[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

EP0288877A2 - Control system for a programmed spraying device - Google Patents

Control system for a programmed spraying device Download PDF

Info

Publication number
EP0288877A2
EP0288877A2 EP88106215A EP88106215A EP0288877A2 EP 0288877 A2 EP0288877 A2 EP 0288877A2 EP 88106215 A EP88106215 A EP 88106215A EP 88106215 A EP88106215 A EP 88106215A EP 0288877 A2 EP0288877 A2 EP 0288877A2
Authority
EP
European Patent Office
Prior art keywords
valve
fnv
time
control system
main valve
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
EP88106215A
Other languages
German (de)
French (fr)
Other versions
EP0288877B1 (en
EP0288877A3 (en
Inventor
Kurt Dipl.-Ing. Vetter
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.)
Mahle Behr Industry GmbH and Co KG
Original Assignee
Behr Industrieanlagen GmbH and Co KG
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 Behr Industrieanlagen GmbH and Co KG filed Critical Behr Industrieanlagen GmbH and Co KG
Publication of EP0288877A2 publication Critical patent/EP0288877A2/en
Publication of EP0288877A3 publication Critical patent/EP0288877A3/en
Application granted granted Critical
Publication of EP0288877B1 publication Critical patent/EP0288877B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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
    • B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/85954—Closed circulating system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/85978—With pump
    • Y10T137/86171—With pump bypass
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/86389—Programmer or timer
    • Y10T137/86445—Plural, sequential, valve actuations
    • Y10T137/86461—Variable cycle

Definitions

  • the invention relates to a control system according to the preamble of claim 1.
  • a program-controlled spraying device such as, in particular, a painting robot
  • the maximum traversing speed of the robot can e.g. 1500 mm / s.
  • the color beam should be able to be switched with an accuracy of ⁇ 5 mm on a straight line traversed at this speed. No time delays greater than 3 ms may occur in the transmission link. In practice, however, this tolerance is exceeded.
  • the robot controller therefore outputs the actuating signals for the color needle valve earlier by a certain lead time, which is predefined depending on the speed of the robot.
  • the paint supply of the paint needle valve usually takes place via lines containing a gear pump or the like with a feedback circuit leading from its outlet to the inlet, which should ensure that the correct operating pressure is always present at the outlet of the pump even when the paint needle valve is closed consequently does not have to be built up when the ink needle valve is opened.
  • the feedback circuit has previously contained a valve which was automatically opened by the ink line pressure arising when the ink needle valve was closed and, accordingly, had to automatically close again when the ink needle valve was opened. This could result in undesirable pressure fluctuations, which can also affect the accuracy of the ink jet on the body to be coated.
  • the valves controlled by color printing respond differently depending on the respective rheological properties (i.e. the flow behavior) of the paint material used.
  • the invention has for its object to provide a control system which enables a more precise ink jet control of the spray device than before and in particular also avoids undesirable pressure peaks in the paint supply system.
  • two parallel lines for different colors which can be selected by a color switching unit UE, are provided for the color needle valve FNV each contain a gear pump Z1 or Z2. Both gear pumps are constantly in operation even when the FNV paint needle valve is closed and operate at a predeterminable speed.
  • the paint needle is closed, the paint is diverted via a feedback loop, which can be opened and closed by a throttle valve DV1 or DV2.
  • the throttle valve DV1 or the throttle valve DV2 is closed when the color needle valve is open.
  • the color needle valve FNV and the two throttle valves are controlled by pneumatic valves PVFN, PV1 and PV2, which in turn can be controlled by electrical signals.
  • time control unit ZST receives binary switch-on and switch-off commands FN for the color needle valve from the higher-level robot program control.
  • the time control unit ZST On the basis of the switch-on command FN, the time control unit ZST generates electrical switching signals FN ', D1 and D2 for switching the color needle valve FNV and the throttle valves DV1 and DV2 on and off at adjustable later times. These switching signals control the pneumatic valves PVFN, PV1 and PV2 shown in FIG. 1.
  • the timing control unit is also fed the feedback signal FNR, which is generated by the ink needle valve when it reaches its open position.
  • the timings of the signals mentioned are shown in FIG. 3.
  • the time control unit ZST receives the switch-on command FN at the time t0 from the robot program control and then generates the switch-on signal FN ′ for the color needle valve after the set waiting time up to the time t1.
  • the feedback signal FNR is generated by the ink needle valve at time t2 generated.
  • the paint flight time T6 the paint hits the body to be coated at the time t 3.
  • the total time between t0 and t3 is the switch-on time (lead time) T0 of the color needle valve provided as a process parameter in the robot program.
  • the switch-off time T1 of the ink needle valve which is also required as a process parameter, can be seen. It is composed of the time between the disappearance of the higher-level switch-on command FN at the time t4 and the switching signal FN 'generated by the time control unit ZST' at the time t5, the switch-off delay time of the color needle valve, which is assumed here to be equal to the measured switch-on color needle time T8, and again the color flight time T6.
  • the coating of the body ends at time t6.
  • FIG. 3 also shows the switch-on and switch-off times T2 and T3 of the throttle valve DV1 and the switch-on and switch-off times T4 and T5 of the second throttle valve DV2, respectively, which show the times at which the switching signals D1 and D2 of the throttle valves are generated will and end. These times are set in the time control unit ZST so that in practice there are optimal pressure conditions in the paint supply hoses between the gear pumps Z1, Z2 (FIG. 1) and the paint needle valve FNV, and can be determined, for example, by appropriate test operation.
  • the throttle switching times lie before the color needle switching times. In other cases, however, it may prove necessary, for example due to different valve designs or line relationships, to switch the throttle valves at times after the paint needle valve. This case is in Fig. 4 shown, which corresponds to Fig. 3 and therefore requires no further explanation.
  • a particular problem can arise due to automatic changes in the actual ink needle time T8, for example based on changes in friction or wear, over the course of time. If the ink needle time T8 is shorter or longer than the value used when programming the robot and when setting the time control unit ZST, not only will there be more or less large coating errors on the body, but pressure errors may also occur in the line system because the switching times of the Throttle valves are no longer matched to the actual opening and closing times of the color needle valve.
  • the system described here is based on a theoretically calculated maximum permissible ink needle time T7, the duration of which may not be exceeded by the measured time T8.
  • the duration of T8 is shorter than T7, and so that the ink needle valve is opened at exactly the right time t 2 (FIG. 3), the time control unit switches on the ink needle valve by a time period corresponding to the difference dt later than when the theoretical ink needle time was used T7 would be the case.
  • this change can be compensated in the color control unit by preferably automatically adjusting the time period dt.
  • the measured ink needle time T8 increases over time so that it can no longer be compensated for by reducing dt, i.e. the time period dt approach zero or become negative and the ink needle time T8 would be equal to or greater than T7, then an alarm signal AL is generated by the time control unit ZST and the ink needle valve is blocked while the throttle valves are opened at the same time. Before this happens, it is possible to first generate a warning signal W as soon as the measured value of the ink needle time T8 approaches a critical limit.
  • the within the compensation by the time period dt possible switch-on times t1 should not lie in the example of earlier throttle switching times shown in FIG. 3 before the expiry of a period max (T2, T4) after the time t0, which is the maximum possible switch-on time T2 or T4 Throttle valves DV1 and DV2 corresponds.
  • the maximum possible time span max (T3, T5) of the switching times of the throttle valves is taken into account when selecting the times t4 and t5.
  • the compensation time period dt can directly affect the Connect the point in time at which the switching command FN was generated by the program control, both when switching on and when switching off.
  • the possibly changing ink needle time T8 and the time period dt correspondingly adjusted by the time control unit for compensation can be continuously monitored by the operating personnel with the aid of a screen which can be connected via an interface SCHN to the control unit ZST shown in FIG. 2.
  • the required times can also be set and changed via this interface.
  • the pressure ratios between the gear pumps Z1 and Z2 and the paint needle valve FNV depend not only on the correct switching times of the paint needle valve and the valves in the feedback circuits of the gear pumps, but also on the rheological properties of the fluid supplied to the spraying device. So that this influence can be taken into account, the valves in the feedback circuits are preferably throttle valves which can not only be switched on and off, but are also set to the most favorable pressure at the outlet of the feed pump by external control signals (not shown) can. When measuring the rheological properties of the delivered fluid, it is also possible to readjust the throttle valves in a closed control loop.
  • the invention is also suitable for spraying devices, which are supplied with a different fluid, such as e.g. Compressed air is supplied.

