公开(公告)号：WO1991019124A1

公开(公告)日：1991-12-12

申请号：PCT/NO1991000078

申请日：1991-05-24

Applicant: ABB TRALLFA ROBOT A/S ,  ANFINDSEN, Ole, Arnt

Inventor： ABB TRALLFA ROBOT A/S

IPC: F16K07/06

CPC classification number: F16K7/065

Abstract: An adjustable control valve for flow regulation of gas or liquid has a controlled hose clamp device, preferably with two clamping members (K1, K2) disposed on respective sides of a hose (A) for adjustable compression of the hose and thereby setting of the flow cross-section of the hose at a compression site between the clamping members. The control valve comprises further a movable cam disk, e.g. a rotatable eccentric sheave (E), actuated by a shifting mechanism, preferably a step motor, disposed for variable compression of the hose in accordance with the position of the cam disk or eccentric sheave. For automatically controlled setting of the flow cross-section of the hose, the shifting mechanism may be arranged to be controlled from measuring means mounted for gauging the flow in the hose (A) downstream of the compression site (As). In practice such regulation may be used for controlling the quantity ratios between the supplies of paint, jet formation air and atomizing air, respectively, to an atomizing gun (P), preferably by means of a common data processing unit (D) inserted between the control valve (Sa, Sp, Sf) and measuring means (Ma, Mp, Mf) in all control loops (Qa, Qp, Qf) for the supplies of paint, jet formation air and atomizing air, respectively, to the spray gun (P).

Abstract translation: 用于气体或液体流量调节的可调控制阀具有受控的软管夹紧装置，优选地具有设置在软管（A）的相应侧上的两个夹紧构件（K1，K2）），用于软管的可调压缩，从而设定流量 在夹紧构件之间的压缩部位处的软管的横截面。 控制阀还包括可移动的凸轮盘，例如。 由可移动机构致动的可旋转的偏心滑轮（E），优选地是步进马达，其设置成根据凸轮盘或偏心滑轮的位置可变地压缩软管。 为了自动控制软管的流动横截面的设置，换档机构可以布置成由用于测量压缩部位（As）下游的软管（A）中的流量的测量装置来控制。 在实践中，这种调节可以用于分别控制喷射喷射空气和雾化空气分别供应给雾化枪（P）之间的量比，优选地通过插入在喷雾形成空气中的公共数据处理单元（D） 控制阀（Sa，Sp，Sf）和测量装置（Ma，Mp，Mf）分别用于喷枪供应油漆，喷射形成空气和雾化空气的所有控制回路（Qa，Qp，Qf） P）。

公开(公告)号：WO1989006181A1

公开(公告)日：1989-07-13

申请号：PCT/NO1989000003

申请日：1989-01-04

Applicant: ABB TRALLFA ROBOT A/S ,  HETLAND, Amund ,  KJOSAVIK, Dag

Inventor： ABB TRALLFA ROBOT A/S

IPC: B25J09/18

CPC classification number: G05B19/4093 ,  B05B13/0431 ,  B05B13/0452 ,  G05B19/4083 ,  G05B2219/36503 ,  G05B2219/36511 ,  G05B2219/45013 ,  Y02P90/265

Abstract: A method and a mobile servo-operated robot system (VH, RA, LB, PL) for repair painting of motorcars utilize an associated computer system (LD) for the guiding of painting tools in accordance with preprogrammed operational data which are stored in one or more data bases. Topical data (AD) describing the repair painting to be performed, e.g. type of car, year model, colour code and painting area, are supplied to the associated computer system (LD), which then is actuated to search for corresponding operational data in its own data base (DB1) and/or possibly other, remotely connected data bases (DB2). The preprogrammed operational data provided in this way are then selected for the required control of the robot system (VH, RA, LB, PL) when performing the intended painting operation. The computer system (LD) is suitably connected to means (DR) for modifying program editing of the selected operational data in accordance with special prevailing conditions. A graphic screen for displaying the painting area together with the painting program may be used for this purpose.

