EP3377231B1 - Méthode de revêtement et dispositif de revêtement correspondant - Google Patents

Méthode de revêtement et dispositif de revêtement correspondant Download PDF

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Publication number
EP3377231B1
EP3377231B1 EP16795233.2A EP16795233A EP3377231B1 EP 3377231 B1 EP3377231 B1 EP 3377231B1 EP 16795233 A EP16795233 A EP 16795233A EP 3377231 B1 EP3377231 B1 EP 3377231B1
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EP
European Patent Office
Prior art keywords
switching
coating
coating agent
component surface
component
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.)
Active
Application number
EP16795233.2A
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German (de)
English (en)
Other versions
EP3377231A1 (fr
Inventor
Hans-Georg Fritz
Benjamin WÖHR
Marcus Kleiner
Moritz BUBEK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
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Duerr Systems AG
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Publication of EP3377231A1 publication Critical patent/EP3377231A1/fr
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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
    • 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 objects being vehicle components, e.g. 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
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • 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
    • 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
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
    • 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
    • B05B13/002—Machines or plants for applying coating liquids or other fluent materials by inkjet
    • 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 three-dimensional [3D] surfaces
    • B05B13/0433—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 three-dimensional [3D] surfaces the work being vehicle components, e.g. vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • 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
    • B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
    • B05B12/20—Masking elements, i.e. elements defining uncoated areas on an object to be coated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
    • 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
    • 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
    • B05C5/027—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated
    • B05C5/0275—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated flow controlled, e.g. by a valve
    • B05C5/0279—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated flow controlled, e.g. by a valve independently, e.g. individually, flow controlled

Definitions

  • the invention relates to a coating method for coating a component with a coating agent, in particular for painting motor vehicle body components or aerospace components in a painting system.
  • the invention further comprises a corresponding coating system.
  • the motor vehicle body must be painted twice in succession with the desired color in such a contrast coating. In the second painting process, those surface areas of the motor vehicle body that are not painted with the new paint must then be masked. This masking of the motor vehicle body is complex.
  • This mask-free, edge-sharp coating described in the abovementioned prior art does not produce any paint or coating agent losses through overspray.
  • Such resource-saving methods are advantageous for a large number of applications, such as for coating processes.
  • the coating agent jet When using such application devices for painting motor vehicle bodies with contrasting colors, there is a need for the coating agent jet to be switched on or off at certain switching points.
  • the coating agent jet When changing from an area that is not to be painted to an area to be painted, the coating agent jet must be switched on at the boundary between the two areas. Conversely, the coating agent jet must be switched off during the transition from an area to be painted to an area that is not to be painted at the boundary between the two areas. It is therefore known from the prior art to program certain switching points on the component surface of the motor vehicle bodies to be painted, at which the coating agent jet is switched on or off. These switching points are usually programmed on the basis of predetermined CAD data (CAD: Computer Aided Design) of the respective motor vehicle body.
  • CAD Computer Aided Design
  • the problem here is the fact that in practice spatial deviations can occur between the actually desired switching points on the one hand and the switching points realized in practice on the other hand.
  • a possible cause for such deviations between the desired switching points on the one hand and the switching points that are implemented in practice on the other hand is a deviation of the real external shape of the motor vehicle body from the specified CAD data.
  • a robot controller can have a cycle time of a control cycle of 4 ms, which at a travel speed of 1000 mm / s, for example, leads to a travel path of 4 mm, for example, this travel path also being able to add up over several control cycles of the robot controller.
  • This signal transit time from the robot controller to the coating agent valve leads to a delayed switching process and thus to a shift of the actual switching point compared to the desired switching point.
  • the motor vehicle bodies to be painted are conveyed by a conveyor along the painting line through the painting system, the conveyor having a certain positioning inaccuracy. This positioning inaccuracy leads to a corresponding spatial deviation between the desired switching points on the one hand and the practically realized switching points on the other hand without suitable compensation.
  • the programmed switching points must be brought forward to achieve a perfect coating result, so that a sufficient coating is achieved in practice, even taking into account a possible shift in the switching point.
  • switch-on and switch-off times can occur in practice, which are not always exactly reproducible, since the signals from the robot controller do not always switch in the same control cycle.