Landscapes

  • Spray Control Apparatus (AREA)

Abstract

Bei der serienweisen Beschichtung z.B. von Kraftfahrzeugkarossen unter Verwendung eines vorprogrammierten Lackierroboters muß die Farbe zu vorbestimmten Zeitpunkten in Abhängigkeit von den Relativpositionen zwischen Roboter und Werkstück mit selbsttätig gesteuerten Ventilen (FNV) ein- und ausgeschaltet werden. Zur Vermeidung unerwünschter Druckschwankungen sind für diese Ventile Rückführungskreise mit Drosselventilen (DV1, DV2) vorgesehen, die zu vorbestimmten, auf die Ein- und Ausschaltzeiten des Hauptventils (FNV) abgestimmten Zeitpunkten betätigt werden.With the serial coating e.g. of motor vehicle bodies using a preprogrammed painting robot, the paint must be switched on and off at predetermined times depending on the relative positions between the robot and the workpiece with automatically controlled valves (FNV). To avoid undesirable pressure fluctuations, feedback circuits with throttle valves (DV1, DV2) are provided for these valves, which are actuated at predetermined times that are coordinated with the on and off times of the main valve (FNV).

Description

Die Erfindung betrifft ein Steuersystem gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a control system according to the preamble of claim 1.

Beispielsweise beim selbsttätigen serienweisen Beschichten von Kraftfahrzeugkarossen unter Verwendung einer programmgesteuerten Sprühvorrichtung wie insbe­sondere eines Lackierroboters ist es wichtig, die Farbe an genau definierten Positionen ein- und ausschalten zu können. Die maximale Verfahrgeschwindigkeit des Roboters kann z.B. 1500 mm/s betragen. Auf einer Bahngeraden, die mit dieser Geschwindigkeit überfahren wird, soll der Farbstrahl mit einer Genauigkeit von ± 5 mm geschaltet werden können. In der Übertragungs­strecke dürfen also keine Zeitverzögerungen auftreten, die größer sind als 3 ms. In der Praxis wird diese Toleranz jedoch überschritten. Die Robotersteuerung gibt die Stellsignale für das Farbnadelventil deshalb um eine bestimmte Vorhaltezeit früher aus, die abhängig von der jeweiligen Geschwindigkeit des Roboters fest vorgegeben wird.For example, in the automatic series coating of motor vehicle bodies using a program-controlled spraying device, such as, in particular, a painting robot, it is important to be able to switch the paint on and off at precisely defined positions. The maximum traversing speed of the robot can e.g. 1500 mm / s. The color beam should be able to be switched with an accuracy of ± 5 mm on a straight line traversed at this speed. No time delays greater than 3 ms may occur in the transmission link. In practice, however, this tolerance is exceeded. The robot controller therefore outputs the actuating signals for the color needle valve earlier by a certain lead time, which is predefined depending on the speed of the robot.

