EP1207964B1 - Method and station for changing product in a installation spraying coating product - Google Patents

Abstract

A process and station for changing product in an installation for spraying coating product, by bringing a first reservoir towards a suitable area of a cleaning/filling station, separating a sub-assembly composed of the first reservoir and a first spray associated therewith, with respect to the robot, connecting with the robot a second, similar sub-assembly composed of a second reservoir and a second spray, adapted to be used for spraying coating product during cleaning and/or filling of the first reservoir and the first spray, and proceeding with cleaning and/or filling of the first reservoir and the first spray in the area.

Description

The invention relates to a method and a station of product change in a projection installation of coating product.

It is known, for example from EP-A-0 274 322 to use a tank, mounted at the end of an arm of a multi-axis robot, for supplying a coating product with a projector supported by this arm, especially in the case of an installation projection of an electrically coating product conductor by means of a projector of an electrostatic type. This state of the art plans to use a fixed projector on the robot's arm and clean it up and fill it in new coating product as needed. according to a variant, the tank is removably mounted on the projector and several tanks are used according of the chosen coating product. Finally, according to a second alternatively, two tanks are used alternately.

In any case, it is necessary to clean and to prime the projector in a new coating product is permanently mounted on the robot arm. These operations flushing and priming the projector are relatively long while the time slot allocated to the change of coating product tends to decrease. Indeed, in the case of a production line of motor vehicles, the trend is towards increasing production rates and therefore forward speeds of the conveyors, the change of coating product being carried out in a range of time corresponding to the space separating two bodies of consecutive vehicle, the available time being all the more reduces the conveying speed increases.

It is these problems that the invention intends to meet in proposing a new process and a new station change of coating product that allow a quick change while the quality of cleaning done remains optimal.

• séparer un sous-ensemble comprenant le premier réservoir et le premier projecteur par rapport au robot ;
• solidariser avec ce robot un second sous-ensemble analogue comprenant un second réservoir et un second projecteur, ce second sous-ensemble étant apte à être utilisé pour la projection de produit de revêtement pendant le nettoyage et/ou remplissage du premier réservoir et du premier projecteur et
• procéder au nettoyage et/ou au remplissage du premier réservoir et du premier projecteur dans cette zone.

In this spirit, the invention relates to a method of product change in a coating product installation, comprising at least one robot, able to move a first projector and a first associated reservoir facing objects to be coated, this method comprising a step of feeding this reservoir to a suitable zone of a cleaning / filling station, characterized in that it consists of:

• separating a subset including the first reservoir and the first projector from the robot;
• to join with this robot a second similar subassembly comprising a second tank and a second headlamp, this second subassembly being able to be used for the projection of coating product during the cleaning and / or filling of the first tank and the first headlamp and
• clean and / or fill the first tank and the first spotlight in this area.

Thanks to the invention, it is possible to proceed with the cleaning and filling in new coating product of the first tank in masked time. We also proceed, in time masked, cleaning the projector and priming it with the new coating product, so that the only steps of the cleaning / filling process that must be taken into account in the calculation of the duration of the change of product are the steps of separating the first subset and securing the second subset on the arm of the robot. In other words, the time that was up to now consumed for cleaning the projector and its priming in new coating product is now available for the projection by means of the second subset since these operations take place in masked time, on the first subset while the second subset is underway use.

According to a first advantageous aspect of the invention, the process consists in supplying the first subassembly with air, in cleaning product and / or coating material in the appropriate area of the cleaning / filling station, before its separation from the robot. Thus, certain functions of the projector and / or tank can be stored included in the separation between this subset and the robot.

According to another advantageous aspect of the invention, supplies the subassembly with air, electrical current, cleaning product and / or coating material by means of of two mobile units, a first unit being connected to the subassembly before it separates from the robot while a second unit is connected to the subassembly after its separation from the robot, instead of the part of robot connection.

