• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This method allows the application of a coating product on a part (13) moved by a conveyor (12), along which is disposed at least one sprayer (62.1, 62.2). It comprises automated steps of determining in a fixed coordinate system (X12, Y12, Z12) the coordinates of the points (A1, B1, C1, A2, B2, C2) of one or more lines (L1, L2) of profile outside the room, distributed over the length of the room, to be allocated to each sprayer the points of each outer profile line that are in its spray field, to identify, from among the points awarded to each sprayer, the nearest point (A1, A2; B1, B2) of the sprayer for each outer profile line, to be determined for each sprayer, a tracking line (L3, L4) passing through all the nearest points (A1, A2, B1, B2) of the sprayer identified in step c), and to establish a set trajectory for each sprayer according to the points of the tracking line (L3, L4) so as to automatically and independently adjust the application distance of each sprayer by function of the pr ofil outside the room.
    公开号:FR3032633A1
    申请号:FR1551330
    申请日:2015-02-17
    公开日:2016-08-19
    发明作者:Strat Cedric Le；Philippe Provenaz；Eric Prus；Herve Brochier-Cendre
    申请人:Exel Industries SA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a method for applying a coating product to a part displaced by a coating material. conveyor and coating application apparatus with which this method can be implemented. In a known manner, EP-A-0 706 102 discloses a spray installation of a coating product comprising a conveyor on which are suspended one or more spray parts and sprayers which are arranged along the conveyor. The installation also includes a parts detection system in the field of application of sprayers. The sprayers are automatically controlled to spray the coating product only if the presence of a part is detected in their field of application. This installation has the disadvantage that the application distance of the sprayers is not adjusted according to the template of the parts conveyed. FR-A-2 855 081 addresses this technical problem and discloses an installation comprising a first imprecise spraying column, which does not take into account the geometry of the part. This first column is provided with a reciprocating robot having several vertically movable sprayers in block. This first column does not allow to apply a uniform thickness of paint or powder on the entire room, the installation also includes a second column, called retouching or pre-touch, depending on whether it is arranged respectively downstream or upstream of the first column. The purpose of this second column is to apply the product to difficult areas of the part in order to improve the finishing quality. It is equipped with several trolleys supporting paint application guns. These carriages are movable independently of each other in a vertical direction and in a horizontal direction perpendicular to an axis of movement of the conveyor. An oblong opening extending in the direction of the height is practiced in the cabin for the passage of the guns. The parts entering the cabin each have a predetermined profile, which is stored in a table and stored in a control unit. In particular, the length, the width and the depth of the piece, that is to say the set of dimensional ribs of each piece, are known. The pistols of the second column are then positioned according to the prerecorded ribs to obtain a correct application distance in their respective field of application.
    [0002] Furthermore, EP-A-2 712 680 discloses a method for applying a coating product comprising firstly a step of detecting the dimensional dimensions of a part to be coated. As explained in paragraph [0052], this method is implemented on parts whose profile is pre-recorded in a table. In the example of the figures, these parts are chosen to be generally rectangular and may comprise one or more recesses on the front side and / or on the rear side. The width of a part to be coated is determined by an incremental encoder. The depth and width of the possible recesses or recesses in the room are determined by means of an optical scanning device, formed by two sensors arranged on either side of the room.
    [0003] Each piece is classified in the table according to its dimensional dimensions. For example if its width is between 0 and 25% of a nominal value, the piece will be classified in a certain category. Depending on its classification in the table, specific parameters are assigned to the sprayers arranged along the conveyor. In particular, these parameters include, inter alia, the application distance, i.e. the distance between the surface to be painted and the sprayer. The two methods of FR-A-2 855081 and EP-A-2 712680 do not take into account possible defects related to the attachment of parts on the conveyor. In addition, they only apply to parts whose profile is prerecorded in memory, that is to say they do not apply to parts of any left shape.
    [0004] It is to these drawbacks that the invention more particularly intends to remedy by proposing a method of applying a coating product which makes it possible to automatically and independently adjust the application distance of each sprayer, to adapt left-hand parts or poorly hung parts, as the work progresses along the conveyor. This results in a correct application distance and a good quality of finish. To this end, the invention relates to a method of applying a coating product to a part moved by a conveyor, along which is disposed at least one mobile sprayer in an oblique plane or perpendicular to an axis of movement of the conveyor . This method comprises at least one of the following automated steps, consisting of: a) determining in a fixed reference, the coordinates of the points of one or more outside profile lines of the part distributed over the length of the part, b) assigning at each sprayer the points of each outer profile line in its spray field, c) among the points assigned to each sprayer, identify for each outer profile line the nearest point of the sprayer, 3032633 3 d) determining for each sprayer, a tracking line passing through the orthogonal projection of all the nearest points identified in step c) in a plane passing through an axis of the sprayer and parallel to the axis of movement of the conveyor), and to 5 e) establish a set trajectory for each sprayer according to the points of the tracking line so as to automatically and independently adjust t the distance of application of each sprayer according to the external profile of the part. Thanks to the invention, a set trajectory is established for each sprayer according to the jig of the conveyed piece. The jig of the conveyed part is determined by calculating, in a fixed reference, the coordinates of the points of several outer profile lines of the part to be coated distributed over the length of the part. Each outer profile line is segmented into several sections, each corresponding to the points of the outer profile line that belong to the field of application of a sprayer. After having identified the point of each section which is closest to the sprayer, it is possible to establish a tracking line passing through the points closer to the sprayer, on the basis of which a target trajectory is assigned to the corresponding sprayer. This method therefore takes into account parts having a left shape or that are poorly attached to the conveyor.
