EP2197593B1 - Robot comprising a cleaning device and associated operating method - Google Patents

Description

The invention relates to a robot, in particular a handling robot for opening and closing doors or hoods of motor vehicle bodies during a painting process.

Moreover, the invention relates to a corresponding operating method for such a robot.

In modern paint shops for motor vehicle bodies to be painted vehicle bodies with mounted doors and hoods are transported through the paint shop and painted by a multi-axis painting robot. For interior painting of the motor vehicle bodies, the doors and hoods are opened by a multi-axis handling robot and closed again after completion of the interior painting. For this purpose, the handling robots have handling tools in the form of grippers, which can grip the doors or hoods to be opened.

The problem here is that the handling tools (gripper) of the handling robot are exposed to the spray of the painting robot and therefore are polluted by the applied paint.

Even with a painting robot contamination of the painting robot by the applied spray, there is not It can be completely prevented that the painting robot passes through the spray jet applied by himself or by a neighboring painting robot.

On the one hand, this paint contamination of the robot can lead to paint dripping from the dirty surfaces of the robot and dripping in the worst case on the components to be painted, which would lead to damage of the previously applied paint layer. This danger also exists with dried, powdery overspray which may be brought by the handling robot (e.g., door opener, bonnet opener) onto the vehicle body to be painted, which may be caused by, for example, cabin air, robot movement or vibration.

On the other hand, the Lackanhaftungen on the robot should be removed in a color change, to avoid subsequent contamination by the different colored Lackanhaftungen. This is only dispensable if, as is currently the case, the handling tools (for example grippers) act on surfaces of the motor vehicle bodywork that are not to be painted.

In the conventional paint shops for motor vehicle bodies of Lackierbetrieb is therefore regularly interrupted so that the paint-contaminated robot can be cleaned manually by maintenance personnel.

A disadvantage of this manual cleaning method, on the one hand, the fact that the painting must be interrupted to clean the robot, which suffers the cost of the paint shop.

On the other hand, every time the robot is cleaned, dust or dirt is introduced into the paint booth by the maintenance personnel who have to enter the paint booth to clean the handling robot and in the clothing and on the body (eg on the body parts not covered by the protective clothing such as face , Neck, hair) always carries dust residues. This leads in the conventional painting to the fact that after cleaning the handling robot increasingly Lackierfehler occur that must be repaired consuming.

Out EP 0 446 120 A2 is a painting system for painting an automobile with a variety of robots known. The painting system includes a painting robot, an opening robot and a washing device near each of the robots to clean the robots. Furthermore, it should be noted on the prior art DE 601 25 369 T2 . GB 2 367 119 A . US 2002/0035413 A1 . DE 32 44 053 A1 . EP 1 327 485 A2 and DE 41 29 778 A1 ,

The invention is therefore based on the object to provide a correspondingly improved robot and to specify an associated operating method.

This object is achieved by a robot according to the invention and an associated operating method according to the subsidiary claims.

The invention includes the general teachings of automatically cleaning the handling tool of a handling robot or other polluting robot member (e.g., a hand axis or robotic arm) of the robot.

On the one hand, this offers the advantage that no or a shortened production interruptions of the paint shop are required for cleaning the robot, whereby the cost of the paint shop is improved.

On the other hand, the automatic cleaning of the handling robot according to the invention has the advantage that the paint booth does not have to be entered by the maintenance staff for cleaning purposes, so that no dust is introduced during the cleaning, which reduces the number of paint defects and thus improves the paint quality.

However, the invention is not limited to paint shops where no interruption in production takes place during the cleaning and the paint booth is not entered by maintenance personnel. Rather, the invention claimed regardless of the realization of these technical advantages protection for the idea of automatic cleaning of handling or painting robots.

In addition, the robots can also be partially and / or temporarily manually cleaned in the context of the invention, which takes place for example in removable half-shells.

