DE102016121637A1 - Applicator for an application robot and application system - Google Patents

Abstract

The present invention relates to an applicator (32) for an application robot (26) for coating objects (12) with a fuselage module (34) and with an application module (36, 36a, 36b), wherein the fuselage module (34) and the application module (32). 36, 36a, 36b) are designed to be coupled to each other and decoupled, and wherein the application module (36, 36a, 36b) has a shaping air system (42a, 42b) and an application element (38a, 38b) for applying a coating material. Furthermore, the invention relates to an application system with at least one application robot (26), which is equipped with such an applicator (32). According to the invention, it is possible to configure the applicator (32) of an application robot (26) in a particularly favorable manner for different coating applications by an automated change of the application module (36, 36a, 36b).

Description

The invention relates to an applicator for an application robot for coating objects with an application element and with a shaping air system.

The invention also relates to an application system with at least one application robot.

From the DE 10 2012 022 535 A1 an application robot is known for coating objects with a robot arm and an applicator connection unit for an applicator carried by the robot arm, the applicator connection unit being designed as an adapter unit such that at least one applicator of a first mode of operation and a applicator of a second mode of operation can be released and exchangeable are attachable to the applicator connector unit.

The DE 10 2014 016 364 A1 describes in connection with a cleaning method for one or more parts of an application system designed as an application unit applicator, wherein as an example of an application unit, a rotary atomizer with a bell cup and with an air duct system is disclosed.

The object of the present invention is to provide an applicator or an application system in such a way that a coating which satisfies high requirements can be achieved over a wide range of applications.

This object is achieved by an applicator of the type mentioned, which has a trunk module and an application module, wherein the application element and the steering air system are formed as parts of the application module, and wherein the trunk module and the application module are coupled to each other and decoupled from each other. In this way, it becomes possible to configure the applicator as favorably as possible in an automated process by exchanging the application module with respect to changing requirements during the coating. By means of the applicator according to the invention, a high-quality coating can be achieved for a wide range of layer thicknesses and / or for a wide range of shades during painting. The applicator according to the invention can be configured by exchanging the application module for different applications in a particularly favorable manner, for example for differently shaped objects, for different spray jet widths or both for interior painting and for the exterior painting of vehicle bodies.

A technically particularly favorable solution is given if the application element of the application module is designed as a bell cup.

Advantageously, the application module may have a turbine. Such rotating parts of the applicator are at least largely arranged in the application module and thus can be easily replaced. Alternatively, an electric motor may be provided.

It may be expedient if the fuselage module has a turbine. In this way, the number of parts arranged in the replaceable application module can be reduced.

In an advantageous embodiment, the fuselage module can have a distributor device and one or more valve units.

Preferably, the fuselage module can be equipped with a pipe for media guidance. Thus, it is possible to dispense with a pipe for media management in the application module, which may result in a particularly favorable construction of the applicator. With such a construction, an interface in the pipe between the fuselage module and the application module can be omitted, which increases the reliability in coupling and operation.

The coupling properties between the trunk module and the application module of the applicator can be further improved if a portion of the tube protrudes from a housing of the fuselage module.

In a favorable embodiment, at least a portion of the portion of the tube can be received by the application module when the trunk module and the application module are coupled together. In this way, the outlet opening of the tube can be arranged such that it is arranged in operation without mechanical contact with rotating parts of the applicator and is directed onto the application element of the applicator.

In order to ensure a functional assembly when coupling the fuselage module with the application module, the fuselage module and the application module can each be equipped with positioning means, which are designed such that they interact with each other, if the Hull module and the application module are coupled together.

The coupling of the fuselage module with the application module can be further improved if the fuselage module and the application module are designed such that centering takes place via a conical shape fit when the fuselage module and the application module are coupled together.

Advantageously, the application module can be equipped with a transponder unit. This makes it possible to reliably determine at any time how an applicator is configured. By means of the transponder unit can be determined contactless and electronically, which application module is coupled to the trunk module of an applicator.

The object of the invention is also achieved by an application system with at least one application robot, which is equipped with an applicator according to the invention or one of its embodiments. Significant advantages of the application system according to the invention are analogous to the advantages of the applicator. Incidentally, the application system according to the invention is distinguished by the fact that, for example, during the coating of vehicles, the interior and exterior painting of the vehicles can take place in the same section of the application system. By the application module of an applicator can be exchanged application-related, it is possible to use an applicator according to the invention for a much wider range of applications than known from the prior art applicators. Compared to the replacement of an applicator on an application robot, it can be avoided according to the invention, for example, to separate and reconnect a plurality of lines.