Die Farbversorgung des Farbnadelventils erfolgt gewöhn­lich über Leitungen, die eine Zahnradpumpe od. dgl. mit einem von ihrem Ausgang zum Eingang führenden Rück­führungskreis enthält, der dafür sorgen soll, daß am Ausgang der Pumpe auch bei geschlossenem Farbnadelventil stets der richtige Betriebsdruck herrschen soll, der folglich beim Öffnen des Farbnadelventils nicht erst aufgebaut werden muß. Der Rückführungskreis enthielt bisher ein Ventil, das selbsttätig durch den beim Schließen des Farbnadelventils entstehenden Farbleitungs­druck geöffnet wurde und sich dementsprechend beim Öffnen des Farbnadelventils selbsttätig wieder schließen mußte. Hierbei konnten unerwünschte Druckschwankungen entstehen, die auch die Auftreffgenauigkeit des Farb­strahls auf der zu beschichtenden Karosse beeinträchti­gen können. Außerdem sprechen die durch den Farbdruck gesteuerten Ventile in Abhängigkeit von den jeweiligen rheologischen Eigenschaften (also dem Fließverhalten) des verwendeten Lackmaterials unterschiedlich an.The paint supply of the paint needle valve usually takes place via lines containing a gear pump or the like with a feedback circuit leading from its outlet to the inlet, which should ensure that the correct operating pressure is always present at the outlet of the pump even when the paint needle valve is closed consequently does not have to be built up when the ink needle valve is opened. The feedback circuit has previously contained a valve which was automatically opened by the ink line pressure arising when the ink needle valve was closed and, accordingly, had to automatically close again when the ink needle valve was opened. This could result in undesirable pressure fluctuations, which can also affect the accuracy of the ink jet on the body to be coated. In addition, the valves controlled by color printing respond differently depending on the respective rheological properties (i.e. the flow behavior) of the paint material used.

Der Erfindung liegt die Aufgabe zugrunde, ein Steuer­system zu schaffen, das eine genauere Farbstrahl­steuerung der Sprühvorrichtung ermöglicht als bisher und insbesondere auch unerwünschte Druckspitzen in dem Farbzufuhrsystem vermeidet.The invention has for its object to provide a control system which enables a more precise ink jet control of the spray device than before and in particular also avoids undesirable pressure peaks in the paint supply system.

Anhand der Zeichnung wird ein Ausführungsbeispiel der Erfindung näher erläutert. Es zeigen:

  • Fig. 1 das Farbzufuhrsystem des Farbnadelventils einer Sprühvorrichtung;
  • Fig. 2 eine schematische Darstellung einer Zeitsteuer­einheit;
  • Fig. 3 Zeitdiagramme zur Erläuterung der Schaltzeiten der Zeitsteuereinheit; und
  • Fig. 4 Zeitdiagramme entsprechend Fig. 3 für einen anderen Betriebsfall.
An embodiment of the invention is explained in more detail with reference to the drawing. Show it:
  • 1 shows the paint supply system of the paint needle valve of a spraying device;
  • 2 shows a schematic illustration of a time control unit;
  • 3 shows time diagrams for explaining the switching times of the time control unit; and
  • Fig. 4 time diagrams corresponding to Fig. 3 for another operating case.

Gemäß Fig. 1 sind für das Farbnadelventil FNV zwei parallele, durch eine Farbumschalteinheit UE wählbare Leitungen für unterschiedliche Farben vorgesehen, die jeweils eine Zahnradpumpe Z1 bzw. Z2 enthalten. Beide Zahnradpumpen sind auch bei geschlossenem Farbnadelventil FNV ständig in Betrieb und arbeiten mit vorbestimmbarer Geschwindigkeit. Wenn die Farbnadel geschlossen ist, wird die Farbe über je einen Rückführungskreis umge­leitet, der durch ein Drosselventil DV1 bzw. DV2 geöffnet und geschlossen werden kann. Bei geöffnetem Farbnadelventil ist je nach Stellung der Farbumschalt­einheit UE das Drosselventil DV1 oder das Drosselventil DV2 geschlossen. Das Farbnadelventil FNV und die beiden Drosselventile werden durch pneumatische Ventile PVFN, PV1 bzw. PV2 angesteuert, die ihrerseits durch elektri­sche Signale gesteuert werden können.According to FIG. 1, two parallel lines for different colors, which can be selected by a color switching unit UE, are provided for the color needle valve FNV each contain a gear pump Z1 or Z2. Both gear pumps are constantly in operation even when the FNV paint needle valve is closed and operate at a predeterminable speed. When the paint needle is closed, the paint is diverted via a feedback loop, which can be opened and closed by a throttle valve DV1 or DV2. Depending on the position of the color changeover unit UE, the throttle valve DV1 or the throttle valve DV2 is closed when the color needle valve is open. The color needle valve FNV and the two throttle valves are controlled by pneumatic valves PVFN, PV1 and PV2, which in turn can be controlled by electrical signals.

In dem dargestellten System treten verschiedene unver­meidbare Verzögerungen auf:

