EP2830779B1 - Dry-ice cleaning device and process for a painting installation - Google Patents

Description

The invention relates to a cleaning device suitable for a painting installation for cleaning at least one component of the painting installation, in particular for cleaning a component of a painting robot or a handling robot, and a corresponding cleaning method. With the cleaning device, a system is meant, which may also include the components to be cleaned and, if necessary, moving devices therefor and possibly required program controls, motion controls and other particular automatic controls.

When painting motor vehicle bodies and their attachments inevitably leads to contamination of the components used in the paint shop, such. Atomizers, door or bonnet openers ("opener tools"), gratings, robot parts, paint booth walls, etc., through issued paint mist, paint drops, paint overspray, etc .. For the therefore periodically required cleaning various cleaning equipment and cleaning methods are known, however, with some disadvantages are connected.

A common cleaning method is the spray cleaning process using detergent and compressed air to dry the components to be cleaned. Another common cleaning method is the mechanical cleaning method with brush, which is usually used in combination with the spray cleaning process.

A disadvantage of this conventional cleaning method is the required large amount of time for drying, the consumption of detergent and the size of the required cleaning technology. In the mechanical cleaning method with brush also has the disadvantage that the brush is susceptible to wear and can be contaminated even by paint. In addition, dissolved bristles may become caught on the components to be cleaned and later during the painting process e.g. fall on to be coated motor vehicle bodies or their attachments and damage them.

For the pretreatment of objects to be subsequently painted or coated, such as bumpers or rims of motor vehicles, it is already known to clean these objects by means of robot nozzles guided by robots with particulate dry ice ( WO 01/17726 A1 . DE 10 2007 033 788 A1 . DE 102 51 815 A1 and DE 10 2007 027 618 A1 ). However, this is not the cleaning of components of the respective painting or coating system.

Further reveal DE 10 2011 103 117 A1 or WO 2012/163491 A1 a painting installation for coating objects conveyed by a painting booth with painting robots and with nozzles arranged on the booth wall for cleaning the atomizers of the painting robots, the nozzles applying CO ₂ snow or CO ₂ pellets to the areas to be cleaned of the atomizers.

The object of the invention is to provide an alternative and / or improved for a paint shop cleaning device for cleaning components of a paint shop.

This object can be achieved in particular by the features of the independent claims. Advantageous developments are described in the subclaims.

The invention provides a cleaning device suitable for a painting installation for cleaning at least one component of the painting installation, in particular at least one component of a painting robot or a handling robot, wherein at least one dry ice nozzle for producing a component cleaning dry jet and in typical cases for the application of dry ice on the is provided to be cleaned component. In the context of the invention, "dry ice" in particular comprises at least one of the following: snow (preferably carbon dioxide snow), dry snow, carbon dioxide (CO ₂ ) and / or a two-phase carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles. In the context of the invention, "dry ice" comprises alternatively or additionally any Grain sizes in solid state and / or in the form of isolated particles. In addition, in the context of the invention, the dry ice or generally the carbon dioxide are preferably admixed or metered into a suitably pressurized carrier gas.

The invention provides for the first time a cleaning device with at least one dry ice nozzle for spraying dry ice onto a component to be cleaned, wherein both the cleaning device itself and the dry ice to be applied or sprayed are configured for use in a paint shop. It should be noted that not only the cleaning device itself must be configured for use in a paint shop (e.g., explosion proof, paint and solvent resistant, etc.), but also the dry ice produced. Thus, conventional dry ice configurations applied for cleaning are unsuitable for use in paint shops, e.g. due to small particles of carbon dioxide or too large particles of carbon dioxide, with the result that the paint to be removed can not be removed adequately and / or the sensitive components to be cleaned are damaged.

The cleaning of objects by spraying with dry ice is known per se. From the above explanation, however, it emerges that the known dry ice cleaning methods and dry ice cleaning devices are unsuitable for the particularly automated use in paint shops, for example due to lack of paint resistance, non-existing rinsing / solvent resistance, non-existent Labs freedom (free of paint wetting impurities) existing, in paint shops but mandatory explosion protection, not suitable dry ice configuration, etc ..

In a preferred embodiment of the invention, a robot is provided which guides the component to be cleaned and is preferably configured to position the component to be cleaned in front of the dry ice nozzle and / or move it relative to the dry ice nozzle during the cleaning operation (eg, rotate, transversely and / or rectilinear translational), whereby the component to be cleaned, for example can be cleaned over its entire outer circumference.

The distance between the dry ice nozzle and the component to be cleaned, i. between the nozzle orifice and the surface of the component to be cleaned may preferably be between 1 mm and 30 mm during the irradiation. Here, the angle of the nozzle to the component surface can be suitably selected depending on the requirement.

The nozzle can also be aligned with the component so that the surface to be cleaned is only indirectly influenced or illuminated by the dry ice jet, since a "vorbeistrahlen" of the dry ice on the object to be cleaned can have a cleaning effect. Hereby, by cooling the soiling, e.g. By passing carbon dioxide carrier gas, the embrittlement embrittled and then replaced.

In particular, in such, but also in other embodiments of the invention, the dry ice nozzle may be arranged in a stationary manner.

Furthermore, the area to be cleaned (for example, an atomizer) can be divided into several cleaning sections, which are then approached and cleaned sequentially and in freely configurable sequence. These cycles can be freely parameterized and adjusted according to the pollution. Fixed cycles are also possible.

