EP2291574B1 - System for gluing glass panes into frame profiles - Google Patents

Description

The invention is directed to a system for bonding flat elements, such as glass in, on or on profiles formed from frames, with an application head for fully automatic feeding of the adhesive and with a device for receiving and transporting the profiles and the sheet-like elements, said the device contains at least two transport tables.

Systems for the manipulation of adhesive-dispensing application heads, which operate in particular computer-controlled, are known, for example from DE 2 309 419 A . DE 4 353 673 Cl . DE 4 404 029 A or US 4,820,365 A , Also, for example, in vehicle manufacturing vehicle windows are manipulated with such systems. In order to produce flat elements, such as glass partitions, economically, it is endeavored to perform this work as fully automatic as possible.

A plant for the edge sealing of insulating glass units shows the DE 32 34 320 C , a plant for gluing surfaces is in the DE 20 2006 008 005 U described, wherein the EP 0 770 754 A shows a device for applying flexible bands to glass sheets.

The object of the invention is to ensure the fastest possible processing, the adhesive-related rest periods should not hinder the production cycle of such planar elements, while a recording device to provide, with the elements to be bonded precisely fixable and transportable, the device is suitable for a wide range of applications or a variety of different profiles and contours to be processed while flexibly respond to deviations and malfunctions in the operation without the quality of workmanship or the production costs are negatively affected.

With a system of the type described, this object is achieved according to the invention in that the application head is positioned on a portal, which sweeps over a plurality of longitudinal and transverse guides, and that the transport tables with the transverse or longitudinal beams of the plant effectively such are connected, that they can be extended on the transverse or longitudinal beams for the parts to be bonded in the workspace of the portal-mounted application head and out of this again, each transport table is provided with fixing elements for the parts to be bonded and moved on a stationary base is.

By the invention it is achieved that in the system, hereinafter also called adhesive cell, cyclically on the transverse and longitudinal guides transport tables can be extended and extended, which are equipped with the elements to be connected and fixed there. In principle, it is of course known to fix objects on movable surfaces in order to prevent displacement and tilting of the objects on the mobile surface for reasons of security alone. ( DE 195 105 16 A1 . DE 3 234 320 Cl ).

Embodiments of the invention will become apparent from the dependent claims. It can be provided that each transport table for loading and unloading on the longitudinal or transverse guides completely from the working range of the portal-mounted application head is movable.

In order to seal off the working area of the application head and thereby realize the above-mentioned adhesive cell, according to the invention it is also provided that the working area of the application head is enclosed by protective elements, wherein the transverse or longitudinal guides are guided through cutouts in the protective elements to the outside ,

Due to the particular application of the present invention, it is expedient to form a part of the fixing elements as strips with upwardly pointing comb-like projections (comb strips), wherein at least one Part of the comb strip is positioned longitudinally or transversely adjustable in at least one of the table axes, as the invention provides in an embodiment.

In order to hold the elements in place, the invention provides that between the comb strips suction cups are arranged, wherein at least some suction cups are slidably disposed between the comb strips. Such displaceability is expedient if differently sized objects are to be positioned on the same device, for example windows of different sizes formed from frames and panes.

A simple and expedient embodiment of such a suction cup according to the invention is that the respective suction cup is equipped with an appendage to the underside of the sucked object suction plate with a centric, in the unused position, the contour of the suction cup superior pressure pin, which when lowered by an on-hook , sucked object or by sticking the pneumatic cylinder with suction cup releases the intake to a vacuum pump.

The state of the art includes, for example, suction cup constructions according to the DE 10 2005 033 540 A1 . DE 196 09 975 A1 or EP 1 647 532 A ,

In an embodiment, the invention is also characterized in that the application head is equipped with at least one adhesive supply device, a rotary unit mounted resiliently in at least two spatial axes with a rotary drive and with an application nozzle rotatable by means of the rotary unit and with at least one sensor arrangement for measuring the or the Spring travel (s) of the rotary unit, wherein a control unit is provided, by means of which the Device and / or the application nozzle can be guided past the provided with the adhesive profiles and is formed depending on the travel for correcting the position of the device and / or the application nozzle.

The device designed in this way is guided past the contour to be provided with the means by means of a suitable movement mechanism, for example a two- or three-dimensionally movable portal system or robot arm. This may, as stated, for example, be a partition wall system in which a frame made of aluminum is clamped flat in a corresponding holder, on which a plate to be bonded, such as a glass, rests. The aluminum profile is designed so that an edge joint between the glass sheet and the profile is formed, in which the adhesive or sealant is introduced.