In a variant of the invention, a cleaning device is provided which cleans the handling tool or any other dirt-prone robotic member of the handling or painting robot from the paint which has been deposited in the painting operation.

In another variant of the invention, however, the cleaning device prevents the deposition of paint on the handling tool or on the dirt-prone other robot member of the handling robot, as will be described in detail.

The two above-mentioned variants of the invention can optionally be provided individually or combined with each other. It is therefore possible within the scope of the invention that the Cleaning device prevents paint deposits on the handling robot and also cleans the handling robot of adhering paint.

In a preferred embodiment of the invention, the cleaning device has an insertion opening into which the handling robot inserts the handling tool to be cleaned when cleaning is required. Such cleaning devices are for example for cleaning atomizers EP 0 333 040 A2 and DE 102 40 073 A1 In principle, they can also be used for cleaning purposes for handling tools, so that the content of these two publications of the present description is to be fully attributed to the structure and the mode of operation of the cleaning device. However, the invention is not limited to the conventional cleaning devices for atomizers in terms of construction and operation of the cleaning device, but in principle also with other types of cleaning equipment feasible.

When inserting the handling tool into the insertion opening of the cleaning device, the handling robot can perform, for example, a linear movement of the handling tool. For example, the handling robot can introduce the handling tool linearly from top to bottom into the insertion opening of the cleaning device. However, it is alternatively also possible for the handling robot to perform a combined movement for the introduction of the handling tool into the insertion opening of the cleaning device, which consists of a rotational movement and a linear movement.

Moreover, within the scope of the invention it is also possible for the handling robot to insert the handling tool into the insertion opening of the cleaning device performs a pivoting movement. For example, the cleaning device can be oriented horizontally so that the handling tool can be inserted in a horizontal direction into the insertion opening of the cleaning device. This movement can be realized in that the handling tool is pivoted about a horizontally extending axis of rotation.

However, the invention is not limited to the above-mentioned examples with regard to the introduction of the handling tool into the insertion opening of the cleaning device. Rather, another kinematics is conceivable that allows the introduction of the handling tool in the insertion of the cleaning device in the invention.

Furthermore, there is the possibility that the cleaning device with the insertion opening for the handling tool is attached to the outside of the handling robot.

Alternatively, there is the possibility that the cleaning device is arranged with the insertion opening for the handling tool in the housing of the handling robot.

Furthermore, there is also the possibility within the scope of the invention that the cleaning device for the handling tool is mounted in a stationary manner on a cabin floor or on a cabin wall of a paint booth, structurally separate from the handling robot.

It has already been mentioned above that cleaning devices for atomizers are known from the prior art. In a variant of the invention, it is therefore provided that a cleaning device both for cleaning an atomizer as well as for cleaning the handling tool. This offers the advantage that it is possible to dispense with a separate additional cleaning device for the handling tool by using the already existing cleaning device for the atomizer.

In a variant of the invention, the cleaning device has a protective cover which at least partially covers the handling tool or the dirt-prone robotic member and thereby prevents or at least impedes contamination of the handling tool or the dirt-prone robotic member with the applied lacquer. It is advantageous if the protective cover is replaceable to replace a soiled protective cover with a clean protective cover can.

For example, such a protective cover consist of a protective cap or a protective film, which prevents contamination of the handling tool.

For example, the protective cover may be automatically picked up by the handling robot with vacuum or with a locking mechanism (e.g., detent, locking lever, or the like). Alternatively, the protective cover can be accommodated by means of a hook-and-loop fastener, a Velcro strip or a magnet, which can also serve as fastening means.

After contamination, the protective cover can then be automatically dropped, which can be done for example with compressed air or with a mechanically operated ejection cylinder.

In this case, a disposal container is preferably provided, wherein the handling robot can dispose of the soiled protective covers independently in the disposal container.

In addition, in this case preferably a reservoir is provided which contains a supply of clean protective covers, wherein the handling robot can remove the clean protective covers independently from the reservoir.