Between the individual cleaning operations and sections, the component to be cleaned can always pursue its actual task in the paint booth. Only all sections together will result in a completely clean component.

The cycles or times when the individual sections are cleaned can be freely programmed and set.

It is also possible to set the different sections in different dependencies to each other, so that a part, for example, the lower part of a painting, is always cleaned before the other sections. This can be realized with special software and a cycle counter with dependencies.

It is possible for the dry ice nozzle to be carried by a robot and to be movably guided by means of the robot. The robot is preferably configured to position the dry ice nozzle in front of the component to be cleaned and / or moved relative to the component to be cleaned during the cleaning operation (e.g., rotated, transversely and / or linearly translationally), whereby the component to be cleaned is e.g. can be cleaned over its entire outer circumference.

In a particular embodiment of the invention, the robots are configured to move both the dry ice nozzle and the component to be cleaned during the cleaning process. The movement of the dry ice nozzle and the component to be cleaned can preferably take place in opposite directions and / or consecutively or simultaneously.

The dry ice nozzle may e.g. be firmly attached to a robot. However, it is also possible that the dry ice nozzle is exchangeably mounted on a robot and e.g. is automatically recorded / replaced by a robot before a cleaning process and / or automatically stored / replaced after a cleaning process.

In one embodiment of the invention, a robot carries both a nebulizer or a handling tool (e.g., a handling robot gripping tool) and the dry ice nozzle. The dry ice nozzle is expediently attached to the robot such that the function of the atomizer or of the handling tool is not impaired by the dry ice nozzle. Suitably, the dry ice nozzle may e.g. be shielded by a cover of the atomizer or the handling tool.

The dry ice nozzle may be made adjustable in its nozzle contour and / or in its orientation, e.g. to allow adaptation to different outer contours of the component to be cleaned in order to be able to be directed in different orientations (eg different cleaning angles) on the component to be cleaned and / or the dry ice with different beam configurations (eg different beam widening angles, different beam widths, etc.). ) to be able to dispense from the dry ice nozzle. For this purpose, the cleaning device may comprise corresponding adjustment means, which are operatively connected to the dry ice nozzle.

In a preferred embodiment of the invention several dry ice nozzles are provided.

It is possible that dry ice nozzles are positioned or positionable at the same height, e.g. in order to simultaneously clean different areas of the outer periphery of the component to be cleaned. Alternatively or additionally, it is possible for dry ice nozzles to be positioned or positionable at different heights, e.g. in order to be able to clean simultaneously differing areas of the component to be cleaned (for example a bell cup, an electrode holder portion, in particular an electrode ring or electrode fingers, and / or a robot hand axis).

The dry ice nozzles may be arranged or arranged to cover the preferably entire outer periphery of the component to be cleaned during the cleaning process.

It is possible that the dry ice nozzle is directed downwards during a cleaning process, so that detached dirt particles are discharged downwards. This can e.g. be achieved by means of the mentioned Trockeneisdüsenverstellfunktion and / or by means of the dry ice nozzle carrying robot. Alternatively or additionally, it is possible for a protective element to be provided (in particular a protective plate or a housing or a collecting funnel with or without suction) in order to prevent that dirt particles or dry ice detached during cleaning impinge on a component to be painted.

The cleaning device is preferably constructed in such a way that internal flushing processes, for example of an atomizer, can take place parallel to the cleaning by means of dry ice and expediently independent of the atomizer alignment (eg bell-plate axis obliquely in space; Etc.).

The component to be cleaned can be at least one of the following: an atomizer, which is guided by a painting robot; a handle (e.g., an opener or opener tool of a handling robot, particularly for opening doors, hoods, or flaps); a hand axis of a robot; a proximal robotic arm of a robot; a distal robot arm of a robot; a cabin wall of a paint booth, in particular a window pane in the cabin wall; a floor of a painting booth, in particular a grid in the floor of the painting booth; a guide rail for a robot (e.g., for moving the robot); a conveyor for transporting components to be painted by the paint shop; an electrode support ring of an atomizer; Light grid; silhouettes; Silhouette doors; components to be painted; and / or a frame for hanging of components to be painted. In short, all components of a paint shop that are colored by paint particles, e.g. Overspray, can be contaminated, cleaned by means of the cleaning device.

The cleaning device may e.g. be equipped with a supply device for supplying the dry ice with the dry ice or carbon dioxide to produce dry ice. Furthermore, a ring line for connecting the supply device with a plurality of dry ice nozzles via a respective branch line which branches off from the ring line to the respective dry ice nozzle may be provided.

It is possible that a sensor, in particular a camera sensor is provided, which determines the cleaning result. Within the scope of the invention, this also includes monitoring of the cleaning process. In addition, for example, a temperature sensor may be provided which determines the temperature of the component to be cleaned. This can be useful cleaning performance (For example, the cleaning result) are preferably monitored virtually online. The atomizer could partially evaluate the cleaning result itself, eg by measuring the current and / or the voltage at standstill / idle. From this, the success of the cleaning or generally the cleaning result can be determined.

The dry ice may be at least partially composed of a carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles. The dry ice dispensed by the dry ice nozzle is thus preferably two- or more-phase (comprising carbon dioxide gas and carbon dioxide particles, if appropriate with transport air or another carrier gas).

