EP2185297A1 - Dedusting method and corresponding dedusting device - Google Patents

Abstract

The invention relates to a dedusting method for the dry or moist dedusting of components, particularly for dedusting chassis parts of motor vehicles with a sword brush, comprising the following steps: (a) positioning a dedusting tool driven by a drive motor (7) in a predetermined dedusting position (PTEACH) such that the dedusting tool touches and dedusts the component (6) to be dedusted, (b) determining a first operating variable (MIST) of the drive motor (7) of the dedusting tool when positioning the dedusting tool in the predetermined dedusting position (PK0RR), wherein the first operating variable (MIST) reflects the mechanical load of the drive motor (7) due to the contact with the component to be dedusted, (c) calculating a corrected dedusting position (PK0RR) as a function of the predetermined dedusting position (PK0RR) and the first operating variable (MIST) of the drive motor (7), and (d) positioning the dedusting tool into the corrected dedusting position (PK0RR). The invention further relates to a corresponding dedusting device.

Description

 DESCRIPTION

Dust removal process and appropriate dedusting facility

The invention relates to a dedusting method, in particular for the wet cleaning of motor vehicle body components prior to painting.

Furthermore, the invention relates to a corresponding Entstau- bung device that is suitable for wet cleaning of motor vehicle body components and, for example, has a sword brush as dedusting tool.

In painting systems for motor vehicle body components, the vehicle body components to be painted must be dedusted before the actual painting process, for which purpose so-called sword brushes can be used, which are described, for example, in DE 43 14 046 A1 and DE 103 29 499 B3. The sword brush is mounted on a hand axis of a multi-axis robot and is guided by the robot over the dust-removing surfaces of the vehicle chassis components to be painted, whereby the sword brush removes dust from the surfaces to be dedusted.

The problem with the use of sword brushes for dedusting of motor vehicle body components is the low tolerance of sword brushes with respect to the immersion depth. On the one hand, the cleaning brushes mounted on the rotating brush belt of the sword brush have to Touch the surfaces to remove dust. On the other hand, a certain distance between the rotating dedusting band of the sword brush and the dedusting surface must not be fallen below, since the dedusting brushes are deformed more with increasing depth of immersion, resulting in damage to the cleaning brushes and in the worst case to a collision between the sword brush and the can lead to dedusting component.

In addition, the cleaning result with sword brushes depends on the immersion depth, whereby an optimal cleaning result can only be achieved if the immersion depth remains within a certain range.

The low positioning tolerance of the known sword brushes is problematic in particular because the positioning of the vehicle body components to be dedusted in a paint shop is possible only with a relatively low positioning accuracy, which would have to be absorbed by the sword brush.

One reason for the low positioning accuracy of the vehicle body components to be dedusted is that the vehicle body components can have tolerances of up to one centimeter in their dimensions, which can not be changed.

Another reason for the low positioning accuracy of the dedusted motor vehicle body components is that the conveyor technology is subject to tolerances, which could be changed only with high investments in conveyor technology. Finally, one reason for the low positioning accuracy of the vehicle body components to be dedusted is that the motor vehicle body components are accommodated by a frame ("skid") with a tolerance.

The tolerance deviations during the positioning of the vehicle body components to be dedusted therefore exceed the possibilities of tolerance compensation of the sword brush and occasionally lead to a production stoppage due to the initiation of collision protection.

Furthermore, from Klaus Dieter Rupp: "For error compensation and path correction for a mobile large manipulator application", Springer-Verlag (1996) an aircraft washing system is known in which a washing brush is guided by a large manipulator on the aircraft surfaces to be washed. Again, the immersion depth of the washing brush must be kept within a certain tolerance field, on the one hand a collision between the washing brush and to be cleaned

To avoid aircraft and on the other hand to achieve a good washing effect. It is therefore known from this document to regulate the immersion depth of the washing brush in dependence on the torque of a washing brush motor. Thus, the torque of the scrub brush motor also increases with increasing depth of immersion, since the brushes of the scrub brush are deformed more with increasing depth of immersion. The torque of the washing brush motor is thus a measure of the immersion depth and can therefore be used as a measured variable.

However, this known control of the immersion depth in dependence on the torque of the drive motor has not been transferred to sword brushes for various reasons. On the one hand, the tolerance range of the immersion depth in sword brushes is considerably smaller than in the abovementioned large-scale washing systems for aircraft.

