EP0391340A1 - Procédé et dispositif pour nettoyer des pièces de véhicule, notamment vitres de véhicule - Google Patents

Procédé et dispositif pour nettoyer des pièces de véhicule, notamment vitres de véhicule Download PDF

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Publication number
EP0391340A1
EP0391340A1 EP90106353A EP90106353A EP0391340A1 EP 0391340 A1 EP0391340 A1 EP 0391340A1 EP 90106353 A EP90106353 A EP 90106353A EP 90106353 A EP90106353 A EP 90106353A EP 0391340 A1 EP0391340 A1 EP 0391340A1
Authority
EP
European Patent Office
Prior art keywords
cleaning
loop
winding
vehicle
wiping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP90106353A
Other languages
German (de)
English (en)
Other versions
EP0391340B1 (fr
Inventor
Wilhelm Steinhart
Johann Maischberger
Gerwin Berens
Thomas Biewald
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of EP0391340A1 publication Critical patent/EP0391340A1/fr
Application granted granted Critical
Publication of EP0391340B1 publication Critical patent/EP0391340B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
    • B08B1/143—Wipes

Definitions

  • the invention relates to a method and a device for cleaning vehicle parts with the features in the preamble of the main method and device claim.
  • the invention solves this problem with the features in the characterizing part of the main method and device claim.
  • the method according to the invention and the associated cleaning device have the advantage that the wiping element can be used for a long time and does not have to be replaced after each cleaning process.
  • the invention also allows the wiping surface to be changed more quickly than in the prior art. Additional, time-consuming, energy-intensive and control-intensive movements of the complete cleaning device are no longer necessary thanks to the internal change of the used wiping surfaces.
  • the wiping surface can be changed when changing the vehicle part, during cleaning in the corner areas of the vehicle part when reorienting the cleaning device, or even during the wiping process.
  • the method and the associated device can be used for cleaning any vehicle parts and can be extended to any areas of application in which a relative movement between the cleaning device and the vehicle part is provided.
  • Multi-axis manipulators preferably industrial robots, are provided as the device for mutually guiding and moving the cleaning device and the vehicle part.
  • the preferred area of application and the particular suitability lie in automatic cleaning of vehicle parts, in particular vehicle windows.
  • the slices are prepared for subsequent treatment processes. In the exemplary embodiment described, these consist of a primer and an adhesive application and the subsequent pane assembly.
  • the treatment processes can in principle also be of a different nature.
  • the invention enables a kinematic reversal of the relative movement between the cleaning device and the vehicle part, in particular a vehicle window, in that an industrial robot moves the window relative to the cleaning device which is relatively stationary but can be avoided.
  • the industrial robot can thus remove the pane from a stack in one operation, pass the cleaning device and the downstream adhesive application device and then mount it immediately in the vehicle body. This is less expensive, easier and faster than in the prior art, which provides for the robot to transport the cleaning device.
  • the cleaning device according to the invention can also be moved according to the known method.
  • the wiping element according to the invention with the large number of wiping surfaces can be designed differently.
  • a felt disk rotated in cycles and sections can be considered.
  • the wiping surfaces can be formed by disc sections on the circumference or on the end surfaces. An additional sliding movement of the window axis allows a larger window area to be used and the number of available wiping areas to be increased considerably.
  • a wiping element in the form of a cleaning tape offers particular advantages.
  • the usable surface is particularly large, which enables a long service life. Only a comparatively simple kinematics and a correspondingly uncomplicated feed drive are required for the transport. The wraps can also be replaced quickly and easily.
  • the wiping element in particular in the form of the cleaning belt, by sections of the same size.
  • the sections can be the same or only slightly larger than the wiping area used. This can be achieved in a simple manner in the cleaning belt with a feed drive which engages the loop and lengthens the loop length by forming an additional loop. Regardless of the winding thickness, the same amount of tape material is always drawn from the supply roll. The additional loop is then re-formed by rotating the consumption coil. This enables a particularly simple feed drive. The stroke can always remain the same regardless of the constantly changing thickness of both windings
  • the feed drive consists of a tensioning cylinder which acts on the loop and a sequence-controlled winding cylinder which moves the consumption reel.
  • An attack of the tensioning cylinder on the side loop strand, which leads to the consumption wrap, has the advantage that a belt transport is possible without lifting the cleaning device from the vehicle part. This is particularly useful if disposal of the used wiping surface is desired during the wiping process.
  • couplings for a controlled rotary movement are provided on the winding rollers.
  • the winding rolls are alternately locked and released in such a way that the cleaning tape is transported exactly by the desired length and in the specified direction.
  • the transport and loop length can be changed by adjusting the clamping cylinder stroke.
  • the clutches can be designed differently, for example as spring-loaded friction clutches with a ratchet lock or the like.
  • the feed drive can also be designed differently in a modification of the exemplary embodiments.