The handling robot according to the invention therefore preferably has a compressed air device in order to eject or suck in the protective cover.

Again, there is the possibility that the disposal container or the reservoir is attached to the outside of the handling robot.

Alternatively, there is the possibility that the disposal container or the storage container is structurally mounted separately from the handling robot on the cabin floor or on the cabin wall of the painting booth.

In one embodiment of the invention, the protective cover for the handling robot consists of two half-shells which in the assembled state surround the dirt-prone robotic member (eg, a robot's hand axis) and are interconnected by a fastener, thereby fixing the protective cover to the dirt-prone robotic member.

For example, the attachment means for connecting the two half-shells may be a conventional adhesive tape.

Alternatively, however, there is the possibility that a cable tie or a Velcro fastener is used as a fastening means for connecting the two half-shells of the protective cover, wherein the handling of a hook-and-loop fastener is particularly simple and therefore advantageous.

Furthermore, the cleaning of the handling tool can be realized in that the handling tool is connected by a quick-change coupling with the rest of the handling robot to allow a quick replacement of the soiled handling tool by a clean handling tool. The separated handling tool can then be stored directly in a cleaning device, so that the cleaning of the previously replaced and stored handling tool takes place during the painting process.

Furthermore, in one embodiment of the invention, it is provided that the distal robot arm serving to guide the handling tool is connected to the rest of the handling robot by means of a quick-change coupling in order to enable a quick replacement of the soiled robot arm with the handling tool attached thereto.

According to the invention, the contamination of the handling robot is minimized by the fact that the serving for guiding the handling tool distal arm is aligned at an acute angle or even parallel to the spray of the paint to provide the spray as little as possible attack surface, and the robot arm serving to guide the handling tool has a drip point at which the paint drips off the robot arm. The Abtropfstelle can be formed for example by a bead in the robot arm. By this constructive measure, the Abtropfstelle can be selectively influenced, whereby unwanted drips are prevented at a disturbing point on the component surfaces to be painted or on the handling robot itself.

Furthermore, it is within the scope of the invention, the possibility that the serving for guiding the handling tool robot arm and / or the handling tool itself has an absorbent coating, which absorbs the impinging paint and thereby prevents dripping of the paint or extends the time to the next necessary cleaning ,

Furthermore, within the scope of the invention it is also possible for the robot arm serving to guide the handling tool and / or the handling tool to be cleaned to have cleaning nozzles in its outer wall, via which cleaning agents (for example solvent, compressed air) can be dispensed in order to avoid paint adhesion. For example, the robot arm may also be porous, so that the detergent can escape over a large area through the individual pores of the robot arm. The pores can also be used to allow different amounts of air to escape at any time or at any time to prevent soiling (free-flow air).

In a further embodiment of the invention, the handling robot is arranged in a painting booth with a booth wall, wherein the booth wall spatially delimits the painting booth. Here is a cleaning opening in the cabin wall arranged, through which the handling tool can be plugged from the inside of the cabin wall on the outside of the cabin wall to clean or replace the handling tool outside the spray booth, which can be done either automatically or manually in this embodiment.

Further, it should be mentioned that the handling robot in the present invention preferably a SCARA robot (SCARA: S elective C ompliants A ssembly R obot A rm) is, has the vertically oriented rotational axes of motion and is therefore also of the horizontal articulated robot, since essentially only rotational movements in the horizontal direction are possible. Such SCARA robots are described for example in FIG SPONG / HUTCHINSON / VIDYASAGAR: "Robot Modeling and Control", pages 15-16, John Wiley & Sons (2006 ), so that the contents of this textbook of the present description with regard to the structure and operation of a SCARA robot is attributable.

Furthermore, the invention is not limited to a handling robot (e.g., door opener, hood opener). Rather, the invention can also be realized in a painting robot or another robot, which is also susceptible to contamination. Preferably, however, the term robot used in the context of the invention is based on a multi-axis robot with, for example, 5, 6 or 7 axes, from which so-called side machines and roof machines are to be distinguished.