According to the invention, this is done by moving the device to the contour by means of the XYZ portal until the rotatable application nozzle bears against the profile joint at the starting point. Subsequently, the device is guided past the joint and introduced by means of the feed device, the sealant through the application nozzle into the joint. The fact that the rotary unit with the application nozzle is resiliently mounted, slight changes in the position of the profile can be compensated by the spring paths continuously monitored and corresponding changes detected by the controller and compensated by control signals to the traversing mechanism. At corners of the profile or curves and the like. Parallel to the change of the travel of the device and the application nozzle is rotated accordingly, so that the usually laterally emerging sealant bead is circumferentially introduced from the nozzle in the contour line or the contour. The prior art is merely an example of application devices on the DE 10 2004 039 684 B . DE 203 08 142 U . DE 199 38 328 C . DE 101 37 195 C or the EP 1 857 187 A directed.

In an embodiment it can be provided that on the turntable additionally to the application nozzle laterally offset pneumatic cylinder is provided with a measurable piston position, which rests on the contour to be provided with the means and is designed to determine the height of the contour relative to the device.

The pneumatic cylinder is pressurized after starting the contour or the workpiece with pressure and thus lies on top of the workpiece. Its piston position is measured. If this changes along the contour during the process, the control can provide for a corresponding compensation in order to compensate for thickness or height differences or a workpiece that is not completely clamped straight.

Also, the pneumatic cylinder for detecting corners of the contour or the workpiece can be used, because this leaves the workpiece surface on reaching a corner and immediately extends in maximum position, which used by the controller as corner detection signal and so the application nozzle can be guided around the workpiece.

Furthermore, a camera may additionally be provided for checking the introduced adhesive or sealant. This camera is also arranged on the turntable so that they can recognize the introduced sealant or adhesive bead, which is so optically either automated or directly verifiable by a user.

This can also be used to allow in design a variable feed rate of the device. For this purpose, for example, the Vorbeiführgeschwindigkeit the application nozzle is reduced at the contour and at the same time correspondingly reduces the ejection amount of the sealant, so that despite the reduced feed rate a Sollvorgaben corresponding sealant bead is generated. This has the advantage that even with fast-curing sealants or adhesives, the system can be operated with reduced capacity. In these cases, in particular with a reduction of the capacity, would otherwise method in possibly occurring waiting times in production of the adhesive already in the mixer or the device according to the invention cure or at least lose quality, so that it would have to be rinsed before re-production start , which can sometimes lead to considerable time and cost consequences.

Fig. 1

eine räumliche Darstellung einer erfindungsgemäßen Anlage,

Fig. 2

eine Aufsicht auf die erfindungsgemäße Anlage,

Fig. 3

eine Seitenansicht gemäß Pfeil III in Fig. 2,

Fig. 4

eine räumliche Aufsicht auf einen Transporttisch in vereinfachter Darstellung,

Fig. 5

eine Aufsicht auf eine bewegbare Kammleiste,

Fig. 6

eine Seitenansicht gemäß Pfeil VI in Fig. 5,

Fig. 7

eine Seitenansicht einer Kammleiste,

Fig. 8

eine vereinfachte Seitenansicht eines Ansaugelementes,

Fig. 9

einen Schnitt durch ein Profil mit einer aufgeklebten Glasscheibe in Teilansicht,

Fig. 10

die erfindungsgemäße Vorrichtung in einer ersten dreidimensionalen Ansicht sowie in

Fig. 11

die erfindungsgemäße Vorrichtung in einer zweiten dreidimensionalen Ansicht.

Further features, details and advantages of the invention will become apparent from the following description and from the drawing, which shows in:

Fig. 1

a spatial representation of a system according to the invention,

Fig. 2

a view of the plant according to the invention,

Fig. 3

a side view according to arrow III in Fig. 2 .

Fig. 4

a spatial view of a transport table in a simplified representation,

Fig. 5

a view of a movable comb strip,

Fig. 6

a side view according to arrow VI in Fig. 5 .

Fig. 7

a side view of a comb strip,

Fig. 8

a simplified side view of a suction element,

Fig. 9

a section through a profile with a glued glass pane in partial view,

Fig. 10

the device according to the invention in a first three-dimensional view and in

Fig. 11

the device according to the invention in a second three-dimensional view.

