EP2185297B1 - 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

The invention relates to a dedusting method for dry or moist defrosting of motor vehicle body components according to the preamble of patent claim 1.

Furthermore, the invention relates to a dedusting device for dedusting of motor vehicle body components by means of a sword brush according to the preamble of claim 9.

A method and a device of this kind is example, from the DE-A-103 60 649 known.

In painting systems for motor vehicle bodywork components, the vehicle bodywork components to be painted must be dedusted before the actual painting operation, for which purpose so-called sword brushes can be used, which can be used, for example, in DE 43 14 046 A1 . DE 103 60 649 A1 and DE 103 29 499 B3 are described. The sword brush is in this case mounted on a hand axis of a multi-axis robot and is guided by the robot on the dedusting surfaces of the vehicle bodywork components to be painted, the sword brush dusting the dust to be dedusted surfaces.

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 be dedusted Touch 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 exceeded, since the dedusting brushes are more deformed 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 dedusting Can lead 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 particularly problematic because the positioning of the dedusting motor vehicle body parts in a paint shop only with a relatively low positioning accuracy is possible, 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 in the positioning of the dedusting motor vehicle body components therefore exceed the possibilities of tolerance compensation of the sword brush and occasionally lead to a production stoppage by triggering a 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 to avoid a collision between the washing brush and the aircraft to be cleaned 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 depth of immersion when dedusting curved surfaces.

Finally are off US 5 525 027 . DE 44 28 069 A1 and DE 44 33 925 A1 Cleaning devices for aircraft or ships known in which the contact pressure of a cleaning brush is measured and regulated. 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.

Out US 4 558 480 a cleaning device is known which is used for cleaning windshields for motor vehicles. In this case, a rotating cleaning brush is positioned so that the axis of rotation of the cleaning brush always runs parallel to the curved surface of the windshield. The movement path of the cleaning brush is programmed in advance in a teaching mode.

Furthermore, are off US 2001/0001886 A1 and GB 2 093 234 A Cleaning devices are known, however, do not use a sword brush as a cleaning device and come from other technical fields (cleaning of semiconductor wafers or boards).

The invention is therefore based on a dedusting method or a corresponding dedusting device, as defined in the preamble of the independent claims and, for example DE 103 60 649 A1 are known.

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 according to the invention by a dedusting method according to claim 1 and by a dedusting device according to claim 9.

Advantageous developments of the invention are the subject of the respective dependent claims.

The invention conveys the principle mentioned in the abovementioned dissertation by Klaus Dieter Rupp of regulating the immersion depth taking into account the drive torque 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 dedusting tool (e.g., a sword brush) driven by a drive motor is brought to a predetermined dedusting position so that the dedusting tool contacts and dedusts the component to be dedusted. The default dedusting position is typically a track point on a robotic track that can be "taught" by an operator.

In positioning the dedusting tool to 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 that 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 represents 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 dust removal 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 predetermined 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 brush-filled Dedusting tape which is guided around two pulleys. Such sword brushes are for example off DE 43 14 046 A1 and DE 103 29 499 B3 It should be noted that, with regard to the construction and functioning of sword brushes, reference is made to these two publications, the content of which is fully attributable to the present description.

The term dust removal 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 liquid is applied to the surfaces to be dedusted to improve the cleaning effect, as for example DE 199 20 250 A1 is known, 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. In the context of the invention, the term dedusting therefore encompasses both dry dedusting and 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 quantities of a washing liquid.

Furthermore, the invention is not limited to dedusting and dedusting facilities, in which the corrected dedusting position is calculated as a function of the torque and the speed of the sword brush motor and in dependence on 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 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 above-mentioned positioning inaccuracies 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 inaccuracy 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 in dependence on 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.

Figur 1A

eine vereinfachte Querschnittsansicht einer herkömmlichen Schwertbürste zur Entstaubung von Kraftfahrzeugkarosseriebauteilen auf einer ebenen Karosserieoberfläche,

Figur 1B

die Schwertbürste gemäß Figur 1A auf einer konvexen Karosserieoberfläche,

Figur 2

ein regelungstechnisches Ersatzschaltbild einer erfindungsgemäßen Entstaubungseinrichtung sowie

Figur 3

das erfindungsgemäße Entstaubungsverfahren in Form eines Flussdiagramms.