  • a coating method is known in which the component to be coated is measured on a camera basis in order to detect the exact relative position of the component to be coated in relation to the application device.
  • a definition of switching points is not known from this.
  • the reference markings on the component surface are used exclusively for measuring the relative position of the component to be coated in relation to the application device.
  • the invention is therefore based on the object of providing a correspondingly improved coating method and a correspondingly improved coating system.
  • the coating method according to the invention initially provides, in accordance with the prior art, that an application device is moved over a component surface of the component to be coated (e.g. motor vehicle body component), in particular by means of a multi-axis coating robot with serial kinematics, the application device preferably along a programmed paint path is moved over the component surface.
  • the applicator can also be guided over the component with another single-axis or multi-axis movement device.
  • the coating method according to the invention provides that the application device emits at least one coating agent jet of a coating agent (for example paint) onto the component surface to be coated, while the application device is moved over the component surface.
  • a coating agent for example paint
  • certain switching points are defined on the component surface to be coated, at which a switching action is to be triggered, such as switching on or switching on Switching off the at least one coating agent jet.
  • the desired switching action e.g. switching on or switching off the at least one coating agent jet
  • the desired switching action is then carried out when a switching point is reached.
  • the invention solves this problem in that the programmed switching points are marked on the component surface by switching markings, the individual switching markings each corresponding to a switching point.
  • the application device moves over the component surface, it is continuously checked whether a switching mark is reached.
  • the desired programmed (expected) switching action e.g. switching on or switching off the coating agent jet
  • the switching markings are optical switching markings which are generated by means of a light source, in particular by means of a laser or a laser diode.
  • the light source emits a suitable light marking (e.g. light point, light line) on the component surface in order to mark the switching point with a corresponding switching marking.
  • optical switching markings on the component surface are recorded using an optical sensor (e.g. camera, CCD sensor).
  • an optical sensor e.g. camera, CCD sensor
  • the application device is moved over the component surface by a multi-axis coating robot with serial robot kinematics, which is known per se from the prior art and is therefore not described in more detail.
  • the movement of the coating robot is controlled by a robot controller, which is also known per se from the prior art.
  • the generation of the switching markings, the detection of the switching markings and / or the switching on and switching off of the application device is preferably not controlled by the robot controller but by a switching point control.
  • the robot controller can work with a control cycle of, for example, 4 ms, since this control cycle is sufficiently short for the movement of the application device.
  • the switching point control on the other hand, can work with a shorter control cycle in order to enable the fastest possible response to the detected switching markings. This prevents unwanted when recognizing the individual switching markings Switching delays occur between the detection of the switching mark and the execution of the switching action (e.g. switching on or switching off the coating agent jet).
  • the switching point control is integrated in the robot control.
  • the switching point control on the one hand and the robot control on the other hand can be implemented as separate software modules or as separate hardware modules in a common control unit.
  • the switching point control is separated from the robot control, i. H. the two controls are not arranged in a common control unit.
  • the switching point control on the one hand and the robot control on the other hand can be implemented as separate hardware modules or as separate software modules.
  • the desired switching points on the component surface by means of optical switching markings which are irradiated onto the component surface by means of a light source, for example by a laser.
  • These switching markings are preferably generated on the component surface taking into account CAD data of the component to be coated, the CAD data reflecting the spatial shape of the component.
  • the spatial position of the component to be coated is preferably determined, for example by reading out a belt encoder on the conveyor of the painting line. The spatial position of the switching markings on the component surface is then determined as a function of the CAD data and as a function of the spatial position of the component to be coated.
  • switching points are derived from the predetermined switching point and marked by switching markings, which switching points are upstream or downstream along the path movement.
  • a pre-switching point can be derived from the actual switching point, which lies on the painting line before the switching point.
  • a post-switching point can be derived from the switching point marked by switching markings, which is on the painting line behind the switching point. Different switching actions can then be carried out at the pre-switching point, the switching point and the switching point.
  • a coating agent valve can be opened at the upstream point, which releases the coating agent jet.
  • a collecting device then remains active, which catches the emitted coating agent jet, so that the coating agent jet does not initially reach the component surface.
  • the collecting device is switched inactive, so that the coating agent jet strikes the component surface immediately after the switching time.
