EP2720828B1 - Working chamber system for the surface treatment of workpieces - Google Patents

Working chamber system for the surface treatment of workpieces Download PDF

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Publication number
EP2720828B1
EP2720828B1 EP12743660.8A EP12743660A EP2720828B1 EP 2720828 B1 EP2720828 B1 EP 2720828B1 EP 12743660 A EP12743660 A EP 12743660A EP 2720828 B1 EP2720828 B1 EP 2720828B1
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EP
European Patent Office
Prior art keywords
working chamber
inner frame
outer frame
chamber system
frame
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Application number
EP12743660.8A
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German (de)
French (fr)
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EP2720828A1 (en
Inventor
Bernhard Busskamp
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Wheelabrator Group GmbH
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Wheelabrator Group GmbH
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Publication of EP2720828A1 publication Critical patent/EP2720828A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
    • 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
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/80—Movable spray booths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/08—Plant for applying liquids or other fluent materials to objects
    • B05B5/082—Plant for applying liquids or other fluent materials to objects characterised by means for supporting, holding or conveying the objects
    • 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
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B16/00—Spray booths
    • B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations

Definitions

  • Certain types of surface treatment of workpieces must be performed in closed working chambers, such as painting or abrasive blasting.
  • the treatment itself is carried out by program-controlled manipulators. Due to the high working speed of the manipulators, the cycle times are not affected by the actual treatment time, but essentially determined by the introduction of the workpieces in the working chamber and the clamping in it.
  • a work chamber system of the type mentioned above provides for the workpieces to be already clamped outside the working chamber into workpiece holders.
  • the surface treatment in the working chamber must be interrupted only very briefly to drive one of the rail-guided workpiece holders with the finished treated workpieces from the working chamber and bring the other workpiece holder with the prepared workpieces into it.
  • the workpiece holders have end sealing plates which seal the passages in the working chamber, as soon as a workpiece holder has arrived either in the loading position outside the chamber or in the working position within the chamber.
  • the manipulator is fixedly mounted and if it has a rotation axis as the first axis without being longitudinally displaceable along the guideways, then there may also be difficulties for it to reach completely outside areas within the working area spanned by the outer frame of the workpiece holder, above all if there is a greater distance to the workpiece holder.
  • More than two workpiece holders are needed if the cycle times of the surface treatment compared to the set-up times for the removal and clamping of the workpieces are very short.
  • the clamping is separated from the removal by using a total of three workpiece holders: one for clamping the rough workpieces, one for processing in the chamber and one for removing the finished workpieces outside the chamber.
  • the disadvantages mentioned remain even when using a pair of manipulators on opposite sides, since there is then between the respective outer guide rails even twice as large as between two directly adjacent guide rails.
  • 6-axis articulated robots as manipulators with their limited working space then no longer all points of the work surface can be approached within the workpiece holder, at least not at the correct distance and in the necessary orientation of the manipulator head.
  • a work chamber system in which workpieces are individually or on pallets via a roller table in the processing position can be transferred and positioned within the working chamber via a turntable.
  • a frame-shaped arrangement which allows the upright clamping of workpieces such that they can be placed frontally in the working area of a manipulator, is not present.
  • the object of the invention is thus to improve a working chamber system of the type mentioned above so that constant distances of the workpieces to the manipulators can be produced independently of the respective workpiece holder located in the working chamber.
  • At least one workpiece holder comprises an outer frame, over which it is guided in the guide rails, and an inner frame which is surrounded in a transport position of the outer frame and which is displaceable or pivotable in the loading position and / or the working position in a position outside the base plane of the outer frame.
  • the pivoting out of the plane of the outer frame results within the working chamber has the advantage that the clamped in the inner frame workpieces are displaced at least up to the level of the directly adjacent track.
  • workpieces can be placed in a workpiece holder on the central guide rail on the level of an outer guide rail, so that they are positioned closer to the manipulator. This is advantageous with only one-sided treatment by manipulators on one side.
  • the parked position can take a certain angle to the plane of the workpiece frame. But particularly preferred is the placement of the inner frame in a plane-parallel position, which is exactly on the position that occupies an inner frame of the adjacent bracket. Thus, no conversions of the web in the program sequence of the manipulator must be made.
  • Another advantage of the working chamber system according to the invention results from the fact that the inner frame can be parked laterally also when installing and equipping outside the working chamber. This allows operators to drag the inner frames closer to their own position so they can perform the same gripping and unfolding operations from their usual location.
  • the inner frame is lowered relative to the outer frame when it is positioned outside the base plane of the outer frame, so that the operator can work without treads in a comfortable position.
  • the inner frame is pivotally connected via a parallelogram with the outer frame.
  • a parallelogram is easy to prepare and can be made robust.
  • the kinematics are such that when swinging out of the plane of the outer frame at the same time the lowering takes place.
  • the particular plane-parallel parking movement can thus be done very quickly.
  • the inner frame can be coupled to the outer frame via a detachable connection.
  • the operator can swing out the inner frame and set down on a handcart. It can then be used in other work processes by other people already prepared frame. The loading of the inner frame and the subsequent removal of the finished workpieces from it can thus also be done outside the actual work chamber system. Even with a frequent change of workpiece types removability is advantageous because each individually adapted to the workpiece type inner frame can be used.
  • Such a detachable connection for example, in a structurally particularly simple manner by the fact that the ends of the parallelogram are designed as fork-shaped receptacles and that on vertical struts of the inner frame pins are provided which can be suspended in the recordings.
  • the inner frames are rotatable about a vertical axis. Outside the working chamber, the clamping and unclamping of the workpieces can be facilitated. Within the working chamber can be treated by turning the inner frame and the respective back of the workpieces from the same manipulator. If the rotation of the inner frame is included in the program sequence of the manipulator, an additional degree of freedom is created in order to reach possibly hard to reach places on a workpiece with the manipulator head.
  • FIG. 1 shows a working chamber system 100 in plan view.
  • two opposing manipulators 102, 103 are positioned.
  • three guide rails 14, 24, 34 for workpiece holders 10, 20, 30 are arranged.
  • FIG. 1 In FIG. 1 are located within the working chamber 101, the movable on the lower guide rail 34 workpiece holder 30 with the outer frame 31. With 10 ', 20', 30 'are in FIG. 1 the free spaces of the other workpiece holders 10, 20, 30 are designated.
  • FIG. 2 is in the upper workpiece holder 10, the inner frame 12 still within the outer frame 11.
  • the inner frame 22 is pivoted out of the outer frame 21. He is then on a parking space 30 'for the lower workpiece holder 30 and thus in the region of the lower guide rail 34. An operator comes so easily to the workpieces contained therein.
  • the inner frame 22 is offset toward the middle guide rail 24, so that it has the same distance to both manipulators 102, 103.
  • the lower manipulator 103 acts through the open outer frame 31 on the workpieces in the inner frame 32nd
  • FIG. 3 shows the working chamber system from the side, and from the front side of the workpiece holders 10, 20, 30 ago, so that the working chamber 101 is in the background. All three workpiece holders 10, 20, 30 are pushed out of the working chamber 101.
  • FIG. 3 is shown as a solid line inner frame 12 of the left workpiece holder 10 relative to the outer frame not only shifted from the initial position shown in phantom horizontally, but he is also vertically lowered relative to the starting position shown in phantom so that it is more easily accessible to the operator.
  • FIG. 4 again showing a side view.
  • the working chamber 101 At the local passages have the workpiece holders 10, 20, 30 sealing plates 16, 26, 36, which lie from the inside of the passages and close them as soon as the workpiece holders has been pulled out or pushed ,
  • FIG. 4 Also visible are vertical axes 15, 25, 35 on the inner frame 10, 20, 30, which allow rotation of the inner frame 12, 22, 32.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Physical Vapour Deposition (AREA)
  • Automatic Assembly (AREA)
  • Machine Tool Units (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
  • Spray Control Apparatus (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Description