Abstract translation: 一种用于汽车修理漆的方法和移动伺服操作的机器人系统（VH，RA，LB，PL）利用相关的计算机系统（LD）来根据预编程的操作数据来引导涂装工具，这些操作数据存储在一个或多个 更多的数据库。 描述要执行的修复绘画的专题数据（AD），例如。 汽车类型，年型，颜色代码和绘画区域被提供给相关联的计算机系统（LD），然后被激活以在其自己的数据库（DB1）和/或可能的其它远程连接中搜索对应的操作数据 数据库（DB2）。 然后，当执行预期的喷涂操作时，选择以这种方式提供的预编程操作数据用于机器人系统（VH，RA，LB，PL）的所需控制。 计算机系统（LD）适当地连接到用于根据特殊的主要条件修改所选择的操作数据的程序编辑的装置（DR）。 可以使用用于将绘画区域与绘画程序一起显示的图形屏幕用于此目的。

公开(公告)号：WO1995003133A1

公开(公告)日：1995-02-02

申请号：PCT/NO1993000117

申请日：1993-07-19

Applicant: ABB TRALLFA ROBOT A/S ,  EKENBERG, Tor

Inventor： ABB TRALLFA ROBOT A/S

IPC: B05B13/04

CPC classification number: B05B13/0431

Abstract: A robot installation for painting objects inside a cabin (CA) having walls (WA, WB) isolating the object (AU) to be painted from the surroundings, is suitably integrated in the cabin walls in order to save interior cabin space and achieve a robot operation better adapted to the painting process. The installation comprises at least one main robot shaft (RS) associated with a painting tool and protruding through at least one slot (LS) penetrating the cabin walls for servo-controlled movements along such slots and possibly also in the direction of and/or about the axis of said shaft. Servo-drive means are disposed for controlling said robot shaft movements in accordance with a preprogrammed motional pattern for said painting tool, including tracking of a travelling object to be painted. Said slot is disposed on a rotatable element (CD, SC) suppported in or on the cabin walls, and the servo-drive means comprise means for controlling the rotational movements of the rotatable element in accordance with said preprogrammed motional pattern. The rotatable element may be a circular disc (CD) disposed for rotational movements in a plane identical or parallel withthe plane of a cabin wall (WA), the slot (LS) extending preferably along a diameter of said disc. Alternatively said rotatable element may be a hollow cylinder (SC) disposed for rotational movements about a vertical axis in or parallel with one of the cabin walls, said robot shaft protruding through at least one slot (LS) substantially parallel with said rotational axis. In practice the robot shaft is normally connected with the painting tool through manipulator link means (ML) having at least one and preferably three or more axes of motion.

Abstract translation: 用于在室内（CA）中对物体进行喷涂的机器人装置适当地集成在舱壁中，从而节省室内空间并实现机器人 操作更适合绘画过程。 该装置包括与绘画工具相关联的至少一个主机器人轴（RS），并且突出穿过穿过机舱壁的至少一个狭槽（LS），用于沿着这样的狭槽的伺服控制的运动，并且可能还沿着和/或关于 所述轴的轴线。 伺服驱动装置被设置为根据用于所述绘画工具的预编程的运动模式来控制所述机器人轴运动，包括跟踪待涂漆的行进物体。 所述狭槽设置在支撑在机舱壁中或其上的可旋转元件（CD，SC）上，并且伺服驱动装置包括用于根据所述预编程运动模式来控制可旋转元件的旋转运动的装置。 可旋转元件可以是设置用于在与舱壁（WA）的平面相同或平行的平面中的旋转运动的圆盘（CD），槽（LS）优选地沿着所述盘的直径延伸。 可替代地，所述可旋转元件可以是中空圆柱体（SC），其设置成围绕垂直轴线旋转运动，或者与其中一个机舱壁平行，所述机器人轴突出通过基本上与所述旋转轴线平行的至少一个狭槽（LS）。 在实践中，机器人轴通常通过具有至少一个且优选三个或更多个运动轴的操纵器连接装置（ML）与喷漆工具连接。

