EP2254705B1 - Procédé et dispositif pour l introduction ou l application automatique de matériau visqueux - Google Patents

Procédé et dispositif pour l introduction ou l application automatique de matériau visqueux Download PDF

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Publication number
EP2254705B1
EP2254705B1 EP09724219A EP09724219A EP2254705B1 EP 2254705 B1 EP2254705 B1 EP 2254705B1 EP 09724219 A EP09724219 A EP 09724219A EP 09724219 A EP09724219 A EP 09724219A EP 2254705 B1 EP2254705 B1 EP 2254705B1
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EP
European Patent Office
Prior art keywords
gap
transition
volume
groove
joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP09724219A
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German (de)
English (en)
Other versions
EP2254705A1 (fr
Inventor
Heinz Schmitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
INOS Automationssoftware GmbH
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INOS Automationssoftware GmbH
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Filing date
Publication date
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Publication of EP2254705A1 publication Critical patent/EP2254705A1/fr
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Publication of EP2254705B1 publication Critical patent/EP2254705B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
    • B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path

Definitions

  • the present invention relates to a method for the automatic introduction or application of viscous material from a doser into a groove, a gap, a channel or a joint or along an edge or a transition according to the preamble of claim 1, and a corresponding device according to the The preamble of claim 12.
  • Methods and devices of the generic type are, for example, from the DE 20 2006 008 005 U1 or the US 6,165,562 A known.
  • the introduced or applied material is in one pneumatically or hydraulically, preferably electrically, operated dosing device which is moved along the gap or transition to be filled or coated.
  • the material in the doser is heated to be more fluid, and then cools in the gap or at the transition.
  • the material to be introduced or applied is, for example, an adhesive, a corrosion protection, a seal, a sealing material, foam or the like.
  • Delivery volume and feed rate of the doser are specified.
  • the preset values for delivery volume and feed rate are based on empirical values and standard values for the dimensions of the gap to be filled or the transition to be coated. Experience has shown that these default values can not be met in practice. To ensure a complete filling or coating of the gap or the transition, even if the dimensions of the gap or the transition are above the standard values, the feed rate and delivery volume are very high. This requires a time and labor intensive manual or automatic post-processing of the introduced or applied material to remove excess material (so-called. Amount compensation). Alternatively, feed rate and delivery volume can also be predetermined according to the values of the standard dimensions of the gap or the transition, which then however also requires automatic or manual post-processing (so-called minimum quantity compensation). Post-processing may be required for aesthetic or other reasons (e.g., technical, physical or chemical reasons).
  • the present invention is based on the object, the introduction or application of viscous material from a doser in a groove, a gap, a channel or a joint or design along an edge or a transition to the effect and further develop that the time-consuming and labor-intensive post-processing of the filled or coated material in the region of the gap or transition can be omitted.
  • the introduced or applied material volume is measured and the delivery volume or the feed rate of the dosing is controlled or regulated in dependence on the measured value.
  • the device comprises means for measuring the introduced or applied material volume and means for controlling or regulating the delivery volume or the feed rate of the dosing in dependence on the measured value.
  • the calculated amount of material can be introduced or applied so that no shortages or excess quantities occur.
  • the proposed method compensates for variations in the dimensions of the grooves, gaps, channels, joints, edges, transitions or seams of the part of the workpiece to be filled or coated. A time-consuming and labor-intensive post-processing of the applied or applied material can thus be omitted.
  • sensors For measuring the grooves, gaps, channels, joints, edges, transitions or seams of the workpiece to be filled or coated, preferably several sensors are used. These may be attached to a robot arm together with the doser and guided by the robot along the part of the workpiece to be groomed or coated.
  • the introduced or applied volume of material is measured, and the delivery volume or the feed rate of the metering device is controlled or regulated as a function of the measured value.
  • the measurement of the introduced or applied material volume can be used for a correction of the control of the metering device (feed rate and / or delivery volume).
  • the volume or area of the part of the workpiece is measured, in which the material is introduced or onto which the material is to be applied.
  • the measurement may also be part of a regulation of the metering device.
  • the introduced or applied amount of material can be constantly determined.
  • the feed of the dosing is increased or decreased or reduces the delivery volume of the dosing or increased.
  • the correct backfilling or coating of the workpiece can be regulated.
  • the groove, the gap, the channel, the joint, the edge or the transition be measured by means of laser triangulation sensors, stereo cameras or laser transit time sensors.
