) * 2016-02-12 2019-07-24 本田技研工業株式会社 塗装装置
FR3123812B1 (fr) * 2021-06-15 2026-02-20 Exel Ind Pulvérisateur rotatif de produit de revêtement et procédé de contrôle d’une température de surface d’un tel pulvérisateur

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EP2110177A1 (fr) 2005-08-01 2009-10-21 Abb K.K. Dispositif de revêtement électrostatique
EP1911521A4 (fr) * 2005-08-01 2008-11-12 Abb Kk Dispositif de revêtement électrostatique
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WO2007015335A1 (fr) 2005-08-01 2007-02-08 Abb K.K. Dispositif de revêtement électrostatique
FR2906162A1 (fr) * 2006-09-25 2008-03-28 Sames Technologies Soc Par Act Projecteur de produit de revetment et installation de projection de produit de revetement comprenant un tel projecteur
US9354626B2 (en) 2008-02-01 2016-05-31 Abb Ag Method for restarting a robot
DE102008007438B4 (de) * 2008-02-01 2012-11-29 Abb Ag Verfahren zum Wiederanfahren eines Roboters
DE102008007438A1 (de) * 2008-02-01 2009-08-13 Abb Ag Verfahren zum Wiederanfahren eines Roboters
DE102011006617B4 (de) 2011-04-01 2018-08-16 Bayerische Motoren Werke Aktiengesellschaft Rotationszerstäuber mit Außenelektroden zum Beschichten eines Werkstücks
DE102011006617A1 (de) * 2011-04-01 2012-10-04 Bayerische Motoren Werke Aktiengesellschaft Zerstäuber zum Beschichten eines Werkstücks
WO2013113483A1 (fr) * 2012-02-01 2013-08-08 Eisenmann Ag Pulvérisateur rotatif
WO2017008888A1 (fr) * 2015-07-15 2017-01-19 Dürr Systems Ag Installation de revêtement et procédé de fonctionnement correspondant
US10464082B2 (en) 2015-07-15 2019-11-05 Dürr Systems Ag Coating system and corresponding operating method

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US20040081769A1 (en) 2004-04-29
DE10239517A1 (de) 2004-03-11
ATE361149T1 (de) 2007-05-15
DE50307160D1 (de) 2007-06-14
US6972052B2 (en) 2005-12-06
EP1393816B1 (fr) 2007-05-02
ES2284997T3 (es) 2007-11-16

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