EP0559106B1 - Applicator for fluids such as adhesives, sealants etc. - Google Patents
Applicator for fluids such as adhesives, sealants etc. Download PDFInfo
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- EP0559106B1 EP0559106B1 EP93103165A EP93103165A EP0559106B1 EP 0559106 B1 EP0559106 B1 EP 0559106B1 EP 93103165 A EP93103165 A EP 93103165A EP 93103165 A EP93103165 A EP 93103165A EP 0559106 B1 EP0559106 B1 EP 0559106B1
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- Prior art keywords
- cylinder chamber
- applicator
- compressed air
- workpiece
- pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
Definitions
- the invention relates to an application device with which a medium such as adhesive, sealant, etc. can be applied to a workpiece.
- the application device contains an application nozzle which is connected to the medium source and is fastened to a holder which is held on a robot arm in a substantially vertically movable manner.
- the application device is preferably a freely programmable device which moves along a predetermined, programmable path over a workpiece to which the medium is to be applied.
- the application device can also be arranged in a stationary manner, in which case the workpiece is moved accordingly so that the medium is applied in a predetermined manner.
- a typical application of the application device according to the invention is the application of adhesive to windshields of motor vehicles.
- the application nozzle from which the adhesive emerges rests on the windshield with a certain contact pressure and describes an orbit around the edge region of the windshield in order to provide the latter with the adhesive.
- the windshields used today have convex or concave curvatures, which the overlying application nozzle must follow, with manufacturing tolerances also being added, which can result in further deviations in the vertical direction.
- the application nozzle can carry out the required vertical movement in the course of an application cycle, it is known to mount the application nozzle guided in a vertically movable manner on the application device by means of a helical spring.
- the disadvantage here is that the deflection of the application nozzle changes the pressure with which it rests on the windshield, which can result in the pane being scratched.
- This visual impairment of the windshield occurs to an increased extent if its edge area is coated with ceramic material using the screen printing process, since this ceramic material is extremely sensitive to scratch marks.
- Another typical area of application of the application device according to the invention is the application of sealant to compensate for areas that do not fit.
- the sealant must be applied to the workpiece with pressure to create the necessary contact with the substrate, which, for. B. can consist of an oiled sheet.
- the conventional applicators again have the problem that they cannot apply the sealant with constant pressure, with the added factor that this pressure is also not adjustable to the desired size.
- a piston / cylinder unit moves a metering tube downwards in order to immerse it in a gold suspension in a container.
- the metering tube is raised by means of the piston / cylinder unit, pivoted by means of a further piston / cylinder unit and then lowered into a working position in which the metering tube is approximately 5 mm above an area to be coated.
- a dosing head which is provided with a pneumatically actuated feed cylinder, which ensures extremely precise control of the feed movement of the dosing pen and a precise return movement. Accordingly, the piston / cylinder unit is also provided here to move an application nozzle back and forth between a retracted rest position and an extended order position.
- DE 33 40 369 A1 discloses an adhesive dispensing device in which a dispensing cylinder and a sleeve are moved down to a point at which an application nozzle comes into contact with a substrate, an adhesive droplet being squeezed between the end of a pen and the work surface.
- the piston / cylinder unit of this device in turn only effects the alternate positioning in a working position and a retracted rest position.
- An application device is known from DE 38 32 116 A1, in which a spiral spring dampens the impact of a nozzle tip on a substrate. With such a shock absorption, a constant contact pressure of an application nozzle cannot be brought about on an uneven workpiece, since the spring force of a spiral spring varies with the compression of the spring.
- JP-A-61 235 075 (D1) a device for applying a solder to a circuit board is known, which is attached in an inclined position to an L-shaped holder which is moved vertically in the direction of the circuit board by means of a piston-cylinder unit until the application nozzle touches the circuit board.
- the L-shaped bracket is connected via a vertical helical compression spring to the cylinder, which causes the contact pressure of the application nozzle and prevents it from being damaged.
- JP-A-61 141 956 D2
- a reversing regulator is arranged in the fluid pressure supply line to a cylinder, which moves the discharge nozzle downward at high speed and brings it into contact with a workpiece.
- a solenoid valve By switching a solenoid valve, the discharge nozzle can be raised and lowered at a high speed.
- the present invention has for its object to develop an applicator of the type specified in the preamble of claim 1 so that it applies a medium such as adhesive, sealant, etc. to an uneven workpiece with a substantially constant pressure.
- the piston / cylinder unit is designed as a compressed air spring which applies a constant pressure upwards to the holder with the application nozzle.
- the compressed air spring has a valve device, by means of which a predetermined constant air pressure is maintained in a cylinder chamber of the air pressure spring in connection with a compressed air source. This ensures that the dead weight of the moving part of the applicator counteracts the force resulting from the compressed air, which reduces the contact pressure of the applicator nozzle, which is particularly advantageous in the case of very fast-working devices.
- the piston / cylinder unit is designed in a further embodiment of the invention in such a way that the valve device in cooperation with a vent valve keeps the pressure in the associated cylinder chamber constant, while the other cylinder chamber is open to the surrounding atmosphere. If, according to an advantageous embodiment of the invention, the cylinder is firmly connected to the holder of the application nozzle, the upper cylinder chamber is provided with this valve device, while the lower cylinder chamber is open to the atmosphere.