The cleaning device, in particular the dry ice nozzle, is configured such that the carbon dioxide, in particular the carbon dioxide mixture, is miscible with a pressurized carrier gas prior to leaving the dry ice nozzle, in particular can be mixed with a pressurized carrier gas. For this purpose, the cleaning means may comprise a carrier gas supply means and / or a mixing means (e.g., a mixing chamber or the agglomeration chamber mentioned below) for mixing carbon dioxide, particularly the carbon dioxide mixture, with the pressurized carrier gas. The pressurized carrier gas is preferably compressed air. The carbon dioxide can be admixed to the carrier gas in the context of the invention and / or vice versa. The purifier is thus conveniently configured to mix carbon dioxide, particularly the biphasic carbon dioxide mixture, with a pressurized carrier gas.

It is possible that the cleaning device comprises a heating device for heating the pressurized carrier gas.

Furthermore, it may be expedient that, following the cleaning, the surface to be cleaned is heated with a downstream fan with warm air in order to prevent it from falling below the dew point on the surface of the object to be cleaned. Heating may also be accomplished by other heating methods such as infrared radiation and other methods known in the art.

Furthermore, it is possible to supply the object to be cleaned by internal channels with hot air to heat it. Furthermore, an electrical heating device, such as e.g. a heating coil or a heating wire be incorporated to prevent excessive cooling of the surface.

The cleaning device may comprise an agglomeration chamber, to which fluid carbon dioxide can be supplied and in which a carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles, and thus expediently two-phase, can be formed by agglomeration of carbon dioxide snow crystals. The carbon dioxide, in particular the carbon dioxide mixture, may be mixed in the agglomeration chamber and / or said mixing chamber with a pressurized carrier gas (e.g., compressed air), e.g. be metered via a dosing agent.

The mixing chamber and the agglomeration chamber can be connected to one another, for example, via a metering opening. But it is also possible that the agglomeration chamber and the mixing chamber overlap at least partially or the agglomeration chamber and the mixing chamber are one and the same chamber. The mixing and / or agglomeration chamber is preferably located near or in front of the dry ice nozzle.

The expediently liquid carbon dioxide supplied to the agglomeration chamber is preferably expanded in the agglomeration chamber and / or at least partially converted into carbon dioxide crystals which are compressed and / or agglomerated.

The cleaning device may comprise at least one adjusting device (eg, a control and / or regulating device) to adjust the amount, pressure and / or temperature of the carrier gas for the carbon dioxide and / or carbon dioxide to produce the dry ice, whereby the cleaning effect can be influenced appropriately, eg before and / or during the cleaning process. The setting can be regulated in a closed loop.

For the purpose of tempering, for example, a continuous cooler between agglomeration chamber and carbon dioxide supply can be switched, in order then to allow a temperature control of the carbon dioxide. The temperature control of the cooler can be freely parameterized, also via the robot controller.

Furthermore, it is possible that a device is contained in the CO ₂ supply, which prevents gas bubbles possibly occurring in the supply line of the liquid CO ₂ supply, for example with a buffer bottle, in order to obtain a stable cleaning result.

The cleaning device may also comprise at least one control unit for checking (eg monitoring, detection, etc.) of at least one parameter which allows conclusions to be drawn on at least one of the following, in particular one of the following: pressure, quantity and / or temperature of Carbon dioxide for the production of dry ice; Pressure, amount and / or temperature of the dry ice itself; Pressure, quantity and / or temperature the carrier gas; Room temperature; Cleaning distance between dry ice nozzle and component to be cleaned; Position of the component to be cleaned; Orientation of the component to be cleaned; Position of the dry ice nozzle; Orientation (eg cleaning angle) of the dry ice nozzle; and / or temperature of the component to be cleaned. The control unit may include, for example, measuring and / or sensor devices.

Also possible is the use of a device to increase the carbon dioxide pressure, in order then to parameterize and vary this freely via a control unit according to the cleaning process.

It is possible for at least one output variable of the cleaning device to be adjustable in dependence on at least one of the above-mentioned monitored parameters by means of at least one setting device (eg a control and / or regulating device) and the output variable is selected from at least one of the following: alignment (eg Cleaning angle) of the dry ice nozzle relative to the component to be cleaned; Amount, pressure and / or temperature of the carbon dioxide to produce the dry ice; Amount, pressure and / or temperature of the dry ice itself; Amount, pressure and / or temperature of the carrier gas; Cleaning distance between dry ice nozzle and component to be cleaned; Cleaning time; Cleaning interval; Positioning and / or moving parameters of the robot carrying the dry ice nozzle; and / or positioning and / or movement parameters of the robot carrying the component to be cleaned.

The cleaning device is suitably carried out explosion-proof, for example by means of grounded components, explosion-proof electrical components, electrically conductive materials, etc .. These are the statutory Basic principles for explosion protection of countries such as the ATEX Directive 94/9 / EC for Europe. Alternatively or additionally, the cleaning device may comprise a valve, which preferably closes automatically for safety reasons or at least reduces carbon dioxide emissions, if by means of a detection device (eg a sensor) a successful or potential, in particular imminent excessive carbon dioxide leakage is detected.