  • One possibility is to use controllable winding drives, which drive the winding rolls depending on the winding thickness.
  • Electric stepper motors are suitable as winding drives, for example.
  • Another variation provides for the arrangement of a friction wheel drive which engages the cleaning belt in the loop area and conveys it by defined lengths.
  • the tape supply and the used material are wound up in roll form. In conjunction with the reel design according to the invention, this allows the windings to be exchanged quickly and the strip material to be securely fixed and guided.
  • the tape supply and the used material can also be stored in a different way, for example in meandering loops and accommodated in a container.
  • the cleaning device according to the invention is movably and elastically mounted on its holding device. This enables, on the one hand, avoidance of obstacles or bumps on the vehicle part and, on the other hand, an adjustment of the pressing force of the cleaning belt on the Vehicle part.
  • a clamping device is provided which effects a rigid connection between the cleaning device and its holding device, so that relative lifting movements can be carried out between the cleaning device and the vehicle part.
  • Fig. 1 shows a processing station for the preparation of vehicle windows (2) for subsequent assembly in vehicle bodies.
  • the vehicle window (2) or glass window is attached to the hand of a multi-axis manipulator (3) via a gripping device (4) and is moved and guided by it along a preprogrammed path.
  • the manipulator is preferably designed as a multi-axis industrial robot (3).
  • he moves the one from a stack of supplies beforehand removed vehicle window (2) along a cleaning device (1). This removes dirt, grease and other impurities from the edges of the pane so that the adhesive bead applied to a subsequent station adheres securely.
  • the industrial robot (3) inserts the window (2) exactly into the window cutout of the body. Then he gets a new vehicle window and the process described above begins again.
  • the vehicle window (2) and the complete cleaning device (1) are moved relative to one another.
  • the cleaning device (1) is mounted relatively stationary on a holding device (5).
  • the kinematic assignment can also be selected differently by moving the cleaning device (1) relative to a stationary vehicle window (2). In a further modification, both parts can also be moved at the same time.
  • the holding device (5) consists of a stationary base frame (6) and a swivel arm (7) rotatably mounted thereon about a vertical axis, which at the end carries a guide rail (8) on which a guide carriage (43) with the Cleaning device (1) is attached adjustable in height.
  • the cleaning device (1) in turn can be adjusted in height on the guide carriage (43) and is elastically mounted in itself.
  • Fig. 2 shows the cleaning device (1) from the front
  • Fig. 3 discloses the associated side view.
  • the cleaning device (1) consists of a cleaning belt (10) made of felt or another suitable material, which is guided between two coils (13, 14) in a downward loop (12) and is in contact with a wiping surface (16) at the lower end of the loop with the vehicle window (2) stands.
  • the cleaning device (1) further comprises two winding rolls (21, 22), onto which the tape rolls (13, 14) are attached, and a feed drive (17) for the cyclical and section-wise transport of the cleaning tape (10).
  • the winding rollers (21, 22) which can be rotated about horizontal axes (27) are fastened together with the feed drive (17) on a base plate (9).
  • the cleaning device (1) further comprises a spray device (35) for a cleaning liquid and an application device (36) for the primer.
  • the vehicle window (2) is guided past the cleaning device (1) in the transport direction (41) indicated by an arrow.
  • the spray device (35) sits in the transport direction (41) in front of the loop (12), while the application device (36) is arranged behind the loop (12).
  • the cleaning liquid sprayed on a thin sheet at the edge of the pane is wiped with the wiping surface (16) of the cleaning belt (10) and absorbed. This surface is then coated with the primer in the same or a separate operation and prepared for the adhesive bead.
  • the function of the spray device (35) and the application device (36) is monitored and controlled by sensors (42).
  • the supply reel (13) with the fresh strip material is arranged behind the loop (12) in the transport direction (41), while the consumption reel (14) sits in front of it.
  • the cleaning tape (10) is guided over a pressure piece (15) which is frustoconical in cross section.
  • the wiping surface (16) is pressed against the vehicle window (2).
  • the feed drive (17) consists of a tensioning cylinder (18) and a winding cylinder (20), which are designed as pneumatic and / or hydraulic cylinders and have a sequence control.
  • the tensioning cylinder (18) acts on the cleaning belt (10) in the loop area.
  • the winding cylinder (20) drives the winding roll (22) counterclockwise.
  • the winding cylinder (20) engages the winding roller (22) via a freewheel or another device in such a way that it rotates the winding roller (22) during the advance, but not during the return stroke.
  • Both winding rollers (21, 22) have couplings for an alternating and controlled rotary movement.
  • the couplings only allow the two winding rollers (21, 22) to rotate counterclockwise. They also prevent more tape material from being conveyed than necessary when the used material is wound onto the winding (14).
  • the transport length is determined by the tensioning cylinder (18), which acts on the loop (12) in both embodiments and forms an additional loop (44) when its piston is extended, which loop is then re-formed.
  • the length of the loop (44) corresponds approximately to the length of the wiping surface (16) and is always the same regardless of the winding sizes. It can be varied by changing the piston stroke length and / or the deflection radius.