- the holder of the application nozzle is acted upon vertically upward by the compressed air spring, so that the force resulting from the pressurized air acts on the dead weight of the movable part counteracts the application device.
- a suitable choice of the air pressure therefore ensures that the application nozzle rests on the workpiece with a desired, predetermined pressure.
- This pressure the size of which can thus be adapted to the respective application, remains constant in the event of any unevenness in the workpiece which the application nozzle follows, so that windshields are reliably prevented from being scratched during the application process.
- the application nozzle is attached to a holder, which can include an outlet valve for the medium to be applied and a centering device for the application nozzle.
- the holder is connected to a cylinder which is displaceably guided and surrounds a stationary piston, which here is an upper one and delimits a lower cylinder chamber.
- the upper cylinder chamber is provided with a valve device which is connected to a compressed air source which compensates for a pressure drop when the upper cylinder chamber is enlarged due to an upward movement of the application nozzle by supplying compressed air, so that the pressure in the upper one Cylinder chamber remains constant.
- the valve device is provided with a vent valve which, when the volume of the upper cylinder chamber is reduced, allows compressed air to escape in order to maintain the predetermined pressure level.
- the lower cylinder chamber is open to the surrounding atmosphere, i.e. kept depressurized.
- the opening is expediently covered so that no foreign particles can enter the lower cylinder chamber.
- the pressure in the upper cylinder chamber is approximately in the range from 0.5 to 2.0 bar and is preferably approximately 0.7 bar.
- the selected pressure is dependent on the weight of the movable, resting part of the application device or the robot arm and the desired contact force of the application nozzle, which can thus be set in the application device according to the invention.
- the robot arm or application arm of the device according to the invention expediently has an upper flange, which in turn is attached to a flange of the other device part or robot.
- the piston rod of the piston is expediently attached to this upper flange of the robot arm in a vertical orientation. It is also advantageously provided that two spaced-apart, likewise vertical guide rods are attached to the upper flange, which serve to guide the cylinder.
- the application nozzle is held by a pneumatic spring, it is within the scope of the invention that the pressure can be applied hydraulically.
- an application nozzle 1 is arranged at the lower end of a holder of a robot arm 3, generally designated 2.
- the holder 2 contains an outlet valve, not shown, connected to the application nozzle 1 for the medium to be dispensed from the application nozzle 1, the connection to the medium source also not being shown in the figures.
- a centering device 4 for the application nozzle 1 is arranged on the holder 2.
- the holder 2 is attached to a cylinder 5, which surrounds a stationary piston 6, which divides the interior of the cylinder 5 into an upper cylinder chamber 7 and a lower cylinder chamber 8 divided.
- the piston 6 is attached via a piston rod 9 to an upper flange 10 of the robot arm 3, the flange 10 in turn being attached to a counter flange (not shown) of the application device according to the invention.
- the lower cylinder chamber 8 opens a valve assembly 11 with an air connection 12, which is connected to a compressed air source, not shown, and a vent valve 13.
- the lower cylinder chamber 8 communicates with the surrounding atmosphere via an opening 14.
- the cylinder 5 is held on a frame 15 which in turn is slidably guided on two vertical rods 16 which, like the piston rod 9, are fastened to the upper flange 10.
- compressed air is introduced at a predetermined, selected pressure through the valve arrangement 11 into the upper cylinder chamber 7, which acts on the cylinder 5 with the frame 15 holding it and the holder 2 with the application nozzle 1 attached thereto, thereby increasing the dead weight this movable part of the applicator is reduced to the desired extent.
- the application nozzle 1 rests with the resulting vertical force on a workpiece, not shown, for example a windshield.
- the volume of the upper cylinder chamber 7 increases, with compressed air being simultaneously introduced into this cylinder chamber 7, the internal pressure of which thus remains constant.
- the volume of the lower cylinder chamber 8 is reduced, air escaping through the opening 14, so that the lower cylinder chamber 8 remains depressurized.
- the application nozzle 1 moves vertically downward in the course of its application path, the volume of the upper cylinder chamber 7 is reduced while simultaneously relieving pressure by the fact that so much compressed air escapes from the ventilation valve 13 that the internal pressure in the upper cylinder chamber 7 remains constant.
- air enters through the opening 14 into the lower cylinder chamber 8, which, as said, is always depressurized.
- the pneumatic suspension of the application nozzle ensures that the application nozzle 1 always rests on the workpiece with a constant force regardless of its vertical position, so that a suitable choice of the contact force can reliably prevent the pane glass from being scratched when an adhesive is applied to a windshield .
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- Coating Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Sealing Material Composition (AREA)
Abstract
Description
Die Erfindung betrifft ein Auftragsgerät, mit dem ein Medium wie Kleber, Dichtmasse etc. auf ein Werkstück auftragbar ist. Das Auftragsgerät enthält hierzu eine mit der Mediumquelle verbundene Auftragsdüse, die an einer Halterung befestigt ist, die im wesentlichen vertikal beweglich an einem Roboterarm gehalten ist.The invention relates to an application device with which a medium such as adhesive, sealant, etc. can be applied to a workpiece. For this purpose, the application device contains an application nozzle which is connected to the medium source and is fastened to a holder which is held on a robot arm in a substantially vertically movable manner.