The cleaning device and in particular the dry ice nozzle is preferably configured so that it can clean the component to be cleaned essentially exposed by the dry ice, so that e.g. Cleaning containers customary in the state of the art, into which the atomizers to be cleaned have to be introduced, are not required. However, embodiments are also encompassed by the invention with a cleaning container into which the components to be cleaned can be guided in order to be cleaned in the cleaning container by the dry ice. In the disclosed cleaning variant, the cleaning means preferably comprises an air flow generating means which generates a downward flow of air to guide down debris or dry ice discharged, e.g. beyond a paint booth floor (e.g., a grate) out of a paint booth.

It should be mentioned that the adjustment of pressure and / or temperature of the carrier gas and / or of the carbon dioxide can preferably take place via a pressure regulator and / or a proportional valve, for example in order to influence the consumption quantities and / or cleaning action. These may be arranged centrally or decentrally, wherein carbon dioxide control valves are expediently arranged in the vicinity of the dry ice nozzles. However, the control can be done centrally.

It should also be noted that the carrier gas is preferably pressurized (e.g., compressed air). The carrier gas serves, in particular, to accelerate the dry ice (for example in the form of the two-phase carbon dioxide mixture), preferably at supersonic speed.

The acceleration of the mixture of transport air or other carrier gas and carbon dioxide to supersonic can, for example, be done by a shaped according to the Lavalprinzip nozzle. Such Laval nozzle geometries are well known in the art.

It should also be mentioned that the carbon dioxide fed to the agglomeration chamber is expediently fluid, in particular liquid.

It should also be mentioned that the dry ice is preferably output as a dry ice jet from the dry ice nozzle.

The paint shop is preferably a paint shop for painting motor vehicle bodies and / or their attachments (e.g., bumpers, bumpers, bumpers, etc.).

The mentioned robots are preferably painting or handling robots. Within the scope of the invention, however, the robots include any, preferably multi-axis, automatic movement machines.

The invention also includes a paint shop having a cleaning device as described herein.

In addition, the invention comprises a cleaning method to be used in a painting installation for cleaning at least one component of the painting installation, in particular at least one component of a painting robot or a handling robot, wherein dry ice is applied to the component to be cleaned for cleaning. Further method steps according to the invention will become apparent from the foregoing description of the cleaning device and the description below.

Fig. 1

zeigt eine Draufsicht auf einen Teil einer Lackieranlage in Form einer Lackierkabine und eine Reinigungseinrichtung gemäß einer Ausführungsform der Erfindung,

Fig. 2

zeigt eine Seitenansicht eines Teils einer Reinigungseinrichtung gemäß einer Ausführungsform der Erfindung,

Fig. 3

zeigt eine Prinzipskizze einer Trockeneisdüse einer Reinigungseinrichtung gemäß einer Ausführungsform der Erfindung,

Fig. 4

zeigt eine schematische Darstellung der indirekten Bestrahlung und Reinigung eines bestimmten Teils der Beschichtungseinrichtung, und

Fig. 5

zeigt eine mögliche Einteilung der Oberfläche eines zu reinigenden Bauteils für eine sequentielle Bestrahlung und Reinigung.

The above features according to the invention and embodiments can be combined with one another as desired. Other advantageous developments of the invention are disclosed in the dependent claims or will become apparent from the following description of preferred embodiments of the invention in conjunction with the accompanying drawings.

Fig. 1

shows a plan view of a part of a paint shop in the form of a spray booth and a cleaning device according to an embodiment of the invention,

Fig. 2

shows a side view of a part of a cleaning device according to an embodiment of the invention,

Fig. 3

shows a schematic diagram of a dry ice nozzle of a cleaning device according to an embodiment of the invention,

Fig. 4

shows a schematic representation of the indirect irradiation and cleaning of a specific part of the coating device, and

Fig. 5

shows a possible division of the surface of a component to be cleaned for a sequential irradiation and cleaning.

The embodiments shown in the figures are partially identical, with similar or identical parts being provided with the same reference numerals, and to the explanation of which reference is also made to the description of one or more other embodiments in order to avoid repetition.

FIG. 1 shows a plan view of a part of a paint shop in the form of a paint booth 100, for example, for vehicle bodies or their cultivation and other parts and a cleaning device 1 according to an embodiment of the invention. In FIG. 1 For clarity, only two cleaning devices 1 provided with reference numerals, although in the FIG. 1 a total of six cleaning facilities can be seen. The cleaning device 1 comprises at least one dry ice nozzle 2 for the application of dry ice to a component B to be cleaned. The dry ice is dispensed from the dry ice nozzle 2 in the form of a dry ice jet, in particular a carbon dioxide snow jet.

The component B to be cleaned is carried and guided by a robot RB which is configured to position the component B to be cleaned in front of the dry ice nozzle 2 and move it relative to the dry ice nozzle 2 during the cleaning operation, e.g. rotates, moves transversally or translatorily. The dry ice nozzle 2 is arranged stationarily in the paint booth 100. In the illustrated example, robots RB may typically be painting robots and / or handling robots, and component B may be atomizers or handling tools.

The cleaning device 1 comprises a supply device V for supplying the dry ice nozzle 2 with the dry ice or generally carbon dioxide for producing the dry ice. In particular, the cleaning device 1 comprises a main supply line RL for connecting the supply device V with a plurality of dry ice nozzles 2 via a respective branch line SL, which branches off from the ring line RL to the respective dry ice nozzle 2.