In particular, it can be provided to feed constantly the projector in air forming a bearing between parts relative movement of the projector, which is particularly advantageous in the case of a rotating projector, because continuous feeding of the bearing avoids any risk of tightening or seizing this bearing.

The invention also relates to a change station of product in a product projection installation of coating which makes it possible to implement the process as previously described. This station, which includes at least two cleaning / filling areas of a tank, is characterized in that these areas are able to receive each a subset formed of a tank and a projector while this subset is separated from the robot, means being provided for cleaning and / or filling the tank and projector in each of these areas.

Thus, the cleaning and / or filling of each subset can occur in masked time, while a subset analog is in use on the robot.

According to a first advantageous aspect of the invention, the means of cleaning / filling the tank and the projector include two mobile units suitable for connection independently into two connection areas of the subassembly, a first unit being able to be connected to the subassembly mounted on the robot while the second unit is able to be connected to the subset instead of the part connection of the robot. The first unit advantageously comprises connecting means between an air source tablet and a bearing formed in the projector, between two parts in relative motion. So, the landing can be permanently fed, which avoids the risks of seizing or clamping of this bearing.

In particular, the second unit may comprise a jack whose stem is able to manipulate a piston of the reservoir, especially for purging this tank.

In another advantageous aspect, the station comprises means of locking a subset in each of the cleaning / filling areas by rotating a ring surrounding this subset, and able to cooperate with reliefs of this subset to move it in rotation by compared to the robot. This ring is advantageously ordered moving, between a locking position and a unlocking position of the subassembly, by a cylinder.

• la figure 1 est une représentation schématique de principe d'une installation de projection de produit de revêtement en cours de fonctionnement ;
• la figure 2 est une vue en perspective avec arrachements partiels de la station de changement de produit de l'installation de la figure 1 lors d'une première étape du procédé de l'invention ;
• la figure 3 est une vue analogue de la figure 2 lors d'une seconde étape du procédé de l'invention ;
• la figure 4 est une coupe selon le plan IV à la figure 3 ;
• la figure 5 est une coupe analogue à la figure 4 lors d'une troisième étape du procédé de l'invention ;
• la figure 6 est une vue analogue à la figure 2 lors d'une quatrième étape du procédé de l'invention ;
• la figure 7 est une vue analogue à la figure 2 lors d'une cinquième étape du procédé de l'invention ;
• la figure 8 est une vue analogue à la figure 2 lors d'une sixième étape du procédé de l'invention ;
• la figure 9 est une vue analogue à la figure 2 lors d'une septième étape du procédé de l'invention ;
• la figure 10 est une coupe selon le plan X à la figure 9 et
• la figure 11 est une vue analogue à la figure 2 lors d'une huitième étape du procédé de l'invention.

The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of an embodiment of a product change station and its method of implementation comply to the invention, given solely by way of example and with reference to the appended drawings in which:

• Figure 1 is a schematic representation of a principle of a coating product spray installation during operation;
• Figure 2 is a perspective view with partial cutaway of the product change station of the installation of Figure 1 in a first step of the method of the invention;
• Figure 3 is a similar view of Figure 2 in a second step of the method of the invention;
• Figure 4 is a section along the plane IV in Figure 3;
• Figure 5 is a section similar to Figure 4 in a third step of the method of the invention;
• Figure 6 is a view similar to Figure 2 in a fourth step of the method of the invention;
• Figure 7 is a view similar to Figure 2 in a fifth step of the method of the invention;
• Figure 8 is a view similar to Figure 2 in a sixth step of the method of the invention;
• Figure 9 is a view similar to Figure 2 in a seventh step of the method of the invention;
• FIG. 10 is a section along plane X in FIG.
• Figure 11 is a view similar to Figure 2 in an eighth step of the method of the invention.