Bei dem Auftragsgerät handelt es sich vorzugsweise um ein frei programmierbares Gerät, das sich entlang einer vorgegebenen, programmierbaren Bahn über einem Werkstück bewegt, auf welches das Medium aufzutragen ist. Das Auftragsgerät kann jedoch auch stationär angeordnet sein, wobei dann das Werkstück entsprechend bewegt wird, damit das Medium auf vorbestimmte Weise aufgetragen wird.The application device is preferably a freely programmable device which moves along a predetermined, programmable path over a workpiece to which the medium is to be applied. However, the application device can also be arranged in a stationary manner, in which case the workpiece is moved accordingly so that the medium is applied in a predetermined manner.
Ein typisches Anwendungsgebiet des erfindungsgemäßen Auftragsgerätes ist das Aufbringen von Kleber auf Windschutzscheiben von Kraftfahrzeugen. Hierbei liegt die Auftragsdüse, aus der der Kleber austritt, mit einem gewissen Anpreßdruck auf der Windschutzscheibe auf und beschreibt eine Umlaufbahn um den Randbereich der Windschutzscheibe, um diesen mit dem Kleber zu versehen.A typical application of the application device according to the invention is the application of adhesive to windshields of motor vehicles. Here, the application nozzle from which the adhesive emerges rests on the windshield with a certain contact pressure and describes an orbit around the edge region of the windshield in order to provide the latter with the adhesive.
Die heutzutage verwendeten Windschutzscheiben haben konvexe oder konkave Wölbungen, denen die aufliegende Auftragsdüse folgen muß, wobei auch noch Fertigungstoleranzen hinzukommen, die weitere Abweichungen in vertikaler Richtung zur Folgen haben können.The windshields used today have convex or concave curvatures, which the overlying application nozzle must follow, with manufacturing tolerances also being added, which can result in further deviations in the vertical direction.
Damit die Auftragsdüse im Verlaufe eines Auftragszyklus die erforderliche Vertikalbewegung ausführen kann, ist es bekannt, die vertikal beweglich geführte Auftragsdüse mittels einer Schraubenfeder am Auftragsgerät zu lagern. Nachteilig ist hierbei, daß sich bei Auslenkung der Auftragsdüse der Druck ändert, mit dem diese auf der Windschutzscheibe aufliegt, was dazu führen kann, daß die Scheibe verkratzt wird. Im verstärkten Maße tritt diese optische Beeinträchtigung der Windschutzscheibe ein, wenn ihr Randbereich mit Keramikmasse im Siebdruckverfahren beschichtet ist, da diese Keramikmasse äußerst empfindlich gegen Kratzspuren ist.So that the application nozzle can carry out the required vertical movement in the course of an application cycle, it is known to mount the application nozzle guided in a vertically movable manner on the application device by means of a helical spring. The disadvantage here is that the deflection of the application nozzle changes the pressure with which it rests on the windshield, which can result in the pane being scratched. This visual impairment of the windshield occurs to an increased extent if its edge area is coated with ceramic material using the screen printing process, since this ceramic material is extremely sensitive to scratch marks.
Ein weiteres typisches Anwendungsgebiet des erfindungsgemäßen Auftragsgerätes ist das Aufbringen von Dichtungsmasse zum Ausgleich nicht paßgerechter Flächen. Hierbei muß die Dichtmasse mit Druck auf das Werkstück aufgetragen werden, um den notwendigen Kontakt zum Untergrund zu schaffen, der z. B. aus einem geölten Blech bestehen kann. Auch hierbei tritt bei den herkömmlichen Auftragsgeräten wiederum das Problem auf, daß diese die Dichtungsmasse nicht mit gleichbleibendem Druck auftragen können, wobei hinzukommt, daß dieser Druck auch nicht auf die gewünschte Größe einstellbar ist.Another typical area of application of the application device according to the invention is the application of sealant to compensate for areas that do not fit. Here, the sealant must be applied to the workpiece with pressure to create the necessary contact with the substrate, which, for. B. can consist of an oiled sheet. Here too the conventional applicators again have the problem that they cannot apply the sealant with constant pressure, with the added factor that this pressure is also not adjustable to the desired size.
Aus der DD 115 051 ist eine Auftragsvorrichtung bekannt, bei der eine Kolben/Zylindereinheit ein Dosierröhrchen abwärts bewegt, um es in eine Goldsuspension in einen Behälter einzutauchen. Nach Ansaugen einer vorbestimmten Menge der Suspension wird das Dosierröhrchen mittels der Kolben/Zylindereinheit angehoben, mittels einer weiteren Kolben/Zylindereinheit verschwenkt und anschließend in eine Arbeitsposition abgesenkt, in der sich das Dosierröhrchen etwa 5 mm über einer zu beschichtenden Fläche befindet.From DD 115 051 an application device is known in which a piston / cylinder unit moves a metering tube downwards in order to immerse it in a gold suspension in a container. After a predetermined amount of the suspension has been sucked in, the metering tube is raised by means of the piston / cylinder unit, pivoted by means of a further piston / cylinder unit and then lowered into a working position in which the metering tube is approximately 5 mm above an area to be coated.