It may be expedient if the application system has a plurality of application modules for the applicator, which differ from each other.

The application system can preferably have at least one receiving device for application modules. This makes an automated exchange of the application modules even more efficient.

Furthermore, it may be advantageous if at least one receiving device is provided with movably arranged receiving units for receiving application modules. In this way, the movement of the application robot when replacing the application modules can be simplified.

• 1 schematisch einen horizontalen Schnitt eines Teilbereichs einer Anlage zum Beschichten von Gegenständen;
• 2 eine schematische Ansicht eines Rumpfmodul und zweier Applikationsmodule eines Applikators;
• 3 eine schematische Ansicht einer Aufnahmevorrichtung;
• 4 eine schematische Ansicht einer Aufnahmevorrichtung mit beweglichen Aufnahmeeinheiten;
• 5 eine schematische Ansicht einer Aufnahmevorrichtung mit beweglichen Aufnahmeeinheiten;
• 6 eine schematische Ansicht einer Aufnahmevorrichtung mit beweglichen Aufnahmeeinheiten.

Further advantageous embodiments of the invention will become apparent from the following description. Here, embodiments of the invention, without being limited thereto, explained in more detail with reference to the drawing. In a simplified representation:

• 1 schematically a horizontal section of a portion of a system for coating objects;
• 2 a schematic view of a fuselage module and two application modules of an applicator;
• 3 a schematic view of a recording device;
• 4 a schematic view of a recording device with movable receiving units;
• 5 a schematic view of a recording device with movable receiving units;
• 6 a schematic view of a recording device with movable recording units.

1 shows a system for coating objects, which is designated overall by 10. Examples of equipment for coating objects include paint shops, facilities for applying preservatives and / or adhesives or equipment for powder coating. Exemplary of such a system is in 1 a subarea of a paint shop 10 running coating system shown schematically. In the paint shop 10 become objects 12 , which are shown in the drawing as rectangles, provided with a coating in the form of a lacquer. To be coated objects 12 can be, for example, vehicle bodies, body parts, machine parts or vehicle parts such as brake discs.

1 shows a horizontal section of a section 14 a paint booth 16 below a cabin ceiling, not shown. The paint booth 16 has in the example shown mutually parallel side walls 18 on that in an in 1 not shown area can be closed by end faces, the end faces in a known manner gates or locks for the objects 12 exhibit. The floor of the paint booth 16 is essentially a grate 20 formed, with the paint booth 16 can be completed to the top in a conventional manner by an air plenum, from the conditioned air in the interior of the spray booth 16 can be directed.

The objects to be coated 12 be in the example shown with the help of a suitable conveyor system 22 in a continuous or intermittent movement through the interior of the paint booth 16 guided, for example in the direction of the arrow 2 , In the paint booth 12 become the objects 12 with the help of an application system 24 provided with a coating in the form of a lacquer.

For coating the objects 12 includes the application system 24 preferably on both sides of the path of movement of the objects 12 on the conveyor system 22 several application robots 26 , Such application robot 26 can have different designs and, for example, as multi-axis industrial robots 28 be educated.

The application robots 26 each have a movable robot arm 30 for carrying an applicator 32 on. The applicator 32 is modular and has at least one trunk module 34 and an application module 36 on. The fuselage module 34 This forms the application robot 26 facing module of the applicator 32 and is from the application robot 26 carried. With the help of an application element 38a . 38b (please refer 2 ) of the application module 36 the coating agent is applied to the article to be coated 12 applied. The applicator 32 may be suitably designed as a high-rotation atomizer, for example as a high-rotation atomizer for wet painting.

The fuselage module 34 an applicator 32 can with different application modules 36 respectively. 36a . 36b (please refer 2 ). One or more, not with the fuselage module 34 coupled application modules 36 can in a cradle 8th be positioned. In the example shown, the recording devices 8th each on a wall 18 the paint booth 16 arranged. Alternatively, one or more receiving devices 8th for example, on the cabin ceiling or at the bottom of the spray booth 16 be arranged. The recording devices 8th are for docking and undocking one or more application modules 36 formed, wherein a receiving device 8th preferably two or more application modules 36 can record.

In a modification not specifically shown, one or more receptacles are provided 8th are designed to be movable and are for this purpose, for example, by an application robot 26 carried along, allowing an exchange of an application module 36 at any position of the corresponding application robot 26 can be done.