    [0005] According to advantageous but not obligatory aspects of the invention, such a method of applying a coating product may incorporate one or more of the following characteristics, taken in any technically permissible combination: The method comprises another step of measuring the position of each piece along the conveyor, while step a) consists in determining the coordinates of the points of several outer profile lines distributed at regular intervals along the length of the part. - The method comprises another step of controlling each sprayer to project the coating product only if the part is in its spray field. Each tracking line is digitally extended on both sides by fictitious measuring points for projecting product onto the front and rear faces of the part. - The fictitious measuring points are positioned on the axis of the conveyor if the front or rear face is intersected by the axis of the conveyor and are positioned axially in the extension of the first or the last point of the tracking line if the front face 35 or rear is not intersected by the axis of the conveyor. - The imaginary measuring points are distributed on a segment parallel to the axis of the conveyor, the length of which is equal to the width of the field of spray of the sprayer. Step e) comprises sub-steps consisting of: f) assigning a half-ellipse displacement curve at each point of the tracking lines, the nominal application distance of the corresponding half-axis sprayer of the displacement curve, g) determining the target trajectory by establishing an envelope line of the cloud of points formed by the points of each displacement curve 10 assigned to step f). - The method includes another step of checking whether each sprayer is able to follow its trajectory, and if it is not able, to establish a new trajectory, which best tracks the set trajectory or to retreat to the maximum the sprayer to avoid a collision between the part to be coated and the sprayer. 15 - At least one of the sprayers is able to perform a combined vertical and horizontal movement in its mobility plan, while the nearest point of the sprayer in its field of application is updated during the vertical movement of the sprayer and that the Application distance of the sprayer is adjusted automatically according to the coordinates of the nearest point. A step of calculating the trajectory of the sprayers capable of performing a combined movement comprises sub-steps consisting in: m) digitally prolonging an outer profile surface, formed by the set of outer profile lines, by points of rotation, fictitious measurements on both sides of the length direction, n) assigning a half-ellipse-shaped displacement curve to each actual measurement point belonging to the outer profile lines and to each fictitious measuring point, the the nominal distance of application of the sprayer corresponding to half of the major axis of the displacement curve, p) determining an envelope area of the cloud of points formed by the points 30 of each displacement curve assigned to step n), and q) establishing a set path inside this envelope surface. In step a), each outer profile line is formed by line segments connecting different actual measurement points and in that, in step b), one or more outer profile lines are completed by one or more two artificial measurement points at the intersection between the right segments and the lower and / or upper limits of the spray field of each sprayer.
    [0006] The invention also relates to an installation for applying a coating product on a part moved by a conveyor, along which is disposed at least one sprayer, movable in an oblique plane or perpendicular to an axis of movement of the conveyor. . This installation comprises at least one of the following means: a first means for determining, in a fixed reference, the coordinates of the points of one or more outside profile lines of the part, distributed over the length of the part; a second means for allocating to each sprayer the points of each outer profile line which are in its spray field; - third means for identifying, for each outer profile line and among the points assigned to each sprayer, the closest point to the sprayer; a fourth means for determining for each sprayer a tracking line passing through the orthogonal projection of all the nearest points in a plane passing through an axis of the sprayer and parallel to the axis of the sprayer; moving the conveyor, and - a fifth means for establishing a set trajectory for each sprayer according to the points of the tracking line. e way to automatically and independently adjust the application distance of each sprayer according to the outside profile of the part. According to advantageous but non-compulsory aspects of the invention, a coating product application installation according to the invention may incorporate one or more of the following characteristics, taken in any technically permissible combination: - The installation comprises a column sprayers disposed on one side of the conveyor. - The first means includes a sensor, disposed on one side of the conveyor, upstream of the sprayer or sprayers. The installation comprises at least two sprayer columns, which are arranged on either side of the conveyor, these columns being preferably arranged in pairs, whereas the sprayer columns of each pair are arranged side by side. . - The first means includes two sensors, which are arranged on either side of the conveyor, upstream of the sprayer or sprayers and each having a vertical measurement plane. The sensors are offset relative to each other along the axis of movement of the conveyor. 3032633 6 - The sensors are laser radars, generating a laser beam scanning the height of the room. Two mirrors are arranged above and below each sensor, these mirrors being oriented to reflect the laser beams of the sensor in order to reach shaded areas of a part to be coated. The invention and other advantages thereof will appear more clearly in the light of the following description of two embodiments of a method of applying a coating product in accordance with its principle, given only to By way of example and with reference to the accompanying drawings, in which: FIG. 1 is a top view of an installation for applying a coating product according to the invention, FIG. in perspective of a piece moved by a conveyor belonging to the installation of FIG. 1, FIG. 3 is a front view of the entry of a cabin belonging to the installation of FIG. 3 to 6 are diagrams illustrating, in plan view, different configurations for attaching a part to a conveyor, FIG. 7 shows the path of a sprayer. of the installation of Figure 1, along its axis of pulv With respect to a measuring point belonging to a part, FIG. 8 shows the path of a sprayer of the plant of FIG. 1 along its spray axis with respect to a set of measuring points. 9 is a diagram showing a modification of the trajectory of a sprayer of the plant of FIG. 1 to anticipate a collision with a part to be coated, FIG. 10 is a diagram representing the treatment of the shadow areas in the template detection of a room, and - Figure 11 shows a second embodiment of a coating product application installation, in which two mirrors are arranged, respectively above and below each laser sensor belonging to the installation. In Figure 1 is shown a plant 1 for applying a coating product. The installation 1 is configured to apply the product on parts 35 moved by a conveyor 12. As shown in Figure 2, the conveyor 12 is an overhead conveyor on which are suspended one or more parts 13 to be coated. X 12 3032633 7 designates an axis of displacement of the conveyor 12 and F1 denotes the direction of movement of the conveyor 12. In the following description, a longitudinal direction, that is to say going in the direction of the length of a piece, is parallel to the X12 axis.