Die Erfindung betrifft ein Arbeitskammersystem für die Oberflächenbehandlung von Werkstücken, mit wenigstens:

  • einer dicht verschließbaren Arbeitskammer,
  • mehreren rahmenförmigen Werkstückhalterungen, die auf Führungsschienen zwischen einer Bestückungsposition außerhalb der Arbeitskammer und einer Arbeitsposition in der Arbeitskammer verschiebbar sind,
  • einem Manipulator, der im Grundriss gesehen neben der Gruppe von parallelen Führungsschienen innerhalb der Arbeitskammer angeordnet ist.
The invention relates to a work chamber system for the surface treatment of workpieces, comprising at least:
  • a tightly sealed working chamber,
  • a plurality of frame-shaped workpiece holders, which are displaceable on guide rails between a loading position outside the working chamber and a working position in the working chamber,
  • a manipulator, which is arranged in the plan view next to the group of parallel guide rails within the working chamber.

Bestimmte Arten der Oberflächenbehandlung von Werkstücken müssen in geschlossenen Arbeitskammern durchgeführt werden, beispielsweise das Lackieren oder das Behandeln mit abrasiven Strahlmitteln. Die Behandlung selbst wird von programmgesteuerten Manipulatoren durchgeführt. Die Zykluszeiten werden aufgrund der hohen Arbeitsgeschwindigkeit der Manipulatoren nicht durch die eigentliche Behandlungszeit, sondern im Wesentlichen durch das Einbringen der Werkstücke in die Arbeitskammer und das Aufspannen darin bestimmt.Certain types of surface treatment of workpieces must be performed in closed working chambers, such as painting or abrasive blasting. The treatment itself is carried out by program-controlled manipulators. Due to the high working speed of the manipulators, the cycle times are not affected by the actual treatment time, but essentially determined by the introduction of the workpieces in the working chamber and the clamping in it.