It should also be mentioned that the invention comprises not only the handling robot according to the invention described above, but also a complete painting installation with such a handling robot.

From the above description it is already apparent that the invention is not only directed to a handling robot or a paint shop, but also relates to a corresponding operating method in which the cleaning or keeping clean of the handling robot is automatic.

It should also be mentioned that within the scope of the invention it is also possible for the handling robot to be cleaned by a neighboring painting robot. For this purpose, the painting robot can apply solvent (for example, rinsing agent, cleaning agent) or compressed air to the areas of the handling robot to be cleaned, whereby an alternating application of solvent and compressed air is also possible in order to improve the cleaning effect. The application of the solvent or the compressed air through the adjacent painting robot can be done either by the already existing atomizer or by a separate cleaning nozzle, which may be provided on the painting robot.

In the context of the invention, the cleaning robot is preferably cleaned during an already occurring color change time in which the paint to be applied is changed. This is advantageous because the cleaning of the handling robot then does not require a production interruption.

In addition, paint shops regularly production interruptions, for example, at the weekend or a shift change, these already occurring production interruptions can then be used advantageously for cleaning the handling robot.

However, there is also the alternative possibility that the painting operation is interrupted for a cleaning of the handling robot. This offers the possibility that, for example, after each component painting or after a certain number of component finishes cleaning of the handling robot can be done, whereby the painting quality is improved.

Figur 1

eine schematische Seitenansicht eines als Handhabungsroboter eingesetzten SCARA-Roboters mit einer Reinigungseinrichtung, wobei die Reinigungseinrichtung außen an dem Handhabungsroboter angebracht ist,

Figur 2

eine Abwandlung des Handhabungsroboters aus Figur 1, wobei die Reinigungseinrichtung in das Gehäuse des Handhabungsroboters integriert ist,

Figur 3

eine Abwandlung des Handhabungsroboters aus Figur 1, wobei die Reinigungseinrichtung baulich von dem Handhabungsroboter getrennt in der Lackierkabine angeordnet ist,

Figur 4

ein weiteres Ausführungsbeispiel eines erfindungsgemäßen Handhabungsroboters, der einen Vorratsbehälter und einen Entsorgungsbehälter für Schutzabdeckungen aufweist, die eine Verschmutzung des Handhabungswerkzeugs verhindern und selbstständig gewechselt werden können,

Figur 5

ein weiteres Ausführungsbeispiel eines erfindungsgemäßen Handhabungsroboters, bei dem der das Handhabungswerkzeug führende Roboterarm dem Sprühstrahl nur eine minimale Angriffsfläche bietet,

Figur 6

ein Ausführungsbeispiel eines Handhabungsroboters mit einer definierten Abtropfstelle,

Figur 7

ein Ausführungsbeispiel eines Handhabungsroboters mit einer saugfähigen Beschichtung des Roboterarms,

Figur 8

ein Ausführungsbeispiel eines Handhabungsroboters mit Reinigungsdüsen zur Verhinderung einer Lackablagerung,

Figur 9

ein Ausführungsbeispiel eines Handhabungsroboters, bei dem das Handhabungswerkzeug durch einen Rotationszerstäuber gereinigt wird sowie

Figur 10

eine vereinfachte Querschnittsdarstellung eines Roboterarms eines Handhabungsroboters mit einer Schutzabdeckung zur Verhinderung von Lackanhaftungen.