The cleaning device 1 also comprises an in FIG. 1 control unit KE shown only schematically (eg, camera sensor, temperature sensor, etc.) for controlling at least one parameter that allows a conclusion on the cleaning device 1 associated hardware components, the required for the production of dry ice components (eg carbon dioxide and carrier gas), the cleaning process , especially the cleaning result, etc ..

The control unit KE is in FIG. 1 separated from the dry ice nozzle 2 and the robot RB shown. In the context of the invention, however, it is possible that the control unit KE is formed in or on the robot RB, on or in the dry ice nozzle 2 and / or at another suitable position.

It is particularly advantageous that in dependence on the at least one parameter by means of at least one adjustment ER (see FIG. 2 ) at least one output of the cleaning device 1 can be set, for example, regulated and / or controlled to the cleaning device 1 associated hardware components, the required for the production of dry ice components (eg carbon dioxide and carrier gas), the cleaning process, especially the cleaning result, etc to be able to adjust as required.

The cleaning device 1 is designed explosion-proof. The cleaning device 1 also comprises a valve SV, which closes automatically for safety reasons or a carbon dioxide emission at least reduced if by means of a detection device (eg a sensor) a successful or potential, eg imminent excessive carbon dioxide leakage is detected. By way of example, in Figure 1 the valve SV is shown at the outlet of the supply device V, but can be positioned at a variety of other suitable locations.

Fig. 2 shows a partially schematic side view of a portion of a cleaning device 1 according to another embodiment of the invention.

In FIG. 2 two dry ice nozzles 2 are shown, which are each supported by a schematically indicated robot RT and movably guided. The dry ice nozzles 2 emit dry ice 3 in the form of a dry ice jet.

The robots RT are configured to position the dry ice nozzles 2 in front of the component B to be cleaned, here shown as a rotary atomizer, and to move relative to the component to be cleaned during the cleaning process. The robot RT can feed the dry ice nozzles 2 e.g. rotate at least partially around the component to be cleaned B, so that by means of only one dry ice nozzle 2, the entire outer periphery of the component to be cleaned B can be cleaned.

In the FIG. 2 The upper dry ice nozzle 2 cleans an electrode ring of an atomizer and the lower dry ice nozzle 2 cleans a sprayer housing and / or the bell cup of the atomizer. But it is also possible that, for example, only a single dry ice nozzle 2 is provided, which is guided by a robot RT, which is configured so that it positions the dry ice nozzle 2 in front of the component B to be cleaned and during the cleaning process eg up / down to different sections of the component to be cleaned B moves (eg, from the electrode ring or electrode fingers to the atomizer housing and subsequently to the bell cup and optionally the hand axis of the robot RB). As a result, different portions of the component B to be cleaned can be cleaned with a reduced dry-ice nozzle number.

The dry ice nozzles 2 can be permanently or interchangeably mounted on the robots RT. In the latter variant, it is possible that the dry ice nozzles 2 are automatically deposited after a cleaning process and are taken before a cleaning process. For this purpose, the dry ice nozzles 2 carrying robot RT can be configured accordingly.

The dry ice nozzles 2 comprise an in FIG. 2 schematically shown protective element S, which is designed as a fender or protective housing, to prevent that detached during the cleaning dirt particles or dry ice 3 meet a component to be painted.

In the FIG. 2 Cleaning device 1 shown is designed so that the component to be cleaned B can be cleaned substantially exposed by the dry ice 3, and thus can be dispensed with in the prior art conventional cleaning container into which the component to be cleaned must be introduced. The cleaning device 1 comprises an air flow generating device LE, which generates a downward flow of air to lead cleaned dirt or dry ice out 3 down, preferably on a Lackierkabinenboden in the form of a grid from the spray booth 100 addition. It should be mentioned, however, that the cleaning device 1 may well include a cleaning container, in which the component B to be cleaned, for example by means of of the robot RB is introduced to clean it by means of at least one dry ice nozzle 2.

FIG. 2 also shows a schematically illustrated adjustment ER, which is exemplarily with the robots RT carrying the dry ice nozzles 2, the dry ice nozzles 2 and the robot RB carrying the component B to be cleaned in order to adjust them as required. However, the adjusting device ER can also be used, for example, to set the amount, pressure and temperature of the carbon dioxide-miscible carrier gas and of the carbon dioxide to produce the dry ice 3. It is possible to have an adjustment device ER, which possibly consists of several subunits, as in FIG FIG. 1 provide to set several components. However, it is also possible to provide a plurality of adjusting devices, each of which is associated with only a single component, for example.

Although the in FIG. 2 In the present invention, it is possible for the dry ice nozzles 2 to be directed downward during a cleaning operation, so that detached dirt particles are easier or faster to move can be removed below.

It should be mentioned that within the scope of the invention it is also possible for both a dry ice nozzle 2 to be carried and guided by a robot RT and the component B to be cleaned by a robot RB and to be moved relative to one another during the cleaning process. The movements are arbitrary. For example, the component to be cleaned B relative to the dry ice nozzle 2, for example, be rotated and moved translationally. It is also possible that the dry ice nozzle 2, for example, at least partially to the cleaning component B is rotated and simultaneously or successively the dry ice nozzle 2 along the component to be cleaned is moved (for example, from the bell cup to the electrode ring). The movements of the dry ice nozzle 2 and the component B to be cleaned can take place simultaneously or successively.