  • any other suitable sensors for measuring the to be filled or to coating part of the workpiece are used.
  • the proposed methods are particularly well suited for measuring grooves, gaps, channels, joints, edges, transitions and seams. In particular, they provide the accuracy and reliability required for the measurement to prevent spills in the grouting or coating material.
  • the gap, the channel, the joint, the edge or the transition is measured , and during a subsequent run of the groove, the gap, the channel, the joint, the edge or the transition, the determined material volume is introduced or applied.
  • the sensors are moved along the part of the workpiece to be filled or coated.
  • the part of the workpiece to be filled or coated is measured and the measured values are stored.
  • the actual grouting or coating of the workpiece is controlled or regulated as a function of the stored measured values.
  • the first pass for measuring the workpiece to be grouted or coated can be limited to random samples at specific times.
  • the sensors may be mounted on the same robotic arm as the doser (in which case the same robotic arm would be moved twice along the part of the workpiece to be grouted) or on a separate robotic arm (in this case both would Robot arms successively along the to be grouted or coated
  • the sensors are mounted on the same robot arm as the doser.
  • the robot arm only has to be moved once along the part of the workpiece to be grouted or coated.
  • the detection field of the sensors in the direction of movement of the robot arm is arranged in front of the operating point of the metering device.
  • the sensors are arranged in the direction of movement of the robot arm in front of the metering device.
  • the measurement of the grooves, gaps, channels or joints to be filled or the edges, transitions or seams to be coated and the calculation of the required volume of material preferably takes place in real time. This means that measurement and calculation and application or application of the material takes place in the same run and results in the measurement and calculation no delay in the introduction or application of the material.
  • the filled or coated part of the workpiece should have a certain amount of material or a certain volume of material.
  • the material in the doser is heated and cools after being applied. When the material cools, the volume of the material may change.
  • the volume of material required taking into account a change in volume, in particular a reduction in volume, by temperature change, in particular by reducing the temperature, after the introduction or application of the material is determined such that the introduced or applied material volume corresponds to a predetermined target value.
  • the volume change during a temperature change of the material, in particular during a cooling of the material is taken into account in the calculation of the required material volume.
  • the introduced or applied volume of material is measured by means of laser triangulation sensors, stereo cameras or laser transit time sensors. These allow a fast and reliable measurement of the material volume.
  • the metering device is first operated at a predetermined feed rate and with a predetermined delivery volume and that correction values for the feed rate and / or the delivery volume are determined by the method according to the invention and determined during activation or deactivation Control of the dosing device must be taken into account.
  • the preset values for delivery volume and feed rate are based on empirical values and standard values for the dimensions of the gap to be filled or the transition to be coated. Experience has shown that these default values can not be met in practice. Deviations from the empirical values and standard values can be taken into account with the aid of the method according to the invention.
  • the groove, the gap, the channel, the joint, the edge, the seam or the transition is automatically measured by sensors, wherein by means of the sensors at the same time the course of the groove, the gap, the channel, the joint, the edge or of the transition.
  • the sensors are used both for measuring the part of the workpiece in or on which the material is to be applied, and for determining the trajectory along which the meter is moved during the introduction or application of the material to the workpiece.
  • the detection of the trajectory can during a separate run before the actual application or application of the material, for example simultaneously in a run for measuring the groove, the gap, the channel, the joint, the edge or the transition, or simultaneously with the Applying or applying the material to the workpiece in a single pass are performed.
  • the method according to the invention can be used particularly advantageously in the manufacture of motor vehicles.
  • the method be used in the manufacture of motor vehicles for sealing, seam sealing or foam filling.
  • the method can also be used in other areas, for example in prefabricated house construction, in mechanical engineering, etc.
  • the present invention relates to a method for automatic introduction or application of viscous material from a doser into a gap or along a seam.
  • the term "gap” and “seam” are used below to represent any kind of groove, gap, channel, joint, edge, seam or transition.
  • the viscous material is, for example, an adhesive, a corrosion inhibitor (eg underbody protection, cavity seal), an insulation foam or the like.
  • the method is preferably used in the field of motor vehicle manufacturing. Of course, it can also be used in any other areas, for example. In mechanical engineering or in the manufacture of prefabricated houses, etc.
  • FIG. 9 A known from the prior art device for implementing the method is in FIG. 9 represented and designated in its entirety by the reference numeral 1.
  • the device 1 comprises a metering device 2, in which the material 3 to be filled or applied is kept ready.