  • the collecting device can then again be activated so that the coating agent jet no longer strikes the component surface immediately after the switching time.
  • the coating agent valve can then finally be closed at a second post-switching point, so that the coating agent jet is switched off.
  • switching action used in the context of the invention is to be understood generally and is not restricted to the switching on or switching off of the coating agent jet. Rather, a fluid flow can generally be switched on or off, such as an air flow or a directed air flow from an atomizer.
  • the switching action can consist of switching an electrostatic coating agent charge on or off.
  • the switching action can consist in activating or deactivating a fall arrester or generally an actuator.
  • the switching action does not necessarily consist in a qualitative switch between two states (ON / OFF). Rather, there is also the possibility within the scope of the invention that a switching action consists in a continuous change of an operating parameter.
  • the switching markings are optical switching markings which are generated by irradiating the component surface with light.
  • the light for generating the switching markings can optionally be in the visible wavelength range, in the infrared wavelength range or in the ultraviolet wavelength range.
  • the light from the light source is broadband with a wavelength spectrum with a bandwidth of at least 100 nm, 250 nm or 500 nm.
  • the light of the wavelength has a narrow-band wavelength spectrum with a bandwidth of at most 50 nm, 25 nm, 10 nm or at most 1 nm in order to reduce the susceptibility to interference from ambient light, the optical sensor then being in one narrow-band wavelength range is sensitive, which is within the wavelength spectrum of the light source.
  • the light source can be arranged to be either stationary or spatially movable. In any case, however, it is provided that the light source can move the light beam spatially in order to generate the optical switching marking at the desired location on the component surface.
  • the switching marking can be a light surface, a light strip or a light spot or can contain a light pattern.
  • the switching marking can mark a border of a partial area to be coated on the component surface in a line shape, the partial area to be coated being surrounded in this case by a light strip.
  • the switching marking can mark a partial surface to be coated on the component surface. There is also the possibility that the switching points are marked in a punctiform manner.
  • the invention is not limited to lacquer, but can also be realized with other coating agents, such as, for example, adhesive, sealant or insulating material, to name just a few examples.
  • the invention is not restricted to a specific type of application device.
  • the application device can be an atomizer, such as a rotary atomizer.
  • an application device can be used which applies a droplet jet of the coating agent jet or a coherent coating agent jet.
  • Such application devices are from the patent applications already mentioned at the beginning DE 10 2013 002 412 A1 , DE 10 2013 002 413 A1 , DE 10 2013 002 433 A1 and DE 10 2013 002 411 A1 is known, so that the content of these patent applications of the present description with regard to the structure and functioning of the application device is fully attributable.
  • the invention is not only suitable for coating motor vehicle body components or add-on parts for motor vehicles. Rather, other types of components can also be coated within the scope of the invention become.
  • these preferably indicate a boundary between a paint-free area and an area to be painted.
  • optical sensor is preferably mechanically connected to the application device and is moved synchronously with the application device over the component surface.
  • the optical sensor preferably has a detection area which leads the movement of the application device.
  • the optical sensor preferably looks ahead on the programmed painting path in order to be able to recognize a switching mark on the component surface in good time.
  • optical sensor is arranged separately from the application device, for example in a stationary manner.
  • the Figures 1 to 3 initially show various illustrations to illustrate a web-oriented painting.
  • An application device is guided along a painting path 1 over a component surface, the application device first passing a predetermined (programmed) paint-free area 2 and then reaching a predetermined (programmed) painting area 3 that is to be painted.
  • the painting area 3 is separated from the paint-free area 2 by a boundary 4.
  • a programmed switch-on point 4.2 At the boundary 4 between the paint-free area and the painting area 3 there is a programmed switch-on point 4.2 at which the application device is to be switched on, so that the application device then subsequently paints the painting area 3 on the painting web 1.
  • the actual switch-on point 5 lies on the painting line 1 in front of the boundary 4 between the programmed paint-free area 2 and the programmed painting area 3. This results in an undesirable coating of the paint-free area 2 between the switch-on point 5 and the border 4 in an area 3.2 , which should actually be paint-free.
  • Figure 3 shows a modification in which the actual switch-on point 5 on the painting line 1 lies behind the boundary 4 between the programmed paint-free area 2 and the programmed painting area 3.