Um die Zykluszeiten zu reduzieren und einen hohen Durchsatz in der Anlage zu erreichen, sieht ein von der Anmelderin vertriebenes Arbeitskammersystem der eingangs genanten Art vor, die Werkstücke schon außerhalb der Arbeitskammer in Werkstückhalterungen aufzuspannen. Die Oberflächenbehandlung in der Arbeitskammer muss nur sehr kurz unterbrochen werden, um eine der schienengeführten Werkstückhalterungen mit den fertig behandelten Werkstücken aus der Arbeitskammer zu fahren und die andere Werkstückhalterung mit den vorbereiten Werkstücken dort hinein zu bringen. Die Werkstückhalterungen besitzen endseitig jeweils Dichtplatten, die die Durchlässe in der Arbeitskammer dicht verschließen, sobald eine Werkstückhalterung entweder in der Bestückungsposition außerhalb der Kammer oder in der Arbeitsposition innerhalb der Kammer angekommen ist.In order to reduce the cycle times and to achieve a high throughput in the system, a work chamber system of the type mentioned above, provided by the Applicant, provides for the workpieces to be already clamped outside the working chamber into workpiece holders. The surface treatment in the working chamber must be interrupted only very briefly to drive one of the rail-guided workpiece holders with the finished treated workpieces from the working chamber and bring the other workpiece holder with the prepared workpieces into it. The workpiece holders have end sealing plates which seal the passages in the working chamber, as soon as a workpiece holder has arrived either in the loading position outside the chamber or in the working position within the chamber.

Dieses Arbeitskammersystem hat sich grundsätzlich bewährt. Ein Nachteil ergibt sich jedoch dadurch, dass die Werkstückhalterungen auf parallelen Schienen geführt sind, so dass eine der Schienen zwangsläufig näher zu dem Manipulator positioniert ist als die andere. Dadurch bestehen unterschiedliche Abstände des Manipulatorkopfes mit den Lackier- oder Strahldüsen zu den Werkstücken, je nachdem, welche der Werkstückhalterungen gerade in der Arbeitskammer ist, so dass auch das Arbeitsergebnis unterschiedlich ausfallen kann.This work chamber system has proven itself in principle. A disadvantage, however, results from the fact that the workpiece holders are guided on parallel rails, so that one of the rails is inevitably positioned closer to the manipulator than the other. As a result, there are different distances of the manipulator head with the painting or jet nozzles to the workpieces, depending on which of the workpiece holders is currently in the working chamber, so that the work result can be different.

Das Problem kann zwar oftmals bei zwei Führungsbahnen dadurch gelöst werden, dass Manipulatoren paarweise eingesetzt werden, die jeweils auf einer Seite der Gruppe nebeneinander liegender Führungsbahnen angeordnet sind und gegenläufig arbeiten. Diese bearbeiten dann abwechselnd die Vorder- und die Rückseite der Werkstücke. Dies zieht jedoch höhere Investitionskosten nach sich.Although the problem can often be solved in two guideways that manipulators are used in pairs, which are each arranged on one side of the group of adjacent guideways and work in opposite directions. These then work alternately on the front and the back of the workpieces. However, this entails higher investment costs.

Ist der Manipulator ortsfest montiert und besitzt er als erste Achse eine Rotationsachse ohne längsverschieblich entlang der Führungsbahnen zu sein, dann kann es zudem Schwierigkeiten für diesen geben, an ganz außen liegende Bereiche innerhalb des durch den Außenrahmen der Werkstückhalterung umspannten Arbeitsbereichs zu gelangen, vor allem, wenn ein größerer Abstand zu der Werkstückhalterung besteht.If the manipulator is fixedly mounted and if it has a rotation axis as the first axis without being longitudinally displaceable along the guideways, then there may also be difficulties for it to reach completely outside areas within the working area spanned by the outer frame of the workpiece holder, above all if there is a greater distance to the workpiece holder.