  • 1) Zeit zwischen dem elektrischen Einschaltsignal für das Farbnadelventil FNV und dem Zeitpunkt, zu dem das Farbnadelventil seine Öffnungsstellung erreicht, die von einem im Farbnadelventil eingebauten Sensor durch ein elektrisches Rückmeldesignal (FNR) ange­zeigt werden kann; also die Zeit zwischen Einschalt- und Rückmeldesignal.
  • 2) Zeit zwischen dem elektrischen Ausschaltsignal des Farbnadelventils und dem Zeitpunkt, zu dem das Farbnadelventil tatsächlich geschlossen ist. Hierfür ist bei dem betrachteten Ausführungsbeispiel keine elektrische Rückmeldung vorgesehen; es wird vielmehr angenommen, daß diese Verzögerungszeit gleich der Einschaltverzögerung des Farbnadelventils ist oder in fester Relation zu ihr steht.
  • 3) Zeit zwischen dem elektrischen Einschaltsignal des Drosselventils DV1 und dem Zeitpunkt, zu dem dieses Ventil wirklich geöffnet ist.
  • 4) Zeit zwischen dem elektrischen Ausschaltsignal für das Drosselventil DV1 und dem Zeitpunkt, zu dem das Ventil geschlossen ist.
  • 5) Zeit zwischen dem elektrischen Einschaltsignal des Drosselventils DV2 und dem Zeitpunkt, zu dem das Ventil geöffnet ist.
  • 6) Zeit zwischen dem elektrischen Ausschaltsignal des Drosselventils DV2 und dem Zeitpunkt, zu dem das Ventil geschlossen ist.
Various unavoidable delays occur in the system shown:
  • 1) Time between the electrical switch-on signal for the color needle valve FNV and the time at which the color needle valve reaches its opening position, which can be indicated by an electrical feedback signal (FNR) from a sensor installed in the color needle valve; the time between the switch-on and the feedback signal.
  • 2) Time between the electrical switch-off signal of the ink needle valve and the time at which the ink needle valve is actually closed. No electrical feedback is provided for this in the exemplary embodiment under consideration; rather, it is assumed that this delay time is equal to the switch-on delay of the color needle valve or is in a fixed relation to it.
  • 3) Time between the electrical switch-on signal of the throttle valve DV1 and the time when this valve is really open.
  • 4) Time between the electrical switch-off signal for the throttle valve DV1 and the time at which the valve is closed.
  • 5) Time between the electrical switch-on signal of the throttle valve DV2 and the time at which the valve is open.
  • 6) Time between the electrical switch-off signal of the throttle valve DV2 and the time at which the valve is closed.

Diese Verzögerungen werden mit der in Fig. 2 schematisch dargestellten, beispielsweise einen Mikroprozessor enthaltenden Zeitsteuereinheit kompensiert, die von der übergeordneten Roboterprogrammsteuerung binäre Ein- und Ausschaltbefehle FN für das Farbnadelventil empfängt. Aufgrund des Einschaltbefehls FN erzeugt die Zeitsteuer­einheit ZST zu einstellbaren späteren Zeitpunkten elektrische Schaltsignale FN′, D1 und D2 zum Ein- und Ausschalten des Farbnadelventils FNV und der Drossel­ventile DV1 und DV2. Diese Schaltsignale steuern die in Fig. 1 gezeigten pneumatischen Ventile PVFN, PV1 bzw. PV2. Der Zeitsteuereinheit wird ferner das Rück­meldesignal FNR zugeführt, das von dem Farbnadelventil bei Erreichen seiner Offen-Stellung erzeugt wird.These delays are compensated for by the time control unit shown schematically in FIG. 2, for example containing a microprocessor, which receives binary switch-on and switch-off commands FN for the color needle valve from the higher-level robot program control. On the basis of the switch-on command FN, the time control unit ZST generates electrical switching signals FN ', D1 and D2 for switching the color needle valve FNV and the throttle valves DV1 and DV2 on and off at adjustable later times. These switching signals control the pneumatic valves PVFN, PV1 and PV2 shown in FIG. 1. The timing control unit is also fed the feedback signal FNR, which is generated by the ink needle valve when it reaches its open position.

Die Zeitlagen der erwähnten Signale sind in Fig. 3 dargestellt. Die Zeitsteuereinheit ZST empfängt zum Zeitpunkt t₀ von der Roboterprogrammsteuerung den Einschaltbefehl FN und erzeugt daraufhin nach der eingestellten Wartezeit bis zum Zeitpunkt t₁ das Einschaltsignal FN′ für das Farbnadelventil. Nach der gemessenen Farbnadelzeit T8, d.h. der vom Farbnadel­ventil bis zum Öffnen benötigten Dauer, wird vom Farb­nadelventil zum Zeitpunkt t₂ das Rückmeldesignal FNR erzeugt. Nach der Farbflugzeit T6 trifft die Farbe zum Zeitpunkt t₃ auf der zu beschichtenden Karosse auf. Die Gesamtzeit zwischen t₀ und t₃ ist die im Roboter­programm als Prozeßparameter vorgesehene Einschaltzeit (Vorhaltezeit) T0 des Farbnadelventils.The timings of the signals mentioned are shown in FIG. 3. The time control unit ZST receives the switch-on command FN at the time t₀ from the robot program control and then generates the switch-on signal FN ′ for the color needle valve after the set waiting time up to the time t₁. After the measured ink needle time T8, ie the time required by the ink needle valve to open, the feedback signal FNR is generated by the ink needle valve at time t₂ generated. After the paint flight time T6, the paint hits the body to be coated at the time t 3. The total time between t₀ and t₃ is the switch-on time (lead time) T0 of the color needle valve provided as a process parameter in the robot program.

Ähnlich ist die ebenfalls als Prozeßparameter benötigte Ausschaltzeit T1 des Farbnadelventils erkennbar. Sie setzt sich zusammen aus der Zeit zwischen Verschwinden des übergeordneten Einschaltbefehls FN zum Zeitpunkt t₄ und des von der Zeitsteuereinheit ZST erzeugten Schalt­signals FN′ zum Zeitpunkt t₅, der Abschaltverzögerungs­zeit des Farbnadelventils, die hier als gleich der ge­messenen Einschalt-Farbnadelzeit T8 angenommen wird, sowie wieder der Farbflugzeit T6. Zum Zeitpunkt t₆ endet also die Beschichtung der Karosse.Similarly, the switch-off time T1 of the ink needle valve, which is also required as a process parameter, can be seen. It is composed of the time between the disappearance of the higher-level switch-on command FN at the time t₄ and the switching signal FN 'generated by the time control unit ZST' at the time t₅, the switch-off delay time of the color needle valve, which is assumed here to be equal to the measured switch-on color needle time T8, and again the color flight time T6. The coating of the body ends at time t₆.