公开(公告)号：WO1993023173A1

公开(公告)日：1993-11-25

申请号：PCT/NO1992000093

申请日：1992-05-15

Applicant: ABB TRALLFA ROBOT A/S ,  ANFINDSEN, Ole, Arnt ,  SUNDE, Alf

Inventor： ABB TRALLFA ROBOT A/S

IPC: B05B05/16

CPC classification number: B05B5/1616 ,  B05B5/1633 ,  B05B5/1666 ,  B05B5/1675 ,  B05B12/1481

Abstract: A paint dosage device is particularly adapted to be mounted in close proximity to a spray gun (P) in a program controlled spray painting installation for dosed paint supply to the spray gun. The device comprises at least two dosage cylinders (SA, SB), each having a regulating piston (PA, PB) connected to regulation means (RA, MA; RB, MB) for setting the paint filling amount of the associated cylinder by controlled adjustment of the departure position of the regulating piston in the cylinder. The regulation means is also adapted for setting the dosage rate of the cylinder when supplying paint to the spray gun, by program controlling the displacement velocity of the regulating piston in the cylinder. A valve assembly (V1, V2, V3, V4) is arranged for connecting the cylinders (SA, SB) alternately to the spray gun (P) and putting the cylinder disconnected from the gun in connection with means for cleansing and paint filling. This paint dosage device is particularly suitable for application in the case the spray gun is provided with high tension electrode (E) for electrostatically charged atomizing of supplied electrically conductive paint. Each regulating piston (PA, PB) of the cylinders is then connected with the regulation means by means of an electrically insulating motion-transferring connection (IA, IB) and each valve (V1, V2, V3, V4) of the valve assembly is made electrically insulating.

Abstract translation: 涂料剂量装置特别适于在程序控制的喷涂装置中靠近喷枪（P）安装，用于向喷枪供给药液。 该装置包括至少两个剂量气瓶（SA，SB），每个剂量气瓶（SA，SB）具有连接到调节装置（RA，MA; RB，MB）的调节活塞（PA，PB），用于通过受控调整设定相关气缸的油漆填充量 调节活塞在气缸中的离开位置。 调节装置还适用于通过程序控制气缸中的调节活塞的位移速度来设定在向喷枪供应油漆时气缸的剂量率。 阀组件（V1，V2，V3，V4）被布置成用于将气缸（SA，SB）交替地连接到喷枪（P），并将与气枪断开的气缸与清洁和油漆填充装置相连。 这种涂料剂量装置特别适用于在喷枪设有高压电极（E）的情况下，用于静电电荷雾化供应的导电涂料。 气缸的每个调节活塞（PA，PB）然后通过电绝缘运动传递连接（IA，IB）与调节装置相连，阀组件的每个阀（V1，V2，V3，V4） 制成电绝缘。

公开(公告)号：EP0710157B1

公开(公告)日：1998-10-14

申请号：EP93919706.7

申请日：1993-07-19

Applicant: ABB TRALLFA ROBOT A/S

Inventor： EKENBERG, Tor

IPC: B05B13/04

CPC classification number: B05B13/0431

Abstract: PCT No. PCT/NO93/00117 Sec. 371 Date Jan. 19, 1996 Sec. 102(e) Date Jan. 19, 1996 PCT Filed Jul. 19, 1993 PCT Pub. No. WO95/03133 PCT Pub. Date Feb. 2, 1995A robot installation for painting objects inside a painting booth (CA) having walls (WA, WB) isolating the object (AU) to be painted from the surroundings, is suitably integrated in the booth walls in order to save interior booth space and achieve a robot operation better adapted to the painting process. The installation includes at least one main robot shaft (RS) associated with a painting tool and protruding through at least one slot (LS) penetrating the booth walls for servo-controlled movements along such slots and possibly also in the direction of and/or about the axis of the shaft. Servo-drive means are disposed for controlling the robot shaft movements in accordance with a preprogrammed motional pattern for the painting tool, including tracking of a travelling object to be painted. The slot is disposed on a rotatable element e.g., a disk or cylinder (CD,SC) supported in or on the booth walls, and the servo-drive means includes means for controlling the rotational movements of the rotatable element in accordance with a preprogrammed motional pattern.