  • the metering device 2 comprises a storage container 4 having an opening and a nozzle 5 which is connected via a hose 6 to the opening of the container 4.
  • an electrically, hydraulically, pneumatically or otherwise driven pressure generating unit 7 By means of an electrically, hydraulically, pneumatically or otherwise driven pressure generating unit 7, the material 3 is conveyed into the tube 6 and the nozzle 5.
  • the delivery volume V of the metering device 2 can be varied.
  • the metering device 2 or the nozzle 5 is moved by means of an industrial robot 8 or in any other way at a feed rate v along the gap 9 to be filled or coated or transition of a workpiece 10.
  • the nozzle 5 is attached to a robot arm.
  • a robot controller 11 provided, for example, a programmable logic controller (PLC) includes. This sends control commands via a control line 12 to the robot 8 and can receive feedback signals from the robot 8 via the line 12.
  • PLC programmable logic controller
  • delivery volume V and feed rate v of the metering device 2 are predetermined.
  • the predetermined values are based on empirical values and standard values for the dimensions of the gap 9 to be filled or the transition to be coated. Experience has shown that these default values can not be met in practice. In particular, the dimensions of the gap 9 may be subject to fluctuations due to manufacturing tolerances. The prior art can not respond to these fluctuations. In order to bring in any case enough material 3 'in the gap 9 or on the transition or apply relatively much material 3' is introduced or applied in the prior art. This requires time-consuming and labor-intensive manual or automatic post-processing of the introduced or applied material 3 'in order to remove excess material (so-called additional quantity compensation).
  • FIG. 1 schematically proposed method proposed.
  • the method begins in a function block 20.
  • the gap 9 or the transition is measured in a function block 21.
  • suitable sensors which enabled an accurate, non-contact, optical measurement of the gap 9 or of the transition, for example by means of laser triangulation sensors, stereo cameras or laser transit time sensors.
  • the material volume required for filling the gap 9 or for covering the transition is determined as a function of the measured volume of the gap 9 or the measured dimensions of the transition.
  • the required material volume can be dependent on application-specific specifications. For example, in some applications, it may be sufficient if a small amount of material 3 'is contained in the gap 9, so that the surface of the material 3' is concave inwardly. In other applications, it may again be necessary that so much material 3 'is introduced into the gap 9, that the surface of the material 3' bulges convexly outward.
  • the doser 2 is activated in a function block 23, so that the determined amount of material is applied to the gap 9 or to the transition.
  • the delivery volume V of the metering device 2 can be varied by the pressure generating means 7 are driven accordingly.
  • the feed rate v of the dosing device 2 can be changed by the robot controller 11 is controlled accordingly. In this way, it is ensured that even with deviations in the dimensions of the gap 9 or the transition from the standard values, a sufficient filling of the gap 9 or coating of the transition is always ensured, without a subsequent processing is required.
  • a function block 24 the process is completed.
  • Method step 21 may be performed either in the same pass as steps 22 or 23, or alternatively in a previous first pass.
  • the robot 8 moves the nozzle 5 and sensors attached thereto once along the gap 9 to be filled or the transition to be coated.
  • the sensors are fixed or aligned so that their detection range in Feed direction in front of the nozzle 5 is located.
  • the gap 9 or the transition is measured by the sensors (step 21) and the required amount of material is calculated (step 22). Measurement and calculation preferably takes place in real time.
  • the nozzle 5 reaches the immediately previously measured range, it conveys the calculated material volume into the region of the gap 9 or onto the region of the transition (step 23). The measurement of the gap 9 and the transition and the conveying of the material 3 'takes place in one pass.
  • the sensors are first moved along the gap 9 or the transition in a first pass, and the gap 9 or the transition is measured (step 21).
  • the movement of the sensors can be done by means of the robot 8 or in another way, for example by means of another robot.
  • the required material volume can also be calculated in the first pass (step 22). This completes the first pass.
  • the required volume of material is first calculated (step 22), if this has not already taken place in the first pass.
  • the nozzle 5 is again moved along the gap 9 or the transition by means of the robot 8 and controlled in such a way that it conveys the calculated material volume into the region of the gap 9 or onto the region of the transition (step 23). Measuring the gap 9 or the transition (and calculating the required material volume) takes place offset in time to the introduction or application of the material 3 'on the workpiece 10th
  • FIG. 2 a structural diagram illustrating the method according to the invention according to a first preferred embodiment is shown.