The invention 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:

Figure 1A

a simplified cross-sectional view of a conventional sword brush for dedusting of motor vehicle body components on a flat body surface,

FIG. 1B

the sword brush according to Figure 1A on a convex body surface,

FIG. 2

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

FIG. 3

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

The Figures 1A and 1B show in simplified form a sword brush 1, as for example in DE 43 14 046 A1 and DE 103 29 499 B3 is described so that with regard to the further details of the sword brush 1 reference is also made to these documents, the contents of the present description with regard to 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 guided, wherein the dedusting belt 4 carries 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 = 1-d. 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 dedusting 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, with an optimum cleaning result presupposing that the immersion depth T is within a certain range T _MIN <T <T _MAX .

Figure 1A shows here the use of the sword brush 1 for dedusting the flat body surface 6, whereas the body surface 6 in FIG. 1B is convex, which leads to a deflection a _{actual of} the lower, pulled run of the dedusting belt 4. The deflection a _{IST of} the lower, pulled run of the dedusting belt 4 increases the torque M _IST acting on a drive motor 7 of the sword brush 1, which is important for the dedusting method 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.

In the following the invention will be described in detail with reference to the control engineering equivalent circuit diagram in FIG FIG. 2 explained.

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 here by a position vector P _IS reproduced and regulated by a control unit 10 according to a predetermined, taught robot path.

For this purpose, the control unit 10 on a robot track generator 11, the position vectors for previously programmed robot tracks P _TEACH outputs the position of a Tool Center Point (TCP) of the Sword Brush 1 and the orientation of the Sword _{Brush 1} for the individual path points.

The position vectors P _TEACH are then _output from an adder 12 with a correction _value Δ P to a corrected position vector P _KORR converted, as will be described in detail later.

The corrected position vectors P _KORR in the spatial coordinates are then fed 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 stores the correction value Δ P calculated and thereby compensates for positioning inaccuracies of the dedusting body surfaces 6.

In the calculation of the correction value Δ P the knowledge is exploited that the torque M _{IS of} the drive motor 7 of the sword brush 1 increases with the immersion depth T, since the dedusting brushes 5 must be more deformed with increasing immersion depth T. The torque M _IST is therefore suitable as a measure of 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.

However, the torque M _{IS of} the drive motor 7 of the sword brush 1 is not only influenced by the immersion depth T of the sword brush 1, but also by the shape of the body surface to be dedusted 6. Thus, the convex body surface 6 causes FIG. 1B at the same immersion depth T a larger torque M _IS than the flat body surface 6 according to Figure 1A ,

It should be mentioned that FIG. 1B 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.

P nicht nur das Drehmoment M_IST des Antriebsmotors 7 der Schwertbürste 1, sondern auch eine Auslenkung a_IST des unteren, gezogenen Trums des Entstaubungsbands 4, da die Auslenkung a_IST einen Formfaktor bildet, der die Flächenform der zu entstaubenden Karosserieoberfläche 6 wiedergibt. Die Auslenkung a_IST des unteren, gezogenen Trums des Entstaubungsbands wird hierbei durch einen Auslenkungssensor 16 gemessen, der beispielsweise als optischer Sensor oder als Ultraschallsenor ausgebildet sein kann.The adaptation unit 14 therefore takes into account in the calculation of the correction value

P not only the torque M _{IS of} the drive motor 7 of the sword brush 1, but also a deflection a _{IST of} the lower, pulled run of Entustaubungsbands 4, since the deflection a _IST forms a form factor, which reflects the surface shape of the dedusted body surface 6. The deflection A _is the lower, drawn 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.

P auch die Drehzahl n_IST berücksichtigt wird.In addition, the dedusting device in this exemplary embodiment has a rotational speed sensor 17, which measures a rotational speed n _{IST of} the drive motor 7 of the sword brush 1 and forwards it to the adaptation unit 14, so that in the calculation of the correction value

P also the speed n _{IST is} taken into account.