An in Fig. 1 generally designated 1 system, for example for bonding profiles with glass, as described in more detail below, is formed by a portal 2 on which a traverse 3 is arranged movable, the one in the Fig. 1 Not shown application head 4 has for applying adhesive. Below the portal longitudinal transversal guides 5 and 6 are arranged, on which the generally designated 7 transport tables are transversely and longitudinally movable. On these transport tables 7 frames are fixed, for example, profiles and glass sheets, which are held in position by means of suction devices described in more detail below.

How out Fig. 1 can be seen, the transport tables 7 are each arranged on a stationary base 8 and with the transverse or longitudinal beams 5 and 6 of the system effectively connected such that they on these transverse or longitudinal bars 5, 6 in the system 1 on and off this can be extended again.

For fixing the elements to be bonded, e.g. the profiles with the glass panes, which are not shown in detail in the figures, the transport tables 7 are equipped with fixing elements described in more detail below.

Via corresponding drives, e.g. In tracks 10 accommodated drive chains, the transport tables 7 are cyclically introduced into the interior of the area enclosed by the portal 2 area and positioned there, so that the application head 4 can glue the discs to the profile frame. Visible is the area formed by the portal 2 with its transverse and longitudinal guides 5 and 6 surrounded by 9 designated protective elements, such that there is a kind of cell inside, the protective elements 9 in their above the through the transverse and longitudinal guides Resulting working level are transparent, eg by means of discs.

The respective corners of the space defined by the protective elements 8 can, as shown in the figures, be made diagonal and, for example, with a door 11 to allow access to the interior of the adhesive cell.

In one of the corners of the plant, a control panel may be provided to start, shut down, operate and, for example, to give change instructions for processing, such a control panel is in Fig. 2 denoted by 12.

As can be seen for example Fig. 3 shows, a recess 13 is provided in the respective surface of the protective elements in the region of the transport table 7, through which the transverse or longitudinal guides 5 and 6 and the drives 10 are guided through to the outside, such that the work tables 7 placed on position surfaces 14 can be for loading and unloading or loading of the respective tables, for fixing the frame profiles and about suction cups or the like. Fastening the glass panes.

As in Fig. 4 schematically illustrated in more detail, each transport table 7 is equipped with a plurality of comb-like attachments ledges, hereinafter comb strips 15, which are stationarily positioned on the table 7. In addition, at least one parallel to the stationary comb strips 15 transversely to its longitudinal direction according to double arrow 16 slidable comb strip 15a is provided.

In addition to the comb strips 15 and 15a, the transport table 7 has a comb system 18 movable transversely thereto according to the double arrow 17. Both movable comb systems or comb strips 15a (or 12) are equipped with hinged fixed stops 19 and 20, respectively Fig. 6 recognizable, can be swung laterally, in particular, to facilitate the laying on or the lifting of the elements to be connected or already connected.

The movable comb system 18 has stationary suction cups 21, while 7 movable pneumatic cylinders are provided with suction cups 22 between the stationary comb strips.

Next to the movable table 7 is how out Fig. 4 can be seen on the stationary base 8 an operating terminal 23 is provided, also can be provided for each direction of travel depending on a hand crank 24.

In Fig. 8 Again, in a simplified representation of a fixing and suction, ie a pneumatic cylinder, shown with a suction cup, wherein the pneumatic cylinder is denoted by 25, the suction cup with 26 and a total of these elements by enforcing pressure pin with 27, the Suction cup 26 firmly surmounted slightly.

For example, if a disc is placed, this pressure pin is moved down and then can open a valve to the vacuum pump, such that the object lying on the suction cup is sucked. Of course, the actuation of the push pin 27 can also be done in kinematic reversal, i. when stationary to be fixed, glass pane of the pneumatic cylinder 25 is lifted with the suction cup 26 under the disc, so that the pressure pin 27 is lowered and the access to the vacuum pump releases. After a certain time has elapsed and a sufficiently high vacuum has been built up, the pneumatic cylinders can be lowered downwards and can then fix the glass pane, for example with a force of 410 N.

Finally, in Fig. 4 also indicated that each wegschwenkbaren fixed stop a sensor 28 is assigned, with which can be determined by the control system, in which position the stop is 19 and 20 respectively.