Aus dem DE-GM 77 35 372 ist ein Dosierkopf bekannt, der mit einem pneumatisch betätigbaren Vorschubzylinder versehen ist, der für eine äußerst genaue Steuerung der Vorschubbewegung des Dosiergriffels und eine genaue Rückbewegung sorgt. Demnach ist auch hier die Kolben/Zylindereinheit dazu vorgesehen, eine Auftragsdüse zwischen einer zurückgezogenen Ruheposition und einer ausgefahrenen Auftragsposition hin- und herzubewegen.From DE-GM 77 35 372 a dosing head is known, which is provided with a pneumatically actuated feed cylinder, which ensures extremely precise control of the feed movement of the dosing pen and a precise return movement. Accordingly, the piston / cylinder unit is also provided here to move an application nozzle back and forth between a retracted rest position and an extended order position.
Die DE 33 40 369 A1 offenbart eine Klebstoffausteilvorrichtung, bei der ein Austeilzylinder und eine Hülse zu einem Punkt abwärts bewegt werden, an dem eine Auftragsdüse in Kontakt mit einem Substrat gerät, wobei hier ein Klebstofftröpfchen zwischen dem Ende eines Stiftes und der Arbeitsfläche gequetscht wird. Die Kolben/Zylindereinheit dieser Vorrichtung bewirkt wiederum lediglich die wechselweise Positionierung in einer Arbeitsposition und einer zurückgezogenen Ruheposition.DE 33 40 369 A1 discloses an adhesive dispensing device in which a dispensing cylinder and a sleeve are moved down to a point at which an application nozzle comes into contact with a substrate, an adhesive droplet being squeezed between the end of a pen and the work surface. The piston / cylinder unit of this device in turn only effects the alternate positioning in a working position and a retracted rest position.
Aus der DE 38 32 116 A1 ist eine Auftragsvorrichtung bekannt, bei der eine Spiralfeder den Aufprall einer Düsenspitze auf ein Substrat dämpft. Mit einer derartien Stoßdämpfung kann kein konstanter Auflagedruck einer Auftragsdüse auf einem unebenen Werkstück hervorgerufen werden, da die Federkraft einer Spiralfeder mit der Kompression der Feder variiert.An application device is known from DE 38 32 116 A1, in which a spiral spring dampens the impact of a nozzle tip on a substrate. With such a shock absorption, a constant contact pressure of an application nozzle cannot be brought about on an uneven workpiece, since the spring force of a spiral spring varies with the compression of the spring.
Aus der JP-A-61 235 075 (D1) ist eine Vorrichtung zum Auftragen eines Lötmittels auf eine Platine bekannt, die in einer Schräglage an einem L-förmigen Halter befestigt ist, der mittels einer Kolben-Zylindereinheit vertikal in Richtung der Platine bewegt wird, bis die Auftragsdüse an der Platine anliegt. Die L-förmige Halterung ist dabei über eine vertikale Schraubendruckfeder elastisch mit dem Zylinder verbunden, die den Anpreßdruck der Auftragsdüse hervorruft und ihre Beschädigung verhindert.From JP-A-61 235 075 (D1) a device for applying a solder to a circuit board is known, which is attached in an inclined position to an L-shaped holder which is moved vertically in the direction of the circuit board by means of a piston-cylinder unit until the application nozzle touches the circuit board. The L-shaped bracket is connected via a vertical helical compression spring to the cylinder, which causes the contact pressure of the application nozzle and prevents it from being damaged.
Aus der JP-A-61 141 956 (D2) ist eine Anordnung bekannt, mit der die Arbeitsweise einer Austragsdüse beschleunigt und ihre Abnutzung verringert werden kann. Hierzu ist ein Umkehrregulator in der Fluiddruckzufuhrleitung zu einem Zylinder angeordnet, der mit hoher Gechwindigkeit die Austragsdüse abwärts bewegt und sie in Kontakt mit einem Werkstück bringt. Durch Umschalten eines Solenoidventils kann das Anheben und Absenken der Austragsdüse mit hoher Geschwindigkeit ausgeführt werden.From JP-A-61 141 956 (D2) an arrangement is known with which the operation of a discharge nozzle can be accelerated and its wear can be reduced. For this purpose, a reversing regulator is arranged in the fluid pressure supply line to a cylinder, which moves the discharge nozzle downward at high speed and brings it into contact with a workpiece. By switching a solenoid valve, the discharge nozzle can be raised and lowered at a high speed.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Auftragsgerät der im Oberbegriff des Anspruchs 1 angegebenen Art so weiter zu entwickeln, daß dieses ein Medium wie Kleber, Dichtmasse etc. auf ein unebenes Werkstück mit im wesentlichen konstantem Druck aufträgt.The present invention has for its object to develop an applicator of the type specified in the preamble of claim 1 so that it applies a medium such as adhesive, sealant, etc. to an uneven workpiece with a substantially constant pressure.