P auch in Abhängigkeit von der gemessenen Position s_IST der zu entstaubenden Kraftfahrzeugkarosseriebauteile auf dem Förderweg, wodurch Positionierungsungenauigkeiten des Linearförderers 9 ausgeglichen werden.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

P also as a function of the measured position s _{IST of} the vehicle body components to be dedusted on the conveyor, whereby positioning inaccuracies of the linear conveyor 9 are compensated.

The following is now based on the flowchart in FIG. 3 the dedusting method according to the invention briefly explained.

In a first step S1, a robot path is first programmed ("taught"), which is known per se from the prior art and therefore need not be described in detail. When programming the robot path in step S1, however, positional tolerances of the dust to be dedusted Automotive 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 then the respective next track point P _{TEACH controlled} on the previously programmed robot _path .

When controlling the next web point P _TEACH then the torque _M of the driving motor 7 of the sword brush 1, the rotational speed in steps S3 to S6 _is N of the driving motor 7 of the sword brush 1, the deflection A _is the lower, solid strands of the Entstaubungsbands 4 and the position s _of the to dedusting motor vehicle body component measured on the conveyor.

P berechnet, wobei die Berechnung des Korrekturwerts

P anhand vorgegebener Kennfelder erfolgen kann.In a step S7, the correction value then becomes the previously measured quantities

P calculated, the calculation of the correction value

P can be done using predetermined maps.

P ein korrigierter Bahnpunkt P _KORR berechnet.In a next step S8 is then from the predetermined path point P _TEACH and the correction _value

P a corrected track point P _KORR calculated.

In a further step S9, the robot controller 13 then calculates the corrected path point P _KORR from the space coordinates in axis coordinates and controls the Entustaubungsroboter 8 in a next step S10 accordingly.

The steps S3 to S10 are then repeated in a loop until it is determined in a step S11 that the corrected path point P _{KORR is} 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 S11 are repeated in a loop, wherein in each case the next path point P _TEACH the predetermined robot _{path is} controlled.

The invention is not limited to the preferred embodiment described above. Rather, a variety of variations and modifications are possible that fall within the scope of the following claims.

LIST OF REFERENCE NUMBERS

1

sword brush

2, 3

guide rollers

4

Entstaubungsband

5

Entstaubungsbürsten

6

body surface

7

drive motor

8th

Entstaubungsroboter

9

linear Feeders

10

control unit

11

Robot path generator

12

adder

13

robot control

14

adaptation unit

15

torque sensor

16

displacement sensor

17

Speed sensor

18

position sensor

Claims (15)

1. A dedusting method for the dry or moist dedusting of motor vehicle body components (6) by means of a sword brush (1), with the following steps:

   a) positioning a dedusting tool (1) driven by a drive motor (7) in a predetermined dedusting position (P _TEACH), so that the dedusting tool (1) touches and dedusts the motor vehicle body component (6) to be dedusted,
   characterised by the following steps:

   b) determining a first operating variable (M_IST) of the drive motor (7) of the dedusting tool (1) during the positioning of the dedusting tool (1) in the predetermined dedusting position (P _TEACH), wherein the first operating variable (M_IST) reproduces the mechanical loading of the drive motor (7) by the contact with the motor vehicle body component to be dedusted,

   c) calculating a corrected dedusting position (P _KORR) as a function of the predetermined dedusting position (P _TEACH) and the first operating variable (M_IST) of the drive motor (7),

   d) positioning the dedusting tool (1) in the corrected dedusting position (P _KORR).
2. The dedusting method according to Claim 1,
   characterised by the following steps:

   a) determining a form factor (a_IST), which represents the surface shape of the motor vehicle body component (6) to be dedusted at the predetermined dedusting position (P _TEACH), and

   b) calculating the corrected dedusting position (P _KORR), also as a function of the form factor (a_IST)
3. The dedusting method according to any one of the preceding claims, characterised by the following steps:

   a) establishing a second operating variable (n_IST) of the drive motor (7) of the dedusting 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 established second operating variable (a_IST) of the drive motor (7).
4. The dedusting method according to any one of the preceding claims, characterised in that