    [0007] The installation 1 comprises a cabin 2 delimiting in the upper part a longitudinal opening o2 for the passage of the conveyor 12. The cabin 2 is provided with several lateral openings not shown for the passage of sprayers. In this document, the term "sprayer" should be interpreted broadly. Indeed, in the example of the figures, the sprayers are liquid paint sprayers, but the invention also applies, inter alia, to the powder projectors. Thus, the coating product may be paint, a varnish or a primer in the form of liquid or powder. In the example, two pairs 4 and 6 of vertical rows of sprayers are arranged on each side of the cabin 2. The sprayers arranged on the side of the pair 4 are "left" sprayers, while the sprayers arranged at the opposite, on the side of the pair 6, are "straight" sprayers. The pair 4 comprises two columns 40 and 42 of sprayers, each column comprising eight sprayers evenly distributed in the direction of the height. Likewise, the opposed pair 6 comprises two vertical columns of sprayers 60 and 62, each row comprising eight sprayers distributed in height with a regular interval. The two columns, sprayers 40 and 42, and the two columns, 60 and 62, are arranged side by side. The eight sprayers in Column 42 are numbered 42.1 to 42.8 from the highest sprayer to the lowest sprayer. Likewise, the eight sprayers of the opposite column 62 are numbered 62.1 to 62.8 ranging from the highest sprayer to the lowest sprayer. The sprayers of the columns 40 and 42 as well as the sprayers of the columns 60 and 62 are not arranged facing each other in the same horizontal plane so as to avoid interference during spraying as much as possible. This is especially important when the coating product is electrostatically charged.
    [0008] Each sprayer defines a spray axis according to which the product is projected. In the example of the figures, the spraying axis of each sprayer is horizontal and perpendicular to the axis of displacement X12 of the conveyor 12. In FIG. 2, the spraying axes of the sprayers 62.1 and 62.2 are referenced Y62.1 and Y62.2. More generally, Y62.i refers to the spraying axis of a sprayer 62.i, with from 1 to 8.
    [0009] Each sprayer is movable in a plane perpendicular to the axis of movement X12 of the conveyor 12, in particular along its axis. Indeed, each sprayer is mounted on a not shown carriage, which is slidable in a rail also not shown. The carriage can, for example, be translated by an electric motor. Each mobile carriage is controlled on the move by an electronic control unit not shown. Two sensors 8 and 10 are arranged upstream and outside the spray booth 2. These two sensors 8 and 10 are arranged on each side of the conveyor 12, respectively to the right and to the left, and are provided for measuring the template. 10 sensors entering the cabin 2. The sensors 8 and 10 are laser sensors, called "laser radar", "laser scanner", or "lidar" .They operate by scanning, that is to say that they generate a laser beam that moves in a vertical plane, respectively referenced P8 or P10, at an angle of about 270 °. These laser sensors make it possible to measure the distance between a point of an object targeted by the laser beam and the sensor. Thus, these sensors make it possible to determine the coordinates, in a fixed reference, of a series of points belonging to the intersection between the plane of the sensor and a part 13 to be coated. This series of points forms an outer profile line of the part 13. This outer profile line is then contained in a vertical plane. As the workpiece 13 moves along the axis X12 of the conveyor 12, each sensor measures in practice several outer profile lines, which are distributed along the length of the workpiece with a regular interval. This interval depends on the speed of the conveyor 12, the scanning frequency of the sensor 8 or 10 and the inclination angle of the measuring plane of the sensor relative to a vertical plane perpendicular to the axis X12. In the example, the planes P8 and P10 are respectively inclined by an angle A8 and A10 with respect to a vertical plane V8 or V10 perpendicular to the axis of displacement X12 of the conveyor 12. As a general rule, a sensor measures a wall thickness even thinner as its measurement plane is inclined relative to a plane perpendicular to the axis X12 of a large angle. The sensors 8 and 10 are shifted relative to each other along the axis X12 to be able to deduce the speed of the conveyor 12. The speed of the conveyor 12 can also be measured directly by a suitable sensor, not shown in the figures. As can be seen in FIG. 3, the sensors 8 and 10 are positioned at mid-height with respect to the height of the cabin 2 to minimize the shadow areas, that is to say the areas that are inaccessible for the beam laser sensor because of the geometry of the piece. These shadows are actually areas hidden by the room itself.
    [0010] The installation 1 also comprises an electronic control unit (ECU) 100, which is diagrammatically shown in FIG. 3. The ECU 100 is configured to receive measurement signals coming from the sensors 8 and 10. These signals include in particular the coordinates of the points of each outer profile line in the fixed reference 5. For the sake of clarity, the ECU 100 is connected to only two sprayers in FIG. 3, respectively 62.7 and 62.8. However, the ECU 100 controls each sprayer spraying columns 40, 42, 60 and 62, that is to say it is able to send set signals to each sprayer. These setpoint signals correspond to displacement values to be made for each sprayer to reach a certain position along its axis. Furthermore, each sprayer has a field of application, or a field of application, which corresponds to an area in which it is capable of projecting the coating product. This zone corresponds globally to a parallelepipedal volume. FIG. 3 shows the fields of application Z42.2 and Z62.2 respectively of sprayers 42.2 and 62.2. The sprayers of the columns 42 and 62 are arranged opposite each other. Thus, zones Z42.2 and Z62.2 are combined. A method of applying a coating product by means of the spraying installation 1 is described below. This method comprises several automated steps, of which a first step of evaluating the template of each piece 13 entering the cabin 2. To do this, the sensors 8 and 10 determine one or more outer profile lines on each side of the part, that is to say on the left and right of the conveyor 12. An outer contour is thus obtained. complete part. As the workpiece advances along the X12 axis of the conveyor 12, the outer contour of the workpiece, which is measured by the sensors 8 and 10, may vary. This variation of template is detectable by the sensors 8 and 10 because each of these measure the coordinates of the points of the outer profile line which is contained in its measurement plane, P8 or P10, and this at each moment. This first step therefore consists in determining the coordinates, in a fixed reference, of the points of one or more outer profile lines distributed at regular intervals along the length of the part 13. The number of external profile lines depends on the frequency sensor 8 or 10, the advancing speed of the conveyor 12 and the length of the workpiece. Here, the fixed marker is a Cartesian marker formed by the axis of movement of the conveyor X12, a horizontal axis Y12 which is perpendicular to it and a vertical axis Z12.