Diese Aufgabe wird erfindungsgemäß durch die im Kennzeichen des Patentanspruchs 1 angegebenen Merkmale gelöst. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen gekennzeichnet.This object is achieved by the features specified in the characterizing part of patent claim 1. Advantageous developments of the invention are characterized in the subclaims.
Gemäß der vorliegenden Erfindung ist die Kolben/Zylindereinheit als eine Druckluftfeder ausgebildet, die die Halterung mit der Auftragsdüse mit einem konstanten Druck nach oben beaufschlagt. Hierzu hat die Druckluftfeder eine Ventileinrichtung, durch die in Verbindung mit einer Druckluftquelle ein vorgegebener konstanter Luftdruck in einer Zylinderkammer der Luftdruckfeder aufrecht erhalten wird. Hierdurch wird erreicht, daß dem Eigengewicht des beweglichen Teils des Auftragsgeräts die aus der Druckluftbeaufschlagung resultierende Kraft entgegenwirkt, wodurch der Auflagedruck der Auftragsdüse verringert wird, was insbesondere bei sehr schnell arbeitenden Geräten vorteilhaft ist. Außerdem wird gewährleistet, daß bei allen auftretenden Unebenheiten des Werkstücks, denen die Auftragsdüse aufgrund des Eigengewichts der Anordnung -nicht durch einen durch Druckluft erzwungenen Hub der Kolben/Zylindereinheit- folgt, ein konstanter Auflagedruck herrscht, so daß zuverlässig vermieden ist, daß beispielsweise Windschutzscheiben beim Auftragsvorgang zerkratzt werden.According to the present invention, the piston / cylinder unit is designed as a compressed air spring which applies a constant pressure upwards to the holder with the application nozzle. For this purpose, the compressed air spring has a valve device, by means of which a predetermined constant air pressure is maintained in a cylinder chamber of the air pressure spring in connection with a compressed air source. This ensures that the dead weight of the moving part of the applicator counteracts the force resulting from the compressed air, which reduces the contact pressure of the applicator nozzle, which is particularly advantageous in the case of very fast-working devices. It also ensures that there is a constant contact pressure for all unevenness of the workpiece, which the application nozzle follows due to the weight of the arrangement - not due to a stroke of the piston / cylinder unit forced by compressed air - so that, for example, windshields are reliably avoided Order process are scratched.
Die Kolben/Zylindereinheit ist in weiterer Ausgestaltung der Erfindung in der Weise ausgebildet, daß die Ventileinrichtung im Zusammenwirken mit einem Entlüftungsventil den Druck in der zugehörigen Zylinderkammer konstant hält, während die andere Zylinderkammer zur umgebenden Atmosphäre hin geöffnet ist. Wenn gemäß einer vorteilhaften Ausgestaltung der Erfindung der Zylinder mit der Halterung der Auftragsdüse fest verbunden ist, ist die obere Zylinderkammer mit dieser Ventileinrichtung versehen, während die untere Zylinderkammer zur Atmosphäre hin geöffnet ist.The piston / cylinder unit is designed in a further embodiment of the invention in such a way that the valve device in cooperation with a vent valve keeps the pressure in the associated cylinder chamber constant, while the other cylinder chamber is open to the surrounding atmosphere. If, according to an advantageous embodiment of the invention, the cylinder is firmly connected to the holder of the application nozzle, the upper cylinder chamber is provided with this valve device, while the lower cylinder chamber is open to the atmosphere.
Demnach ist in einer vorteilhaften Ausgestaltung der Erfindung die Halterung der Auftragsdüse durch die Druckluftfeder vertikal nach oben beaufschlagt, so daß die aus der Druckluftbeaufschlagung resultierende Kraft dem Eigengewicht des beweglichen Teils des Auftragsgerätes entgegenwirkt. Durch geeignete Wahl des Luftdrucks wird daher erreicht, daß die Auftragsdüse mit einem gewünschten, vorbestimmten Druck auf dem Werkstück aufliegt. Dieser Druck, dessen Größe damit an den jeweiligen Anwendungsfall anpaßbar ist, bleibt bei allen auftretenden Unebenheiten des Werkstücks, denen die Auftragsdüse folgt, konstant, so daß zuverlässig vermieden ist, daß Windschutzscheiben beim Auftragsvorgang zerkratzt werden. Desgleichen ist zuverlässig verhindert, daß eine auftragene Dichtmasse z.B. wegen unzureichender Auftragskraft aus der vorgesehenen Auftragsbahn heraus verrutschen kann, wie dies bei geölten Blechen bisher nicht selten der Fall ist.Accordingly, in an advantageous embodiment of the invention, the holder of the application nozzle is acted upon vertically upward by the compressed air spring, so that the force resulting from the pressurized air acts on the dead weight of the movable part counteracts the application device. A suitable choice of the air pressure therefore ensures that the application nozzle rests on the workpiece with a desired, predetermined pressure. This pressure, the size of which can thus be adapted to the respective application, remains constant in the event of any unevenness in the workpiece which the application nozzle follows, so that windshields are reliably prevented from being scratched during the application process. Likewise, it is reliably prevented that an applied sealing compound can slip out of the intended application path, for example because of insufficient application force, as has hitherto been the case with oiled sheets.