It should also be mentioned that the in FIG. 2 shown dry ice nozzles 2 similar to in FIG. 1 even without the robot RT can be arranged, in particular stationary. In this case, the component B to be cleaned can again be positioned in front of the dry ice nozzles 2 by the robot RB carrying and guiding it and moved relative to the dry ice nozzles 2, eg rotated (arrow P1) and / or moved transversally / translationally (arrow P2) ,

FIG. 3 shows a schematic diagram of a dry ice nozzle 2 a cleaning device 1 according to an embodiment of the invention.

The dry ice nozzle 2 comprises an agglomeration chamber AK which can be supplied with fluid carbon dioxide (CO 2) and in which a two-phase carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles can be formed by agglomeration of carbon dioxide snow crystals. The agglomeration chamber AK supplied liquid carbon dioxide is expanded in the agglomeration AK and carbon dioxide crystals are formed, which are compressed and agglomerated.

The carbon dioxide mixture is mixed in the agglomeration chamber AK with a pressurized carrier gas TG (eg compressed air), preferably in order to accelerate it. In an embodiment of the invention, not shown, it is possible that the agglomeration chamber AK, for example via a metering is connected to a mixing device in the form of a mixing chamber, and the carbon dioxide mixture is mixed in the mixing chamber with the pressurized carrier gas TG. In the in FIG. 3 As shown, the agglomeration chamber AK assumes the function of a mixing chamber, so that the agglomeration chamber and the mixing chamber are virtually one and the same chamber.

Out FIG. 3 shows that the dry ice 3 consists at least partially of carbon dioxide, in particular a two-phase carbon dioxide mixture comprising carbon dioxide gas and carbon dioxide particles. The two-phase carbon dioxide mixture is mixed with the pressurized carrier gas TG prior to application of the dry ice 3 from the dry ice nozzle 2 in the agglomeration and / or mixing chamber. The dry ice discharged from the dry ice nozzle 2 is thus preferably a two-phase carbon dioxide mixture which is provided with a pressurized carrier gas TG, and in particular in the form of a carbon dioxide snow jet is discharged from the dry ice nozzle 2.

The dry ice nozzle 2 is adjustable in its nozzle contour (for example, the beam widening angle can be changed, as indicated by the arrow P3). Alternatively or additionally, the dry ice nozzle 2 may comprise an adjustment function in order to be able to change its orientation, in particular the cleaning angle. By these features, an adaptation to different outer contours of the component B to be cleaned is possible or generally the cleaning process can be adjusted as needed.

The cleaning device 1 may also have a in FIG. 3 schematically indicated carrier gas heater TE for heating the carrier gas TG have.

In the context of the invention, the cleaning device 1 can comprise a plurality of dry ice nozzles 2, which are arranged so fixed or can be arranged so that they can preferably cover the entire outer circumference of the component B to be cleaned and / or that they correspond to the outer contour of the component B to be cleaned can.

In an embodiment of the invention not shown, a robot carries both a nebulizer and a dry ice nozzle, which is attached to the robot and arranged so that the function of the nebulizer is not affected by the dry ice nozzle. For this purpose, the dry ice nozzle may e.g. be shielded by a cover of the atomizer.

FIG. 4 shows the possibility of partially irradiating the object to be cleaned partially with dry ice and cleaning, using the example of an application component 40 shown schematically as a rotary atomizer Fig. 4 Upper part of this component 40 can be directly irradiated (not shown), while the lower portion 41 in the vicinity of the bell cup 44 is indirectly illuminated and cleaned. In this example, the dry ice nozzle 42 is thus not directed directly to the here cylindrical or conical surface of the region 41, but arranged so that the dry ice jet 43 laterally or tangentially past the surface to be cleaned. This "Vorbeistrahlen" has the advantage that, for example, the surface to be cleaned is not deformed or damaged by the impact of the particles. The Vorbeistrahlen the cold carbon dioxide carrier gas mixture in this case causes a cooling of the contaminated surface and removal of pollution by the air flow. Of course, other surfaces can also be illuminated indirectly and be cleaned, while again other component areas can be cleaned by direct application of dry ice to the respective component.

FIG. 5 shows a possible division of the surface of a coating device 50, which is divided into sections for sequential cleaning. In the illustrated example, the coating device 50 is a part of the rotary atomizer of a painting robot (not shown, but see robot RB and component B in FIG Fig. 2 ) with adjoining areas or sections 51, 52, 53 and 54. Each section can be approached separately with a painting robot and then cleaned by the painting robot rotating the coating device 50 in the programmed position 360 ° around the dry ice nozzle. After this cleaning, the painting robot can continue its "normal" paint job until the next section is about to be cleaned. The control of the various cycles and dependencies are specified by the robot controller, or they can also be determined and implemented, for example, depending on the degree of contamination by visual measurement methods.

The invention is not limited to the preferred embodiments described above.