    [0011] In the example shown in Figure 2, the conveyed part 13 is a truck body. This truck body 13 is poorly attached to the conveyor 12, so that it is bent about 10 ° with respect to a vertical plane. Precisely, the two methods described in FR-A-2 855081 and EP-A-2 712680 would not allow to obtain a correct application distance in this configuration. In this figure, two outer profile lines L1 and L2 are shown. The truck body is only partially shown in FIG. 2 for the sake of clarity. Then, each outer profile line is divided into several sections, depending on the arrangement of the sprayers. Indeed, the position of the sprayers on a vertical axis, as well as the width of their field of application, or spraying, is known. It is therefore possible to determine in the field of application which sprayer is each point of an outer profile line. The points in the same field of application are thus grouped and together form a section of the outer profile line. Each section of the outer profile line is therefore assigned to a sprayer. This allocation step is performed by the ECU 100.
    [0012] For example, in the case of the outer profile line L1 in FIG. 2, a first section delimited between the points C1 and C2 is assigned to the sprayer 62.1, whereas a section delimited between the points C2 and C3 is assigned to the 62.2 sprayer arranged below. Then, the method comprises a step of, among the points assigned to each sprayer, identifying the closest point to it. This step is performed by calculating the distance, parallel to the Y12 axis, between each assigned point and the sprayer. Only the coordinate of the points of the profile line along the Y12 axis is therefore taken into account. This calculation step is also carried out by the ECU 100. In the example of FIG. 2, the closest point of the sprayer 62.i, for between 1 and 8, corresponds to the point having the coordinate according to FIG. the most important Y12 axis. This is point A1 for the 62.1 sprayer and point B1 for the 62.2 sprayer. The same operation is performed for each outer profile line of the part. Thus, the point A2 of the line L2 is the closest point to the sprayer 62.1 and the point B2 of the line L2 is the closest point to the sprayer 62.2.
    [0013] Each section of each outer profile line therefore comprises a point identified as being closest to the corresponding sprayer. It is therefore possible to determine, for each sprayer, a line passing through the nearest point of each line of external profile. In the example of Figure 2, the nearest points Al and A2 or B1 and B2 are located at the same altitude. However, to take into consideration the case where the nearest points are at different altitudes, each point identified as being the closest is projected orthogonally in a horizontal plane containing the axis of the sprayer concerned and parallel to the plane. X12 conveyor axis. A tracking line is assigned to each sprayer. This tracking line passes through the orthogonal projection of the point identified as being closest to the sprayer of each outer profile line. The tracking lines are therefore each contained in a horizontal plane. They therefore extend in the direction of the length of the part to be coated, unlike the outer profile lines which extend in the direction of the height. In the case of the truck body shown in FIG. 2, a tracking line L3 passing through the points A1 and A2 is assigned to the sprayer 62.1, whereas a tracking line L4 passing through the points B1 and B2 is assigned to the sprayer 62.2. The tracking lines assigned to each sprayer automatically program a trajectory to be followed for each sprayer when the workpiece 13 moves along the conveyor 12. The trajectory to be followed for each sprayer is programmed by the ECU 100 so that the latter maintains a correct application distance as part 13 advances on the conveyor.
    [0014] The tracking line of each sprayer is then supplemented by "fictitious" measuring points which make it possible to coat the axial end faces of the parts, that is to say the faces which are generally perpendicular to the axis of the sprayer. These imaginary measurement points extend each tracking line on either side of the part 13. These are points that are treated by the sprayers as real measuring points, whereas they do not belong to no room. However, these fictitious measurement points are considered by the sprayers as belonging to the part. They are positioned differently depending on the case. In Figures 4 to 6, it is considered a part 13 attached to the conveyor 12, shown in plan view. Moreover, in FIGS. 4 to 6 and 8, the fictitious measurement points are represented by triangles, whereas the actual measurement points measured by the sensors 8 and 10 are respectively represented by circles and by crosses. The circles correspond to the actual measuring points assigned to a right-hand sprayer, while the crosses correspond to the actual measuring points assigned to a left-hand sprayer.