   a) the dedusting tool (1) is a sword brush (1) which has a dedusting belt (4) beset with brushes, which is guided around two deflection rollers (2, 3), and/or

   b) the dedusting tool (1) is positioned by a multi-axis dedusting robot (8).
5. The dedusting method according to any one of the preceding claims, characterised

   a) in that the first operating variable (M_IST) is the torque of the drive motor (7), and/or

   b) in that the second operating variable (n_IST) is the speed of the drive motor (7), and/or

   c) in that the form factor (a_IST) represents the deflection of the pulled side of the dedusting belt (4).
6. The dedusting method according to any one of the preceding claims, characterised by the following steps:

   a) transporting the motor vehicle body component (6) to be dedusted along a conveying route past the dedusting robot (8) by means of a conveyor (9),

   b) establishing the position (s_IST) of the motor vehicle body component (6) to be dedusted on the conveying route,

   c) calculating the corrected dedusting position (P _KORR), also as a function of the established position (s_IST) of the motor vehicle body component (6) to be dedusted.
7. The dedusting method according to any one of the preceding claims, characterised in that

   a) the form factor (a_IST) and/or the position (s_IST) of the motor vehicle body component to be dedusted is measured on the conveying route by a sensor (16, 18).

   b) the sensor (16, 18) is an ultrasound sensor, an optical sensor, a force sensor or a strain gauge.
8. The dedusting method according to any one of the preceding claims, characterised in that the dedusting position (P _KORR) is continuously calculated and corrected, whilst the dedusting tool (1) is positioned.
9. A dedusting device for the dedusting of motor vehicle body components (6) 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 control (10, 13), which controls the dedusting robot in accordance with a predetermined dedusting position (P _TEACH),
   characterised by

   d) an adaption unit (14) which calculates a corrected dedusting position (P _KORR) as a function of the predetermined dedusting position (P _TEACH) and a first operating variable (M_IST) of the drive motor (7) of the dedusting tool (1) at the predetermined dedusting position (P _TEACH), so that the dedusting robot (8) positions the dedusting tool (1) in the corrected dedusting position (P _KORR).
10. The dedusting device according to Claim 9,
    characterised

    a) in that a first sensor (16) establishes a form factor (a_IST), which represents the surface shape of the motor vehicle body component (6) to be dedusted at the predetermined dedusting position (P _TEACH), and

    b) in that the adaption unit (14) determines the corrected dedusting position (P _KORR), also as a function of the form factor (a_IST)
11. The dedusting device according to Claim 10, characterised,

    a) in that a second sensor (17) establishes a second operating variable (n_IST) of the drive motor (7),

    b) in that the adaption unit (14) calculates the corrected dedusting position (P _KORR), also as a function of the second operating variable (n_IST).
12. The dedusting device according to any one of Claims 9 to 11, characterised in that

    a) the dedusting tool (1) is a sword brush (1) which has a dedusting belt (4) beset with brushes, which is guided around two deflection rollers (2, 3), and/or

    b) the dedusting robot (8) has a multi-axis hand wrist, on which the dedusting tool (1) is mounted.
13. The dedusting device according to any one of Claims 9 to 12, characterised

    a) in that the first operating variable (M_IST) is the torque of the drive motor (7), and/or

    b) in that the second operating variable is the speed of the drive motor (7), and/or

    c) in that the form factor (a_IST) represents the deflection of the dedusting belt (4).
14. The dedusting device according to any one of Claims 9 to 13, characterised by,

    a) a conveyor (9) which transports the motor vehicle body component to be dedusted along a conveying route past the dedusting robot (8),

    b) a third sensor (18) which determines the position (s_IST) of the motor vehicle body component (6) to be dedusted on the conveying route,

    c) wherein the adaption unit (14) determines the corrected dedusting position (P _KORR), also as a function of the established position (s_IST) of the motor vehicle body component (6) to be dedusted on the conveying route.
15. A painting installation with a dedusting device according to any one of Claims 9 to 14.

Images