Claims (15)

1. A painting-installation cleaning means (1) for cleaning at least one component (B) of a painting installation, wherein the component to be cleaned belongs to the following group:

   a) atomiser which is guided by a painting robot, or other component of a painting robot,

   b) grip of a handling robot, or other component of a handling robot,

   c) hand axis of a painting robot or of a handling robot,

   d) proximal robotic arm of a painting robot or of a handling robot,

   e) distal robotic arm of a painting robot or of a handling robot,

   f) grating in the floor of a painting booth,

   g) frame for hanging components to be painted,

   h) annular peripheral external charging ring of an atomiser or electrode fingers;

   characterised by at least one dry-ice nozzle (2), arranged in stationary manner or movably, for applying dry ice (3) to the component (B) to be cleaned, the dry ice (3) consisting at least partially of a carbon dioxide mixture which comprises carbon dioxide gas and carbon dioxide particles, comprising an agglomeration chamber (AK), to which fluid carbon dioxide can be supplied and in which the carbon dioxide mixture can be formed by agglomeration of carbon dioxide snow crystals, the component (B) to be cleaned being guided by a robot (RB) which is configured such that it positions the component (B) to be cleaned in front of the dry-ice nozzle (2) and moves the component to be cleaned relative to the dry-ice nozzle (2) during the cleaning operation.
2. A painting-installation cleaning means (1) for cleaning at least one component (40) of a painting installation, wherein the component to be cleaned belongs to the following group:

   a) atomiser which is guided by a painting robot, or other component of a painting robot,

   b) grip of a handling robot, or other component of a handling robot,

   c) hand axis of a painting robot or of a handling robot,

   d) proximal robotic arm of a painting robot or of a handling robot,

   e) distal robotic arm of a painting robot or of a handling robot,

   f) grating in the floor of a painting booth,

   g) frame for hanging components to be painted,

   h) annular peripheral external charging ring of an atomiser or electrode fingers;

   characterized by at least one dry-ice nozzle (42), arranged in stationary manner or movably, for generating a dry-ice jet which cleans the component,
   and by a robot (RB) guiding the component (40) to be cleaned and being configured such that it positions the component (40) to be cleaned in front of the dry-ice nozzle (42) and moves the component to be cleaned relative to the dry-ice nozzle (42) during the cleaning operation,
   the dry-ice nozzle (42), for indirect jet exposure of a surface (41) to be cleaned of the component (40), not being directed directly onto that surface (41) but being arranged and oriented, and the robot (RB) moving the component (40) to be cleaned relative to the dry-ice nozzle (42), such that the dry-ice jet (43) passes laterally or tangentially past the surface (41) to be cleaned.
3. A painting-installation cleaning means (1) according to Claim 1 or 2, characterised in that the dry-ice nozzle (2) is guided movably by a robot (RT) which is configured such that it positions the dry-ice nozzle (2) in front of the component (B) to be cleaned and moves the dry-ice nozzle relative to the component (B) to be cleaned during the cleaning operation.
4. A painting-installation cleaning means according to Claim 3, characterised in that

   a) the dry-ice nozzle (2) is mounted fixedly on the robot (RT), or

   b) the dry-ice nozzle (2) is mounted exchangeably on the robot (RT).
5. A painting-installation cleaning means (1) according to any one of the preceding claims, characterised in that

   a) a robot carries both an atomiser and the dry-ice nozzle (2), and

   b) the dry-ice nozzle (2) is attached to the robot such that the function of the atomiser is not impaired by the dry-ice nozzle (2), in particular by a covering for the dry-ice nozzle (2).
6. A painting-installation cleaning means (1) according to any one of the preceding claims, characterised in that the dry-ice nozzle (2) is adjustable in its nozzle contour and/or in its orientation, in order to permit adaptation to different outer contours of the component (B) to be cleaned, and or the component (B) to be cleaned has a specified outer contour and a plurality of dry-ice nozzles (2) is provided which can be or are arranged such that they cover the outer periphery of the component (B) to be cleaned and/or that they correspond to the outer contour of the component (B) to be cleaned.
7. A painting-installation cleaning means (1) according to any one of the preceding claims, characterised in that

   a) the dry-ice nozzle (2) is directed downwards during a cleaning operation, so that detached dirt particles are carried away downwards, and/or

   b) a protective element (S) is provided, in particular a protective sheet or a housing , in order to prevent dirt particles detached during cleaning or dry ice (3) from striking a component which is to be painted.
8. A painting-installation cleaning means (1) according to any one of the preceding claims, characterised by

   a) a supply device (V) for supplying the dry-ice nozzle (2) with the dry ice (3) or carbon dioxide for producing dry ice (3), and/or

   b) a supply line (RL) for connecting the supply device (V) to a plurality of dry-ice nozzles (2) via respectively one stub line (SL) which branches off from the supply line (RL) to the respective dry-ice nozzle (2), and/or

   c) a mixing device for mixing carbon dioxide or dry ice (3) with a carrier gas, and/or

   d) a carrier-gas heater (TE) for heating the carrier gas, and/or

   e) a sensor, in particular a camera sensor, which determines the cleaning result, and/or

   f) a temperature sensor for determining the temperature of the component (B) to be cleaned.
9. A painting-installation cleaning means (1) according to any one of the preceding claims, characterised in that the dry ice (3) consists at least partially of a carbon dioxide mixture which comprises carbon dioxide gas and carbon dioxide particles, and which is miscible with a pressurised carrier gas in the dry-ice nozzle (2) before application of the dry ice (3) from the dry-ice nozzle (2),
   and/or the carbon dioxide mixture can be mixed with a pressurised carrier gas in the agglomeration chamber (AK) and/or a mixing chamber, in order to accelerate the dry ice (3) which is to be applied, wherein, in particular, liquid carbon dioxide is relaxed in the agglomeration chamber (AK) and carbon dioxide crystals are produced which are compressed and agglomerated.
10. A painting-installation cleaning means (1) according to any one of the preceding claims, characterised in that the quantity, pressure and/or temperature of the carrier gas which is miscible with the carbon dioxide and of the carbon dioxide for producing the dry ice (3) are settable by means of at least one setting means (ER), in order to influence the cleaning action, preferably before or during the cleaning operation,
    and/or characterised by at least one checking unit (KE) for checking at least one parameter which allows a conclusion to be drawn about at least one of the following:

    - pressure, quantity and/or temperature of the carbon dioxide for producing the dry ice (3),

    - pressure, quantity and/or temperature of the dry ice (3),

    - pressure, quantity and/or temperature of a carrier gas,

    - room temperature,

    - cleaning distance between dry-ice nozzle (2) and component (B) to be cleaned,

    - position of the component (B) to be cleaned,

    - orientation of the component (B) to be cleaned,

    - position of the dry-ice nozzle (2),

    - orientation of the dry-ice nozzle (2),

    wherein, in particular, at least one output variable of the painting-installation cleaning means (1) can be set dependent on the at least one parameter by means of at least one setting means (ER), and the output variable is selected from the group comprising:

    - orientation of the dry-ice nozzle (2) relative to the component (B) to be cleaned,

    - quantity, pressure and/or temperature of the carbon dioxide for producing the dry ice (3),

    - quantity, pressure and/or temperature of the dry ice (3),

    - quantity, pressure and/or temperature of the carrier gas,

    - cleaning distance between dry-ice nozzle (2) and component (B) to be cleaned,

    - cleaning duration,

    - cleaning interval,

    - positioning/movement parameters of the robot (RB) carrying the dry-ice nozzle,

    - positioning/movement parameters of the robot (RB) carrying the component (B) to be cleaned.
11. A painting-installation cleaning means (1) according to any one of the preceding claims, characterised in that the painting-installation cleaning means (1)

    - is designed to be explosion-protected, and/or

    - comprises at least one valve (SV) which for safety reasons automatically closes or at least reduces an emission of carbon dioxide if a potential excessive escape of carbon dioxide or one which has already taken place is ascertained by means of a detection means,

    and/or that the painting-installation cleaning means (1) is designed to clean the component (B) to be cleaned in a substantially exposed manner by the dry ice (3), and preferably an air-stream generation means (LE) is provided which generates a downwards air stream in order to guide cleaned-off dirt or emitted dry ice (3) downwards, expediently via a painting booth floor out of a painting booth.
12. A painting-installation cleaning device according to any one of the preceding claims, characterised in that the distance between the dry-ice nozzle (2) and the surface of the component (B) which is to be cleaned is between 1 mm and 30 mm.
13. A painting-installation cleaning device according to any one of the preceding claims, characterised in that different sections (51-54) of a component (50) to be cleaned are exposed to a jet of the dry ice sequentially at different predetermined or selectable cleaning times, and in that the component (50) between these different cleaning times can be used for operations which correspond to its intended use, and/or a device for heating the component surface which is to be cleaned in conjunction with the dry-ice exposure is provided, for which in particular at least one of the following features is provided:

    a) a hot-air blower is directed onto the surface to be cleaned;

    b) the surface to be cleaned is heated with infrared radiation;

    c) the component (B) to be cleaned contains channels through which hot air is passed in order to heat the surface to be cleaned;

    d) the component (B) to be cleaned contains an electric heating device which heats the surface to be cleaned and/or the dry-ice nozzle (2) is formed as a Laval nozzle.
14. A painting installation with a painting-installation cleaning means (1) according to any one of the preceding claims.
15. A painting-installation cleaning method for cleaning at least one component (B) of a painting installation, wherein the component to be cleaned belongs to the following group:

    a) atomiser which is guided by a painting robot, or other component of a painting robot,

    b) grip of a handling robot, or other component of a handling robot,

    c) hand axis of a painting robot or of a handling robot,

    d) proximal robotic arm of a painting robot or of a handling robot,

    e) distal robotic arm of a painting robot or of a handling robot,

    f) grating in the floor of a painting booth,

    g) frame for hanging components to be painted,

    h) annular peripheral external charging ring of an atomiser or electrode fingers;

    characterised in that the component (B, 40) to be cleaned is guided by a robot (RB), which is configured such that it positions the component to be cleaned in front of a dry-ice nozzle (2, 42) and moves the component relative to the dry-ice nozzle during the cleaning operation,
    and for cleaning the component (8)
    a jet of dry-ice consisting at least partially of a carbon dioxide mixture, which comprises carbon dioxide gas and carbon dioxide particles, is applied to the component (B) to be cleaned by a dry-ice nozzle (2), the carbon dioxide mixture being formed in an agglomeration chamber (AK), to which fluid carbon dioxide is supplied, by agglomeration of carbon dioxide snow crystals,
    or for indirect jet exposure of a surface (41) to be cleaned of the component (40), a dry-ice nozzle (42) is arranged and oriented such and the component (40) to be cleaned, rather than directed directly onto that surface (41), is moved by the robot (RB) such that the dry-ice jet passes laterally or tangentially past the surface (41) to be cleaned.

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