Other advantageous developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred embodiments of the invention with reference to FIGS. Show it:

FIG. 1

1 a schematic side view of a SCARA robot used as a handling robot with a cleaning device, wherein the cleaning device is attached to the outside of the handling robot,

FIG. 2

a modification of the handling robot of Figure 1, wherein the cleaning device is integrated into the housing of the handling robot,

FIG. 3

1 shows a modification of the handling robot from FIG. 1, wherein the cleaning device is arranged structurally separate from the handling robot in the paint booth;

FIG. 4

a further embodiment of a handling robot according to the invention, which has a reservoir and a disposal container for protective covers, which prevent contamination of the handling tool and can be changed independently,

FIG. 5

a further embodiment of a handling robot according to the invention, in which the robot arm guiding the handling tool offers only a minimal attack surface to the spray jet,

FIG. 6

An embodiment of a handling robot with a defined drip point,

FIG. 7

An embodiment of a handling robot with an absorbent coating of the robot arm,

FIG. 8

an embodiment of a handling robot with cleaning nozzles to prevent paint deposition,

FIG. 9

an embodiment of a handling robot, in which the handling tool is cleaned by a rotary atomizer and

FIG. 10

a simplified cross-sectional view of a robot arm of a handling robot with a protective cover to prevent Lackanhaftungen.

FIG. 1 shows a handling robot 1, which is mounted on a cabin floor 2 of a spray booth in a paint shop and has the task in motor vehicle bodies with pre-assembled doors to open the doors for interior painting and then close again, which is known per se from the prior art , so that the handling robot 1 is also referred to as a door opener.

(SCARA: S elective C ompliants A ssembly R obort A rm) In this embodiment, the handling robot 1 as the SCARA robot is formed and includes in addition to a stationary robot base 3, two robot arms 4, 5 which are A2 rotatable about vertically extending axes of rotation A1 ,

At the distal end of the robot arm 5, a boom 6 is mounted, which carries on its upper side a handling tool 7, wherein the handling tool 7 relative to the boom 6 in the vertical direction along a movement axis A3 displaceable and beyond a vertical axis of rotation along a movement axis A4 is rotatable.

The handling robot 1 thus has four axes of movement A1-A4 in this exemplary embodiment.

On the boom 6, a cleaning device 8 is further attached, which allows a cleaning of the handling tool 7. For this purpose, the cleaning tool 7 is introduced into an insertion opening of the cleaning device 8 and then cleaned in the cleaning device 8. For example, the cleaning device 8 may be constructed like a conventional atomizer cleaning device, as used in e.g. EP 0 333 040 B1 However, other constructions of the cleaning device 8 are possible.

The embodiment according to FIG. 2 is largely consistent with those described above and in FIG. 1 illustrated embodiment, so reference is made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding details.

A special feature of this embodiment is that the cleaning device 8 is arranged in the housing of the boom 6.

Another special feature of this embodiment is that the cleaning device 8 is aligned horizontally, so that the handling tool 7 must be inserted in the horizontal direction in the insertion of the cleaning device 8.

Although the axis of movement A4 is therefore likewise a rotational movement axis, the axis of rotation is aligned at right angles to the plane of the drawing. This means that the handling tool 7 can be pivoted from the position shown in solid lines down to the position shown in dashed lines and then further into the cleaning device 8.

FIG. 3 also shows an embodiment that is largely the same as described above and in the FIGS. 1 and 2 In order to avoid repetition, reference is made to the above description, wherein the same reference numerals are used for corresponding details.

A special feature of this embodiment is that the cleaning device 8 is structurally separated from the handling robot 1 and mounted on a stand 9 on the cabin floor 2.

FIG. 4 shows an alternative embodiment of a handling robot 1 according to the invention, which partially coincides with the embodiments described above, so that in order to avoid repetition of the above Description is made, with the same reference numerals are used for corresponding details.

During the painting operation, the handling tool 7 is in this case covered by a protective cover 10 shown only schematically in order to avoid contamination of the handling tool 7.

For cleaning purposes, the soiled protective cover 10 is then replaced by a clean protective cover.

For this purpose, the handling robot 1 in this embodiment, a magazine 11, stored in the soiled protective covers 10 and can be removed from the new, clean protective covers 12. The used protective covers are thereby dropped by compressed air from the handling tool 7 and the new, clean protective covers 12 are removed accordingly by vacuum from the magazine 11.