  • the metering device 2 is controlled as part of a control.
  • the workpiece 10 can be seen with the gap 9 formed therein.
  • the dimensions of the gap 9, in particular its cross-sectional area or its volume, are detected by a plurality of sensors 32 during movement along the gap 9.
  • the sensors 32 used are preferably optical sensors, in particular laser triangulation sensors, stereo cameras or laser transit time sensors.
  • the sensors 32 allow a non-contact measurement of the part of the workpiece 10 to which the material 3 is to be introduced or applied.
  • the sensors 32 preferably emit light in any wavelength range. In particular, the sensors can emit visible light or invisible UV or IR radiation.
  • two sensors 32 are used. Of course, more than two sensors 32 can be used.
  • the measuring ranges of the sensors 32 are designated by the reference numeral 33.
  • the measuring areas 33 comprise the gap 9 to be measured and are preferably arranged in front of the nozzle 5 (not shown) in the feed direction.
  • the sensor signals are passed to a processing unit 34, which determines the dimensions of the gap 9.
  • the result of the measurement of the gap 9 is forwarded to a further processing unit 35, where then the required volume of material for "sufficient" filling of the gap 9 with material 3 'is calculated. What is “sufficient” depends on the application and the wishes of the user. What the user considers "sufficient", he can specify in the form of parameters Par.
  • the calculated volume of material is then forwarded to a further processing unit 36, where suitable control signals (eg delivery volume V or feed rate v) for the doser 2 are determined as a function of the calculated required volume of material.
  • suitable control signals eg delivery volume V or feed rate v
  • correction values for fixed values for delivery volume V and / or feed rate v can also be determined.
  • a correction of the control can be provided.
  • the amount of material introduced into the gap 9 or applied to a transition is measured in a processing unit 37. This can be done by means of suitable sensors, however, in FIG. 2 are not shown. In particular, the use of laser triangulation sensors, stereo cameras or laser transit time sensors is intended. From the processing unit 36, the calculated volume of material and the degree of "sufficient" filling of the gap 9 is available. From a comparison of the values for a "sufficient" filling of the gap 9 and the actually introduced into the gap 9 amount of material suitable correction values for the control of the metering device 2 can be determined.
  • correction values are passed back to the processing unit 35, where the calculated material volume is corrected, so that the actually introduced amount of material actually achieves a "sufficient" filling of the gap 9.
  • the correction values could also be taken directly into the processing unit 36 when controlling the dosing device 2.
  • processing units 34 to 37 are preferably implemented as software which can run on a computing device, in particular on a microprocessor.
  • any disturbances S can be considered, such as, for example, a change the dimensions or the volume of the introduced material 3 'due to a change in temperature of the material 3'.
  • a shrinkage of the material 3 'due to cooling of the introduced in the heated state material 3' is taken into account.
  • a heating of the introduced material 3 'to cure the material 3' or to connect the material 3 'with the surface of the workpiece 10 is conceivable, which can also lead to a change in the dimensions or the volume of the introduced material 3'.
  • the inventive method can be used for any type of groove, gap, channel, joint, edge, seam or transition. Exemplary are in the FIGS. 4 to 6 presented various uses.
  • a gap or groove 9, which is partially filled with a material 3 ', is in FIG. 4 shown.
  • a transition between two workpieces 10 'and 10 is in FIG. 5 shown.
  • the inner edge 30 is partially coated with a material 3 '.
  • At the inner edge 30 may also be formed a weld which is covered by the material 3 '.
  • a weld seam 31 is shown between two end-to-end adjoining workpieces 10 'and 10 "The weld seam 31 and the surface regions of the workpieces 10', 10" adjoining the seam 31 are partially coated with material 3 '.
  • FIG. 7 is a device 1 for implementing the method according to the first preferred embodiment shown.
  • the sensors 32 are fastened together with the nozzle 5 to the arm of the industrial robot 8.
  • the part of the gap 9 still to be filled with material 3 'in the feed direction in front of the nozzle 5 lies in the detection area 33 of the sensors 32.
  • the measured values of the sensors 32 are passed to a metering control 38 where the dimensions of the gap 9 are then determined as a function of the measured values , the required material volume for a "sufficient" filling of the gap 9 and drive signals 40, 41st (Delivery volume V * and / or feed rate v * or alternatively correction values for the delivery volume .DELTA.V or the feed rate .DELTA.v) are determined for the doser 2.