In Figure 1, a robot or robot 1 is disposed near a conveyor 2 carrying objects to be coated, in this case bodies 3 motor vehicles. The robot 1 is of the multi-axis type and comprises a mobile frame 4 on a guide 5 extending parallel to the conveying direction X-X '. An arm 6 is supported by the chassis 4 and comprises a plurality of segments 6 a, 6 b and 6 c articulated relative to each other. The frame 4 is also made up of parts 4 and 4b articulated with respect to one another about a substantially vertical Z axis.

The segment 6c of the arm 6 supports a subset 7 wherein there are provided a reservoir 8 of coating material and a projector 9. The projector 9 is electrostatic and rotary type and carries a bowl 9 has to be driven to high speed by an air turbine provided in the projector 9.

When a body of a motor vehicle 3 is in place at the level of the robot 1, the subset 7 is moved in look of the bodywork and the projector 9 is activated so to coat this body with the product contained in the tank 8. The amount of product in the tank 8 is adapted to the surface to be coated with the bodywork 3.

At the end of the coating of a bodywork, and while second bodywork is progressing towards the robot 1, it is directed to a cleaning / filling station 10 located in its vicinity, inside the projection booth.

As it appears more clearly in FIG. 2, this station 10 is provided with two zones 11 and 12 for receiving subsets of the type of the subassembly 7. More specifically, the zone 11 is empty and ready to receive the sub-assembly. 7 together, while the zone 12 contains a similar subset 7 'which comprises a reservoir 8' and a projector 9 'similar to those of the subset 7. The subsets 7 and 7' can be alternately mounted on the segment 6 c of arm 6, as can be seen from the explanations that follow.

In the process step shown in FIG. 2, the arm 6 is in an approach phase in which it brings the subassembly 7 over the zone 11 of the station 10. From the position represented in FIG. In FIG. 2, the arm 6 prints to the subassembly 7 a downward vertical movement represented by the arrow F ₁ , which makes it possible to bring the subassembly 7 into the zone 11 as represented in FIG.

An actuator 13 enables control of a rod 14 secured to two rods 15 and 16 they themselves secured to crowns 17 and 18 respectively disposed around the outlets 11a and 12 are areas 11 and 12. In fact, the areas 11 and 12 are formed by receptacles 11 b and 12 b, inner shape adapted to the outer shape of the sub-assembly 7 and 7 ', and which are connected by exhaust ducts 11 c and 12 c to an unillustrated purge.

The subassembly 7 is mounted on the segment 6c of the arm 6 through a ring 7 is capable of rotational movement around the axis X ₁ of sub-assembly 7.

When the subassembly 7 is in place in the zone 11, the jack 13 is activated so that the rod 14 is moved axially as represented by the arrow F ₂ in FIG. 3, which has the effect of causing the rods 15 and 16 and rotating the rings 17 and 18 about the axes X ₁₁ and X ₁₂ of the zones 11 and 12. the rings 17 and 18 are provided on their respective inner faces, reliefs 17 a and 18 a. These reliefs are adapted to cooperate with corresponding reliefs 7 b, 7 'b provided on the rings 7a and 7b has subassemblies 7 and 7'. Thus, actuation of the jack 13 allows to rotate the ring 7 has the subassembly 7 in zone 11 about the axis X ₁ and it is anticipated that this allows to separate the sub-assembly 7 of the arm 6 robot 1.

It is then in the position of Figure 6 where the segment 6 c of the arm 6 is raised as shown by the arrow F ₃ , then moved towards the zone 12 as shown by the arrow F ₄ , and then lowered towards the sub 7 'as represented by the arrow F ₅ . It is then possible to maneuver again the jack 13 to print to the ring 18 a rotational movement about the axis X ₃ as represented by the arrow F ₆ in Figure 7 so that the ring 7 ' a allows to lock the subassembly 7 'on the segment 6c of the arm 6, the subset 7' can then be used by the robot 1 to coat a new body after leaving the station 10, as represented by the arrow F ₇ to Figure 8.