In Fig. 3 sind ferner die Ein- und Ausschaltzeiten T2 bzw. T3 des Drosselventils DV1 sowie die Ein- und Ausschaltzeiten T4 bzw. T5 des zweiten Drosselventils DV2 eingetragen, die erkennen lassen, zu welchen Zeit­punkten die Schaltsignale D1 bzw. D2 der Drosselventile erzeugt werden und enden. Diese Zeitpunkte werden in der Zeitsteuereinheit ZST so eingestellt, daß sich in der Praxis optimale Druckverhältnisse in den Farbzufuhr­schläuchen zwischen den Zahnradpumpen Z1, Z2 (Fig. 1) und dem Farbnadelventil FNV ergeben, und können bei­spielsweise durch entsprechenden Versuchsbetrieb ermittelt werden.FIG. 3 also shows the switch-on and switch-off times T2 and T3 of the throttle valve DV1 and the switch-on and switch-off times T4 and T5 of the second throttle valve DV2, respectively, which show the times at which the switching signals D1 and D2 of the throttle valves are generated will and end. These times are set in the time control unit ZST so that in practice there are optimal pressure conditions in the paint supply hoses between the gear pumps Z1, Z2 (FIG. 1) and the paint needle valve FNV, and can be determined, for example, by appropriate test operation.

Die Drosselschaltzeiten liegen bei dem in Fig. 3 darge­stellten Beispiel vor den Farbnadelschaltzeiten. In anderen Fällen kann es sich aber z.B. aufgrund anderer Ventilkonstruktionen oder Leitungsverhältnisse als notwendig erweisen, die Drosselventile zeitlich nach dem Farbnadelventil zu schalten. Dieser Fall ist in Fig. 4 dargestellt, die im übrigen Fig. 3 entspricht und somit keiner weiteren Erläuterung bedarf.In the example shown in FIG. 3, the throttle switching times lie before the color needle switching times. In other cases, however, it may prove necessary, for example due to different valve designs or line relationships, to switch the throttle valves at times after the paint needle valve. This case is in Fig. 4 shown, which corresponds to Fig. 3 and therefore requires no further explanation.

Ein besonderes Problem kann sich durch selbsttätige, beispielsweise auf Reibungsänderungen oder Verschleiß beruhenden Änderungen der tatsächlichen Farbnadelzeit T8 im Laufe der Zeit ergeben. Wenn die Farbnadelzeit T8 kürzer oder länger ist als der beim Programmieren des Roboters und bei den Einstellungen der Zeitsteuer­einheit ZST zugrundegelegte Wert, ergeben sich nicht nur mehr oder weniger große Beschichtungsfehler an der Karosse, sondern es können auch Druckfehler im Leitungssystem auftreten, weil die Schaltzeiten der Drosselventile nicht mehr auf die tatsächlichen Öffnungs- und Schließzeiten des Farbnadelventils abgestimmt sind.A particular problem can arise due to automatic changes in the actual ink needle time T8, for example based on changes in friction or wear, over the course of time. If the ink needle time T8 is shorter or longer than the value used when programming the robot and when setting the time control unit ZST, not only will there be more or less large coating errors on the body, but pressure errors may also occur in the line system because the switching times of the Throttle valves are no longer matched to the actual opening and closing times of the color needle valve.

Zur Lösung dieses Problems ist in dem hier beschriebe­nen System eine theoretisch errechnete maximal zulässige Farbnadelzeit T7 zugrundegelegt, deren Dauer von der gemessenen Zeit T8 nicht überschritten werden darf. Im Normalbetrieb ist die Dauer von T8 kürzer als T7, und damit das Farbnadelventil genau zum richtigen Zeitpunkt t₂ (Fig. 3) geöffnet wird, schaltet die Zeitsteuer­einheit das Farbnadelventil um eine der Differenz entsprechende Zeitspanne dt später ein, als es bei Zugrundelegung der theoretischen Farbnadelzeit T7 der Fall wäre.To solve this problem, the system described here is based on a theoretically calculated maximum permissible ink needle time T7, the duration of which may not be exceeded by the measured time T8. In normal operation, the duration of T8 is shorter than T7, and so that the ink needle valve is opened at exactly the right time t 2 (FIG. 3), the time control unit switches on the ink needle valve by a time period corresponding to the difference dt later than when the theoretical ink needle time was used T7 would be the case.

Wenn nun durch Messung der tatsächlichen Farbnadelzeit T8 in der oben erwähnten Weise eine Änderung ihrer früher gemessenen Dauer festgestellt wird, kann diese Änderung in der Farbsteuereinheit durch vorzugsweise selbsttätiges Anpassen der Zeitspanne dt kompensiert werden.If a change in its previously measured duration is now determined by measuring the actual ink needle time T8 in the manner mentioned above, this change can be compensated in the color control unit by preferably automatically adjusting the time period dt.

Wenn sich die gemessene Farbnadelzeit T8 im Laufe der Zeit so vergrößert, daß sie nicht mehr durch Verringe­rung von dt kompensiert werden kann, d.h. die Zeitspanne dt gegen Null gehen oder negativ werden und die Farb­nadelzeit T8 gleich oder größer als T7 würde, dann wird von der Zeitsteuereinheit ZST ein Alarmsignal AL erzeugt und unter gleichzeitiger Öffnung der Drossel­ventile das Farbnadelventil gesperrt. Bevor dies geschieht, besteht die Möglichkeit, zunächst ein Warn­signal W zu erzeugen, sobald sich der gemessene Wert der Farbnadelzeit T8 einer kritischen Grenze nähert.If the measured ink needle time T8 increases over time so that it can no longer be compensated for by reducing dt, i.e. the time period dt approach zero or become negative and the ink needle time T8 would be equal to or greater than T7, then an alarm signal AL is generated by the time control unit ZST and the ink needle valve is blocked while the throttle valves are opened at the same time. Before this happens, it is possible to first generate a warning signal W as soon as the measured value of the ink needle time T8 approaches a critical limit.