  • the control signals 40, 41 are then transmitted to the pressure generating device 7 (for varying the delivery volume V) or the robot controller 11 (for varying the feed rate v).
  • the dosing control 38 thus comprises the processing units 34 to
  • FIG. 3 shows a further embodiment of the method according to the invention.
  • the control of the dosing device 2 by means of a control.
  • the processing units 34 to 37 correspond to the processing units 34 to 37 FIG. 2 .
  • the measured values of the material 3 'introduced into the gap 9 or applied to the transition are supplied as actual values to the processing unit 35, which then determines a control difference from a comparison of the actual values with the desired values predefined on the basis of the parameter Par.
  • the control difference is fed to a controller 39, which determines one or more signal variables for controlling the metering unit 2 in the processing unit 36.
  • a closed loop for introducing and / or applying material 3 'results in a gap 9 or on a transition.
  • FIG. 8 is a part of a device 1 for implementing the method according to the second preferred embodiment shown.
  • An essential difference to the embodiment FIG. 7 consists in that sensors 39 are additionally provided on the robot arm, which detect with their measuring areas 42 a part of the gap 9 in the feed direction after the nozzle 5.
  • the sensors 39 thus measure the material 3 'introduced into the gap 9 and forward the measured values to the processing unit 37. If the amount of material 3' introduced is too small (less than specified by the parameters Par), the controller 39 reduces the value Feed rate v and / or increases the delivery volume V. With the help of the controller 39 and the closed loop to control the metering 2, the last minor differences between the actual and target value of the introduced into the gap 9 material 3 'can be compensated.
  • the decisive improvement over the prior art already results from the fact that before the introduction of the material 3 ', the dimensions of the gap 9 and the transition are measured and the amount of material to be introduced is adjusted by appropriate control of the dosing device 2.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Coating Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Claims (12)

  1. Dispositif pour l'introduction ou l'application automatique d'un matériau visqueux (3) à partir d'un élément doseur (2) dans une rainure, une fente (9), un canal ou une entaille ou le long d'une arête ou d'une transition, la rainure, la fente (9), le canal, l'entaille, l'arête ou la transition étant automatiquement mesuré(e), le volume de matériau nécessaires étant déterminé en fonction de la valeur de mesure et un volume d'alimentation (V) de l'élément doseur (2) et/ou une vitesse d'avancement (v) de l'élément doseur (2) avec laquelle cet élément doseur (2) est déplacé le long de la rainure, de la fente (9), du canal, de l'entaille, de la fente ou de la transition est commandé(e) ou régulé(e) de sorte que le volume de matériau déterminé soit automatiquement introduit ou appliqué,
    caractérisé en ce que
    le volume de matériau (3') introduit ou appliqué est mesuré, et le volume d'alimentation (V) ou la vitesse d'avancement (v) de l'élément doseur (2) est commandé(e) ou régulé(e) en fonction de la valeur de mesure.
  2. Procédé conforme à la revendication 1,
    caractérisé en ce que
    la rainure, la fente (9), le canal, l'entaille, l'arête ou la transition est mesuré(e) au moyen de détecteurs de triangulation laser, de caméras stéréo ou de détecteurs de temps de parcours laser.
  3. Procédé conforme à la revendication 1 ou 2,
    caractérisé en ce que
    pendant un premier parcours de la rainure, de la fente (9), du canal, de l'entaille, de l'arête ou de la transition, la rainure, la fente (9), le canal, l'entaille, l'arête ou la transition est mesuré(e), et pendant un parcours ultérieur de la rainure, de la fente (9), du canal, de l'entaille, de l'arête ou de la transition, le volume de matériau déterminé est introduit ou appliqué.
  4. Procédé conforme à la revendication 1 ou 2,
    caractérisé en ce que
    pendant un même parcours de la rainure, de la fente (9), du canal, de l'entaille, de l'arête ou de la transition, la rainure, la fente (9), le canal, l'entaille, l'arête ou la transition est mesuré(e) et le volume de matériau déterminé est introduit ou appliqué.
  5. Procédé conforme à l'une des revendications 1 à 4,
    caractérisé en ce que
    le volume de matériau nécessaire est déterminé en prenant en considération une variation de volume, en particulier une diminution de volume suite à une variation de la température, en particulier une diminution de la température après l'introduction ou l'application du matériau (3), de sorte que le volume de matériau introduit ou appliqué (3') corresponde à une valeur de consigne pouvant être prédéfinie.