公开(公告)号：EP0408563A1

公开(公告)日：1991-01-23

申请号：EP89901475.0

申请日：1989-01-04

Applicant: ABB TRALLFA ROBOT A/S

Inventor： KJOSAVIK, Dag

IPC: B05B13 ,  B25J9 ,  G05B19

CPC classification number: G05B19/4093 ,  B05B13/0431 ,  B05B13/0452 ,  G05B19/4083 ,  G05B2219/36503 ,  G05B2219/36511 ,  G05B2219/45013 ,  Y02P90/265

Abstract: Un procédé et un système robotique mobile servocommandé (VH, RA, LB, PL), qui servent à effectuer des retouches de peinture sur des voitures automobiles utilisent un système d'ordinateur associé (LD) destiné au guidage des outils de peinture en fonction de données opérationnelles préprogrammées qui sont mémorisées dans une ou plusieurs bases de données. Des données topiques (AD), décrivant la retouche de peinture à effectuer et relatives par exemple au type de voiture, à l'année modèle, au code de couleur et à la zone à peindre sont fournies au système d'ordinateur associé (LD), lequel est ensuite activé pour pouvoir rechercher les données opérationnelles correspondantes dans sa propre base de données (DB1) et/ou éventuellement dans d'autres bases de données connectées à distance (DB2). Les données opérationnelles préprogrammées ainsi fournies sont ensuite sélectionnées pour permettre la commande requise du système de robot (VH, RA, LB, PL) lors de la réalisation de l'opération de peinture désirée. Le système d'ordinateur (LD) est connecté de façon appropriée à un organe (DR) qui sert à modifier le programme éditeur des données opérationnelles sélectionnées, en fonction des conditions en vigueur particulières. Un écran graphique servant à afficher la zone à peindre conjointement avec le programme de peiture peut être utilisé à cet effet.

公开(公告)号：EP0710157A1

公开(公告)日：1996-05-08

申请号：EP93919706.0

申请日：1993-07-19

Applicant: ABB TRALLFA ROBOT A/S

Inventor： EKENBERG, Tor

IPC: B05B12 ,  B05B13 ,  B05B15 ,  B05C15

CPC classification number: B05B13/0431

Abstract: PCT No. PCT/NO93/00117 Sec. 371 Date Jan. 19, 1996 Sec. 102(e) Date Jan. 19, 1996 PCT Filed Jul. 19, 1993 PCT Pub. No. WO95/03133 PCT Pub. Date Feb. 2, 1995A robot installation for painting objects inside a painting booth (CA) having walls (WA, WB) isolating the object (AU) to be painted from the surroundings, is suitably integrated in the booth walls in order to save interior booth space and achieve a robot operation better adapted to the painting process. The installation includes at least one main robot shaft (RS) associated with a painting tool and protruding through at least one slot (LS) penetrating the booth walls for servo-controlled movements along such slots and possibly also in the direction of and/or about the axis of the shaft. Servo-drive means are disposed for controlling the robot shaft movements in accordance with a preprogrammed motional pattern for the painting tool, including tracking of a travelling object to be painted. The slot is disposed on a rotatable element e.g., a disk or cylinder (CD,SC) supported in or on the booth walls, and the servo-drive means includes means for controlling the rotational movements of the rotatable element in accordance with a preprogrammed motional pattern.