  • an undercoating occurs in the programmed painting area 3 on the painting line 1 between the boundary 4 and the switch-on point 5 in an area 3.3.
  • FIGS Figures 4 to 6 show a component 6 to be coated (for example a motor vehicle body component) which has a component surface 7 to which an application device 8 applies a coating agent jet 9, which is known per se from the prior art and therefore need not be described in more detail .
  • the application device 8 is guided by a multi-axis coating robot 10 with serial robot kinematics along the painting path 1 over the component surface 7, which is also known per se from the prior art.
  • the drawings show a laser 11, which directs a laser beam 12 onto the component surface 7 and thereby generates an optically visible switching marking 13 on the component surface 7.
  • the laser beam 12 can be deflected by a suitable deflection device in such a way that the switching marking 13 is generated at the desired position on the component surface 7.
  • the switching markings 13 are positioned as a function of predefined CAD data of the component 6 and as a function of the measured position of the component 6.
  • FIG. 1 shows that an optical sensor 14 is attached to the application device 8, the optical sensor 14 being guided together with the application device 8 by the coating robot 10 over the component surface 7.
  • the optical sensor 14 (eg camera) has a detection area 15 which leads the coating agent jet 9 along the painting path 1.
  • the optical sensor 14 can thus recognize in advance when moving along the painting line whether one of the switching markings 13 is recognizable on the component surface 7. This foresight of the optical sensor 14 allows sufficient time for the coating agent jet 9 to be switched on or off so that the coating agent jet 9 is switched on or off as precisely as possible when it passes the switching marking 13.
  • a separate switching point control 17 is provided, which is connected on the input side to the optical sensor 14 via a signal path 18 in order to detect one of the switching markings 13 on the component surface 7.
  • the switching point controller 17 is connected via a signal path 19 to a coating agent valve 20 in the application device 8 in order to be able to switch the coating agent jet 9 on or off.
  • the robot controller 16 is connected to the switching point controller 17 via a signal path 21, so that the robot controller 16 can transfer control of the switching signal assignment to the switching point controller 17, as in FIG Figure 6 is shown and described below.
  • the robot controller 16 then transfers control to the switching point controller 17, since the robot controller 16 approaches a programmed one Detects switching point.
  • the switching point controller 17 checks by querying the optical sensor 14 whether one of the switching markings 13 is recognized.
  • one of the switching markings is then recognized by the switching point control 17. Thereupon, the switching point controller 17 begins to control an operation.
  • the term “process” is to be understood generally here and can consist, for example, in the actuation of the coating agent valve 20. In general, however, the "process” can also be the control of an air flow, a paint flow or the switching (switching on or switching off) of electricity or light, to name just a few examples.
  • the coating agent valve 20 in the application device 8 opens, whereby the coating agent jet 9 is released.
  • the robot controller 16 continues to control the coating robot 10 during an operating phase 28.
  • the robot controller 16 usually controls the coating robot 10 with a specific control cycle of, for example, 4 ms. During this control cycle, at a travel speed of, for example, 1000 mm / s, there is a certain travel path of, for example, 4 mm, so that the robot controller 16 could only position the switching point 13 with a corresponding positional inaccuracy.
  • the switching point control 17 on the other hand, can work much faster and therefore also react much faster to the switching markings 13.
  • FIG. 7 shows a modification of the embodiment according to the Figures 4 to 6 , so that to avoid repetition reference is made to the above description, the same reference numerals being used for corresponding details.
  • a special feature of this exemplary embodiment is that the switching point controller 17 is integrated in the robot controller 16.
  • Figure 8 shows various positions A, B and C of the application device 8 along a programmed painting path, wherein the position A is shown with a solid line, while the position B is indicated with a dashed line, whereas the position C is represented by a dotted line.
  • the optical sensor 14 In position A, the optical sensor 14 cannot yet recognize the switching marking 13 of the component surface 7. In position B, on the other hand, the switching marking 13 lies on the component surface 7 within the detection area 15 of the optical sensor 14, so that a switching action (for example switching on or switching off the coating agent jet 19) is triggered.
  • a switching action for example switching on or switching off the coating agent jet 19
  • Figure 9 shows the associated output signal of the optical sensor 14, a peak 29 being recognizable at position B, which indicates the detection of the switching marking 13.
