US3606162A - Programmed means for imparting compound motion to a spray gun - Google Patents

Programmed means for imparting compound motion to a spray gun Download PDF

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Publication number
US3606162A
US3606162A US853911A US3606162DA US3606162A US 3606162 A US3606162 A US 3606162A US 853911 A US853911 A US 853911A US 3606162D A US3606162D A US 3606162DA US 3606162 A US3606162 A US 3606162A
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United States
Prior art keywords
spray gun
axis
coating
carriage
axes
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Expired - Lifetime
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US853911A
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English (en)
Inventor
Ernst Lehmann
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Gema Switzerland GmbH
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Gema AG
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Assigned to RANSBURG-GEMA AG, A SWITZERLAND CORP reassignment RANSBURG-GEMA AG, A SWITZERLAND CORP ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: GEMA AG APPARATEBAU, A CORP. OF SWITZERLAND
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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
    • B05B13/0431—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 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/08—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using plugboards, cross-bar distributors, matrix switches, or the like

Definitions

  • a plurality of such program controlled spraying apparatus may be mounted along a work-piece coating line to automatically perform all the required coating steps on workpieces of a complicated shape.
  • the present invention relates to a spraying apparatus for automatically coating workpieces with coating material by means of a spray gun.
  • the workpieces to be coated are moved by a conveyer past one or a plurality of spray guns.
  • the guns are either stationary or are arranged to swing up and down or to and fro, the deflection and the central point of this swinging movement usually being adjustable.
  • each individual workpiece is given an additional rotary movement while passing across the spray jet.
  • s ecial guns are also used, which produce a conical spray jet having a wide angle of cone and which are automatically caused to enter into the tubular workpiece.
  • satisfactory layers of uniform thickness cannot be produced with such or similar known devices on articles of complicated shape.
  • spraying plants composed of a plurality of individual spraying devices are used, in which the coating of each workpiece is effected in several successive stages.
  • a spraying plant is generally designed with the aid of experimental coatings made on test workpieces, so that such a finished plant usually is suitable only for a single workpiece shape as originally provided and a conversion to coat other shapes is only possible with great difficulty. If one of the spray guns fails during operation of the plant, the coating errors thus produced must be corrected afterwards by means of hand operated spray guns.
  • the invention has for its object the provision of a spraying apparatus which enables the automatic coating of workpieces of complicated shape in satisfactory manner and which makes it possible to build spraying plants according to the principle of unit construction, which can be more universally used than the known plants and which avoids the necessity of having to correct by hand those coating errors produced by failures of any of the spray .guns.
  • the spraying apparatus comprises a carrier head, a spray gun mounted on the carrier head, a lifting stand supporting said carrier head, controllable driving means for moving said carrier head up and down, and a program control device adapted to be set to a sequence of operating steps for controlling the operation of said carrier head driving means.
  • the lifting stand is mounted on a carriage which is movable along a guide by means of a controllable carriage-drive device, said carriage drive device preferably being controlled by a program control device adapted to be set for a sequence of operating steps.
  • the lifting stand-carriage together with its guide and its carriage drive device may be mounted on a support movable in the horizontal plane at right angles to the carriageguide by a controllable drive device and said support drive device may be controlled by a program control device adapted to be set to a sequence of operating steps.
  • FIG. 1 is a perspective view of a complete spray gun apparatus having program control means with a crossbar distribution device
  • FIG. 2 is a view in elevation of the programming part of the control means
  • FIG. 3 is a basic circuit diagram for a program control given by way of example, and
  • FIG. 4 is a plan view of an automatic spraying plant comprising a plurality of spraying apparatus of FIG. 1.
  • the apparatus shown schematically in FIG. 1 comprises a spray gun I constructed for electrostatic powder coating.
  • This spray gun is mounted on a carrier head 2 for rocking movement about a horizontal axis 3.
  • the gun I may be adjusted and clamped by hand in the adjusted position so that the axis of the spray jet is situated, for example, in a horizontal plane, or is inclined at any desired angle with respect to the horizontal.
  • the carrier head 2 is fixed to a lifting stand 4 whose lifting column 6 mounted on a base 5 is extensible and retractable in vertical direction yy by a driving device 8.