  • the tensioning cylinder (18) is arranged in the middle of the loop (12) and in the longitudinal direction thereof.
  • Tensioning rollers (19) are arranged on both sides of the loop (12) approximately at the level of the rest position of the pressure piece (15).
  • the piston which can be extended downwards, carries the pressure piece at the end (15). If the clamping cylinder (18) is activated, it pulls out the additional loop (44) (shown in dashed lines) in the lowering movement.
  • the tension rollers (19) support the formation of loops and ensure that the shape of the loops remains constant.
  • the piston of the tensioning cylinder (18) is retracted, at the same time the piston of the winding cylinder (20) is extended and the winding roller (22) rotates, the strip material in the loop (44) being wound up exactly by the length of the strip which is at Return stroke of the clamping cylinder (18) is free.
  • the cleaning belt (10) always remains taut during this process.
  • the feed force of the winding cylinder (20) is less than the spring restoring force on the winding roll (21), so that the latter locks and only the used strip material is transported during the winding movement.
  • the tensioning cylinder (18) is arranged within the loop (12), but is now directed transversely. With its piston and a rotatable deflection roller attached to it, it engages on the side loop strand leading behind the now stationary pressure piece (15) to the consumption roll (22). On the other side of the loop strand, two tensioning rollers (19) are arranged one above the other on both sides of the piston track. When the piston extends, the additional loop (44) pulled out to the side between the two tensioning rollers (19).
  • the winding rollers (21, 22) and the winding cylinder (20) work in the manner described above.
  • the embodiment according to FIG. 4 enables a wiping surface change due to the lateral loop formation and the stationary pressure piece (15) while the cleaning belt (10) is in contact with the window (2).
  • the monitoring device (31) is used to check the thickness of the supply roll (13) and consists of a swivel arm which rests on the roll (13) and a switch contact. If the winding thickness falls below a predetermined value, the swivel arm touches the switch contact and triggers a warning signal.
  • the monitoring device (32) serves to control the tape feed. It is assigned to the winding roll (21) and consists of two sensors that contactlessly scan a row of teeth on the roll circumference. The cleaning belt (10) is only transported if the winding roll (21) rotates when the tensioning cylinder (18) is advanced and the sensors report this; otherwise it is broken.
  • a similar monitoring device (34) with one or two sensors is also found on the winding roll (22) and serves to control the winding movement and the function of the winding cylinder (20).
  • the clamping cylinder (18) also has a monitoring device (33) for position and drive control.
  • Fig. 3 shows in side view further parts of the cleaning device (1).
  • the parts leading the tape are mounted on a base plate (9).
  • This in turn is guided vertically on a guide (37) on the guide carriage (43) of the holding device (5).
  • the guide carriage (43) For the sake of clarity, only parts of the guide carriage (43) are shown.
  • the The guiding direction results from the pressing direction between the pane and the cleaning belt (10).
  • the base plate (9) also has a horizontally projecting flange on which two vertical compensation springs (38) engage on both sides and support the base plate (9) on the guide carriage (43) and support it in a spring-loaded manner.
  • the contact pressure of the cleaning belt (10) on the vehicle window (2) is also set via the compensating springs (38).
  • the base plate (9) with the belt-guiding parts can thus evade any unevenness on the surface of the pane and yield resiliently in the vertical direction up and down.
  • a clamping device (39) which temporarily activates a rigid connection between the holding device (5) and the cleaning device (1) when activated.
  • the clamping device (39) consists of a pneumatic and / or hydraulic cylinder which is fastened to the guide carriage (43) and carries a clamping piece at the end of the piston rod.
  • a vertical flange (40) is rigidly connected to the base plate (9) and is clamped and held between the clamping piece and a stop part when the cylinder is activated.
  • a monitoring device with a sensor which controls the position of the piston projecting out of the cylinder.
  • FIG. 5 to 7 show details of the winding rolls (21, 22). 5 and 6 show the winding roll construction in a front view, while FIG. 7 shows a side view of FIG. 6.
  • the felt band (10) is turned into coreless windings with an exposed inner band end (30).
  • the winding rolls (21, 22) have a plate-shaped base body (23) with a roll core (24).
  • a clamping device (28) for the strip end (30) is accommodated in each of the roll cores (24). It consists of a radial slot in which a spring-loaded clamping bracket (29) is pivotally mounted. When the tape end (30) is pushed in, the clamping bracket (29) withdraws against the spring force and then rests on the tape end (30). He clamps it against the diaphragm wall and supports himself down on a wall projection. The band end (30) can then no longer be pulled out of the slot against the clamping action of the bracket (29).
  • the supply roll (13) is placed on the roll core (24) of the winding roll (21) and fixed with its inner band end (30) in the clamping device (28).
  • the cleaning tape (10) is then laid in the prescribed loop and also fastened at the other end to the roll core (24) of the winding roll (22).
  • the roll cores (24) are then covered by overlapping roll covers (25) for the axial fixation of the rolls (13, 14).
  • the connection is made via a bayonet lock (26).