    [0015] The front, or upstream, designates a direction going in the direction of the conveyor 12, that is to say in the direction of the arrow F1, while the rear, or downstream, designates a direction opposite to the direction of movement Fl of the conveyor 12. In the configuration of Figure 4, the part 13 is hung so that its rear end face E2 is intersected by the axis of the conveyor X12. Fictitious measurement points are added downstream of the actual measurement points to best coat the rear end face E2. These fictitious measurement points are each arranged on the axis of the conveyor X12. They extend the tracking line backwards. Fictitious measurement points are also added upstream of the actual measurement points to best coat the front end face E1. The front end face E1 is not intersected by the axis of the conveyor X12. Thus, the downstream fictitious measuring points are each arranged in the axial extension of the actual measurement points, ie circles in the example. In the example, only the right sprayer tracking line is completed with dummy measurement points. However, fictitious measurement points could also be added to the left sprayer's tracking line. In the configuration of FIG. 5, the part 13 is hooked up so that the end faces E1 and E2 are each intersected by the axis of the conveyor X12, the fictitious measuring points which extend the tracking line assigned to the right and / or left sprayers are therefore all arranged on the axis of the X12 conveyor. In the configuration of FIG. 6, the rear end face E2 is eccentric with respect to the axis of the conveyor X12, while the front end face E1 is intersected by the axis of the conveyor X12. The fictitious measurement points added upstream of the tracking line are therefore positioned on the axis of the conveyor X12, while the fictitious measuring points completing the downstream tracking line are arranged in the extension of the actual measurement points. This allows to project the coating product at best on the end faces E1 and E2.
    [0016] The fictitious measuring points are thus positioned on the axis of the conveyor X12 when the front face E1 or rear E2 is intersected by the axis of the conveyor and are positioned axially in the extension of the first or the last real measurement point of the tracking line if the front face E1 or rear E2 is off-axis with respect to the axis of the conveyor X12, that is to say when this face is not intersected by the axis of the conveyor. These fictitious measurement points are distributed on a segment parallel to the axis of the conveyor X12, whose length is equal to the width of the field of application of the sprayer. They are added numerically to each tracking line by the ECU 100. In FIG. 7 is represented the path of a sprayer seen from a mobile reference frame and in top view, in particular from a linked mobile reference frame. to a conveyed part. For clarity of explanation, the example chosen here is a measuring point 14 moving along an axis X14 parallel to the axis of the conveyor X12. As visible in this figure, the trajectory of the sprayer in a horizontal plane is in the shape of a half-ellipse and passes through points P1 to P7, which successively correspond to the positions of the sprayer along its axis during the displacement of point 14. This The half-ellipse is centered on the measuring point 14. When there is no part in the field of application of the sprayer, the latter is positioned as if it were to project on a point disposed on the X12 conveyor axis. When the part reaches the field of application of the sprayer, the latter retreats and then advances when the part leaves its spray field, so that it describes a path in the form of a half-ellipse. The sprayer then returns to the starting position, in which it is positioned as if to project onto a point disposed on the axis of conveyor X12. The point P4 corresponds to the point where the sprayer is in front of the measurement point 14. The distance d2 which separates the point P4 and the point 14, that is to say half of the major axis of the ellipse, corresponds to the nominal application distance of the sprayer. Positioning points for the sprayer are generated as a half-ellipse for each point of the tracking line. In other words, a half-ellipse displacement curve is assigned to each point of the tracking lines. This gives, for each line of tracking, a cloud of points, which is not represented in FIG. 8 for the clarity of the drawing. This cloud of points is contained in a horizontal plane passing through the axis of the sprayer. The ideal trajectory of the sprayer to maintain a proper application distance during the movement of the conveyor over the workpiece corresponds to an envelope line L100 of this scatter plot. This envelope line L100 passes through the point of each ellipse which is furthest from the axis of the conveyor X12. In FIG. 8, the distance d1 corresponds to the width, measured parallel to the axis X12, of the field of application of the sprayer and the distance d2 corresponds to the desired application distance for the sprayer. The L100 setpoint path is an ideal trajectory for the sprayer, which is established for each sprayer according to the points of the corresponding tracking line, so as to automatically and independently adjust the distance of application of each sprayer according to the external profile of the room.
    [0017] Furthermore, each sprayer is independently driven to project the coating product only if the part is in its field of application, or spraying. This is done automatically by the ECU 100 by locating each piece on the conveyor 12. More precisely, the measurements made by the sensors 8 and 10 also make it possible to locate each piece along the axis X 12 of the conveyor 12. By knowing the speed of the conveyor 12, it is possible to accurately predict when a piece to be coated will arrive in front of each sprayer. The ECU 100 is thus also able to selectively interrupt the spraying of each sprayer. This avoids projecting the product unnecessarily. The L100 setpoint path can not always be followed because of the recoil stresses of each sprayer. Each sprayer can not retreat as quickly as possible. The maximum displacement curve dmax of a right sprayer of the installation 1 as a function of time t is shown in fine line in FIG. 9, which represents a graph having for abscissa the time scale t and for ordinate the displacement dy of a sprayer along its axis, that is to say along an axis parallel to the axis Y12. In this graph, the fine-line curve passing through the rounds 5 corresponds to the trajectory established on the basis of the tracking line for the sprayer under consideration, this trajectory comprising real and fictitious measurement points. The points that are below the dmax curve correspond to positions that the sprayer can not reach in the allotted time. A zone Zi which is situated below the curve dmax and which is hatched in FIG. 9 is therefore an "inaccessible" zone for the sprayer. The method therefore comprises a step of checking whether each sprayer is able to follow its trajectory L100, in particular to avoid a collision. For this, the method provides for calculating the time required for each sprayer to reach its "safety" position. This safety position corresponds to a maximum withdrawal position, where the sprayer is outside the cabin 2, or at least as far as possible from the axis of the conveyor X12. There is thus no risk of collision with the parts conveyed. The method also provides for calculating the distance At that travels the part or pieces conveyed during this withdrawal time. In this way, it is possible to detect, by monitoring the part (s) on the distance At which precedes each sprayer, if a piece arrives too fast in relation to the capacity of the pulverizer and risks colliding with it. . If the geometry of the part to be coated is such that the envelope L100, that is to say the ideal trajectory to be followed for the sprayer, passes into the forbidden zone Zi, the sprayer becomes safe, that is, that is, it retracts as far as possible in order to avoid a collision with the object suspended from the conveyor 12. In practice, this recoil is effected in anticipation of the passage of the workpiece. On the other hand, if the envelope L100 does not pass through the forbidden zone Zi, but simply by one or more points of the maximum displacement curve dmax, it is possible to adapt the trajectory of the sprayer to avoid a collision, without, however, get safe and keep spraying. This new trajectory is shown in bold line in Figure 9. It bears the reference 100. More precisely, considering an intersection point E between the maximum displacement curve dmax and the envelope L100, the modified trajectory L'100 first skirts the maximum displacement curve dmax then resumes the trajectory L100 once the point E achieved.