Es kann zweckmäßig sein, in der Steuereinheit die laufend gemessene Farbnadelzeit T8 nicht direkt mit dem gespeicherten Normalwert entsprechend der Zeit T7 zu vergleichen, sondern aus einer Mehrzahl jeweils letzter Messungen zunächst einen Mittelwert zu bilden. Erst wenn dieser Mittelwert die betreffende Grenze überschreitet, werden die Warn- bzw. Alarmsignale erzeugt.It may be expedient not to compare the color needle time T8 currently measured in the control unit directly with the stored normal value corresponding to the time T7, but to first of all form a mean value from a plurality of last measurements. The warning or alarm signals are only generated when this mean value exceeds the relevant limit.

Die im Rahmen der Kompensation durch die Zeitspanne dt möglichen Einschaltzeitpunkte t₁ sollen bei dem in Fig. 3 gezeigten Beispiel früherer Drosselschaltzeiten nicht vor Ablauf einer Zeitspanne max(T2,T4) nach dem Zeitpunkt t₀ liegen, die der maximal möglichen Einschalt­zeit T2 bzw. T4 der Drosselventile DV1 und DV2 entspricht. Beim Abschalten wird die maximal mögliche Zeitspanne max(T3,T5) der Abschaltzeiten der Drossel­ventile bei der Wahl der Zeitpunkte t₄ und t₅ berück­sichtigt.The within the compensation by the time period dt possible switch-on times t₁ should not lie in the example of earlier throttle switching times shown in FIG. 3 before the expiry of a period max (T2, T4) after the time t₀, which is the maximum possible switch-on time T2 or T4 Throttle valves DV1 and DV2 corresponds. When switching off, the maximum possible time span max (T3, T5) of the switching times of the throttle valves is taken into account when selecting the times t₄ and t₅.

Bei dem in Fig. 4 dargestellten Fall der Drosselventil­betätigung nach der Farbventilbetätigung kann sich die Kompensationszeitspanne dt dagegen unmittelbar an den Zeitpunkt der Erzeugung des Schaltbefehls FN durch die Programmsteuerung anschließen, und zwar sowohl beim Einschalten als auch beim Ausschalten.In the case of the throttle valve actuation shown in FIG. 4 after the color valve actuation, however, the compensation time period dt can directly affect the Connect the point in time at which the switching command FN was generated by the program control, both when switching on and when switching off.

Die sich ggf. ändernde Farbnadelzeit T8 und die von der Zeitsteuereinheit zur Kompensation entsprechend nachgeführte Zeitspanne dt können vom Bedienungspersonal laufend mit Hilfe eines Bildschirms überwacht werden, der über eine Schnittstelle SCHN an die in Fig. 2 dargestellte Steuereinheit ZST angeschlossen sein kann. Über diese Schnittstelle können auch die erforderlichen Zeiten eingestellt und geändert werden.The possibly changing ink needle time T8 and the time period dt correspondingly adjusted by the time control unit for compensation can be continuously monitored by the operating personnel with the aid of a screen which can be connected via an interface SCHN to the control unit ZST shown in FIG. 2. The required times can also be set and changed via this interface.

Die Druckverhältnisse zwischen den Zahnradpumpen Z1 und Z2 und dem Farbnadelventil FNV hängen nicht nur von den richtigen Schaltzeitpunkten des Farbnadelventils und der Ventile in den Rückführungskreisen der Zahnrad­pumpen ab, sondern auch von den rheologischen Eigen­schaften des der Sprühvorrichtung zugeführten Fluids. Damit dieser Einfluß berücksichtigt werden kann, handelt es sich bei den Ventilen in den Rückführungskreisen vorzugsweise um Drosselventile, die nicht nur ein- und ausschaltbar sind, sondern durch äußere Steuer­signale (in nicht dargestellter Weise) auf den jeweils günstigsten Druck am Ausgang der Förderpumpe eingestellt werden können. Bei Messung der rheologischen Eigenschaf­ten des geförderten Fluids ist auch eine Nachregelung der Drosselventile in einem geschlossenen Regelkreis möglich.The pressure ratios between the gear pumps Z1 and Z2 and the paint needle valve FNV depend not only on the correct switching times of the paint needle valve and the valves in the feedback circuits of the gear pumps, but also on the rheological properties of the fluid supplied to the spraying device. So that this influence can be taken into account, the valves in the feedback circuits are preferably throttle valves which can not only be switched on and off, but are also set to the most favorable pressure at the outlet of the feed pump by external control signals (not shown) can. When measuring the rheological properties of the delivered fluid, it is also possible to readjust the throttle valves in a closed control loop.

Die Erfindung ist auch für Sprühvorrichtungen geeignet, denen über das Hauptventil nicht wie bei dem beschrie­benen Beispiel ein Farbmaterial, sondern ein anderes Fluid wie z.B. Druckluft zugeführt wird.The invention is also suitable for spraying devices, which are supplied with a different fluid, such as e.g. Compressed air is supplied.