FIG. 5 shows a further embodiment of a handling robot according to the invention, which is largely consistent with the embodiments described above, so reference is made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding details.

In addition to the handling robot 1, a rotary atomizer 3 and a motor vehicle door 14 to be painted are shown, in which the handling tool 7 engages in order to open the motor vehicle door 14.

From this representation, it can be seen that the handling tool 7 is exposed to the spray jet of the rotary atomizer 13.

However, the handling tool 7 is here attached to a distal robot arm 15, which is aligned at an acute angle to the spray of the rotary atomizer 13 and therefore forms only a small attack surface for the spray, whereby the paint deposits on the robot arm 15 are minimized.

FIG. 6 shows a further embodiment of a handling robot 1 according to the invention, which also largely coincides with the embodiments described above, so reference is made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding details.

For cleaning the handling robot 1 of adhering paint residues, the robot arm 15 in this case a bead 16 which forms a Abtropfstelle, so that the run down from the top of the robot arm 15 paint residues on the bead 16 down and therefore only the upper part of the robot arm 15th significantly contaminate above the bead 16.

FIG. 7 shows a further embodiment of a handling robot according to the invention, which in turn largely corresponds to the embodiments described above, so reference is made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding details.

A special feature of this embodiment is that the robot arm 15 with an absorbent coating 17th is coated, which absorbs the deposited paint and thus prevents a troublesome dripping of the paint.

FIG. 8 again shows a similar embodiment of the handling robot 1, so reference is made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding details.

The handling tool 7 and the robot arm 15 in this case have a porous outer wall through which compressed air can escape, which is supplied via a compressed air line 18. The compressed air emerging from the pores in this case effectively prevents the deposition of paint on the surface of the handling tool 7 and of the robot arm 15.

FIG. 9 shows a further embodiment, partially with the above described and in FIG. 6 illustrated embodiment, so reference is made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding details.

A special feature of this embodiment is that the handling tool 7 is cleaned by two rotary atomizers 19, 20, which are present in the paint booth anyway and are converted for cleaning purposes. For this purpose, the rotary atomizers 19, 20 alternately apply compressed air and solvent to the handling tool 7 in order to remove adhering paint residues.

Finally shows FIG. 10 a simplified cross-sectional view of a robot hand axis 21 of a handling robot according to the invention, wherein the robot hand axis 21 of two Half shells 22, 23 is surrounded, which are connected by Velcro fasteners 24, 25 with each other. The two half shells 22, 23 in this case effectively prevent paint from depositing on the robot hand axis 21 of the handling robot during the painting process.

For cleaning purposes, then the half-shells 22, 23 can be easily replaced, since the hook-and-loop fasteners 24, 25 allow quick and easy separation.

The invention is not limited to the preferred embodiments 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

handling robots

2

cabin floor

3

robot base

4

robot arm

5

robot arm

6

boom

7

handling tool

8th

cleaning device

9

stand

10

protective cover

11

magazine

12

protective cover

13

rotary atomizers

14

Motor vehicle door

15

robot arm

16

Beading

17

coating

18

Compressed air line

19

rotary atomizers

20

rotary atomizers

21

A robot wrist

22

half shell

23

half shell

24

velcro fastener

25

velcro fastener

A1

axis of rotation

A2

axis of rotation

A3

motion axis

A4

axis of rotation

Claims (15)