The upper faces 7c and 7c of the subassemblies 7 and 7 'are in fact joint planes for mounting these subassemblies alternately on the arm 6 of the robot 1. In particular, orifices 7d and 7 d) are provided, as well as electrical connectors 7 e and 7 ' e and, in the central part, an orifice 7 f or 7' f of passage of an operating rod of a piston 8 has the tank 8.

As is apparent from FIG. 4, when the subassembly 7 is received in the zone 11, and before the jack 13 is actuated, a unit 21, radially movable with respect to the X axis ₁₁ , is located at a distance of distance d sufficient to avoid interfering with the insertion movement of the subassembly 7 into the receptacle 11b . This unit 21 is then moved by a jack 22 as represented by the arrow F ₈ in FIG. 4, so that it is connected to a connection zone 7 g of the subassembly 7, as represented in FIG. .

The unit 21 is connected to a coating product change unit 23 by a flexible conduit 24. The unit 21 is also connected by a flexible conduit 25 to a source of compressed air, not shown, and by a driver 26. , to an electronic control unit, also not shown. Thus, when it is connected to the zone 7 g of the subassembly 7 as shown in FIG. 5, the unit 21 makes it possible to supply the tank 8 and the projector 9 with coating material, with current and with air. In particular, an air bearing formed in the projector 9 can thus be powered before the segment 6c of the arm 6 is disconnected from the subassembly 7, so that this air bearing is permanently sufficiently "rigid" for keep moving parts away and avoid interference between them.

A second unit 27, similar to the unit 21, is provided next to zone 12.

Furthermore, the structure of the station 10 comprises a carriage 30 movable in a direction parallel to a plane containing the axes X ₁₁ and X ₁₂ . The carriage 30 is supported by rails 31 and 32 which are generally horizontal and carries a jack 33 capable of moving vertically, that is to say perpendicularly to the direction of travel of the carriage 30, a plate 34 which itself supports a set of connection 35 comprising orifices 35 d and 35 e connectors provided to cooperate with the orifices 7 d , 7 d 'and connectors 7 e and 7 e ' subsets 7 and 7 '. In fact, the elements 35 d and 35 e are arranged in the same configuration as the corresponding elements in the segment 6c of the arm 6. The plate 35 also carries an own actuator 36 to actuate a rod 37 adapted to penetrate in orifices 7 f or 7 ' f of one of the subsets 7 and 7'.

Thus, when the carriage 30 has been moved towards the zone 11 as represented by the arrow F ₉ in FIG. 9 and when the plate 34 has been lowered as represented by the arrow F ₁₀ in this figure, the orifices 35d and the 35 th connectors which are connected, by a bundle 38 of pipes and flexible cables received in a unwinder 39, not shown power supply assemblies, to control the subset 7 in place of the robot 1. In particular, the rod 37 is capable of penetrating into the sub-assembly 7 as shown in Figure 11 so as to push the piston 8 to the reservoir 8 in order to purge the tank.

The cleaning operations of the tank 8 and the projector 9 can take place according to a pre-established sequence especially through unit 21, controlling the parameters operating the tank 8 and the projector 9 that can be performed through the connection assembly 35, like when the subset 7 is mounted on the robot 1. By example, the rotation speed of a projector turbine 9 can be controlled by means of a tachometer.

The filling of the tank 8 takes place by the unit 21 because it is located closer to the lower part of the tank 8 in the position of FIG. 11, which means that the internal ducts of the connection zone 7g are short. The unit 21 also allows the projector 9 to be cleaned, circulating a rinsing product therein, and then priming it with the new coating product, circulating a small amount of the new coating product therein. coating which is then poured into the bottom of the receptacle 11b and discharged through the conduit 11c .

When these operations are completed, and as shown in Figure 11, the connection assembly 35 is disengaged from the subset 7, the plate 34 is raised as shown by the arrow F ₁₁ and the carriage 30 is returned to a central position between zones 11 and 12 as represented by the arrow F ₁₂ , while the arm 6 of the robot 1 brings the subset 7 'to the receiving zone 12 as shown with the arrow F ₁₃ .