    [0018] Thus, the sprayer does not collide with the workpiece and maintains a proper application distance at least over the second part of the path, i.e. on the part starting at the critical point E. Otherwise said, the trajectory The 100 follows at best the ideal trajectory L100. In the example of the part 16 illustrated in FIG. 10, the latter has a shape such that certain zones of the part are not accessible to the laser beam of the sensor 8 or 10. These zones are commonly called shadow zones. . Here, it is a shelf 18 which masks a certain portion of the part 16, the masked volume being hatched in Figure 10. In this case, the outer profile line is artificially completed by drawing a line segment between the successive points for which the sensor is able to measure the distance. These points therefore correspond to points G1 and G3 in FIG. 10. In order to determine which points of the outer profile line are assigned to a sprayer 42.i, with i between 2 and 7, it is appropriate to make the intersection between the line segment artificially drawn between the points G1 and G3 and the lower limit of the field of application of the sprayer 42.i, which is represented by a broken line rectangle in FIG. 10. The intersection between these two lines gives the point G2. G2 can therefore be considered as an "artificial" measuring point. G4 and G5 denote two points of the outer profile line. G5 is located at the intersection of the outer profile line with the upper limit of the field of application of the 42.1 sprayer. The section of the outer profile line that is assigned to the sprayer 42.i therefore extends between the points G2 and G5. The same operation can be performed to determine an artificial measurement point on the upper limit of the spray field of the sprayer under consideration. To overcome the delicate treatment of the shadow areas, it is possible to use, as shown in FIG. 11, two mirrors M1 and M2 disposed respectively above and below the laser sensor 8 and / or 10 to reflect a part of rays 25 from the sensor or sensors to reach the possible shadows of a part 16 having a particular geometry. The sensors 8 and 10 are indeed capable of emitting a laser beam on an angular sector equal to 270 ° in a vertical plane. The mirrors M1 and M2 are slightly inclined relative to a horizontal plane H. More specifically, each mirror M1 or M2 is inclined, with respect to the plane H, of an angle Al2 of between 20 ° and 70 °, preferably equal to at 45 ° In addition, the mirrors M1 and M2 are inclined relative to the plane H, opposite to each other, that is to say that they are oriented respectively upwards and downwards towards the part to be coated 16. Mirrors M1 and M2 are therefore oriented to reflect the laser sensor rays towards the shadow areas. By knowing the distance between the sensor 10 and the mirrors M1 and M2 and the angle of inclination of the mirrors, it is possible to deduce the distance, measured parallel to the axis Y12, between each point of the line of outer profile and the 3032633 16 sensor 10. This arrangement of mirrors thus makes it possible to dispense with the treatment of the shadow areas described above. In a variant that is not shown, another type of sensor may be used, such as an ultrasound sensor or an optical sensor, such as a camera.
    [0019] According to another variant not shown, at least one of the sprayers is capable of performing a combined vertical and horizontal movement in its plane of mobility, which is the plane orthogonal to the axis X12 of displacement of the conveyor 12. For example, each sprayer of this type can be mounted at the end of the arm of a multi-axis robot, in particular a six-axis robot or on a reciprocating robot, performing reciprocating movements in the direction of the height. In the latter case, the sprayer remains mounted on a carriage movable horizontally in translation. If the robot is capable of coating the entire part, the outer profile line is not cut off and all points on the outer profile line belong to the sprayer's field of application. The multi-axis robots each comprise an articulated arm 15 and perform reciprocating movements in the direction of the height and also follow a trajectory in the direction of the depth, that is to say parallel to the axis Y12 These robots have a movement speed much greater than that of the conveyor 12, for example of the order of 1 m / s, while the speed of the conveyor 12 is, for example, 1 m / min. The closest point of the sprayer in its field of application is updated throughout the vertical movement of the sprayer by the robot and the advancement of the part on the conveyor. The application distance of the sprayer is adjusted automatically according to the coordinates of the nearest point. In this case, the tracking line corresponds to a line corresponding to round trips in the direction of the height. Furthermore, the set trajectory of the sprayers capable of performing a combined horizontal and vertical movement is calculated in the following manner. An outer profile surface formed by the set of outer profile lines is defined. This surface is numerically extended by fictitious measuring points on both sides in the length direction. Then, a half-ellipse-shaped displacement curve is assigned to each real measuring point belonging to the outer profile lines and to each imaginary measuring point, the nominal application distance of the corresponding half-sprayer to the major axis of the displacement curve. An envelope surface of the cloud of points formed by the points of each affected displacement curve is then determined. The cloud points are distributed in all three dimensions, so the envelope surface is also called 3D mapping. The set trajectory is established inside this envelope surface.