The fuselage module 34 and the application module 36 of the applicator 32 an application robot 26 are detachably connected together so that it is possible to connect with the fuselage module 34 coupled application module 36 to exchange. For exchanging an application module 36 , becomes the application module 36 first of the fuselage module 34 decoupled and from a cradle 8th taken or docked at this. Then another application module 36 from the application robot 26 taken up or from the recording device 8th undocked and with the fuselage module 34 coupled.

In the example shown is an application robot 26 of the application system 24 in each case a receiving device 8th for application modules 36 assigned.

The application modules 36 may preferably be equipped with a transponder unit not shown in the drawings. The transponder unit can carry for identification, for example, a distinctive code. Preferably, the transponder unit can be designed as a so-called RFID chip. By means of such a transponder unit it is possible to use an application module 36 automatically and non-contactly identify and locate with the aid of one or more corresponding readout units. Such a reading unit can, for example, on the fuselage module 34 be arranged. Alternatively or additionally, one or more read-out units in the paint booth can also be used 16 be arranged. This will allow the current configuration of an applicator 32 in real time and to visualize for example on a display device.

Advantageously, the individual applicator data can also be used to influence an application process. Thus, depending on the material to be applied and / or the design of an application module 36 different application parameters lead to an optimal application result. In addition, for a specific applicator module 36 also be deposited an individual identifier that this particular applicator module 36 distinguished and should be considered in the application process. For example, due to maintenance, a nozzle may have been replaced, which is the case with the applicator module 36 to a change in the operating parameters, such as delivery pressure, flow, temperature or the like, leads to get to the desired application result.

2 shows a fuselage module 34 an applicator 32 (please refer 1 ) as well as two application modules 36a . 36b , The shown application modules 36a . 36b have different configurations and are both with the fuselage module 34 designed to be coupled.

The exemplified and greatly simplified illustrated fuselage module 34 has a housing 50 and a pipe 44 on the media management. The fuselage module 34 may comprise a distributor device and one or more valve units and also with others Connection and functional devices to be equipped, which is not shown in detail in the drawing.

If the trunk module 34 with an application module 36a . 36b is coupled to the application module 36a . 36b when coating over the pipe 44 Supplied coating agent. The pipe 44 is preferably a paint tube, for example, a paint tube for a water-based paint.

In the in 2 example shown protrudes a section 52 of the pipe 44 from the fuselage module 34 or from the housing 50 of the fuselage module 34 out. If the trunk module 34 and the application module 36 . 36a . 36b are decoupled from each other, ie when the application module 36 . 36a . 36b of the applicator 32 dismantled forms the pipe 44 thus a kind of tip of the robot arm 30 of the application robot 26 out.

The two application modules 36a . 36b each have a steering air system 42a . 42b and an application element 38a . 38b on. A steering air system 42a can, for example, a molded air cap 86 and a directing ring 88 exhibit. The application element 38a . 38b is preferably formed as an application body. An application body can, for example and as indicated in the drawing, a bell cup 40a . 40b be.

If the trunk module 34 with an application module 36 . 36a . 36b coupled, so is the outlet opening of the tube 44 directed to the media guide preferably on the application body. In operation, this bounces off the pipe 44 emerging coating medium on the application body. In a designed as an atomizer applicator 32 the coating agent is atomized by centrifugal forces at the edge of the rotating application body and by means of the deflection air system 42a . 42b escaping air on the objects to be coated 12 (please refer 1 ) applied.

The application modules 36a . 36b an application system 24 (please refer 1 ) can, as in 2 indicated, differ from each other in terms of their structure and, for example, different Lenkluftsysteme 42a . 42b and / or different application elements 38a . 38b exhibit. It is also possible that relatively similar application modules 36 . 36a . 36b assigned to different color and / or paint types and are used for a constructive optimization of the applicator, for example, standard or metallic paints, by appropriate configuration.

Both the fuselage module 34 as well as with the fuselage module 34 Coupling application modules 36a . 36b are expediently provided with positioning means to ensure correct assembly in the coupling of an application module 36a . 36b with the fuselage module 34 sure. As a positioning, for example, centering bolts 46 . 48 at the front of the fuselage module 34 be provided.