  • Figure 10 shows a flowchart to illustrate the generation of the switching markings 13 on the component surface 7 of the component 6 to be coated.
  • a first step S1 the position of the component 6 along the painting line is first detected. This can be done, for example, by reading out a belt encoder of the conveyor of the painting line, which is known per se from the prior art.
  • the position of the desired switching points on the component 6 is then calculated in a step S2.
  • CAD data of the component 6 are taken into account, which reflect the spatial shape of the component 6.
  • the measured position of the component 6 along the painting lines is also taken into account.
  • the programmed relative position of the predetermined switching points on the component 6 is also taken into account, i. H. recorded in a component-related coordinate system.
  • the switching markings 13 are generated on the component surface 7 by the laser 11 directing the laser beam 12 onto the component surface 7.
  • Figure 11 shows a flowchart to illustrate the mode of operation of the switching point control 17 when the switching markings are recognized.
  • a step S1 the application device 8 is moved by the coating robot 10 along a painting path over the component surface 7.
  • step S2 it is continuously checked whether the switching mark 13 is visible on the upcoming painting line which indicates a switching point.
  • a step S3 proceeds to a step S4, in which the desired switching action is then carried out, such as switching the coating agent jet 9 on or off.
  • the Figures 12A and 12B show a collecting device 30 according to the invention for collecting the coating agent jet 9.
  • the collecting device 30 essentially consists of a linearly movable cutting edge 31, which can be linearly moved by an actuator 32 in the direction of the double arrow in order to selectively collect the coating agent jet 9 (cf. Figure 12B ) or to release (cf. Figure 12A ).
  • the actuator 32 can be controlled by switching points on the component surface 7, as will be described in detail.
  • the drawings also show a suction line 33 and a fluid supply line 34.
  • the suction line 33 serves to suction off the collected coating agent in the active state of the collecting device 30 according to FIG Figure 12B .
  • the fluid supply line 34 serves to supply a rinsing agent so that the coating agent does not clump in the collecting device 30.
  • Figure 13 shows the movement of an application device along a painting line 35, several points P1, P2, P3 and P4 being passed in succession.
  • the point P2 is the actual switching point, which is indicated by a switching mark 13 on the component surface becomes.
  • the collecting device 30 is switched to inactive, as in FIG Figure 12A is shown, so that the coating agent jet 9 can strike the component surface 7.
  • the coating agent valve 20 had already been opened at point P1.
  • step P3 the collecting device 30 is then activated, as in FIG Figure 12B is shown, so that the coating agent jet 9 no longer strikes the component surface.
  • the coating agent valve 20 is closed at the point P4, so that a coating agent jet 9 is no longer emitted.
  • the point P2 is the actual switching point, which is indicated by the switching marker 13.
  • the point P1 is a pre-switching point that is derived from the switching point P2.
  • Points P3 and P4 are also derived from the actual switching point P2 and lie on the painting line 35 behind the actual switching point P2.

Landscapes

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

Claims (15)

  1. Procédé de revêtement pour le revêtement d'un composant (6), avec un produit de revêtement, plus particulièrement pour la peinture de composants de carrosseries de véhicules ou d'un composant aéronautique dans une installation de peinture, avec les étapes suivantes :
    a) déplacement d'un appareil d'application (8) au-dessus d'une surface (7) du composant (6) à revêtir, plus particulièrement au moyen d'un robot de revêtement multi-axial (10), plus particulièrement le long d'une trajectoire de peinture programmée (1 ; 35),
    b) définition de points de commutation déterminés sur la surface (7), du composant à revêtir pour le déclenchement d'une action de commutation, plus particulièrement pour l'activation ou la désactivation d'un jet de produit de revêtement (9) au niveau des points de commutation, les points de commutation étant marqués sur la surface du composant (7) par la réalisation d'un marquage de commutation optique (13) sur la surface du composant (7) au niveau des différents points de commutation,
    c) détection des marquages de commutation optiques (13) correspondant aux différents points de commutation au moyen d'un capteur optique (14) lors du déplacement de l'appareil d'application (8),
    d) exécution de l'action de commutation lorsqu'un des points de commutation est atteint lors de la détection des différents marquages de commutation (13) sur la surface du composant (7),
    caractérisé en ce que
    e) les marquages de commutation optiques (13) sont réalisés sur la surface du composant (7) au moyen d'une source de lumière (11), plus particulièrement au moyen d'un laser (11) ou d'une diode laser.