1. Robot (1), in particular a handling robot (1), for a painting plant, comprising

   a) a handling tool (7) for handling components to be painted in the painting plant, particularly for opening and closing doors (14) or bonnets of motor vehicle bodies, and/or with a robotic limb susceptible to soiling (15), where the handling tool (7) and/or the robotic limb susceptible to soiling (15) of the robot (1) are/is exposed to a spray jet applied to the component to be painted in the painting operation, and

   b) a cleaning device (8; 10, 12; 22-25) for cleaning or keeping clean the handling tool (7) and/or the robotic limb of the robot (1) susceptible to soiling (15) of the paint applied with the spray jet in the painting operation,

   c) wherein the handling tool (7) is attached at the distal end of a robotic arm (15) of the handling robot (1),
   characterised in that

   d) the robotic arm (15) serving to guide the handling tool (7) is aligned at an acute angle to or parallel to the spray jet of the paint, in order to offer the spray jet the smallest contact surface possible, and

   e) the robotic arm serving to guide the handling tool (7) comprises a drip area (16) at which the paint drips from the robotic arm.
2. Robot (1) in accordance with Claim 1, characterised in that

   a) the cleaning device (8) subjects the handling tool (7) or the robotic limb susceptible to soiling (15) to a cleaning treatment, in order to remove the adhering paint, and/or

   b) the cleaning device (10, 12; 22-25) prevents the adhesion of paint on the handling tool (7) or on the robotic limb susceptible to soiling (15) or makes it more difficult at least.
3. Robot (1) in accordance with one of the previous Claims,
   characterised in that

   a) the cleaning device (8) comprises an insertion opening into which the handling tool (7) is inserted by the handling robot (1) for cleaning, and

   b) the handling robot (1) comprises a linear axis of motion (A3) and/or a rotary axis of motion (A4), to insert the handling tool (7) into the cleaning device (8) for cleaning.
4. Robot (1) in accordance with one of the previous Claims,
   characterised in that the cleaning device (8)

   a) is attached outside on the robot (1) or is arranged in a casing of the robot (1), or is attached on a booth floor or wall of a painting booth, separated from the robot (1) structurally, and/or

   b) the cleaning device (8) for the handling tool (7) is an atomizer cleaning device serving to clean both an atomizer and the handling tool (7).
5. Robot (1) in accordance with one of the previous Claims,
   characterised in that

   a) the cleaning device (10, 12; 22-25) comprises a protective covering that covers the handling tool (7) or the robotic limb susceptible to soiling (15) at least partly and prevents a soiling of the handling tool (7) or of the robotic limb susceptible to soiling (15) with the applied paint or makes it more difficult at least through this, and

   b) the protective covering can be replaced, in order to replace a soiled protective covering by a clean protective covering.
6. Robot (1) in accordance with Claim 5,
   characterised by

   a) a disposal container (11) to dispose of the used protective coverings (10) soiled with paint, where the robot (1) can dispose of the soiled protective coverings (10) in the disposal container (11) independently, and/or

   b) a supply container (11) with a supply of clean protective coverings (12), where the robot (1) can take clean protective coverings (12) from the supply container (11) independently, and/or

   c) wherein the disposal container (11) and/or the supply container (11) is attached on the outside of the robot (1) or is attached on a booth floor (2) or wall of a painting booth, separated from the robot (1) structurally, and/or

   d) wherein the protective covering consists of two half-casings (22, 23) that enclose the robotic limb susceptible to soiling (15) when they are installed and are connected by an attachment means (24, 25), and/or

   e) wherein the attachment means to connect the two half-casings (22, 23) is a Velcro fastening (24, 25), an adhesive tape or a cable binder.
7. Robot (1) in accordance with one of the previous Claims,
   characterised in that

   a) the handling tool (7) is connected to the rest of the handling robot (1) by a quick change coupling, in order to enable a fast replacement of the soiled handling tool (7) by a clean handling tool (7), or

   b) the robotic arm serving to guide the handling tool (7) is connected to the rest of the handling robot (1) by a quick change coupling, in order to enable the fast replacement of a soiled robotic arm by a clean robotic arm.
8. Robot (1) in accordance with one of the previous Claims,
   characterised in that

   a) the robotic arm serving to guide the handling tool (7) comprises an absorbent coating (17) that absorbs paint hitting it and prevents dripping because of this, and/or