In view of the above, the time available for cleaning and filling the tank 8 and the projector 9 included in subset 7 is less than or equal to time of use of the sub-assembly 7 ', ie approximately 1 min in the case of a product projection installation coating on vehicle bodies during scrolling.

This time is much longer than usual available, so that these cleaning operations, filling the tank and priming the projector can be done with the utmost care, while the change of subset as represented in Figures 6 and 7, is particularly fast, the rates of production can be increased accordingly.

Claims (10)

1. Method for changing a product in an installation for spraying a coating product comprising at least one robot (1), capable of moving a first spray gun (9) and a first reservoir (8) associated therewith, facing objects to be coated (3), the said method comprising a step in which the said first reservoir is led to an adapted zone (11) of a cleaning/filling station (10), characterized in that it consists of :

   separating a sub-assembly (7) comprising the said first reservoir (8) and the said first spray gun (9) in relation to the said robot;

   securing to the said robot a second similar sub-assembly (7') comprising a second reservoir (8') and a second spray gun (9'), the said second sub-assembly being capable of being used for spraying a coating product during the cleaning and/or filling of the said first reservoir and the said first spray gun, and

   cleaning and/or filling the said first reservoir and the said first spray gun in the said zone (11).
2. Method according to claim 1, characterised in that it consists of supplying the said first sub-assembly (7) with air, with a cleaning and/or coating product, in the said zone (11) before separating it from the said robot (1).
3. Method according to either of claims 1 or 2, characterised in that it consists of supplying the said sub-assembly (7) with air, with electric current, and with a cleaning and/or coating product, by means of two movable units (21, 35), a first unit (21) being connected to the said sub-assembly before its separation from the said robot (1) and a second unit being connected to the said sub-assembly after its separation from the said robot, in place of the connecting part (6c) of the said robot.
4. Method according to one of the preceding claims, characterised in that it consists of permanently supplying the said spray gun (9) with air for forming a bearing between parts moving relative to the spray gun.
5. Station for changing a product (10) in an installation for spraying a coating product, the said installation comprising at least one robot (1), capable of moving a spray gun (9) and a reservoir (8) associated therewith, facing objects to be coated (3), the said station comprising at least two zones (11, 12) for cleaning-filling the said reservoir (8), characterized in that each of the said zones is capable of receiving a sub-assembly (7, 7') formed of a reservoir (8, 8') and a spray gun (9, 9') while this sub-assembly is detached from the said robot (1), means (21, 27, 35) being provided for cleaning and/or filling the said reservoir and the said spray gun in each of the said zones.
6. Station according to claim 5, characterised in that the said means comprise two movable units (21, 27, 35) capable of being connected independently in two connection zones of the said sub-assembly (7), a first unit (21, 27) being capable of being connected to the said sub-assembly mounted on the said robot (1) while a second unit (35) is capable of being connected to the said sub-assembly in place of the connecting part (6c) of the said robot.
7. Station according to claim 6, characterised in that the said first unit (21, 27) includes means for connection between a source of compressed air and a bearing formed in the said spray gun (9) between two parts in relative movement.
8. Station according to either of claims 6 or 7, characterised in that the said second unit (35) carries a cylinder (36) of which the rod (37) is capable of manoeuvring a piston (8a) of the said reservoir (8) in particular for purging the said reservoir.
9. Station according to one of claims 5 to 8, characterised in that it includes means for locking a sub-assembly in each of the said zones by rotating a ring (17, 18) surrounding the said sub-assembly (7, 7') and capable of cooperating with raised portions (7b, 7'b) of the said sub-assembly so as to drive the said sub-assembly in rotation (F₆) with respect to the said robot.
10. Station according to claim 9, characterised in that the said ring (17, 18) is controlled in rotation, between a locking position and an unlocking position of the said sub-assembly, by a cylinder (13).

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