Mehr als zwei Werkstückhalterungen werden benötigt, wenn die Taktzeiten der Oberflächenbehandlung im Vergleich zu den Rüstzeiten für das Abnehmen und Aufspannen der Werkstücke sehr kurz sind. In diesem Fall wird das Aufspannen vom Abnehmen getrennt, indem insgesamt drei Werkstückhalterungen verwendet werden: eine für das Aufspannen der rohen Werkstücke, eine für die Bearbeitung in der Kammer und eine für das Abnehmen der fertig behandelten Werkstücke außerhalb der Kammer. In dieser Konfiguration bleiben die genannten Nachteile selbst beim Einsatz von einem Paar von Manipulatoren auf gegenüber liegenden Seiten bestehen, da es dann zwischen den jeweils äußeren Führungsschienen sogar einen doppelt so großen Abstand gibt wie zwischen zwei direkt benachbarten Führungsschienen. Gerade in engen Arbeitskammern und bei Verwendung von 6-Achsen-Knickgelenk-Robotern als Manipulatoren mit ihrem begrenzten Arbeitsraum können dann nicht mehr alle Punkte der Arbeitsfläche innerhalb der Werkstückhalterung angefahren werden, zumindest nicht im richtigen Abstand und in der notwendigen Orientierung des Manipulatorkopfes.More than two workpiece holders are needed if the cycle times of the surface treatment compared to the set-up times for the removal and clamping of the workpieces are very short. In this case, the clamping is separated from the removal by using a total of three workpiece holders: one for clamping the rough workpieces, one for processing in the chamber and one for removing the finished workpieces outside the chamber. In this configuration, the disadvantages mentioned remain even when using a pair of manipulators on opposite sides, since there is then between the respective outer guide rails even twice as large as between two directly adjacent guide rails. Especially in tight working chambers and when using 6-axis articulated robots as manipulators with their limited working space then no longer all points of the work surface can be approached within the workpiece holder, at least not at the correct distance and in the necessary orientation of the manipulator head.

Aus der US-PS 3 149 445 ist ein Arbeitskammersystem mit auf Schienen geführten Außenrahmen bekannt, auf dem Werkstücke einzeln oder in Transportboxen in die Bearbeitungsposition zu überführen sind. Die schienenförmige Anordnung benötigt jedoch eine große Breite und erlaubt keine vorbereiteten Aufspannungen eines Werkstücks in definierter Lage, die dann nur noch in die Arbeitskammer eingefahren zu werden brauchen.From the U.S. Patent 3,149,445 is a work chamber system with run on rails outer frame known to be transferred to the workpieces individually or in transport boxes in the processing position. However, the rail-shaped arrangement requires a large width and does not allow prepared clamping of a workpiece in a defined position, which then only need to be retracted into the working chamber.

Aus der DE 27 47 107 A1 ist ein Arbeitskammersystem bekannt, bei dem Werkstücke einzeln oder auf Paletten über einen Rollgang in die Bearbeitungsposition überführbar sind und innerhalb der Arbeitskammer über einen Drehtisch positionierbar sind. Eine rahmenförmige Anordnung, die die aufrechte Aufspannung von Werkstücken derart erlaubt, dass sie frontal im Arbeitsbereich eines Manipulators platzierbar sind, ist jedoch nicht vorhanden.From the DE 27 47 107 A1 a work chamber system is known in which workpieces are individually or on pallets via a roller table in the processing position can be transferred and positioned within the working chamber via a turntable. However, a frame-shaped arrangement, which allows the upright clamping of workpieces such that they can be placed frontally in the working area of a manipulator, is not present.

Aufgabe der Erfindung ist es somit, ein Arbeitskammersystem der eingangs genannten Art so zu verbessern, dass unabhängig von der jeweils in der Arbeitskammer befindlichen Werkstückhalterung konstante Abstände der Werkstücke zu den Manipulatoren herstellbar sind.The object of the invention is thus to improve a working chamber system of the type mentioned above so that constant distances of the workpieces to the manipulators can be produced independently of the respective workpiece holder located in the working chamber.

Gelöst wird diese Aufgabe gemäß der vorliegenden Erfindung dadurch, dass wenigstens eine Werkstückhalterung einen Außenrahmen umfasst, über welchen sie in den Führungsschienen geführt ist, und einen Innenrahmen, der in einer Transportposition von dem Außenrahmen umgeben ist und der in der Bestückungsposition und/oder der Arbeitsposition in eine Stellung außerhalb der Basisebene des Außenrahmens verschiebbar oder verschwenkbar ist.This object is achieved according to the present invention in that at least one workpiece holder comprises an outer frame, over which it is guided in the guide rails, and an inner frame which is surrounded in a transport position of the outer frame and which is displaceable or pivotable in the loading position and / or the working position in a position outside the base plane of the outer frame.

Das Verschwenken aus der Ebene des Außenrahmens heraus ergibt innerhalb der Arbeitskammer den Vorteil, dass die in dem Innenrahmen aufgespannten Werkstücke zumindest bis in die Ebene der direkt benachbarten Führungsbahn verschiebbar sind.The pivoting out of the plane of the outer frame results within the working chamber has the advantage that the clamped in the inner frame workpieces are displaced at least up to the level of the directly adjacent track.