   b) the robotic arm serving to guide the handling tool (7) and/or the handling tool (7) comprise(s) cleaning nozzles in their/its outer wall(s), through which the cleaning substance can be discharged.
9. Robot (1) in accordance with one of the previous Claims,
   characterised in that

   a) the robot (1) is arranged in a painting booth with a wall, where the wall restricts the painting booth spatially, and

   b) a cleaning opening, through which the handling tool (7) can be pushed from the inside to the outside of the booth wall, is arranged in the booth wall, in order to clean the handling tool (7) outside the painting booth.
10. Robot (1) in accordance with one of the previous Claims,
    characterised in that

    a) the robot (1) is a SCARA robot that comprises several parallel rotary axes of motion, and/or

    b) the handling tool (7) is a door opener or a bonnet opener.
11. Painting plant with a robot (1) in accordance with one of the previous Claims.
12. Operating method for a painting plant with the following steps:

    a) application of a spray jet of paint to a component to be coated, particularly a motor vehicle body component, by means of a painting robot,

    b) handling of the motor vehicle body component by a handling tool (7) of a handling robot (1), in particular the opening and closing of a door or a bonnet of the motor vehicle body component, where the handling tool (7), or a robotic limb susceptible to soiling (15) of the handling robot (1) or of the painting robot is exposed to the spray jet, wherein the handling tool (7) is attached at the distal end of a robotic arm (15) of the handling robot (1),

    c) Automatic cleaning of the handling tool (7) or of the robotic limb susceptible to soiling (15) of the handling robot (1) and/or of the painting robot of the applied paint or keeping them clean,
    characterised in that

    d) the robotic arm (15) serving to guide the handling tool (7) is aligned at an acute angle to or parallel to the spray jet of the paint, in order to offer the spray jet the smallest contact surface possible, and

    e) the robotic arm serving to guide the handling tool (7) comprises a drip area (16) at which the paint drips from the robotic arm.
13. Operating process in accordance with Claim 12
    characterised in that

    a) the handling tool (7) or the robotic limb susceptible to soiling (15) is subjected to a cleaning treatment to remove adhering paint, and/or

    b) an adhesion of the applied paint on the handling tool (7) or on the robotic limb susceptible to soiling (15) is prevented or is made more difficult at least, and/or

    c) the handling tool (7) is inserted by the handling robot (1) into a cleaning device (8) for cleaning.
14. Operating process in accordance with one of the Claims 12 to 13,
    characterised in that

    a) a protective covering on the handling tool (7) or on the robotic limb susceptible to soiling (15) of the handling robot (1) and/or of the painting robot is replaced for cleaning, or

    b) the soiled handling tool (7) is replaced by a clean handling tool (7) for cleaning, or

    c) the soiled robotic limb (15) with the soiled handling tool (7) is replaced by a clean robotic limb (15) with a clean handling tool (7) for cleaning, or

    d) the handling tool (7) is pushed through a cleaning opening in a wall of a painting booth for cleaning and is cleaned outside the painting booth.
15. Operating method in accordance with one of Claims 12 to 14,
    characterised in that

    a) the handling tool (7) or the robotic limb susceptible to soiling (15) of the handling robot (1) is cleaned by a painting robot, where the painting robot discharges solvent or air onto the handling tool to be cleaned (7) or the robotic limb susceptible to soiling (15) to clean it, and/or

    b) the painting robot discharges the solvent or the air through an atomizer or a separate cleaning nozzle during the cleaning, and/or

    c) the cleaning of the handling tool (7) or of the robotic limb susceptible to soiling (15) of the handling robot (1) and/or of the painting robot takes place

    - in a colour change period, in which the paint to be applied is changed, or

    - in an interruption to production that is independent of cleaning, or

    - in an interruption of the painting plant for cleaning, and/or

    - after each individual component painting operation or after painting a certain number of components.

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