For coupling an application module 36a . 36b with the fuselage module 34 become the application module 36a . 36b and the fuselage module 34 moved to each other such that the axis 56a . 56b of the application module 36a . 36b with the axis 54 of the fuselage module 34 coincides. For coupling then the trunk module 34 , preferably by means of the robot arm 30 (please refer 1 ), in the direction of the arrow 4 on the application module 36a . 36b moved to and into the coupled position.

When coupling the application module 36a . 36b with the fuselage module 34 Preferably, a centering, for example by means of the centering pin 46 . 48 and / or by means of a conical shape fit. In addition, an assembly identifier may be provided by means of which a correct mounting position is ensured. It is possible to use the already mentioned positioning means for forming the assembly identifier. To uncontrolled leakage of media such as coating agent when decoupling an application module 36a . 36b from the fuselage module 34 can prevent the hull module 34 be equipped with suitable valve devices.

It may be appropriate that a not shown turbine of the applicator 32 as part of the fuselage module 34 is formed, whereby, for example, the weight of the usable application modules 36 . 36a . 36b can be reduced.

It may also be useful if a turbine of the applicator 32 as part of the application module 36 . 36a . 36b is trained. This will create a structure of the applicator 32 allows, in which at least the essential rotating moving parts of the applicator 32 in the application module 36a . 36b are arranged. Coupled and during operation of the applicator 32 can preferably designed as a color tube tube 44 then without direct contact with rotating parts of the applicator 32 be arranged. Here is the tube 44 for media management preferably as part of the fuselage module 34 trained and is when coupling the fuselage module 34 with the application module 36a . 36b , ie in the example shown when moving the fuselage module 34 in the direction of the arrow 4 into the application module 36a . 36b retracted.

Unless the pipe 44 for media management in an advantageous embodiment as an integral part of hull module 34 is formed, interfaces can be in the area of the pipe 44 be avoided. Such an applicator 32 can be modular, without having to be separated lines for media management.

In a not shown in the drawings embodiment of the applicator 32 , at least part of the pipe can 44 for media management as part of the application module 36 . 36a . 36b be educated.

When coupling the fuselage module 34 with the application module 36a . 36b becomes the application module 36a . 36b on the fuselage module 34 attached. Preferably, a locking mechanism for the connection of the fuselage module 34 with the application module 36a . 36b be provided. A lock can for example be done by twisting the bayonet principle and / or by means of a drive equipped, controlled locking mechanism, the drive, for example, on the robot arm 30 can be arranged. Alternatively or additionally, such a drive for locking also be operated by a wall bracket.

3 shows a recording device 8a with two recording units 60 . 62 for application modules 36 . 36a . 36b , In the example shown here are the recording units 60 . 62 fixed to the receiving device 8a arranged. When changing application modules 36 . 36a . 36b , these are from the cradle 8a taken or submitted. For this purpose, the robot arm 30 an application robot 26 moved in at least two axes, these axes, for example, parallel to the arrows 6 and 4 (please refer 2 ) can run. In a recording device 8a with two fixed recording units 60 . 62 There are two coupling positions 78a . 78b which includes a trunk module 34 by means of the application robot 26 can be moved.

4 . 5 and 6 show recording devices 8b . 8c . 8d that with recording units 64 . 66 respectively. 68 . 70 respectively. 72 . 74 . 76 equipped, which are movable on the corresponding receiving device 8b . 8c . 8d are arranged. In such recording devices 8b . 8c . 8d can have at least two recording units 64 . 66 respectively. 68 . 70 respectively. 72 . 74 . 76 to a fixed coupling position 78 to be moved. Therefore, it may be sufficient if the robot arm 30 of the application robot 26 when changing application modules 36 . 36a . 36b is moved in only one axis, said axis parallel to the in 2 shown arrow 4 can run.

4 shows a recording devices 8b in which the recording units 64 . 66 can be moved according to the principle of a revolver, ie the receiving units 64 . 66 For example, by means of a disc 80 around an axis 96 in the direction or opposite to the direction of the arrow 90 to be turned around. In the representation of the embodiment according to 4 the axis passes 96 the rotational movement perpendicular to the plane of the drawing.

5 shows a recording devices 8c in which the recording units 68 . 70 can be moved linearly, ie the recording units 68 . 70 For example, by means of a slider 82 in the direction or opposite to the direction of the arrow 92 to be moved.

6 shows a recording devices 8d in which the recording units 72 . 74 . 76 can be moved according to the principle of a carousel, ie the receiving units 64 . 66 For example, on an at least partially annular element 76 about an axis in the direction or opposite to the direction of the arrow 94 to be turned around. In the representation of the embodiment according to 6 lies the axis 98 the rotational movement in the drawing plane.