On the other hand, sword brushes are not only used for dedusting flat surfaces, but are also used for dedusting curved surfaces. However, it has been shown that the drive torque of the sword brush motor is not a suitable measure of the immersion depth when curved surfaces are dedusted.

Finally, from US 5 525 027, DE 44 28 069 Al and DE 44 33 925 Al cleaning devices for aircraft or ships are known in which the contact pressure of a cleaning brush is measured and controlled. However, these cleaning devices are not dedusting devices in the sense according to the invention. In addition, these cleaning devices are not suitable for cleaning motor vehicle body parts in a paint shop.

The invention is therefore based on the object to achieve the greatest possible positioning tolerance when using a sword brush for dedusting of motor vehicle body components in order to avoid the disruptive production stoppages caused by the triggering of collision protection.

This object is achieved by a dedusting method and a corresponding dedusting device according to the subordinate claims.

The invention conveys the principle mentioned in the abovementioned dissertation by Klaus Dieter Rupp of regulating the immersion depth in consideration of the drive motor. ment of the brush motor for the first time on a dedusting device for motor vehicle body components. This is made possible according to the invention by also determining the surface shape of the component to be dedusted and taking it into account in the position correction. In this way, independent of the immersion depth effects of different shapes of dedusting surfaces on the torque of the sword brush motor can be considered.

The invention therefore provides a dedusting method in which a dust removal tool (for example a sword brush) driven by a drive motor is brought into a predetermined dedusting position so that the dedusting tool touches and dedusts the component to be dedusted. The specified dedusting position is usually one

Track point on a robot track that can be "taught" by an operator.

In positioning the dedusting tool in the predetermined dedusting position, in the dedusting method of the present invention, a first operation amount (e.g., torque) of the deduster tool driving motor is detected, the first operation amount representing the mechanical load of the drive motor by the contact with the part to be dedusted.

Depending on the predefined dedusting position and the determined first operating variable of the drive motor, a corrected dedusting position is then calculated which takes into account the positional tolerances of the vehicle body components to be dedusted and thereby enables compliance with a narrow tolerance field of the immersion depth of the sword brush. The dedusting tool is then brought into the dedusting position thus corrected.

In a preferred embodiment of the invention, the corrected dedusting position is calculated not only as a function of the first operating variable of the drive motor and the predetermined dedusting position, but also as a function of a form factor which reproduces the surface shape of the component to be dedusted at the predetermined dedusting position. This is useful because the surface shape of the vehicle body component to be dedusted, in addition to the immersion depth, likewise influences the load torque of the drive motor and should therefore be taken into account in the calculation of the corrected dedusting position. In the simplest case, the form factor can be determined by means of a sensor which measures the deflection of the dedusting belt of the sword brush, since a convex surface of the components to be dedusted, with otherwise identical immersion depth, leads to a greater deflection of the dedusting belt than a flat surface of the components to be dedusted ,

In addition, in the preferred embodiment of the invention, a second amount of operation (e.g., speed) of the drive motor of the dedusting tool is determined and also taken into account in the calculation of the corrected dedusting position. The corrected dedusting position is thus calculated as a function of the predefined dedusting position, the first operating variable (for example the torque) and the second operating variable (for example the rotational speed) of the drive motor of the dedusting tool.

It has already been mentioned above that the dedusting tool in the context of the invention is preferably a sword brush, which as such is a brush-type brush. Has a dedusting band, which is guided around two pulleys. Such sword brushes are known, for example, from DE 43 14 046 A1 and DE 103 29 499 B3, so that reference is made to these two publications with regard to the structure and mode of operation of sword brushes, the content of which is fully attributable to the present description.

The term de-staining used in the context of the invention is not limited to a liquid-free dedusting. Rather, it is within the scope of the invention, the possibility that in the dedusting a cleaning and antistatic fluid is applied to the surfaces to be dedusted to improve the cleaning effect, as is known for example from DE 199 20 250 Al, so that the content of this Patent application is fully attributable to the present description. Preferably, therefore, a liquid film is applied to the dedusting component surfaces in the dedusting. The term de-dusting therefore also encompasses both in the context of the invention

Dry dedusting as well as a wet dedusting. However, the term dedusting in the context of the invention is to be distinguished from washing methods which not only produce a liquid film on the component surface, but apply larger amounts of a washing liquid.