  • the driving device advantageously comprises a direct current motor which can tolerate frequent switching without disturbances, for example, a so-called disc-armature motor.
  • Direction of rotation, speed of rotation and running time of the motor are controlled by a program control device 9, described in detail later in this applicatin, so that the spray gun is moved up or down for a predetermined distance and at a predetermined speed.
  • an electric bridge circuit is preferably used, in which a determined theoretical value is compared with the actual value given by a displacement pick-up of known construction and when the values are equal the driving control device 8 is switched out or switched over by a stepon pulse to another mode of operation.
  • the spray gun I is guided along a path of motion consisting of a sequence of straight line sections with the speed of the gun and a predetermined portion of the powder dosage being allocated to each line section.
  • the possible path of motion of the spray gun consists of a sequence of vertical line sections, and each line section of the sequence is determined by the ordinate value of its end point.
  • the control device 9 contains a crossbar distribution panel 11, on which the theoretical ordinate value, the speed of movement of the gun 1 (motor r.p.m.) and the powder dosage can be set for each of the line sections to be covered.
  • the program control device of the entire apparatus will be explained in greater detail in a particular example later in the application.
  • a small spray plant in which only workpieces of simple shape are to be coated, will therefore include one or more spray gun lifting stands 4 of the type shown, their bases being placeable on wheels if the lifting stands are to be easily transportable.
  • the axis of the spray jet may easily be improved and perfected. It often is required that the axis of the spray jet shall be horizontal over a certain operating section and over another section it shall be inclined with respect to the horizontal.
  • the axis of rotation 3 of the spray gun I is operatively connected to a motor 12 which is mounted on the carrier head 2 and is covered in dust proof manner by a casing 13, as shown in FIG. 1.
  • the spray jet axis from the spray gun I be adjustable over a large angle in steps of for example
  • the control of the drive motor 12 of the rotary axis 3 is then advantageously effected by the crossbar distribution panel 11, so that for each operating step, the vertical inclination of the spray jet axis can also be adjusted in addition to the theoretical vertical distance of gun movement, the speed of such gun movement and the powder dosage.
  • the control of the drive motor 12 may also be carried out independently, each adjustment of the angle of inclination of the spray gun being considered as a separate coating step.
  • the necessary number of step axes to be provided in the crossbar distribution panel is then greater, but the mode of operation of the apparatus is also more universal and more precise.
  • cylindrical surface parts of workpieces may be coated by bringing the rotary axis 3 of the spray gun 1 in a first operating step into alignment with the axis of the cylindrical surface part and then moving the spray gun about its axis in the following operating steps, so that the spray jet sweeps once or several times over the surface part to be coated.
  • the lifting column 6 is rotatably mounted to base 5 so as to be rotatable about its axis.
  • the rotation of the lifting column 6 is effected by a motor 12' which is accommodated in dust-pro of manner in the housing 7 located in the base of the column, and is controlled in the same manner as the driving motor 12 for the rotary axis 3 of the gun 1.
  • the spray gun may thus also effect a pivoting movement in the horizontal plane.
  • the base 5 of the lifting stand 4 is mounted on a carriage 14 which is guided along the rail 24 running at right angles to the vertical axis of the column 6.
  • the spray gun is moved to and fro in the second orthogonal space coordinate axis x-x.
  • the carriage 14 is driven by means of a geared motor 15 operating through an arrangement of chains and chain wheels, the motor being controlled by the program control device 9 and coupled with a displacement pickup in order to derive a signal indicating the actual distance travelled by carriage 14;
  • the program control device 9 is constructed in a manner similar to that already described briefly above.
  • Bellows 17 are arranged between the ends of the carriage 14 and the housings 16, which bellows, together with the housings 16, seal the drive and guide means of the carriage 14 in dust-tight manner.
  • Any other suitable type of drive means may be chosen instead of a chain drive, such as for example a hydraulic cylinder with servo-valve.
  • This part of the apparatus with carriage, guide rail and drive means is advantageously constructed as a separate unit, the carriage 14 being so arranged that the lifting stand 4 may easily be secured thereon, for example, by overplugging.
  • carriages 14', 14" of the previously described type are mounted on a support platform 18 at a sutficient distance from one another and on parallel guide rails 24', 24", so that the assembly of carriage 14 carrying the stand 4 can be secured by its protective housings 16 to carriages 14' and 14'.
  • FIGS, 2 and 3 show details of a program control device 9 given by way of example, having a crossbar distributor 11 of the type that has already been briefly explained hereinabove.