Bei vorzugsweise mehreren solcher Werkstückhalterungen, die auf parallelen Schienen geführt sind, können Werkstücke in einer Werkstückhalterung auf der mittleren Führungsschiene auf die Ebene einer äußeren Führungsschiene versetzt werden, so dass sie näher am Manipulator positioniert sind. Dies ist bei nur einseitiger Behandlung durch Manipulatoren auf einer Seite vorteilhaft.In preferably a plurality of such workpiece holders, which are guided on parallel rails, workpieces can be placed in a workpiece holder on the central guide rail on the level of an outer guide rail, so that they are positioned closer to the manipulator. This is advantageous with only one-sided treatment by manipulators on one side.

Die abgestellte Position kann einen bestimmten Winkel zur Ebene des Werkstückrahmens einnehmen. Besonders bevorzugt ist aber die Abstellung des Innenrahmens in eine planparallele Position, die exakt auf der Position liegt, die ein Innenrahmen der benachbarten Halterung einnimmt. Somit müssen keinerlei Umrechnungen der Bahn im Programmablauf des Manipulators vorgenommen werden.The parked position can take a certain angle to the plane of the workpiece frame. But particularly preferred is the placement of the inner frame in a plane-parallel position, which is exactly on the position that occupies an inner frame of the adjacent bracket. Thus, no conversions of the web in the program sequence of the manipulator must be made.

Werden Werkstücke gleichzeitig von zwei gegenüberliegenden Seiten aus behandelt, dann ist es vorteilhaft, die Innenrahmen von den auf einer äußeren Führungsbahn eingeschobenen Werkstückhalterungen jeweils in die Ebene der mittleren Führungsbahn zu verschwenken. Dann liegen die Werkstücke bei der Bearbeitung stets in derselben, mittleren Ebene, unabhängig davon, in welcher Ebene sie in die Arbeitskammer eingeschoben wurden.If workpieces treated simultaneously from two opposite sides, then it is advantageous to pivot the inner frame of the inserted on an outer guide rail workpiece holders each in the plane of the middle guideway. Then the workpieces are always in the same, middle level during processing, regardless of the level in which they were inserted into the working chamber.

Ein weiterer Vorteil des erfindungsgemäßen Arbeitskammersystems ergibt sich dadurch, dass die Innenrahmen auch beim Ein- und Ausrüsten außerhalb der Arbeitskammer seitlich abgestellt werden können. Die Bediener können sich auf diese Weise die Innenrahmen näher zur eigenen Position ziehen, so dass sie vom gewohnten Standort aus die gleichen Handgriffe beim Auf- und Abspannen ausführen können.Another advantage of the working chamber system according to the invention results from the fact that the inner frame can be parked laterally also when installing and equipping outside the working chamber. This allows operators to drag the inner frames closer to their own position so they can perform the same gripping and unfolding operations from their usual location.

Besonders vorteilhaft ist dabei, wenn der Innenrahmen gegenüber dem Außenrahmen absenkbar ist, wenn er außerhalb der Basisebene des Außenrahmens positioniert wird, so dass die Bediener ohne Trittstufen in einer bequemen Position arbeiten können.It is particularly advantageous if the inner frame is lowered relative to the outer frame when it is positioned outside the base plane of the outer frame, so that the operator can work without treads in a comfortable position.

Bevorzugt ist vorgesehen, dass der Innenrahmen über eine Parallelogrammführung schwenkbeweglich mit dem Außenrahmen verbunden ist. Eine Parallelogrammführung ist einfach herstellbar und kann robust ausgebildet werden. Zudem ist die Kinematik so beschaffen, dass beim Herausschwenken aus der Ebene des Außenrahmens zugleich die Absenkung erfolgt. Zudem kann die insbesondere planparallele Abstellbewegung damit sehr schnell erfolgen.It is preferably provided that the inner frame is pivotally connected via a parallelogram with the outer frame. A parallelogram is easy to prepare and can be made robust. In addition, the kinematics are such that when swinging out of the plane of the outer frame at the same time the lowering takes place. In addition, the particular plane-parallel parking movement can thus be done very quickly.