However, the invention is not restricted to dedusting methods and dedusting devices, in which a sword brush is used as a dewatering tool. Rather, the invention also includes dedusting and dedusting facilities, in which other types of dedusting tools are used. Furthermore, the invention is not restricted to dedusting methods and dedusting devices in which the corrected dedusting position is calculated as a function of the torque and the speed of the sword brush motor and as a function of the surface shape of the component to be dedusted. Rather, other operating variables of the dedusting tool can also be taken into account when calculating the corrected dedusting position.

Preferably, the dedusting tool is positioned by a multi-axis dedusting robot, wherein in the case of a sword brush the assembly of the sword brush on a hand axis of the dedusting robot is particularly advantageous.

In the dedusting method according to the invention, the components to be dedusted are preferably transported by means of a conveyor along a conveying path past the dedusting robot. In this case, the conveyor also has positioning inaccuracies, which add up to the positioning inaccuracies mentioned above and therefore also have to be compensated or tolerated by the dedusting tool. In the preferred embodiment of the invention, therefore, the position of the component to be dedusted is determined on the conveying path, for which purpose, for example, a position sensor can be used. The corrected dedusting position is then also calculated as a function of the determined position of the component to be dedusted. In this way, the positioning accuracy of the conveyor can be compensated and thus does not have to be absorbed by the dedusting tool.

The sensors mentioned above may, for example, be ultrasonic sensors, optical sensors, force sensors or strain gauges (DMS). The invention is but not limited to the sensor types mentioned above, but also with other sensor types feasible.

It should also be noted that during the positioning of the dedusting tool, preferably (in real time) a correction of the dedusting position is made in order to keep the immersion depth of the heavy brush within the predetermined tolerance field.

Finally, the invention comprises not only the above-described dedusting method according to the invention, but also a dedusting device in which the dedusting position is corrected by means of an adaptation unit in order to keep the immersion depth of the dedusting tool within a predetermined tolerance field.

The adaptation unit continuously calculates a corrected dedusting position as a function of the first operating variable (for example the torque), the second operating variable (for example the rotational speed) of the drive motor of the dedusting tool and / or depending on the form factor, which represents the surface shape of the component to be dedusted.

In addition, the invention also includes a painting installation with one or more paint booths and the dedusting device according to the invention.

Other advantageous developments of the invention are characterized in the dependent claims or will be explained in more detail below together with the description of the preferred embodiment of the invention with reference to the figures. Show it:

FIG. 1A shows a simplified cross-sectional view of a conventional sword brush for dedusting force vehicle body components on a flat body surface,

FIG. 1B shows the sword brush according to FIG. 1A on a convex body surface;

Figure 2 is a control engineering equivalent circuit diagram of a dedusting device according to the invention and

FIG. 3 shows the dedusting process according to the invention in the form of a flow chart.

FIGS. 1A and 1B show, in a simplified form, a sword brush 1, as described, for example, in DE 43 14 046 A1 and DE 103 29 499 B3, so that reference is also made to these documents with regard to the further details of the sword brush 1, the contents of which This description in terms of the structure and operation of the sword brush 1 is fully attributable.

The sword brush 1 has two parallel deflection rollers 2, 3, around which a dedusting belt 4 is led, the dedusting belt 4 carrying dedusting brushes 5 on its outside.

To dedust a body surface 6, the sword brush 1 is positioned so that the lower, pulled run of the dedusting belt 4 presses with the dedusting brushes 5 against the body surface 6. In this case, the dedusting brushes 5 have a free length 1 in the unloaded state, while a distance d lies between the lower, drawn strand of the dedusting belt 4 and the bodywork surface 6 to be dedusted. This results in an immersion depth T = ld. It is important that the immersion depth T remains within a predetermined tolerance field, since a too small immersion depth T leads to an unsatisfactory defrosting effect, whereas a too large immersion depth T causes a strong wear of the dedusting brushes 5. In addition, the immersion depth T also has an influence on the cleaning result, wherein an optimum cleaning result requires that the immersion depth T be within a certain range T _MIN <T <T _MAX .