Die Auftragsdüse ist an einer Halterung befestigt, die unter anderem ein Auslaßventil für das aufzutragende Medium und eine Zentriereinrichtung für die Auftragsdüse enthalten kann. In einer vorteilhaften Ausgestaltung der Erfindung ist die Halterung mit einem Zylinder verbunden, der verschieblich geführt ist und einen stationären Kolben umschließt, der hierbei eine obere und eine untere Zylinderkammer begrenzt. Diese Zylinderkammern haben damit je nach Stellung der Auftragsdüse und damit des Zylinders eine veränderliche Größe.The application nozzle is attached to a holder, which can include an outlet valve for the medium to be applied and a centering device for the application nozzle. In an advantageous embodiment of the invention, the holder is connected to a cylinder which is displaceably guided and surrounds a stationary piston, which here is an upper one and delimits a lower cylinder chamber. These cylinder chambers therefore have a variable size depending on the position of the application nozzle and thus the cylinder.
Des weiteren wird erfindungsgemäß vorgeschlagen, daß die obere Zylinderkammer mit einer Ventileinrichtung versehen ist, die mit einer Druckluftquelle verbunden ist, die einen Druckabfall bei einer Vergrößerung der oberen Zylinderkammer infolge einer Aufwärtsbewegung der Auftragsdüse durch Zufuhr von Druckluft ausgleicht, so daß der Druck in der oberen Zylinderkammer konstant bleibt. Außerdem ist die Ventileinrichtung mit einem Entlüftungsventil versehen, welches entsprechend bei Verkleinerung des Volumens der oberen Zylinderkammer Druckluft austreten läßt, um so daß vorgegebene Druckniveau aufrecht zu erhalten.It is further proposed according to the invention that the upper cylinder chamber is provided with a valve device which is connected to a compressed air source which compensates for a pressure drop when the upper cylinder chamber is enlarged due to an upward movement of the application nozzle by supplying compressed air, so that the pressure in the upper one Cylinder chamber remains constant. In addition, the valve device is provided with a vent valve which, when the volume of the upper cylinder chamber is reduced, allows compressed air to escape in order to maintain the predetermined pressure level.
Die untere Zylinderkammer ist nach einem weiteren Vorschlag der Erfindung zur umgebenden Atmosphäre hin geöffnet, d.h. drucklos gehalten. Zweckmäßigerweise ist die Öffnung so abgedeckt, daß keine Fremdpartikel in die untere Zylinderkammer eintreten können.According to a further proposal of the invention, the lower cylinder chamber is open to the surrounding atmosphere, i.e. kept depressurized. The opening is expediently covered so that no foreign particles can enter the lower cylinder chamber.
Der Druck in der oberen Zylinderkammer liegt erfindungsgemäß etwa im Bereich von 0,5 bis 2,0 bar und beträgt vorzugsweise etwa 0,7 bar.According to the invention, the pressure in the upper cylinder chamber is approximately in the range from 0.5 to 2.0 bar and is preferably approximately 0.7 bar.
Der ausgewählte Druck ist abhängig vom Gewicht des beweglichen, aufliegenden Teils des Auftragsgerätes bzw. des Roboterarms und der gewünschten Auflagekraft der Auftragsdüse, die somit bei dem erfindungsgemäßen Auftragsgerät einstellbar ist.The selected pressure is dependent on the weight of the movable, resting part of the application device or the robot arm and the desired contact force of the application nozzle, which can thus be set in the application device according to the invention.
Der Roboterarm bzw. Auftragsarm des erfindungsgemäßen GErätes hat zweckmäßigerweise einen oberen Flansch, der seinerseits an einem Flansch des anderen Geräteteils bzw. Roboters befestigt ist. An diesem oberen Flansch des Roboterarms ist zweckmäßigerweise die Kolbenstange des Kolbens in vertikaler Ausrichtung angesetzt. Mit Vorteil ist ferner vorgesehen, daß zwei voneinander beabstandete, ebenfalls vertikale Führungsstangen an dem oberen Flansch befestigt sind, die der Führung des Zylinders dienen.The robot arm or application arm of the device according to the invention expediently has an upper flange, which in turn is attached to a flange of the other device part or robot. The piston rod of the piston is expediently attached to this upper flange of the robot arm in a vertical orientation. It is also advantageously provided that two spaced-apart, likewise vertical guide rods are attached to the upper flange, which serve to guide the cylinder.
Obwohl es bevorzugt ist, daß die Auftragsdüse von einer pneumatischen Feder gehalten ist, liegt es im Rahmen der Erfindung, daß die Druckbeaufschlagung hydraulisch erfolgen kann.Although it is preferred that the application nozzle is held by a pneumatic spring, it is within the scope of the invention that the pressure can be applied hydraulically.
Weitere Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung einer bevorzugten Ausführungsform sowie anhand der Zeichnung. Dabei zeigen:
- Fig. 1
- eine teilweise geschnittene Seitenansicht des die Auftragsdüse haltenden Arms eines erfindungsgemäßen Auftragsgerätes und
- Fig. 2
- eine Stirnansicht des Arms gemäß Fig. 1.