Die oben dargestellten Vorteile für die Ergonomie, aber auch für die Rüstzeiten werden noch dadurch vergrößert, dass der Innenrahmen mit dem Außenrahmen über eine lösbare Verbindung koppelbar ist. Der Bediener kann beispielsweise den Innenrahmen herausschwenken und auf einem Handkarren absetzen. Es kann dann ein in anderen Arbeitsprozessen durch andere Personen bereits vorbereiter Innerahmen eingesetzt werden. Das Bestücken der Innenrahmen und das spätere Entnehmen der fertigen Werkstücke daraus können somit auch außerhalb des eigentlichen Arbeitskammersystems erfolgen. Auch bei einem häufigen Wechsel der Werkstücktypen ist eine Entnehmbarkeit vorteilhaft, da jeweils an den Werkstücktyp individuell angepasste Innenrahmen verwendet werden können.The advantages presented above for the ergonomics, but also for the set-up times are further increased by the fact that the inner frame can be coupled to the outer frame via a detachable connection. For example, the operator can swing out the inner frame and set down on a handcart. It can then be used in other work processes by other people already prepared frame. The loading of the inner frame and the subsequent removal of the finished workpieces from it can thus also be done outside the actual work chamber system. Even with a frequent change of workpiece types removability is advantageous because each individually adapted to the workpiece type inner frame can be used.

Eine solche lösbare Verbindung kann beispielsweise in konstruktiv besonders einfacher Weise dadurch erfolgen, dass die Enden der Parallelogrammführungen als gabelförmige Aufnahmen ausgebildet sind und dass an vertikalen Streben des Innenrahmens Zapfen vorgesehen sind, die in die Aufnahmen einhängbar sind.Such a detachable connection, for example, in a structurally particularly simple manner by the fact that the ends of the parallelogram are designed as fork-shaped receptacles and that on vertical struts of the inner frame pins are provided which can be suspended in the recordings.

Vorteilhaft ist weiterhin, wenn die Innenrahmen um eine vertikale Achse rotierbar sind. Außerhalb der Arbeitskammer kann das Auf- und Abspannen der Werkstücke dadurch erleichtert werden. Innerhalb der Arbeitskammer kann durch Wenden des Innerahmens auch die jeweilige Rückseite der Werkstücke von demselben Manipulator behandelt werden. Wird die Rotation des Innenrahmens in den Programmablauf des Manipulators mit einbezogen, wird ein zusätzlicher Freiheitsgrad geschaffen, um möglicherweise schwer zugängliche Stellen an einem Werkstück mit dem Manipulatorkopf erreichen zu können.It is also advantageous if the inner frames are rotatable about a vertical axis. Outside the working chamber, the clamping and unclamping of the workpieces can be facilitated. Within the working chamber can be treated by turning the inner frame and the respective back of the workpieces from the same manipulator. If the rotation of the inner frame is included in the program sequence of the manipulator, an additional degree of freedom is created in order to reach possibly hard to reach places on a workpiece with the manipulator head.

Die Erfindung wird nachfolgend anhand von Ausführungsbeispielen und mit Bezug auf die Zeichnung näher erläutert. Die Figuren zeigen im Einzelnen:

Fig. 1, 2
ein Arbeitskammersystem in verschiedenen Stellungen der Werkstückhalterungen, jeweils in schematischer Draufsicht und
Fig. 3, 4
ein Arbeitskammersystem in verschiedenen Stellungen der Werkstückhalterungen, jeweils in seitlicher Ansicht.
The invention will be explained in more detail by means of embodiments and with reference to the drawing. The figures show in detail:
Fig. 1, 2
a work chamber system in different positions of the workpiece holders, each in a schematic plan view and
Fig. 3, 4
a work chamber system in different positions of the workpiece holders, each in a lateral view.

Figur 1 zeigt ein Arbeitskammersystem 100 in Draufsicht. Innerhalb einer Arbeitskammer 101 sind zwei sich gegenüberstehende Manipulatoren 102, 103 positioniert. Dazwischen sind drei Führungsschienen 14, 24, 34 für Werkstückhalterungen 10, 20, 30 angeordnet. FIG. 1 shows a working chamber system 100 in plan view. Within a working chamber 101, two opposing manipulators 102, 103 are positioned. In between, three guide rails 14, 24, 34 for workpiece holders 10, 20, 30 are arranged.

In Figur 1 befinden sich zwei Werkstückhalterungen 10, 20 außerhalb der Arbeitskammer 101. Innerhalb der Arbeitskammer 101 befindet sich die auf der unteren Führungsschiene 34 verfahrbare Werkstückhalterung 30 mit deren Außenrahmen 31. Mit 10', 20', 30' sind in Figur 1 die freien Stellplätze der anderen Werkstückhalterungen 10, 20, 30 bezeichnet.In FIG. 1 are located within the working chamber 101, the movable on the lower guide rail 34 workpiece holder 30 with the outer frame 31. With 10 ', 20', 30 'are in FIG. 1 the free spaces of the other workpiece holders 10, 20, 30 are designated.