In this case, FIG. 1A shows the use of the sword brush 1 for dedusting the planar body surface 6, whereas the body surface 6 in FIG. 1B is convex, which leads to a displacement ai _Ξ τ of the lower, pulled run of the dedusting belt 4. The deflection ai _S τ of the lower, pulled run of Entustaubungsbands 4 increases acting on a drive motor 7 of the sword brush 1 torque M _τS τt which is important for the dedusting process according to the invention. Thus, the dedusting method according to the invention evaluates the torque M _{IST of} the drive motor 7 of the sword brush 1 as a measure of the immersion depth T of the sword brush 1 in order to compensate for positional tolerances of the body surface 6 to be dedusted.

The invention will be explained in detail below with reference to the equivalent circuit diagram in FIG. 2.

The sword brush 1 is mounted on a multi-axis hand axis of a multi-axis dedusting robot 8, which allows a free positioning of the sword brush 1.

The vehicle body components to be dedusted are transported by a linear conveyor 9 along a conveying path past the dedusting robot 8, so that the dedusting robot 8 can guide the sword brush 1 over the body surfaces 6 to be dedusted.

The current spatial position and orientation of the sword brush 1 is reproduced here by a position vector P _IST and regulated by a control unit 10 in accordance with a predetermined, taught robot path.

For this purpose, the control unit 10 has a robot _{track generator 11 which} outputs position _vectors P _TEACH for previously programmed robot _tracks , which _define the position of a tool center point (TCP) of the sword brush 1 and the orientation of the sword _{brush 1} for the individual track points.

The position _vectors P _TEACH are then converted by an adder 12 with a correction value ZlP to a corrected position _vector P _K0RR , as will be described in detail later.

The corrected position _vectors P _KORR in the spatial coordinates are then supplied to a robot controller 13, which _converts the spatial coordinates into axis coordinates and controls the dedusting robot 8 accordingly.

Furthermore, the control unit 10 has an adaptation unit 14 which calculates the correction value ZIP and thereby compensates for positioning inaccuracies of the body surfaces 6 to be dedusted.

In the calculation of the correction value ZIP, the knowledge is exploited that the torque MI _S T of the drive motor 7 of the sword brush 1 increases with the immersion depth T, since the dust removal brushes 5 must be deformed more strongly with increasing immersion depth T. The torque Mi _ST is therefore suitable half as a measure for the adjustment of the immersion depth T of the sword brush.

The dedusting device according to the invention therefore has a torque sensor 15, which determines the torque M _{actual of} the drive motor 7 of the sword brush 1 and forwards it to the adaptation unit 14 for evaluation. However, it is alternatively also possible that the torque M _{actual is} not measured by the separate torque sensor 15, but is derived from the electrical operating variables of the drive motor 7, so that the torque sensor 15 can be dispensed with.

The torque M _IS τ of the drive motor 7 of the sword brush 1 is influenced not only by the immersion depth T of the sword brush 1, but also by the shape of the body surface to be dedusted 6. Thus causes the convex body surface 6 according to Figure IB at the same immersion depth T. a larger torque M _IS τ than the planar body surface 6 according to FIG IA.

It should be noted that Figure IB shows an idealized state in which the immersion depth over the entire length of the sword brush 1 is constant. In practice, however, the immersion depth T varies over the length of the sword brush 1, since the dedusting brushes 5 each represent a spring.

The adaptation unit 14 therefore takes into account not only the torque M _{IST of} the drive motor 7 of the sword brush 1 in the calculation of the correction value ΔP, but also a

Deflection a _IS τ of the lower, pulled run of the dedusting belt 4, since the deflection a _ΪS τ forms a form factor that reflects the surface _shape of the body surface 6 to be dedusted. The deflection ai _S τ of the lower, pulled strand In this case, the dedusting belt is measured by a deflection sensor 16, which may be designed, for example, as an optical sensor or as an ultrasonic sensor.

In addition, in this exemplary embodiment, the dedusting device has a rotational speed sensor 17, which measures a rotational speed n _IS τ of the drive motor 7 of the sword brush 1 and forwards it to the adaptation unit 14, so that the speed n _IS τ is also used in the calculation of the correction value -4P. is considered.

It has already been mentioned above that the vehicle body parts to be dedusted are transported by a linear conveyor 9 along a conveying path past the dedusting robot 8, wherein the linear conveyor 9 also has positioning inaccuracies which must be absorbed or compensated by the dedusting device according to the invention. The dedusting device according to the invention therefore has a position sensor 18, which measures a position S _{IST of} the motor vehicle body components to be dedusted along the conveying path and forwards them to the adaptation unit 14. The adaptation unit 14 then calculates the correction value ZlP as a function of the measured position Sisx of the vehicle body components to be dedusted on the conveying path, which compensates for positioning inaccuracies of the linear conveyor 9.