In 3 . 4 . 5 and 6 identify the coupling positions 78a . 78b respectively. 78 possible docking points of the recording devices 8a . 8b . 8c . 8d at which application modules 36 . 36a . 36b docked or undocked.

In a cradle 8th . 8a . 8b . 8c . 8d stored application modules 36 . 36a . 36b can be cleaned with advantage. The recording devices 8th . 8a . 8b . 8c . 8d For this purpose, they can be designed accordingly and with suitable means for cleaning application modules 36 . 36a . 36b be equipped. The cleaning can be done externally and / or internally. It is also a rinsing of the application modules 36 . 36a . 36b possible. By cleaning the in a receiving device 8th . 8a . 8b . 8c . 8d stored application modules 36 . 36a . 36b if necessary, the cycle times of the coating system can be reduced.

An idea on which the invention is based can be summarized as follows: The present invention relates to an applicator 32 for an application robot 26 for coating objects 12 with a fuselage module 34 and with an application module 36 . 36a . 36b , where the trunk module 34 and the application module 36 . 36a . 36b coupled to each other and decoupled, and wherein the application module 36 . 36a . 36b a steering air system 42a . 42b and an application element 38a . 38b for applying a coating material. Furthermore, the concerns Invention an application system with at least one application robot 26 that with such an applicator 32 Is provided. According to the invention, it is possible to use the applicator 32 an application robot 26 for each different coating applications in each case to configure particularly low by an automated change of the application module 36 . 36a . 36b he follows. Entering the paint booth 16 is for changing the application module 36 . 36a . 36b not mandatory.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102012022535 A1 [0003]
• DE 102014016364 A1 [0004]

Claims (15)

Applicator for an application robot (26) for coating objects (12) with an application element (38a, 38b) and with a steering air system (42a, 42b), characterized in that (a) the applicator (32) has a fuselage module (34) and an application module (36, 36a, 36b) that (b) the application element (38a, 38b) and the steering air system (42a, 42b) are formed as parts of the application module (36, 36a, 36b), and that (c) Fuselage module (34) and the application module (36, 36a, 36b) are coupled to each other and decoupled from each other. Applicator after Claim 1 , characterized in that the application element (38a, 38b) of the application module (36, 36a, 36b) as a bell cup (40a, 40b) is formed. Applicator after Claim 1 or 2 , characterized in that the application module (36, 36a, 36b) comprises a turbine or an electric motor. Applicator after Claim 1 or 2 , characterized in that the body module (34) comprises a turbine. Applicator after one of Claims 1 to 4 , characterized in that the trunk module (34) comprises a distributor device and one or more valve units. Applicator after one of Claims 1 to 5 , characterized in that the trunk module (34) is equipped with a pipe (44) for media guidance. Applicator after Claim 6 , characterized in that a portion (52) of the tube (44) projects from a housing (50) of the fuselage module (34). Applicator after Claim 7 characterized in that at least a portion of the portion (52) of the tube (44) is received by the application module (36, 36a, 36b) when the trunk module (34) and the application module (36, 36a, 36b) are coupled together , Applicator after one of Claims 1 to 8th , characterized in that the trunk module (34) and the application module (36, 36a, 36b) are each provided with positioning means which are designed such that they interact with one another when the trunk module (34) and the application module (36, 36a, 36b) are coupled together. Applicator after one of Claims 1 to 9 , characterized in that the trunk module (34) and the application module (36, 36a, 36b) are formed such that a centering via a conical shape fit occurs when the trunk module (34) and the application module (36, 36a, 36b) with each other be coupled. Applicator after one of Claims 1 to 10 , characterized in that the application module (36, 36a, 36b) is equipped with a transponder unit. Application system with at least one application robot (26), characterized in that the application robot (26) with an applicator (32) according to one of Claims 1 to 11 Is provided. Application system after Claim 12 , characterized in that the application system (24) comprises a plurality of application modules (36, 36a, 36b) for the applicator (32) which differ from each other. Application system after Claim 12 or 13 , characterized in that the application system (24) has at least one receiving device (8, 8a, 8b, 8c, 8d) for application modules (36, 36a, 36b). Application system after Claim 14 , characterized in that at least one receiving device (8b, 8c, 8d) with movably arranged receiving units (64, 66, 68, 70, 72, 74, 76) for receiving application modules (36, 36a, 36b) is equipped.

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