  2. Procédé de revêtement selon la revendication 1, caractérisé en ce que
    a) l'appareil d'application (8) est déplacé par un robot de revêtement multi-axial (10) au-dessus de la surface du composant (7), le robot de revêtement étant de préférence un robot à bras articulé ou une machine linéaire,
    b) le déplacement du robot de revêtement (10) est contrôlé par une commande de robot (16) et
    c) la réalisation des marquages de commutation (13), la détection des marquages de commutation (13) et/ou l'activation et la désactivation de l'appareil d'application (8) sont contrôlées par une commande à points de commutation (17).
  3. Procédé de revêtement selon la revendication 2, caractérisé en ce que
    a) la commande à points de commutation (17) est intégrée dans la commande du robot (16) et/ou
    b) la commande à point de commutation (17) d'une part et la commande de robot (16) d'autre part sont réalisées comme des modules logiciels séparés dans une unité de commande commune ou
    c) la commande à points de commutation (17) d'une part et la commande de robot (16) d'autre part sont réalisées comme des modules matériels séparés dans une unité de commande commune.
  4. Procédé de revêtement selon la revendication 2, caractérisé en ce que
    a) la commande à points de de commutation (17) est séparée de la commande du robot (16),
    b) la commande à points de commutation (17) d'une part et la commande de robot (16) d'autre part sont réalisées comme des modules matériels séparés et/ou
    c) la commande à points de commutation (17) présente une réponse plus rapide que la commande de robot (16), afin de permettre une réaction la plus rapide possible aux points de commutation.
  5. Procédé de revêtement selon l'une des revendications précédentes, caractérisé par les étapes suivantes :
    a) mise à disposition de données CAO du composant à revêtir (6), les données CAO représentant la forme tridimensionnelle du composant (6),
    b) détection de la position dans l'espace du composant à revêtir (6), plus particulièrement le long d'une chaîne de peinture et
    c) détermination de la position dans l'espace des marquages de commutation (13) en fonction de la position dans l'espace détectée du composant à revêtir (6) et en fonction des données CAO du composant à revêtir (6).
  6. Procédé de revêtement selon l'une des revendications précédentes, caractérisé par les étapes suivantes lors de la détection d'un marquage de commutation (13) sur la surface du composant (7) :
    a) détermination d'un point de pré-commutation (P1) qui se trouve sur la trajectoire de peinture (1 ; 35) avant le point de commutation (P2), qui correspond au marquage de commutation (13) détecté,
    b) détermination d'un point de post-commutation (P3, P4) qui se trouve sur la trajectoire de peinture (1 ; 35) derrière le point de commutation (P2), qui correspond au marquage de commutation (13) détecté,
    c) exécution de différentes actions de commutation au niveau du point de pré-commutation (P1), du point de commutation (P2) et du point de post-commutation (P3, P4).
  7. Procédé de revêtement selon la revendication 6, caractérisé par
    a) les actions de commutation suivantes au niveau du point de pré-commutation (P1) :
    a1) ouverture d'une soupape de produit de revêtement afin d'activer le jet de produit de revêtement (9) et
    a2) déplacement d'un dispositif de collecte (30) vers une position de collecte active, dans laquelle le dispositif de collecte (30) recueille le jet de produit de revêtement (9), de façon à ce que le jet de produit de revêtement (9) n'atteigne pas la surface du composant (7),
    b) les actions de commutation suivantes au niveau du point de commutation (P2) :
    b1) maintien de la soupape de produit de revêtement ouverte,
    b2) déplacement du dispositif de collecte (30) vers une position inactive dans laquelle le dispositif de collecte (30) ne recueille pas le jet de produit de revêtement (9), de façon à ce que le jet de produit de revêtement (9) atteigne la surface du composant (7),
    c) les actions de commutation suivantes au niveau du point de post-commutation (P3, P4) :
    c1) fermeture de la soupape de produit de revêtement et/ou
    c2) déplacement du dispositif de collecte (30) vers la position de collecte dans laquelle le dispositif de collecte (30) recueille le jet de produit de revêtement (9), de façon à ce que le jet de produit de revêtement (9) n'atteigne pas la surface du composant (7).