In Figur 2 steht bei der oberen Werkstückhalterung 10, der Innenrahmen 12 noch innerhalb des Außenrahmens 11. Bei der mittleren Werkstückhalterung 20 hingegen ist der Innenrahmen 22 aus dem Außenrahmen 21 herausgeschwenkt. Er befindet sich dann auf einem Stellplatz 30' für die untere Werkstückhalterung 30 und damit im Bereich der unteren Führungsschiene 34. Ein Bediener kommt so leichter an die darin enthaltenen Werkstücke.In FIG. 2 is in the upper workpiece holder 10, the inner frame 12 still within the outer frame 11. In the middle workpiece holder 20, however, the inner frame 22 is pivoted out of the outer frame 21. He is then on a parking space 30 'for the lower workpiece holder 30 and thus in the region of the lower guide rail 34. An operator comes so easily to the workpieces contained therein.

Innerhalb der Arbeitskammer 101 ist bei der Werkstückhalterung 30 der Innenrahmen 22 zur mittleren Führungsschiene 24 hin abgestellt, so dass er den gleichen Abstand zu beiden Manipulatoren 102, 103 besitzt. Der untere Manipulator 103 wirkt durch den offenen Außenrahmen 31 hindurch auf die Werkstücke im Innenrahmen 32.Within the working chamber 101, in the workpiece holder 30, the inner frame 22 is offset toward the middle guide rail 24, so that it has the same distance to both manipulators 102, 103. The lower manipulator 103 acts through the open outer frame 31 on the workpieces in the inner frame 32nd

Figur 3 zeigt das Arbeitskammersystem von der Seite her, und zwar von der Stirnseite der Werkstückhalterungen 10, 20, 30 her, so dass die Arbeitskammer 101 im Hintergrund liegt. Alle drei Werkstückhalterungen 10, 20, 30 sind aus der Arbeitskammer 101 herausgeschoben. FIG. 3 shows the working chamber system from the side, and from the front side of the workpiece holders 10, 20, 30 ago, so that the working chamber 101 is in the background. All three workpiece holders 10, 20, 30 are pushed out of the working chamber 101.

Deutlich sichtbar sind die Parallelogrammführungen 13, die am Außenrahmen 11 der linken Werkstückhalterung 10 gelagert sind. Antriebswellen 18 sind an den Schlitten der Führungsbahnen verbunden und ermöglichen die fernbetätigbare, motorische Verstellung der Innenrahmen 12 gegenüber dem jeweiligen Außenrahmen 11.Clearly visible are the parallelogram 13, which are mounted on the outer frame 11 of the left workpiece holder 10. Drive shafts 18 are connected to the carriages of the guideways and allow the remotely actuated, motorized adjustment of the inner frame 12 relative to the respective outer frame 11.

In Figur 3 ist der als Volllinie dargestellte Innenrahmen 12 der linken Werkstückhalterung 10 gegenüber dem Außenrahmen nicht nur aus der strichpunktiert dargestellten Ausgangsposition horizontal verschoben, sondern er ist gegenüber der strichpunktiert dargestellten Ausgangsposition auch vertikal abgesenkt, so dass er für den Bediener leichter zugänglich wird.In FIG. 3 is shown as a solid line inner frame 12 of the left workpiece holder 10 relative to the outer frame not only shifted from the initial position shown in phantom horizontally, but he is also vertically lowered relative to the starting position shown in phantom so that it is more easily accessible to the operator.

Die besonderen Vorteile des erfindungsgemäßen Arbeitskammersystems ergeben sich aus Figur 4, die wieder eine Seitenansicht zeigt. Im Hintergrund erkennbar ist die Arbeitskammer 101. An den dortigen Durchlässen besitzen die Werkstückhalterungen 10, 20, 30 Dichtplatten 16, 26, 36, die sich von innen an die Durchlässe legen und diese verschließen, sobald die Werkstückhalterungen nach außen gezogen bzw. geschoben worden ist.The particular advantages of the working chamber system according to the invention emerge FIG. 4 again showing a side view. In the background recognizable the working chamber 101. At the local passages have the workpiece holders 10, 20, 30 sealing plates 16, 26, 36, which lie from the inside of the passages and close them as soon as the workpiece holders has been pulled out or pushed ,

Bei den jeweils auf den äußeren Führungsbahnen positionierten Werkstückhalterungen 10, 30 sind die Innenrahmen 12, 32 aus Ihrer strichpunktiert dargestellten Ausgangslage mittels der Parallelogrammführungen 13, 33 seitlich nach außen und zugleich vertikal nach unten bewegt worden. Dadurch können die Bediener 106, 107 die Innenrahmen 12, 32 auf Handkarren 104, 105 oder sonstigen Hilfsmitteln absetzen und durch Lösen der Verbindung zu den Parallelogrammführungen 13, 33 die Innenrahmen 10, 30 auch ganz entnehmen.In each case positioned on the outer guideways workpiece holders 10, 30, the inner frame 12, 32 from your starting position shown in phantom by means of parallelogram 13, 33 laterally moved outwards and at the same time vertically downwards. As a result, the operators 106, 107, the inner frame 12, 32 settle on handcart 104, 105 or other tools and remove by releasing the connection to the parallelogram 13, 33, the inner frame 10, 30 also quite.