- Fig. 1
- a partially sectioned side view of the arm holding the application nozzle of an application device according to the invention and
- Fig. 2
- 2 shows an end view of the arm according to FIG. 1.
Wie die Figuren zeigen, ist eine Auftragsdüse 1 am unteren Ende einer allgemein mit 2 bezeichneten Halterung eines Roboterarms 3 angeordnet. Die Halterung 2 beinhaltet ein mit der Auftragsdüse 1 verbundenes, nicht dargestelltes Auslaßventil für das aus der Auftragsdüse 1 auszubringende Medium, wobei in den Figuren die Verbindung zu der Mediumquelle ebenfalls nicht dargestellt ist. An der Halterung 2 ist eine Zentriereinrichtung 4 für die Auftragsdüse 1 angeordnet.As the figures show, an application nozzle 1 is arranged at the lower end of a holder of a
Die Halterung 2 ist an einem Zylinder 5 angesetzt, der einen stationären Kolben 6 umschließt, der den Innenraum des Zylinders 5 in eine obere Zylinderkammer 7 und eine untere Zylinderkammer 8 unterteilt. Der Kolben 6 ist über eine Kolbenstange 9 an einem oberen Flansch 10 des Roboterarms 3 angesetzt, wobei der Flansch 10 seinerseits an einem nicht dargestellten Gegenflansch des erfindungsgemäßen Auftragsgerätes angebracht ist.The holder 2 is attached to a cylinder 5, which surrounds a stationary piston 6, which divides the interior of the cylinder 5 into an upper cylinder chamber 7 and a lower cylinder chamber 8 divided. The piston 6 is attached via a
In die obere Zylinderkammer 7 mündet eine Ventilanordnung 11 mit einem Luftanschluß 12, der mit einer nicht dargestellten Druckluftquelle in Verbindung steht, und einem Entlüftungsventil 13. Die untere Zylinderkammer 8 steht über eine Öffnung 14 mit der umgebenden Atmosphäre in Verbindung.In the upper cylinder chamber 7 opens a
Wie Fig. 2 zeigt, ist der Zylinder 5 an einem Rahmen 15 gehalten, der seinerseits verschieblich auf zwei vertikalen Stangen 16 geführt ist, die ebenso wie die Kolbenstange 9 an dem oberen Flansch 10 befestigt sind.2, the cylinder 5 is held on a
Im Betriebszustand des Auftragsgerätes wird Druckluft mit einem vorbestimmten, ausgewählten Druck durch die Ventilanordnung 11 in die obere Zylinderkammer 7 eingeführt, die den Zylinder 5 mit dem diesen haltenden Rahmen 15 sowie die Halterung 2 mit der daran befestigten Auftragsdüse 1 nach oben beaufschlagt, wodurch das Eigengewicht diesen beweglichen Teils des Auftragsgerätes in dem gewünschten Ausmaß reduziert wird. Die Auftragsdüse 1 liegt mit der resultierenden Vertikalkraft auf einem nicht dargestellten Werkstück, beispielsweise einer Windschutzscheibe auf. Wenn die Auftragsdüse 1 eine vorprogrammierte Bahn beispielsweise entlang des Randbereichs der Windschutzscheibe abfährt und dabei nach oben bewegt wird, vergrößert sich das Volumen der oberen Zylinderkammer 7, wobei gleichzeitig Druckluft in diese Zylinderkammer 7 eingeführt wird, deren Innendruck somit konstant bleibt. Gleichzeitig verringert sich das Volumen der unteren Zylinderkammer 8, wobei Luft durch die Öffnung 14 entweicht, so daß die untere Zylinderkammer 8 drucklos bleibt.In the operating state of the application device, compressed air is introduced at a predetermined, selected pressure through the
Bewegt sich die Auftragsdüse 1 im Verlaufe ihrer Auftragsbahn vertikal abwärts, verringert sich das Volumen der oberen Zylinderkammer 7 unter gleichzeitiger Druckentlastung, indem aus dem Entlüftungsventil 13 soviel Druckluft austritt, daß der Innendruck in der oberen Zylinderkammer 7 konstant bleibt. Hierbei tritt durch die Öffnung 14 Luft in die untere Zylinderkammer 8 ein, die -wie gesagt- stets drucklos ist.If the application nozzle 1 moves vertically downward in the course of its application path, the volume of the upper cylinder chamber 7 is reduced while simultaneously relieving pressure by the fact that so much compressed air escapes from the
Die pneumatische Federung der Auftragsdüse bewirkt, daß die Auftragsdüse 1 stets mit gleichbleibender Kraft -ungeachtet ihrer vertikalen Position- auf dem Werkstück aufliegt, so daß durch geeignete Wahl der Auflagekraft zuverlässig verhindert werden kann, daß beim Auftragen eines Klebers auf eine Windschutzscheibe das Scheibenglas zerkratzt wird.The pneumatic suspension of the application nozzle ensures that the application nozzle 1 always rests on the workpiece with a constant force regardless of its vertical position, so that a suitable choice of the contact force can reliably prevent the pane glass from being scratched when an adhesive is applied to a windshield .