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  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
EP90106353A 1989-04-05 1990-04-03 Procédé et dispositif pour nettoyer des pièces de véhicule, notamment vitres de véhicule Expired - Lifetime EP0391340B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3911037 1989-04-05
DE3911037 1989-04-05

Publications (2)

Publication Number Publication Date
EP0391340A1 true EP0391340A1 (fr) 1990-10-10
EP0391340B1 EP0391340B1 (fr) 1992-12-16

Family

ID=6377932

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90106353A Expired - Lifetime EP0391340B1 (fr) 1989-04-05 1990-04-03 Procédé et dispositif pour nettoyer des pièces de véhicule, notamment vitres de véhicule

Country Status (4)

Country Link
US (1) US5046211A (fr)
EP (1) EP0391340B1 (fr)
DE (1) DE59000587D1 (fr)
ES (1) ES2036379T3 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2265559A (en) * 1992-03-30 1993-10-06 Honda Motor Co Ltd Primer applying and surface wiping apparatus
DE4310146C1 (de) * 1993-03-29 1994-06-16 Daimler Benz Ag Robotergeführte Vorrichtung zum örtlich gezielten Abkleben von Scheibenflanschen in Fahrzeugkarosserien mit Haftklebeband
WO1999059739A1 (fr) * 1998-05-19 1999-11-25 Loctite Corporation Dispositif assurant la preparation de surface
DE102012101482A1 (de) * 2012-02-24 2013-08-29 Peter Schubert Verfahren zur maschinellen Oberflächenbehandlung von Bauelementen und Vorrichtung dafür
DE102012216400A1 (de) * 2012-09-14 2014-03-20 Bundesdruckerei Gmbh Vorrichtung und Verfahren zur Reinigung einer Oberfläche
CN104644065A (zh) * 2013-11-20 2015-05-27 苏州科沃斯商用机器人有限公司 压力检测与泄气装置及带有该装置的吸附式机器人
CN104759440A (zh) * 2015-04-13 2015-07-08 深圳市利步瑞科技有限公司 擦拭清洗机
DE102015109419A1 (de) * 2015-06-12 2016-12-15 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Reinigen einer Dichtfläche eines Bauteils
DE102016012563A1 (de) * 2016-10-21 2018-04-26 Raziol Zibulla & Sohn Gmbh Vorrichtung und Verfahren zum Reinigen von Breitflacherzeugnissen
DE102021102243A1 (de) 2021-02-01 2022-08-04 Schmitt Prof. Möhlmann & Collegen Wirtschaftskanzlei - lnsolvenzverwalter Aktiengesellschaft Heißwachsreinigungsvorrichtung und -anlage
EP4074425A1 (fr) * 2021-04-14 2022-10-19 MAGNA Metalforming GmbH Nettoyeur de rouleau de pliage et procédé de nettoyage d'un tel rouleau de sertissage