  6. Procédé conforme à l'une des revendications 1 à 5,
    caractérisé en ce que
    le volume de matériau introduit ou appliqué (3') est mesuré par des détecteurs de triangulation laser, des caméras stéréo ou des détecteurs de temps de parcours laser.
  7. Procédé conforme à l'une des revendications 1 à 6,
    caractérisé en ce que
    l'élément doseur (2) est tout d'abord actionné à une vitesse d'avancement (v) prédéfinie et avec un volume d'alimentation (V) prédéfini, et, par la mise en oeuvre du procédé conforme à l'invention des valeurs de correction de la vitesse d'avancement (Δv) et/ou du volume d'alimentation (ΔV) sont déterminés, et prises en considération lors de la commande ou de la régulation de l'élément doseur (2).
  8. Procédé conforme à l'une des revendications 1 à 7,
    caractérisé en ce qu'
    il est mis en oeuvre lors de la production de véhicules automobiles.
  9. Procédé conforme à l'une des revendications 1 à 8,
    caractérisé en ce qu'
    il est mis en oeuvre dans le cadre de l'étanchéification du matage de joints ou du remplissage par de la mousse.
  10. Procédé conforme à l'une des revendications 1 à 9,
    caractérisé en ce qu'
    au moyen de détecteurs, on détermine l'extension de la rainure, de la fente (9), du canal, de l'entaille, de l'arête ou de la transition, et on commande ou régule le déplacement d'une buse (5) de l'élément doseur (2) le long de l'extension déterminée avec la vitesse d'avancement (v) déterminée.
  11. Procédé conforme à la revendication 10,
    caractérisé en ce que
    la rainure, la fente (9), le canal, l'entaille, l'arête ou la transition est automatiquement mesuré(e) et l'extension de la rainure, de la fente (9), du canal, de l'entaille, de l'arête ou de la transition est également simultanément déterminée à l'aide des détecteurs (32).
  12. Dispositif pour l'introduction ou l'application automatique d'un matériau visqueux (3) à partir d'un élément doseur (2) dans une rainure, une fente (9), un canal ou une entaille, ou le long d'une arête ou d'une transition, ce dispositif comportant des moyens (32, 34) pour mesurer la rainure, la fente (9), le canal, l'entaille, l'arête ou la transition, une unité de traitement (35) pour déterminer le volume de matériau nécessaires en fonction de la valeur de mesure, une unité de traitement (36) pour déterminer un volume d'alimentation (V) de l'élément doseur (2) et/ou une vitesse d'avancement (v) de l'élément doseur avec laquelle cet élément doseur (2) est déplacé le long de la rainure, de la fente (9), du canal, de l'entaille, de l'arête ou de la transition, et des moyens de commande ou de régulation de l'élément doseur (2) à partir du volume d'alimentation (V) déterminé ou de la vitesse d'avancement (v) déterminée de sorte que le volume de matériau déterminé soit automatiquement introduit ou appliqué,
    caractérisé en ce que
    le dispositif comporte des moyens (37, 39) pour mesurer le volume de matériau introduit ou appliqué (3') et des moyens pour commander ou pour réguler le volume d'alimentation (V) ou la vitesse d'avancement (v) de l'élément doseur (2) en fonction de la valeur de mesure.
EP09724219A 2008-03-27 2009-01-16 Procédé et dispositif pour l introduction ou l application automatique de matériau visqueux Not-in-force EP2254705B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008015834A DE102008015834A1 (de) 2008-03-27 2008-03-27 Verfahren und Vorrichtung zum automatischen Einbringen oder Auftragen von zähflüssigem Material
PCT/EP2009/000234 WO2009118072A1 (fr) 2008-03-27 2009-01-16 Procédé et dispositif pour l’introduction ou l’application automatique de matériau visqueux

Publications (2)

Publication Number Publication Date
EP2254705A1 EP2254705A1 (fr) 2010-12-01
EP2254705B1 true EP2254705B1 (fr) 2012-11-14

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EP (1) EP2254705B1 (fr)
CN (1) CN101977694B (fr)
DE (1) DE102008015834A1 (fr)
WO (1) WO2009118072A1 (fr)

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CN101977694A (zh) 2011-02-16
CN101977694B (zh) 2013-07-31
DE102008015834A1 (de) 2009-10-01
WO2009118072A1 (fr) 2009-10-01
EP2254705A1 (fr) 2010-12-01

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