    [0020] According to another variant not shown, the sprayer columns are not vertical but slightly inclined relative to the vertical axis Z12. According to another variant not shown, the measuring planes of the sensors 8 and 10 are perpendicular to the axis of displacement X12 of the conveyor 12, that is to say that the angles A8 and Al 0 are zero. According to another variant not shown, the conveyor is a conveyor on the ground, on which the parts to be coated rest. According to another variant not shown, the installation 1 comprises at least one bent sprayer, which is mounted at the end of a robot arm and which is provided for coating the upper surface of the conveyed parts with product. The spray axis is not parallel to the axis of movement of the sprayer. This sprayer is able to perform a combined horizontal and vertical movement in its mobility plane, which is orthogonal to the axis of displacement X12 of the conveyor 12. The distance of application of the sprayer is then also adjusted automatically according to the coordinates of the 15 nearest point in its spray field, thanks to the method detailed above. According to another variant not shown, the mobility plane of one or more sprayers is not perpendicular to the axis of the conveyor X12, but oblique with respect to this axis. The plane of mobility is therefore in this case a vertical plane forming with the axis X12 an angle, which is preferably between 45 ° and 135 °. This makes it possible to better paint the faces disposed at the longitudinal ends of the conveyed parts, that is to say the front and rear faces perpendicular to the axis of the conveyor X12. The technical features of the variants and embodiments contemplated above may be combined with one another to generate new embodiments of the invention.
    权利要求:
    Claims (18)
    [0001]
    CLAIMS1.- A method of applying a coating product on a part (13; 16) moved by a conveyor (12), along which is disposed at least one mobile sprayer (42.1-42.8, 62.1-62.8) in a plane oblique or perpendicular to an axis of movement (X12) of the conveyor, this method being characterized in that it comprises at least one of the following automated steps, consisting of: a) determining in a fixed reference (X12, Y12, Z12) , the coordinates of the points (A1, B1, C1, A2, B2, C2) of one or more lines (L1, L2) of outside profile of the part distributed over the length of the part, b) to attribute to each sprayer the points of each outer profile line in its spray field, c) from among the points assigned to each sprayer, identify for each outer profile line the nearest point (A1, A2, B1, B2) of the sprayer, (d) determine for each sprayer a line of tracking (L3, L4) passing through the orthogonal projection of all the nearest points identified in step c) in a plane passing through an axis of the sprayer and parallel to the axis of movement (X12) of the conveyor, e) establish a set path (L100) for each sprayer according to the points of the tracking line (L3, L4) so as to automatically and independently adjust the distance of application of each sprayer according to the outside profile of the part.
    [0002]
    2. Method according to claim 1, characterized in that it comprises another step of measuring the position of each piece along the conveyor (12) and in that step a) consists in determining the coordinates of the points. (A1, B1, C1, A2, B2, C2) of several outer profile lines (L1, L2) distributed at regular intervals along the length of the part.
    [0003]
    3. Method according to claim 2, characterized in that it comprises another step of controlling each sprayer (42.1-42.8, 62.1-62.8) to project the coating product only if the part is in its field of spray .
    [0004]
    4. Method according to one of the preceding claims, characterized in that each tracking line (L3, L4) is digitally extended on both sides by fictitious measurement points 19 to project the product on the front faces (El) and back (E2) of the room.
    [0005]
    5.- Method according to claim 4, characterized in that the fictitious measuring points are positioned on the axis of the conveyor (X12) if the front face (El) or rear (E2) is intersected by the axis of the conveyor and are positioned axially in the extension of the first or last point of the tracking line (L3, L4) if the front or rear face is not intersected by the axis of the conveyor. 10
    [0006]
    6. Method according to claim 5, characterized in that the fictitious measuring points are distributed over a segment parallel to the axis of the conveyor (X12), whose length is equal to the width of the field of spray of the sprayer (42.1 -42.8, 62.1-62.8).
    [0007]
    7. Method according to one of claims 4 to 6, characterized in that step e) comprises substeps consisting of: f) assigning a displacement curve in the form of a half-ellipse at each point of the lines tracking, the nominal application distance of the sprayer corresponding to half the major axis of the displacement curve, and g) determine the target trajectory (L100) by establishing a line of envelope 20 of the point cloud formed by the points of each displacement curve assigned to step f).
    [0008]
    8. Method according to one of the preceding claims, characterized in that at least one of the sprayers is capable of performing a combined vertical and horizontal movement in its plane of mobility in that the nearest point of the sprayer in its field The application is updated during the vertical movement of the sprayer and the application distance of the sprayer is adjusted automatically according to the coordinates of the nearest point. 30
    [0009]
    9. A method according to claim 8, characterized in that a step of calculating the trajectory of the sprayers capable of performing a combined movement I comprises substeps consisting of: m) digitally extending an outer profile surface formed by the set of outer profile lines, by fictitious measurement points on either side in the length direction, n) assign a half-ellipse-shaped displacement curve to each actual measurement point belonging to the outer profile lines and each fictitious measuring point, the nominal application distance of the corresponding sprayer being half the major axis of the displacement curve, p) determining an envelope surface of the cloud of points formed by the points of each displacement curve assigned to step n), and q) establish a setpoint path within this envelope surface.