Merely as an example of an application for the present invention is in Fig. 9 on an enlarged scale, a profile to be clamped on the table in the comb strips 15, generally designated 30, on which a glass pane designated 31 is fastened by means of an adhesive bead 32, the adhesive bead being automatically introduced by the application head 4. The elements are firmly fixed together on the transport table 7, the disc 31 is held by the suction cup 26 described above and secured by the pneumatic cylinder 25.

The in the Fig. 10 and 11 application head 4 shown in detail in the form of the device according to the invention has a base body 33, with a rotatably mounted rotary unit 34 and a rotary drive 35, which can rotate about a toothed belt 36, the rotary unit 34.

Within the rotary unit 34 is a central tube 36 which carries an unspecified plastic mixer 14 inside, which is interchangeable connected by a bayonet lock in the lower region with the rotatably mounted application nozzle 38. The application nozzle 38 has in its flattened part an outlet opening 39 for the sealing or adhesive and is rotatable together with the rotary unit 34 from the rotary drive 35. Also not shown in detail is the Mittelzuführeinrichtung, which is arranged in the form of a controllable valve at the top of the central tube 36 and also communicates via an openable closure with the plastic mixer 37 located in the interior. Controlled by the valve, the two or more components of the adhesive used can be injected into the plastic mixer, where they are mixed together and the thus activated adhesive mass is injected from the application nozzle 38 through the lateral outlet opening 39 in the contour to be machined.

The rotary unit 34 carries an inner rotary unit 40 which is movably supported by springs 41. In the area of the springs 41, proximity sensors 42 are arranged, which can measure the distance of the spring-mounted inner rotary unit 40 from the rotary unit 34.

In the feed direction in front of the application nozzle 38 is still a pneumatic cylinder 43 with piston measuring device. The pin 24 runs in operation on top of the contour of the application nozzle 38 to be machined, wherein the pneumatic pin 44 rests on top of the workpiece and pressed or moved out of the cylinder 43 with changes in the height of the workpiece up or down becomes what can be measured by the containing sensors.

Furthermore, a camera 45 is provided, which serves for optical control of the introduced adhesive or sealant joint.

The central tube 36 is designed such that it tightly encloses the introduced plastic mixers 37 and thus can compensate for linear expansions which can occur due to increased temperatures of the adhesive mixture. The connections of the application nozzle 38 and the valve member, not shown above, are equipped so that on the one hand they allow rapid interchangeability of the mixer 37, but on the other hand compensate for tolerances that may occur in the length of the mixer or its dimensions and still provide a tight connection allow the individual parts together. The upper connection is designed as a bayonet quick release, which ensures a definable contact pressure of the mixer to the metering valve. The application nozzle 38 is connected with a union nut with adapter with the inner tube 36, so that also creates an adjustment of a few millimeters to compensate for tolerances and setting a defined contact pressure.

• Ein Profil, wie es in Fig. 9 ausschnittweise seitlich dargestellt wird, soll mit einer Glasscheibe 31 verklebt werden. Dabei wird das Profil 30 in einer Halterung gehalten und die Glasscheibe über Saugnäpfe 26 in ihrer Position relativ zum Profil 30 gehalten. In die ausgebildete Fuge zwischen Profil 30 und Scheibe 31 soll dann eine saubere Klebefuge 32 eingebracht werden.

The mode of operation of the device is the following:

• A profile like it is in Fig. 9 is shown side by side, is to be glued to a glass plate 31. In this case, the profile 30 is held in a holder and the glass pane via suction cups 26 held in position relative to the profile 30. In the trained joint between the profile 30 and disc 31 then a clean adhesive joint 32 is to be introduced.

For this purpose, the relatively fixed arrangement of profile 30 and disc 31 is driven in the interior of the portal 1 to a definable holding position, the elements are measured when retracting online via sensors, not shown, so that the application head 4 by means of the portal arms 2 and 3 in high-speed operation can be brought into the known starting area of the grouting of the profile. There, the application nozzle 38 is moved up to the profile 30 in slow motion until the outlet opening 39 is at the starting point of the joint to be produced. Then, the adhesive supply is started and the application head 4 guided along the profile, wherein a slight contact pressure between the outlet nozzle 38 and the profile 30 is generated. Due to the resilient mounting slight tolerances that come about by an oblique clamping of the arrangement or the like, be detected by changing the distance between the inner and outer rotating part and tracked by the control by appropriate compensation of the way. The pneumatic cylinder 43 runs along the top of the glass and pushes the pin 44 on the disc. Again, slight changes in the height of the profile are recognized by the change in the position of the pin 44 and can be compensated again. When the head reaches the corner of the profile, the pin 44 falls immediately after leaving the disc in its maximum position, which is interpreted as a corner signal and the head 4 is guided around the corner while rotation of the nozzle 38 via the rotary unit 34 by the drive 35. Bei the rotation of the pneumatic pin 44 is then retracted and placed after the completion of the rotation back on top of the glued to disk.