  • the front panel of the control device 9 has a plurality of vertically and horizontally aligned holes 19.
  • Plugs 20 may be inserted as desired into the holes and each inserted plug connects two intersecting bars of the crossbar distributor.
  • This pattern of holes includes: The command axes B B B for moving the spray gun in the direction of the orthogonal space axes, Bill and BB for rotating the spray gun about the axes xx and y'y', B for the advance speed and E for the powder dosage, a number of theoretical value axes for setting corresponding theoretical values, only ten axes W0W9 for a step-by-step movement of the spray gun in the direction of the orthogonal space axes having been shown in FIG.
  • FIG. 3 shows the basic circuit diagram for a control circuit of this type, but for the sake of clearness only the control of the spray gun movement in the direction of the orthogonal space axes x, y, z has been shown in detail.
  • Each command axis bar B to B is connected to a relay R1 to R7.
  • Each of the stepping-bars S1 to S5 crossing the command bars is connected to one of the contacts a to a5 situated in a plane of a rotary switch Dr, and the wiper 21a of this rotary switch plane is connected to a current source (not shown) for energising the relays R1 to R7.
  • Each relay R1 to R7 has a number of normally-open contacts r which are connected in the respective control circuit with the corresponding theoretical value bars.
  • FIG. 3 shows in greater detail a DC. follower control for the movement of the spray gun in the direction of the orthogonal space axes.
  • Each of the stepping bars S1 to S5 crossing these theoretical value bars is connected to one of the contacts b1 to b5 lying in another plane of the rotary switch.
  • One end of the bleeder chain Sp is connected to one pole of a control voltage source B and its other end to a series of normally-open, parallel connected contacts r11, r12, r13 of the relays R1, R2, R3, connected in parallel.
  • a lead runs from each normally-open contact to the potentiometer W C i1, WG2 or WG3 of the associated displacement pick-up and from there to the other pole of the control voltage source B.
  • the theoretical value bars W to W6 are connected t the individual stages of a voltage divider cons sting of the bleeder chain Sp, and the wiper 21b of this rotary switch plane is connected at an input, the theoretical valueinput, of a bridge amplifier BV, the other in t of which, the actual value input, is connected to the tappings of the displacement-pickup potentiometers WGl, WG2, WG3 by a second set of operating contacts r21, r22, r23.
  • Power amplifiers LVI, LVZ, LV3 are connected to the output of the bridge amplifier BV via further normally open contacts r31, r32, r33 of the relays R], 1 12, R3, which power amplifiers control or feed the drive axes S1, S2, S3 for moving the lifting column or the carriages in the apparatus described.
  • the relay R3 is energised when the wipers of the rotary switch reach the stepping bars S3, and its contacts r13, r23, r33 close.
  • the dlsplacement pickup-potentiometer W03 is switched in and the bridge amplifier receives at its two inputs the corresponding theoreticaland actual-value signals. If the two signals are different, the differential voltage is amplified in the bridge amplifier and, according to the dctunmg of the bridge, a polarized (left-right) signal 1s transmitted via the contacts r33 to the power amplifier LV3. corres d. ing to this signal, the drive motors in the carriage units are set in motion and the unit with the lifting column is shifted in z-direction until the actual value signal is the same as the theoretical value signal. When the signals are equal a stepping comparator circuit pulse i transmitted by the bridge amplifier or comparator circuit BV via a second output 0 to the rotary selector Dr d its wipers scan the following stepping bar 54.
  • a program control d vice operating according to a principle of this type or like principle is familiar to any skilled person. Cir details are determined by special wishes or requirements and many variations are possible. Thus for example the setting of the theoretical value for the different length of path may be effected in decadic manncnmstead f in step-by-step manner, corresponding decoding dzvlccs being for example connected to the ClfCtllt, WhtI'Cby h number of plug holes in the crossbar distribution panel is reduced.
  • the program control device may also be constructed so that during an operating step, a plurality of commands may be executed simultaneously, cg. a
  • a. stepping pulse is only issued to the rotary switch when all partial movements have come to an end.
  • the mode of operation of the spraying apparatue h ll now be more clearly explained by reference to a simple example of coating an article.
  • the box shown in FIG, 1 which is open on one side shall be electrostatically coated with a powder. It is assumed that the box shown can be coated by moving the spray gun I over a continuous path 22 composed of straight line sections e tending in the direction of the orthogonal space axes, This path of motion is shown as a dashed l ne in FIG, 1 and consists, as may be seen, of a first lme section in x-direction, followed by a line section in z-directirm and a line section in y-direction.
  • the whole program is advantageo l divided into stages, and the first stage shall include for example the above-mentioned steps.