Claims (6)

1) Steuersystem für eine programmgesteuerte Sprüh­vorrichtung,
mit einem zu vorbestimmten Zeiten selbsttätig ein- und ausschaltbaren Hauptventil (FNV) der Sprühvorrichtung für ein Fluid, das von mindestens einer eine Förderpumpe (Z1,Z2) enthaltenden Leitung zugeführt wird, und mit einem vom Ausgang der Förderpumpe (Z1,Z2) zu deren Eingang führenden Rückführungskreis, der ein Ventil (DV1,DV2) enthält, das beim Öffnen des Haupt­ventils (FNV) geschlossen und beim Schließen des Haupt­ventils geöffnet wird,
dadurch gekennzeichnet, daß das Ventil (DV1,DV2) im Rückführungskreis der Förderpumpe (Z1,Z2) durch von einer äußeren Steuereinheit (ZST) angelegte Steuersignale (D1,D2) zu vorbestimmten Zeiten betätigt wird, die auf die Ein- und Ausschaltzei­ten des Hauptventils (FNV) abgestimmt und einstellbar sind.1) control system for a program-controlled spray device,
with a main valve (FNV) which can be automatically switched on and off at predetermined times, of the spray device for a fluid which is supplied from at least one line containing a feed pump (Z1, Z2), and with one from the outlet of the feed pump (Z1, Z2) to the latter Input leading feedback circuit, which contains a valve (DV1, DV2) which is closed when the main valve (FNV) is opened and opened when the main valve is closed,
characterized in that the valve (DV1, DV2) in the feedback circuit of the feed pump (Z1, Z2) is actuated by control signals (D1, D2) applied by an external control unit (ZST) at predetermined times, which correspond to the on and off times of the main valve (FNV) are coordinated and adjustable. 2) Steuersystem nach Anspruch 1, dadurch gekenn­zeichnet, daß das Ventil (DV1,DV2) im Rückführungskreis ein Drosselventil ist, mit dem der Druck am Ausgang der Förderpumpe (Z1,Z2) einstellbar ist, und daß das Drosselventil (DV1,DV2) von der äußeren Steuereinheit (ZST) in Abhängigkeit von den rheologischen Eigen­schaften des der Sprühvorrichtung zugeführten Fluids gesteuert wird.2) Control system according to claim 1, characterized in that the valve (DV1, DV2) in the feedback circuit is a throttle valve with which the pressure at the outlet of the feed pump (Z1, Z2) is adjustable, and that the throttle valve (DV1, DV2) by the external control unit (ZST) is controlled depending on the rheological properties of the fluid supplied to the spray device. 3) Steuersystem nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die vorbestimmten Schaltzeiten des Hauptventils (FNV) und/oder des Drosselventils (DV1,DV2) in Abhängigkeit von beim Betrieb der Sprühvorrichtung gemessenen Ansprechverzögerungszeiten von der Steuer­einheit (ZST) selbsttätig geändert werden.3) Control system according to claim 1 or 2, characterized in that the predetermined switching times of the main valve (FNV) and / or of the throttle valve (DV1, DV2) are changed automatically depending on the response delay times measured during operation of the spraying device by the control unit (ZST). 4) Steuersystem nach Anspruch 3, dadurch gekenn­zeichnet, daß das Hauptventil (FNV) eine Meßeinrichtung zum Messen der Zeitdauer enthält, die zwischen dem Anlegen eines Schaltsignals (FN′) zum Öffnen des Hauptventils (FNV) und dem Zeitpunkt (t₂) benötigt wird, bei dem das Ventil tatsächlich geöffnet ist.4) Control system according to claim 3, characterized in that the main valve (FNV) contains a measuring device for measuring the length of time required between the application of a switching signal (FN ') for opening the main valve (FNV) and the time (t₂), where the valve is actually open. 5) Steuersystem nach Anspruch 4, dadurch gekenn­zeichnet, daß das Ventil (FNV) ein Rückmeldesignal (FNR) für die Steuereinheit (ZST) erzeugt, wenn es seine vollgeöffnete Stellung erreicht.5) Control system according to claim 4, characterized in that the valve (FNV) generates a feedback signal (FNR) for the control unit (ZST) when it reaches its fully open position. 6) Steuersystem nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Ventile (DV1,DV2,FNV) von pneumatischen Steuerleitungen ge­steuert werden, die elektrisch gesteuerte Schaltventile (PV1,PV2) enthalten.6) Control system according to one of the preceding claims, characterized in that the valves (DV1, DV2, FNV) are controlled by pneumatic control lines which contain electrically controlled switching valves (PV1, PV2).
EP88106215A 1987-04-27 1988-04-19 Control system for a programmed spraying device Expired - Lifetime EP0288877B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3714000 1987-04-27
DE19873714000 DE3714000A1 (en) 1987-04-27 1987-04-27 CONTROL SYSTEM FOR A PROGRAM-CONTROLLED SPRAYING DEVICE

Publications (3)

Publication Number Publication Date
EP0288877A2 true EP0288877A2 (en) 1988-11-02
EP0288877A3 EP0288877A3 (en) 1989-10-11
EP0288877B1 EP0288877B1 (en) 1992-09-02

Family

ID=6326356

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88106215A Expired - Lifetime EP0288877B1 (en) 1987-04-27 1988-04-19 Control system for a programmed spraying device

Country Status (4)

Country Link
US (1) US4838311A (en)
EP (1) EP0288877B1 (en)
DE (2) DE3714000A1 (en)
ES (1) ES2035135T3 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0627268A2 (en) * 1993-06-04 1994-12-07 Baldwin-Gegenheimer GmbH Liquid spraying apparatus, especially for printing machines

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3822835A1 (en) * 1988-07-06 1990-03-08 Josef Schucker Process and arrangement for coating workpiece surfaces
WO1992008177A1 (en) * 1990-10-30 1992-05-14 Gmf Robotics Corporation Hybrid control method and system for controlling the flow of liquid coating material
DE4135796A1 (en) * 1991-10-30 1993-05-06 Goetz-Ulrich London Gb Wittek Cinema or theatre aroma distribution equipment - uses coded signals determined by performance to operate portable unit controlling mixture, duration, direction and intensity of aromas
JPH09314031A (en) * 1996-05-30 1997-12-09 Honda Motor Co Ltd Cleaning method for coating device
GB2383578B (en) * 1999-05-27 2003-10-08 Matthew James Harold Rawlings Sprayer controller and method
AU2428601A (en) * 1999-12-07 2001-06-18 James G. Schermerhorn Olfactory special effects system
AU6700601A (en) 2000-06-19 2002-01-02 Hygrama Ag Intrinsically safe microprocessor controlled pressure regulator