公开(公告)号：EP0531417B1

公开(公告)日：1995-03-29

申请号：EP91910639.3

申请日：1991-05-24

Applicant: ABB TRALLFA ROBOT A/S

Inventor： ANFINDSEN, Ole, Arnt

IPC: F16K7/06

CPC classification number: F16K7/065

Abstract: An adjustable control valve for flow regulation of gas or liquid has a controlled hose clamp device, preferably with two clamping members (K1, K2) disposed on respective sides of a hose (A) for adjustable compression of the hose and thereby setting of the flow cross-section of the hose at a compression site between the clamping members. The control valve comprises further a movable cam disk, e.g. a rotatable eccentric sheave (E), actuated by a shifting mechanism, preferably a step motor, disposed for variable compression of the hose in accordance with the position of the cam disk or eccentric sheave. For automatically controlled setting of the flow cross-section of the hose, the shifting mechanism may be arranged to be controlled from measuring means mounted for gauging the flow in the hose (A) downstream of the compression site (As). In practice such regulation may be used for controlling the quantity ratios between the supplies of paint, jet formation air and atomizing air, respectively, to an atomizing gun (P), preferably by means of a common data processing unit (D) inserted between the control valve (Sa, Sp, Sf) and measuring means (Ma, Mp, Mf) in all control loops (Qa, Qp, Qf) for the supplies of paint, jet formation air and atomizing air, respectively, to the spray gun (P).

公开(公告)号：EP0640017A1

公开(公告)日：1995-03-01

申请号：EP92911074.0

申请日：1992-05-15

Applicant: ABB TRALLFA ROBOT A/S

Inventor： ANFINDSEN, Ole, Arnt ,  SUNDE, Alf

IPC: B05B5

CPC classification number: B05B5/1616 ,  B05B5/1633 ,  B05B5/1666 ,  B05B5/1675 ,  B05B12/1481

Abstract: A paint dosage device is particularly adapted to be mounted in close proximity to a spray gun (P) in a program controlled spray painting installation for dosed paint supply to the spray gun. The device comprises at least two dosage cylinders (SA, SB), each having a regulating piston (PA, PB) connected to regulation means (RA, MA; RB, MB) for setting the paint filling amount of the associated cylinder by controlled adjustment of the departure position of the regulating piston in the cylinder. The regulation means is also adapted for setting the dosage rate of the cylinder when supplying paint to the spray gun, by program controlling the displacement velocity of the regulating piston in the cylinder. A valve assembly (V1, V2, V3, V4) is arranged for connecting the cylinders (SA, SB) alternately to the spray gun (P) and putting the cylinder disconnected from the gun in connection with means for cleansing and paint filling. This paint dosage device is particularly suitable for application in the case the spray gun is provided with high tension electrode (E) for electrostatically charged atomizing of supplied electrically conductive paint. Each regulating piston (PA, PB) of the cylinders is then connected with the regulation means by means of an electrically insulating motion-transferring connection (IA, IB) and each valve (V1, V2, V3, V4) of the valve assembly is made electrically insulating.

公开(公告)号：EP0408563B1

公开(公告)日：1993-03-24

申请号：EP89901475.7

申请日：1989-01-04

Applicant: ABB TRALLFA ROBOT A/S

Inventor： HETLAND, Amund ,  KJOSAVIK, Dag

IPC: B25J9/18 ,  B05B13/04

CPC classification number: G05B19/4093 ,  B05B13/0431 ,  B05B13/0452 ,  G05B19/4083 ,  G05B2219/36503 ,  G05B2219/36511 ,  G05B2219/45013 ,  Y02P90/265

Abstract: A method and a mobile servo-operated robot system (VH, RA, LB, PL) for repair painting of motorcars utilize an associated computer system (LD) for the guiding of painting tools in accordance with preprogrammed operational data which are stored in one or more data bases. Topical data (AD) describing the repair painting to be performed, e.g. type of car, year model, colour code and painting area, are supplied to the associated computer system (LD), which then is actuated to search for corresponding operational data in its own data base (DB1) and/or possibly other, remotely connected data bases (DB2). The preprogrammed operational data provided in this way are then selected for the required control of the robot system (VH, RA, LB, PL) when performing the intended painting operation. The computer system (LD) is suitably connected to means (DR) for modifying program editing of the selected operational data in accordance with special prevailing conditions. A graphic screen for displaying the painting area together with the painting program may be used for this purpose.