In Figur 4 erkennbar sind auch vertikale Achsen 15, 25, 35 an den Innenrahmen 10, 20, 30, die eine Rotation der Innenrahmen 12, 22, 32 ermöglichen.In FIG. 4 Also visible are vertical axes 15, 25, 35 on the inner frame 10, 20, 30, which allow rotation of the inner frame 12, 22, 32.

Claims (9)

  1. Working chamber system (100) for the surface treatment of workpieces, having at least:
    - a working chamber (101) that is closable in a sealed manner,
    - a plurality of frame-like workpiece holders (10, 20, 30) which are displaceable on guide rails (14, 24, 34) between a fitting position outside the working chamber (101) and a working position in the working chamber (101), and
    - a manipulator (102, 103) which, as seen in plan view, is arranged next to the group of parallel guide rails (14, 24, 34) within the working chamber (101),
    characterized in that at least one workpiece holder (10, 20, 30) comprises an outer frame (11, 21, 31) via which it is guided in the guide rails (14, 24, 34), and an inner frame (12, 22, 32) which is surrounded by the outer frame (11, 21, 31) in a transport position and which is displaceable or pivotable, in the fitting position and/or in the working position, into a position outside the base plane of the outer frame (11, 21, 31).
  2. Working chamber system (100) according to Claim 1, characterized in that provision is made of at least two frame-like, vertically oriented workpiece holders (10, 20, 30), which are each displaceable on mutually parallel guide rails (14, 24, 34) between a fitting position outside the working chamber (101) and a working position in the working chamber (101).
  3. Working chamber system (100) according to Claim 1 or 2, characterized in that the inner frame (12, 22, 32) is displaceable, in the fitting position and/or the working position, into a plane-parallel position outside the base plane of the outer frame (11, 21, 31).
  4. Working chamber system (100) according to one of Claims 1 to 3, characterized in that the inner frame (12, 22, 32) is lowerable with respect to the outer frame (11, 21, 31) outside the base plane of the outer frame (11, 21, 31).
  5. Working chamber system (100) according to one of Claims 1 to 4, characterized in that the inner frame (12, 22, 32) is connected to the outer frame (11, 21, 31) in a pivotable manner via a parallelogram guide (13, 23, 33).
  6. Working chamber system (100) according to Claim 5, characterized in that the ends of the parallelogram guides (13, 23, 33) are configured as fork-shaped receptacles, and in that pegs are provided on vertical struts of the inner frame (12, 22, 32), said pegs being mountable in the receptacles.
  7. Working chamber system (100) according to one of Claims 1 to 6, characterized in that the inner frame (12, 22, 32) is couplable to the outer frame (11, 21, 31) via a releasable connection.
  8. Working chamber system (100) according to one of Claims 1 to 7, characterized in that provision is made of three workpiece holders (10, 20, 30), of which at least the outer one is provided with an inner frame (12, 22, 32) that is placeable towards the outside.
  9. Working chamber system (100) according to one of Claims 1 to 8, characterized in that the inner frame (12, 22, 32) is mounted in the outer frame so as to be rotatable on at least one axis.
EP12743660.8A 2011-06-17 2012-06-06 Working chamber system for the surface treatment of workpieces Active EP2720828B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011051168A DE102011051168B3 (en) 2011-06-17 2011-06-17 Work chamber system for the surface treatment of workpieces
PCT/DE2012/100172 WO2012171525A1 (en) 2011-06-17 2012-06-06 Working chamber system for the surface treatment of workpieces

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EP2720828A1 EP2720828A1 (en) 2014-04-23
EP2720828B1 true EP2720828B1 (en) 2015-08-05

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JP (1) JP5921677B2 (en)
CN (1) CN103619539B (en)
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CN106002678B (en) * 2016-05-31 2018-03-30 东莞阿李自动化股份有限公司 A kind of chemical conversion machine and fixture assembly
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RU2014101345A (en) 2015-07-27
CN103619539A (en) 2014-03-05
EP2720828A1 (en) 2014-04-23
BR112013032357A2 (en) 2016-12-20
US20140217666A1 (en) 2014-08-07
WO2012171525A1 (en) 2012-12-20
CN103619539B (en) 2016-08-17
DE102011051168B3 (en) 2012-11-15
US9815178B2 (en) 2017-11-14
RU2598016C2 (en) 2016-09-20
JP5921677B2 (en) 2016-05-24
ES2552531T3 (en) 2015-11-30

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