  8. Procédé de revêtement selon l'une des revendications précédentes, caractérisé en ce que, au niveau des points de commutation, est exécutée au moins une des actions de commutations suivantes :
    a) activation ou désactivation d'un flux de fluide, plus particulièrement du jet de produit de revêtement (9) ou d'un jet d'air, plus particulièrement d'un jet d'air de guidage pour la formation du jet de produit de revêtement (9),
    b) activation ou désactivation d'une charge électrostatique du produit de revêtement,
    c) activation ou désactivation d'un dispositif de collecte (30) qui, dans l'état actif, recueille le jet de produit de revêtement (9) avant qu'il n'atteigne la surface du composant (7).
  9. Procédé de revêtement selon l'une des revendications précédentes, caractérisé en ce que
    a) les marquages de commutation optiques (13) sont réalisés par l'irradiation de la surface du composant (7) avec de la lumière
    a1) dans le domaine des longueurs d'ondes visibles ou
    a2) dans le domaine des longueurs d'ondes infrarouges ou
    a3) dans le domaine des longueurs d'ondes ultraviolettes et/ou
    b) la source de lumière (11) émet une lumière
    b1) à large bande avec un spectre de longueurs d'ondes avec une largeur de bande d'au moins 100 nm, 250 nm ou 500 nm ou
    b2) qui présente un spectre de longueurs d'ondes à bande étroite avec une largeur de bande de 50 nm, 25 nm, 10 nm ou 1 nm maximum, afin de réduire la sensibilité aux perturbations vis-à-vis de la lumière ambiante, le capteur optique (14) étant sensible dans un domaine de longueurs d'ondes à bande étroite, qui se trouve à l'intérieur du spectre de longueurs d'ondes de la source de lumière (11),
    et/ou
    c) la source de lumière (11) pour la réalisation des marquages de commutation optiques (13)
    c1) est disposée de manière fixe ou
    c2) mobile dans l'espace et/ou
    d) le marquage de commutation (13) sur la surface du composant (7)
    d1) est une surface lumineuse ou
    d2) une bande lumineuse ou
    d3) est un point lumineux ou
    d4) contient un motif lumineux et/ou
    e) le marquage de commutation (13)
    e1) marque de manière linéaire un contour d'une partie de surface à revêtir sur la surface du composant (7) ou
    e2) marque, de manière surfacique, une partie de surface à revêtir sur la surface du composant (7) ou
    e3) marque, de manière ponctuelle, un des points de commutation et/ou
    f) le produit de revêtement
    f1) est une peinture
    f2) une colle,
    f3) un produit d'étanchéité ou
    f4) une matière isolante et/ou
    g) l'appareil d'application (8)
    g1) est un pulvérisateur, plus particulièrement un pulvérisateur rotatif ou
    g2) applique un jet de gouttelettes du produit de revêtement ou
    g3) applique le jet de produit de revêtement (9) sous la forme d'un jet de produit de revêtement (9) cohérent et/ou
    h) la composant à revêtir (6)
    h1) est un composant de carrosserie de véhicule,
    h2) une pièce rapportée pour un véhicule automobile ou
    h3) un composant aéronautique et/ou
    i) les points de commutation représentent chacun une limite (4) entre une zone sans peinture (2) et une zone à peindre (3) et/ou
    j) le capteur optique (14)
    j1) est relié mécaniquement avec l'appareil d'application (8) et est déplacé de manière synchrone avec l'appareil d'application (8) au-dessus de la surface de composant (7) ou
    j2) est séparé mécaniquement de l'appareil d'application (8) et/ou
    k) le capteur optique (14) présente une zone de détection (15) qui est en avance sur le déplacement de l'appareil d'application (8).
  10. Installation de revêtement pour le revêtement d'un composant (6) avec un produit de revêtement, plus particulièrement pour l'exécution du procédé de revêtement selon l'une des revendications précédentes, avec
    a) un dispositif de marquage (11) pour la réalisation de marquages de commutation optiques (13) sur la surface (7) du composant à revêtir (6), les marquages de commutation optiques (13) représentant des points de commutation au niveau desquels l'installation de revêtement doit exécuter une action de commutation et
    b) un capteur optique (14) pour la détection des marquages de commutation optiques (13) sur la surface du composant (7),
    caractérisée en ce que
    c) le dispositif de marquage (11) comprend une source de lumière (11), plus particulièrement un laser (11) ou une diode laser, la source de lumière (11) réalisant les marquages de commutation optiques (13) sur la surface du composant (7).