Claims (8)
- Applicator with which a medium, such as adhesive, sealing compound etc., can be applied to a workpiece, having an applicator nozzle (1) affixed to a holding means (2) which is guided so as to be vertically movable on a robot arm (3),
characterised in that
the holding means (2) is acted upon upwardly by a compressed air spring which has a valve device (11) by means of which, in connection with a source of air pressure, a predetermined constant air pressure is maintained in a cylinder chamber (7) of the air pressure spring, so that during an application cycle the applicator nozzle (1) rests on the workpiece with substantially constant pressure. - Applicator according to claim 1,
characterised in that the holding means (2) is connected to a cylinder (5) which is guided so as to be substantially vertically displaceable and in which there is seated a stationary piston (6) which defines an upper and a lower cylinder chamber (7, 8). - Applicator according to claim 1 or 2,
characterised in that the upper cylinder chamber (7) is provided with the valve device (11) by means of which the predetermined constant air pressure is maintained in the upper cylinder chamber (7). - Applicator according to any one of claims 1 to 3,
characterised in that the valve device (11) is connected to the source of compressed air which in the event of an increase in the volume of the upper cylinder chamber (7) supplies compressed air to that chamber, and the valve device (11) has an air-release valve (13) which in the event of a decrease in the volume of the upper cylinder chamber (7) allows compressed air to escape accordingly. - Applicator according to any one of claims 1 to 4,
characterised in that the pressure in the upper cylinder chamber (7) is set to a value of from 0.5 to 2.0 bar, preferably to approximately 0.7 bar. - Applicator according to any one of claims 1 to 5,
characterised in that the lower cylinder chamber (8) is open to the surrounding atmosphere. - Applicator according to any one of claims 1 to 6,
characterised in that the piston rod (9) is mounted on an upper flange (10) which in turn is affixed to a robot flange. - Applicator according to any one of claims 1 to 7,
characterised in that the cylinder (5) is guided so as to be displaceable along two vertical guide rods (16), arranged at a distance from one another, which are likewise mounted on the upper flange (10).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4206999 | 1992-03-05 | ||
| DE4206999A DE4206999C2 (en) | 1992-03-05 | 1992-03-05 | Application device for media such as glue, sealant etc. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0559106A1 EP0559106A1 (en) | 1993-09-08 |
| EP0559106B1 true EP0559106B1 (en) | 1996-08-21 |
Family
ID=6453316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP93103165A Expired - Lifetime EP0559106B1 (en) | 1992-03-05 | 1993-02-27 | Applicator for fluids such as adhesives, sealants etc. |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0559106B1 (en) |
| AT (1) | ATE141530T1 (en) |
| DE (2) | DE4206999C2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2051817B2 (en) † | 2007-08-10 | 2016-09-07 | Dürr Systems GmbH | Applicator and application method for applying a sealant to a flanged seam |
| DE102018102238B4 (en) | 2018-02-01 | 2022-06-23 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Process for gluing and sealing seams and joints and application of a process |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29814292U1 (en) | 1998-08-10 | 1998-11-05 | B & B Maschinenfabrik GmbH, 48496 Hopsten | Application nozzle for the mechanical application of a masonry binder |
| DE19840130A1 (en) * | 1998-09-03 | 2000-03-09 | Volkswagen Ag | Gluing device, in particular for gluing cockpit in motor vehicles |
| CN105251665B (en) * | 2015-11-03 | 2017-11-03 | 江苏海天微电子科技有限公司 | A kind of point glue equipment on automatic chip mounting streamline |
| CN105307417B (en) * | 2015-11-03 | 2018-06-29 | 江苏海天微电子科技有限公司 | Dispensing and detection device on a kind of automatic chip mounting assembly line |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD115051A1 (en) * | 1974-09-19 | 1975-09-12 | ||
| DE7735372U1 (en) * | 1977-11-18 | 1978-03-02 | Delo Kunststoffchemie Gmbh, 8032 Graefelfing | DOSING HEAD FOR A DOSING UNIT |
| CA1219843A (en) * | 1982-11-15 | 1987-03-31 | Robert A. Kidder | Adhesive dispenser |
| JPS6481294A (en) * | 1987-09-22 | 1989-03-27 | Juki Kk | Method and apparatus for forming thick-film circuit |
-
1992
- 1992-03-05 DE DE4206999A patent/DE4206999C2/en not_active Expired - Fee Related
-
1993
- 1993-02-27 EP EP93103165A patent/EP0559106B1/en not_active Expired - Lifetime
- 1993-02-27 AT AT93103165T patent/ATE141530T1/en not_active IP Right Cessation
- 1993-02-27 DE DE59303463T patent/DE59303463D1/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2051817B2 (en) † | 2007-08-10 | 2016-09-07 | Dürr Systems GmbH | Applicator and application method for applying a sealant to a flanged seam |
| DE102018102238B4 (en) | 2018-02-01 | 2022-06-23 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Process for gluing and sealing seams and joints and application of a process |
Also Published As
| Publication number | Publication date |
|---|---|
| DE4206999C2 (en) | 1996-02-29 |
| DE59303463D1 (en) | 1996-09-26 |
| DE4206999A1 (en) | 1993-09-16 |
| EP0559106A1 (en) | 1993-09-08 |
| ATE141530T1 (en) | 1996-09-15 |
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