This is continued until the elements are glued all around, whereupon the adhesive supply is interrupted by the control valve and the entire head is out of the region of the Profiles is moved out, which can then be removed from the Appendix 1, and it remains under certain circumstances until the curing of the adhesive for a certain time outside the system in mutually fixed state.

In Appendix 1 is also a rinsing position, which is used to move the application head there and to free the nozzle or the mixer from the containing adhesive. Here, the entire plastic mixer 37 can be removed from the inner tube 36 and replaced with a new, which may be required at regular intervals.

Claims (11)

1. System (1) for gluing planar elements, such as glass panes (30), in or on frames formed of profiles (30), said system comprising an application head (4), for feeding the glue in a fully automatic manner, and a device for receiving and transporting the profiles and the planar elements, the device containing at least two transport tables (7), characterised in that the application head (4) is positioned on a gantry (2) which passes over a plurality of longitudinal and transverse guides, and in that the transport tables are operatively connected to the transverse and/or longitudinal cross members of the system in such a way that said transport tables can be driven into and out of the work region of the gantry-guided application head again on the transverse and/or longitudinal cross members for the parts to be glued, each transport table (7) being provided with fixing elements for the parts to be glued and being movable on a stationary subframe (8).
2. System according to claim 1, characterised in that for loading and unloading, each transport table (7) can be moved, on the longitudinal and/or transverse guides (5, 6), completely out of the work region of the gantry-guided application head (4).
3. System according to either claim 1 or claim 2, characterised in that the work region of the application head (4) is surrounded by protective elements (8), the transverse and/or longitudinal guides (5, 6) being guided outwards through cutouts (13) in the protective elements (8).
4. System according to any of the preceding claims, characterised in that some of the fixing elements are formed as strips (15) having comb-like projections (comb strips) which point upwards, at least some of the comb strips (15a) being positioned in at least one table axis so as to be longitudinally and/or transversely adjustable.
5. System according to any of the preceding claims, characterised in that suction cups (22) are arranged between the comb strips (15), at least some of the suction cups (22) being movably arranged between the comb strips (15).
6. System according to any of the preceding claims, characterised in that each suction cup (22) is fitted with a suction plate (26), which is placed on the underside of the object to be suctioned on, having a central press pin (27) which, in the non-use position, protrudes beyond the contour of the suction plate (26) and which, when being pushed down by an object which has been placed on and is to be suctioned on, releases the suction channel (29) to a vacuum pump (Fig. 8).
7. System according to claim 1, characterised in that the application head (4) is fitted with at least one glue-feeding means, a rotating unit (34) which is spring-mounted in at least two spatial axes and has a rotary drive (35), and with an application nozzle (39) which can be rotated by means of the rotating unit (34), and having at least one sensor arrangement for measuring the spring elongation(s) of the rotating unit (34), a control unit being provided, by means of which the device and/or the application nozzle (39) can be guided past the profiles (30) to be supplied with the glue, and being designed to correct the position of the device (4) and/or of the application nozzle (39) depending on the spring elongation.
8. System according to claim 7, characterised in that a pneumatic cylinder (43), which has a measurable piston position and is laterally offset from the application nozzle (39) by means of the rotating unit (34) together with said application nozzle, is additionally provided, which pneumatic cylinder rests on the profile to be provided with the medium and is designed to determine the height of the profile relative to the device.
9. System according to claim 8, characterised in that a camera (45) is also provided for optically checking the fed-in glue or sealing medium.
10. System according to claim 9, characterised in that the control unit is designed to vary the feed speed of the device (4) when the medium is being fed in, the amount of the medium being pushed on, depending on the feed speed of the device, being designed to generate a constant bead of glue or sealing medium.
11. System according to any of the preceding claims, characterised in that the application nozzle (39) is formed so as to laterally feed in glue or sealing medium.

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