    [0010]
    10. Method according to one of the preceding claims, characterized in that it comprises another step of checking whether each sprayer (42.1-42.8, 62.1-62.8) is capable of following its trajectory (L100), and it is not able to establish a new trajectory (L'100), which best follows the target trajectory or to move back the sprayer as much as possible in order to avoid a collision between the part to be coated and the sprayer. 15
    [0011]
    11.- Installation (1) for applying a coating product on a part (13, 16) moved by a conveyor (12), along which at least one sprayer (42.1, 42.8, 62.1, 62.8) is arranged movable in an oblique plane or perpendicular to an axis (X12) of movement of the conveyor, this installation being characterized in that it comprises at least one of the following means: a first means (8, 10) for determining in a fixed reference (X12, Y12, Z12), the coordinates of the points (A1, B1, C1, A2, B2, C2) of one or more lines (L1, L2) of the outside profile of the part, distributed over the length of the piece, a second means (100) for allocating to each sprayer, the points of each outer profile line which are in its spray field, a third means (100) for identifying, for each outer profile line and among the points awarded to each sprayer, the nearest point of the sprayer, -a qua third means (100) for determining for each sprayer a tracking line (L3, L4) passing through the orthogonal projection of all the nearest points in a plane passing through an axis of the sprayer and parallel to the axis of displacement (X12) of the conveyor, and a fifth means (100) for setting a target path (L100) for each sprayer according to the points of the tracking line (L3, L4) so as to automatically and independently adjust the distance the application of each sprayer according to the external profile of the part. 3032633 21
    [0012]
    12.- Installation according to claim 11, characterized in that it comprises a column of sprayers (40, 42, 60, 62), disposed on one side of the conveyor (12), 5
    [0013]
    13.- Installation according to claim 11 or 12, characterized in that the first means includes a sensor (8, 10), disposed on one side of the conveyor (12), upstream of the sprayer or sprays
    [0014]
    14.- Installation according to claim 11, characterized in that it comprises at least two columns of sprayers (40, 42, 60, 62), which are arranged on either side of the conveyor (12), these columns preferably being arranged in pairs (4, 6), while the spray columns of each pair are arranged side by side.
    [0015]
    15.- Installation according to claim 11 or 12, characterized in that the first means includes two sensors (8, 10), which are arranged on either side of the conveyor (12), upstream of the sprayer (s) and each having a vertical measurement plane (P8, P10).
    [0016]
    16.- Installation according to claim 15, characterized in that the sensors (8, 20 10) are offset relative to each other along the axis of movement (X12) of the conveyor.
    [0017]
    17.- Installation according to claim 15 or 16, characterized in that the sensors (8, 10) are laser radars, generating a laser beam scanning the height of the piece.
    [0018]
    18.- Installation according to claim 17, characterized in that two mirrors (M1, M2) are arranged above and below each sensor (8, 10), these mirrors being oriented (Al2) to reflect the laser beams of the sensor to reach shadow areas of a workpiece (16) to be coated.
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    同族专利:
    公开号 | 公开日
    RU2017129098A3|2019-03-26|
    JP2018506427A|2018-03-08|
    RU2689604C2|2019-05-28|
    FR3032633B1|2017-03-24|
    PL3259076T3|2019-07-31|
    WO2016131805A1|2016-08-25|
    JP6773663B2|2020-10-21|
    KR20170118085A|2017-10-24|
    CA2976028A1|2016-08-25|
    TR201903407T4|2019-04-22|
    CN107249755B|2019-05-31|
    EP3259076B1|2018-12-12|
    ES2712974T3|2019-05-17|
    RU2017129098A|2019-02-18|
    CN107249755A|2017-10-13|
    US10960424B2|2021-03-30|
    EP3259076A1|2017-12-27|
    US20180043385A1|2018-02-15|
    BR112017017087A2|2018-04-10|
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    法律状态:
    2016-01-28| PLFP| Fee payment|Year of fee payment: 2 |
    2016-08-19| PLSC| Publication of the preliminary search report|Effective date: 20160819 |
    2017-01-24| PLFP| Fee payment|Year of fee payment: 3 |
    2018-01-23| PLFP| Fee payment|Year of fee payment: 4 |
    2020-02-28| PLFP| Fee payment|Year of fee payment: 6 |
    2021-02-26| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1551330A|FR3032633B1|2015-02-17|2015-02-17|METHOD FOR APPLYING A COATING PRODUCT TO A WORKPIECE MOVED BY A CONVEYOR AND INSTALLATION FOR APPLYING A COATING PRODUCT|FR1551330A| FR3032633B1|2015-02-17|2015-02-17|METHOD FOR APPLYING A COATING PRODUCT TO A WORKPIECE MOVED BY A CONVEYOR AND INSTALLATION FOR APPLYING A COATING PRODUCT|
    CA2976028A| CA2976028A1|2015-02-17|2016-02-16|Method for applying a coating product to a component being moved by a conveyor, and coating product application installation|
    CN201680010470.3A| CN107249755B|2015-02-17|2016-02-16|For coating products to be administered to the method and coating products application equipment of the component moved by conveyer|
    RU2017129098A| RU2689604C2|2015-02-17|2016-02-16|Method for application of coating material on component, which moves on conveyor and installation for coating material application|
    PL16706816T| PL3259076T3|2015-02-17|2016-02-16|Method for applying a coating material on a workpiece moved by a conveyor and installation for applying a coating material|
    US15/550,679| US10960424B2|2015-02-17|2016-02-16|Method for applying a coating product to a component being moved by a conveyor, and coating product application installation|
    PCT/EP2016/053227| WO2016131805A1|2015-02-17|2016-02-16|Method for applying a coating product to a component being moved by a conveyor, and coating product application installation|
    TR2019/03407T| TR201903407T4|2015-02-17|2016-02-16|Installation for applying coating material and applying coating material to a part conveyed by a conveyor.|
    JP2017542828A| JP6773663B2|2015-02-17|2016-02-16|Method and coating equipment for coating the transported part|
    EP16706816.2A| EP3259076B1|2015-02-17|2016-02-16|Method for applying a coating material on a workpiece moved by a conveyor and installation for applying a coating material|
    BR112017017087A| BR112017017087A2|2015-02-17|2016-02-16|? coating application method and coating application installation?|
    KR1020177022872A| KR20170118085A|2015-02-17|2016-02-16|A method for applying a coating product to a part being moved by a conveyor, and a coating product coating facility|
    ES16706816T| ES2712974T3|2015-02-17|2016-02-16|Method of applying a coating product on a piece displaced by a conveyor and application installation of a coating product|
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