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10230021C1 (de) * 2002-07-04 2003-07-10 Daimler Chrysler Ag Verfahren zum Reinigen eines Bauteils und geeignete Reinigungsvorrichtung
US10029273B2 (en) 2015-06-30 2018-07-24 Toyota Motor Engineering & Manufacturing North America, Inc. End effector cleaning devices and systems

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0352780A2 (fr) * 1988-07-28 1990-01-31 W.D. Schumacher Dispositif pour l'enlèvement de crottes ou des contaminations

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4605569A (en) * 1982-11-25 1986-08-12 Nissan Motor Co., Ltd. Method and apparatus for panel wiping operation
DE8428694U1 (de) * 1984-09-28 1985-01-31 Dimatec System AG, Mönchaltorf Vorrichtung zum behandeln von automobil-fensterscheiben in ihrem randbereich

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0352780A2 (fr) * 1988-07-28 1990-01-31 W.D. Schumacher Dispositif pour l'enlèvement de crottes ou des contaminations

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2265559A (en) * 1992-03-30 1993-10-06 Honda Motor Co Ltd Primer applying and surface wiping apparatus
US5407482A (en) * 1992-03-30 1995-04-18 Honda Giken Kogyo Kabushiki Kaisha Primer applying and surface wiping apparatus
US5456753A (en) * 1992-03-30 1995-10-10 Honda Giken Kogyo Kabushiki Kaisha Primer applying and surface wiping apparatus
GB2265559B (en) * 1992-03-30 1996-03-20 Honda Motor Co Ltd Primer applying and surface wiping apparatus
DE4310146C1 (de) * 1993-03-29 1994-06-16 Daimler Benz Ag Robotergeführte Vorrichtung zum örtlich gezielten Abkleben von Scheibenflanschen in Fahrzeugkarosserien mit Haftklebeband
WO1999059739A1 (fr) * 1998-05-19 1999-11-25 Loctite Corporation Dispositif assurant la preparation de surface
US6292976B1 (en) 1998-05-19 2001-09-25 Loctite Corporation Device for providing surface preparation
DE102012101482A1 (de) * 2012-02-24 2013-08-29 Peter Schubert Verfahren zur maschinellen Oberflächenbehandlung von Bauelementen und Vorrichtung dafür
DE102012216400A1 (de) * 2012-09-14 2014-03-20 Bundesdruckerei Gmbh Vorrichtung und Verfahren zur Reinigung einer Oberfläche
DE102012216400B4 (de) * 2012-09-14 2016-08-04 Bundesdruckerei Gmbh Vorrichtung und Verfahren zur Reinigung einer Oberfläche
CN104644065A (zh) * 2013-11-20 2015-05-27 苏州科沃斯商用机器人有限公司 压力检测与泄气装置及带有该装置的吸附式机器人
CN104644065B (zh) * 2013-11-20 2017-09-19 科沃斯商用机器人有限公司 压力检测与泄气装置及带有该装置的吸附式机器人
CN104759440A (zh) * 2015-04-13 2015-07-08 深圳市利步瑞科技有限公司 擦拭清洗机
DE102015109419A1 (de) * 2015-06-12 2016-12-15 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Reinigen einer Dichtfläche eines Bauteils
DE102016012563A1 (de) * 2016-10-21 2018-04-26 Raziol Zibulla & Sohn Gmbh Vorrichtung und Verfahren zum Reinigen von Breitflacherzeugnissen
DE102021102243A1 (de) 2021-02-01 2022-08-04 Schmitt Prof. Möhlmann & Collegen Wirtschaftskanzlei - lnsolvenzverwalter Aktiengesellschaft Heißwachsreinigungsvorrichtung und -anlage
EP4074425A1 (fr) * 2021-04-14 2022-10-19 MAGNA Metalforming GmbH Nettoyeur de rouleau de pliage et procédé de nettoyage d'un tel rouleau de sertissage
DE102021203680A1 (de) 2021-04-14 2022-10-20 MAGNA Metalforming GmbH Falzrollenreiniger und Verfahren zum Reinigen einer solchen

Also Published As

Publication number Publication date
US5046211A (en) 1991-09-10
EP0391340B1 (fr) 1992-12-16
DE59000587D1 (de) 1993-01-28
ES2036379T3 (es) 1993-05-16

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