The dedusting method according to the invention will now be briefly explained below with reference to the flowchart in FIG.

In a first step S1, a robot path is first programmed ("taught"), which is known per se from the prior art and therefore does not have to be described in detail. When programming the robot path in step S1, however, positional tolerances of the benden motor vehicle body components are not yet taken into account.

The programming of the desired robot path can be done offline, i. E. without the dedusting robot making a real move. For this purpose, for example, the distributed by the applicant programming software "3D OnSite" can be used.

In a step S2, the respective next track point P _TEACH is then _activated on the previously programmed robot track.

When driving the next path point P _TEACH then in steps S3 to S6 the torque M _IS τ of the drive motor 7 of the sword brush 1, the speed ni _{ST of} the drive motor 7 of the sword brush 1, the deflection ai _{ST of} the lower, pulled run the Entstaubungsbands 4 and the position s _IS measured to be dedusted vehicle body component on the conveyor.

In a step S7, the correction value .DELTA.P is then calculated from the previously measured variables, wherein the calculation of the correction value .DELTA.P can take place on the basis of predefined maps.

In a next step S8, a corrected path point P _{K0RR is then} calculated from the predetermined path point P _TEACH and the correction _value ΔP.

In a further step S9, the robot _controller 13 then converts the corrected path point P _K0RR from the spatial coordinates into axis coordinates and controls the dedusting robot 8 accordingly in a next step S10. The steps S3 to SlO are then repeated in a loop until it is determined in a step Sil that the corrected path point P _{KORR has been} reached.

Subsequently, it is then checked in a step S12 whether the predetermined robot path has ended. If this is not the case, the steps S2 to Sil are repeated in a loop, wherein in each case the next path point P _{TEACH of} the predetermined robot path is controlled.

The invention is not limited to the preferred embodiment described above. Rather, a variety of variants and modifications is possible, which also make use of the inventive idea and therefore fall within the scope.