  • the automatic stepping action of the rotary switch Dr is for example switched off by opening a switch 23 and the rotary switch is set by hand to the individual step-by-step bars S1 to S5.
  • the first program stage is plugged step by step.
  • the theoretical value axes W0 to W9 are designed for step-by-step advance having a step length of for example 5 cm.
  • the spray gun In the first operating step, the spray gun is brought into starting position (position I in FIG. 1), to which end it is assumed that the gun must be raised by 15 cm. On the stepping axes S1 (FIG. 3), accordingly the command axis B and the theoretical value W3 are plugged. In the next operating step, the gun should be moved 25 cm. to the left. Therefore, the command axis B, and the theoretical value W5 are plugged on the stepping axes S2. In the third operating step, the spray gun shall move forward in z-direction by 20 cm., and to this end, the command axes B2 and the theoretical value W4 are plugged on the stepping axes S3.
  • the upward movement of the spray gun by for example 20 om, desired in the fourth operating step, is obtained by plugging the command axis By and the theoretical value W7 on the stepping axis S4.
  • the gun shall move to the right by 10 cm., and consequently the command axis Bx and the theoretical value W3 are plugged on the stepping axis S, since, in the preceding y-step, W4 was plugged.
  • the gun is brought back and :when automatic operation is switched-in, a test spraying is effected. Any possible plugging errors are then corrected and the next program stage is plugged. When the whole program has been satisfactorily plugged, the automatic coating of a series of workpieces can begin.
  • an automatic coating plant For workpieces of complicated shape, automatic coating plants are generally required, as has already been mentioned. As shown in FIG. 4, such an automatic coating plant may easily be assembled by making use of the above described spraying apparatus.
  • one or more complete spraying apparatus 27 as described and also parts of such apparatus 28, 29 are arranged along a production line through which the workpieces 30 to be coated pass.
  • a complete apparatus 31 At the end of the coating line, a complete apparatus 31 is arranged, which has to correct the coating errors produced for example by the failure of any one of the program stages. Should for example a spray gun in the coating line fail, the last complete apparatus 31 receives the program of this spray gun, either by being connected to the program control device of the nonfunctioning gun or by the program being plugged on its own crossbar distribution panel.
  • the automatic seriescoating is in this way not interrupted at all or only for a short time and all workpieces leaving the line are satisfactorily coated.
  • a coating plant assembled from the described spraying apparatus may easily be converted, completed and enlarged, according to the actual coating requirements.
  • Spraying apparatus for automatically coating workpieces with coating material, comprising a carrier head,
  • controllable driving means for moving the carrier head a program control device adapted to be set to a seup and down, quence of operating steps for controlling the movea program control device adapted to be set to a sement of the carrier head driving means,
  • an the program control device further comprises a scanning the program control device for the controllable supdevice for control signal carriers.
  • port drive means comprises a comparator circuit to 3.
  • Spraying apparatus for automatically coating workcompare the theoretical value signals set on the assopieces with coating material, comprising ciated program control device with the actual signal a carrier head mounted for pivoting movement about a value received by the displacement pick-up and to vertical axis, transmit to the controllable support driving means a spray gun mounted on the carrier head for tilting control signals corresponding to the signal value difmovement in a vertical plane about a horizontal ferences.
  • controllable carrier head driving means for moving the US. Cl. X.R.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Spray Control Apparatus (AREA)
  • Road Repair (AREA)
US853911A 1968-10-25 1969-08-28 Programmed means for imparting compound motion to a spray gun Expired - Lifetime US3606162A (en)

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DE19681805145 DE1805145A1 (de) 1968-10-25 1968-10-25 Einrichtung mit Spritzpistole

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US20120067279A1 (en) * 2010-09-21 2012-03-22 Hon Hai Precision Industry Co., Ltd. Conveying device and deposition device using same
US20160107207A1 (en) * 2014-10-06 2016-04-21 Ecoserv Technologies, Llc Apparatuses, systems, and methods for cleaning
US10413929B2 (en) * 2014-01-16 2019-09-17 Dürr Systems GmbH Protective shield device for a travel rail
CN110314907A (zh) * 2018-03-29 2019-10-11 涩谷机器株式会社 清洗装置及其动作设定方法
US10632512B2 (en) 2017-05-25 2020-04-28 Ecoserv Technologies, Llc Devices, systems, and methods for cleaning vessels
US11065655B2 (en) 2016-10-17 2021-07-20 Ecoserv Technologies, Llc Apparatuses, systems, and methods for cleaning

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JPH1094745A (ja) * 1996-09-25 1998-04-14 Mitsubishi Heavy Ind Ltd 塗装工具
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JP5383860B2 (ja) * 2012-04-26 2014-01-08 ファナック株式会社 ロボット塗布システム
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DE1805145A1 (de) 1970-09-03

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