  11. Installation de revêtement selon la revendication 10,
    caractérisée par
    a) une commande à points de commutation (17) pour le contrôle des actions de commutation,
    b) la commande à points de commutation (17) étant reliée, côté entrée, avec le capteur (14), afin de détecter le marquage de commutation (13),
    c) tandis que la commande à points de commutation (17) est reliée, côté sortie, avec un actionneur, plus particulièrement avec une soupape de produit de revêtement, afin de déclencher l'action de commutation lorsque le capteur (14) détecte un des marquages de commutation (13) sur la surface du composant (7).
  12. Installation de revêtement selon la revendication 11,
    caractérisée par
    a) un appareil d'application (8) pour l'émission d'un jet de produit de revêtement (9) sur surface du composant (7),
    b) un robot de revêtement multi-axial (10) qui guide l'appareil d'application (8) au-dessus de la surface de composant (7), le robot de revêtement étant de préférence un robot à bras articulé ou une machine linéaire et
    c) une commande de robot (16) qui contrôle le robot de revêtement (10) afin que l'appareil d'application (8) exécute un déplacement programmé au-dessus de la surface du composant (7).
  13. Installation de revêtement selon la revendication 12,
    caractérisée en ce que
    a) la commande à points de commutation (17) est intégrée dans la commande du robot (16) et/ou
    b) la commande à point de commutation (17) d'une part et la commande de robot (16) d'autre part sont réalisées comme des modules logiciels séparés dans une unité de commande commune ou
    c) la commande à points de commutation (17) d'une part et la commande de robot (16) d'autre part sont réalisées comme des modules matériels séparés dans une unité de commande commune.
  14. Installation de revêtement selon la revendication 12,
    caractérisée en ce que
    a) la commande à points de de commutation (17) est séparée de la commande du robot (16),
    b) la commande à points de commutation (17) d'une part et la commande de robot (16) d'autre part sont réalisées comme des modules matériels séparés et/ou
    c) la commande à points de commutation (17) présente une réponse plus rapide que la commande de robot (16), afin de permettre une réaction la plus rapide possible aux points de commutation.
  15. Installation de revêtement selon l'une des revendications 10 à 14,
    caractérisée en ce que
    a) pour la collecte du jet de produit de revêtement (9), un dispositif de collecte (30) est prévu,
    b) le dispositif de collecte (30) est mobile entre une position de collecte active et une position inactive,
    c) dans la position de collecte, le dispositif de collecte (30) recueille le jet de produit de revêtement (9) et empêche ainsi que le jet de produit de revêtement (9) n'atteigne la surface du composant (7) et
    d) dans la position inactive, le dispositif de collecte (30) ne recueille pas le jet de produit de revêtement (9) de façon à ce que le jet de produit de revêtement (9) atteigne la surface du composant (7).
EP16795233.2A 2015-11-20 2016-11-14 Méthode de revêtement et dispositif de revêtement correspondant Active EP3377231B1 (fr)

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DE102015015090.1A DE102015015090A1 (de) 2015-11-20 2015-11-20 Beschichtungsverfahren und entsprechende Beschichtungsanlage
PCT/EP2016/001899 WO2017084748A1 (fr) 2015-11-20 2016-11-14 Procédé de revêtement et système de revêtement afférent

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JP (1) JP6738418B2 (fr)
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US20200038896A1 (en) 2020-02-06
ES2791414T3 (es) 2020-11-04
CN108698065B (zh) 2021-11-09
DE102015015090A1 (de) 2017-05-24
WO2017084748A1 (fr) 2017-05-26
US10493481B2 (en) 2019-12-03
JP2018534139A (ja) 2018-11-22
US11192131B2 (en) 2021-12-07
JP6738418B2 (ja) 2020-08-12
EP3377231A1 (fr) 2018-09-26
US20180326442A1 (en) 2018-11-15
CN108698065A (zh) 2018-10-23

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