LIST OF REFERENCE NUMBERS

1 sword brush

2, 3 pulleys

4 dedusting tape

5 dedusting brushes

6 bodywork surface

7 drive motor

8 dedusting robots

9 linear conveyors

10 control unit

11 robot track generator

12 adders

13 robot control

14 adaptation unit

15 torque sensor

16 displacement sensor

17 speed sensor

18 position sensor

Claims

1. Dedusting process for dry or moist dedusting of components (6), in particular for dedusting of motor vehicle body components by means of a sword brush (D, comprising the following steps: a) positioning of a drive motor (7) driven dedusting tool (1) in a predetermined dedusting position ( P _TEACH ), so that the dedusting tool (1) touches and dedusts the component (6) to be dedusted, characterized by the following steps: b) determining a first operating variable (M _IST ) of the drive motor (7) of the dedusting tool (1) the positioning of the dedusting _tool (1) in the predetermined dedusting position (P _KORR ), wherein the first operating size (M _IS τ), the mechanical load of Drive motor (7) reproduces by the contact with the part to be dedusted, c) calculating a corrected dedusting position (P _CORR ) depending on the specified defrosting position (P _TEACH ) and the first operating _variable (MIS _T ) of the drive motor (7), d) Position the dedusting _tool (1) in the corrected dedusting position (P _KORR ). 2. dedusting method according to claim 1, characterized by the following steps: a) Determining a shape factor (ai _S τ), which reproduces the surface _{shape of the} dedusting member (6) at the predetermined dedusting position (P _KORR ), and b) calculating the corrected dedusting position (P _KORR ) also in dependence on the form factor (aisτ ) • 3. dedusting method according to any one of the preceding claims, characterized by the following steps: a) determining a second operating variable (ni _S τ) of the drive motor (7) of the dust removal tool (1) during the positioning at the predetermined dedusting position (P _TEACH ), and b) calculating the corrected dedusting position (P _KORR ) also as a function of the determined second operating variable (aisτ) of the drive motor (7). 4. dedusting method according to any one of the preceding claims, characterized in that the Entstaubungswerk- tool (1) is a sword brush (1) having a brush-occupied Entstaubungsband (4) which is guided around two deflection rollers (2, 3). 5. dedusting method according to any one of the preceding claims, characterized in a) that the first operating variable (M _IST ) is the torque of the drive motor (7), and / or b) that the second operating variable (ni _ST ), the rotational speed of the drive motor ( 7), and / or c) that the shape factor (ai _S τ) represents the deflection of the defrosting belt (4). 6. dedusting method according to any one of the preceding claims, characterized in that the dedusting tool (1) is positioned by a multi-axis dedusting robot (8). 7. dedusting method according to one of the preceding arrival claims, characterized by the following steps: a) transporting the dust to be dusted component (6) by means of a conveyor (9) along a conveying path past the dedusting robot (8), b) determining the position ( si _S τ) of the part to be dedusted on the conveying _path , c) calculating the corrected dedusting position (P _KORR ) also as a function of the determined position (s _actual ) of the component to be dedusted (6). 8. dedusting method according to any one of the preceding claims, characterized in that the shape factor (aisτ) and / or the position (s _actual ) of the component to be dedusted on the conveying path of a sensor (16, 18) is measured. 9. dedusting method according to claim 8, characterized in that the sensor (16, 18) a) an ultrasonic sensor, b) an optical sensor, c) a force sensor or d) is a strain gauge. 10. dedusting method according to any one of the preceding claims, characterized in that the dedusting position (P _KORR ) is continuously calculated and corrected while the dedusting _tool (1) is positioned. 11. dedusting device for dedusting of components (6), in particular for dedusting of motor vehicle body components by means of a sword brush (1), with a) a dedusting tool (1) with a drive motor (7), b) a dedusting robot (8) for the spatial positioning of the dedusting tool (1), c) a robot controller (10, 13) which holds the dedusting robot according to a predetermined dedusting position (FIG. P _TEACH ), characterized by d) an adaptation unit (14) which, depending on the predetermined dedusting position (P _TEACH ) and a first operating _variable (M _actual ) of the drive motor (7) of the dedusting tool (1) at the predetermined dedusting position (P _TEACH ) calculates a corrected dedusting position (P _KORR ) so that the dedusting _robot (8) positions the dedusting _tool (1) in the corrected dedusting position (P _K0RR ). 12. dedusting device according to claim 11, characterized in that a) that a first sensor (16) determines a shape factor (a _IS τ), which reproduces the _{surface shape of the} dedusting member (6) at the predetermined Entstaubungsposition (J ⁵ _TEACH ), and b) that the adaptation unit (14) also determines the corrected defrosting position (P _KORR ) as a function of the form factor (aisτ). 13 dedusting device according to claim 12, characterized in that a) that a second sensor (17) determines a second operating variable (nisτ) of the drive motor (7), b) that the adaptation unit (14) also calculates the corrected defrosting position (P _KORR ) as a function of the second operating variable (ni _ST ). 14. dedusting device according to one of claims 11 to 13, characterized in that the dedusting tool (1) is a sword brush (1) having a brush-occupied defrosting belt (4), which is guided around two deflection rollers (2, 3). 15. dedusting device according to one of claims 11 to 14, characterized in that a) that the first operating variable (M _actual ) the torque of Drive motor (7) is, and / or b) that the second operating variable is the rotational speed of the drive motor (7), and / or c) that the shape factor (a _IS τ) represents the deflection of the Entstau- tion band (4). 16. Dedusting device according to one of claims 11 to 15, characterized by a) a conveyor (9), which transports the component to be dedusted along a conveying path to the dedusting robot (8), b) a third sensor (18), the position (S _IST) of the to be dedusted component (6) is determined on the conveyance, c) the adaptation unit (14) dedusting position the corrected decision (P _K0RR) also as a function (of the determined position _is S) of the to be dedusted component (6 ) determined on the conveyor. 17. dedusting device according to claim 16, characterized in that the first sensor (16) and / or the second sensor (17) and / or the third sensor (18) a) an ultrasonic sensor, b) an optical sensor, c) a force sensor or d) is a strain gauge. 18. dedusting device according to one of claims 11 to 17, characterized in that the dedusting robot (8) has a multi-axis hand axis on which the dust removal tool (1) is mounted. 19. Painting plant with a dedusting device according to one of claims 11 to 18. * * * * *