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3521598A (en) * 1968-06-07 1970-07-21 Reynolds Metals Co Spray coating control apparatus
EP0166092A1 (en) * 1984-06-22 1986-01-02 J. Wagner GmbH Method and apparatus for adjusting a flow control valve of a paint spray gun

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2266354A (en) * 1939-03-22 1941-12-16 Binks Mfg Co Liquid material supply system
US2650003A (en) * 1948-03-08 1953-08-25 Coleman Clarence Buyer Drip arresting apparatus
DE2542118A1 (en) * 1975-09-22 1977-03-31 Ley Maschf W Spray with lance, valve and pressurising pump - has part of pressurised fluid flow diverted to lance for delivery as spray
US4061271A (en) * 1976-10-13 1977-12-06 Kimbrough Wade L Control system for high pressure hydraulic system
US4362124A (en) * 1978-05-02 1982-12-07 Ransburg Corporation Analog paint output control
US4197995A (en) * 1978-11-13 1980-04-15 Mccord Corporation Agricultural spraying assembly
DE2924264A1 (en) * 1979-06-15 1980-12-18 Wabco Steuerungstech DEVICE FOR ADJUSTING THE PRESSURE OF A PRESSURE MEDIUM
US4327866A (en) * 1980-05-30 1982-05-04 Mason Claude C Differential pumping system
US4387850A (en) * 1980-12-29 1983-06-14 Modern Mill, Inc. Remote control apparatus for power washers
DE8633673U1 (en) * 1986-12-17 1987-02-12 GEPOC Gesellschaft für Polymerchemie mbH & Co, 5161 Merzenich Device for the dosed spraying of viscous media

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3521598A (en) * 1968-06-07 1970-07-21 Reynolds Metals Co Spray coating control apparatus
EP0166092A1 (en) * 1984-06-22 1986-01-02 J. Wagner GmbH Method and apparatus for adjusting a flow control valve of a paint spray gun

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0627268A2 (en) * 1993-06-04 1994-12-07 Baldwin-Gegenheimer GmbH Liquid spraying apparatus, especially for printing machines
EP0627268A3 (en) * 1993-06-04 1995-07-26 Baldwin Gegenheimer Gmbh Liquid spraying apparatus, especially for printing machines.

Also Published As

Publication number Publication date
DE3874191D1 (en) 1992-10-08
US4838311A (en) 1989-06-13
DE3714000A1 (en) 1988-11-10
EP0288877B1 (en) 1992-09-02
EP0288877A3 (en) 1989-10-11
ES2035135T3 (en) 1993-04-16

Similar Documents

Publication Publication Date Title
EP0288878B1 (en) Method for automatically coating work pieces in series
DE3708989C2 (en) Control device for a piston displaceable in a double-acting cylinder
EP1387975B2 (en) Method and device for controlling the switching movement of a valve
EP0166092B1 (en) Method and apparatus for adjusting a flow control valve of a paint spray gun
EP1027167A1 (en) Adhesive applicator device
EP0288877B1 (en) Control system for a programmed spraying device
WO2018141511A1 (en) Application system for coating components and coating device
EP1041325B1 (en) Valve assembly
DE3819122C2 (en) Method and device for regulating the position of control valves
DE4111106A1 (en) MULTI-PRESSURE CONTROL SYSTEM
DE10142355A1 (en) Coating plant with a control loop
DE10239351A1 (en) Device for applying a coating agent
EP0822344A2 (en) Pneumatic control device and a block valve for such a device
DE69001326T2 (en) ELECTROHYDRAULIC SYSTEM.
DE3642642A1 (en) CIRCUIT ARRANGEMENT FOR POSITION AND FEED CONTROL OF A HYDRAULIC CYLINDER
DE3228305C2 (en)
DE3039129C2 (en) Position control method and system for an actuator drive
EP0917675B1 (en) Position regulator for drive systems and pneumatic control valve having a position regulator of this type
DE3709211A1 (en) Device for controlling the piston of a working cylinder
EP0889267A2 (en) Method and apparatus for controlling a proportional electromagnetic valve
DE29612775U1 (en) Positioner and control valve with such a positioner
DE3741425C3 (en) linear actuator
DE3624328A1 (en) Method and device for the synchronous control of servovalves for servo actuating cylinders, especially in hydraulic ram machines
DE3642643C2 (en)
DE2060370B2 (en) Fluidic differential switch

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): BE DE ES FR GB IT SE

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: BEHR INDUSTRIEANLAGEN GMBH & CO.

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): BE DE ES FR GB IT SE

17P Request for examination filed

Effective date: 19900410

17Q First examination report despatched

Effective date: 19911007

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): BE DE ES FR GB IT SE

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)
REF Corresponds to:

Ref document number: 3874191

Country of ref document: DE

Date of ref document: 19921008

ITF It: translation for a ep patent filed
ET Fr: translation filed
REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2035135

Country of ref document: ES

Kind code of ref document: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19930419

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Effective date: 19930420

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19930420

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Effective date: 19930430

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
BERE Be: lapsed

Owner name: BEHR INDUSTRIEANLAGEN G.M.B.H. & CO.

Effective date: 19930430

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19930419

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Effective date: 19931229

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

EUG Se: european patent has lapsed

Ref document number: 88106215.2

Effective date: 19931110

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 19990301

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20040611

Year of fee payment: 17

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20050419

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20051101