EP3012031B1 - Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren - Google Patents

Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren Download PDF

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Publication number
EP3012031B1
EP3012031B1 EP15002780.3A EP15002780A EP3012031B1 EP 3012031 B1 EP3012031 B1 EP 3012031B1 EP 15002780 A EP15002780 A EP 15002780A EP 3012031 B1 EP3012031 B1 EP 3012031B1
Authority
EP
European Patent Office
Prior art keywords
handling
robot
cleaning
cleaning device
painting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15002780.3A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3012031A1 (de
Inventor
Frank Herre
Rainer Melcher
Manfred Michelfelder
Thomas Hezel
Jürgen Haas
Bernd Leiensetter
Alexander Meissner
Marcus Frey
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Priority to PL15002780T priority Critical patent/PL3012031T3/pl
Publication of EP3012031A1 publication Critical patent/EP3012031A1/de
Application granted granted Critical
Publication of EP3012031B1 publication Critical patent/EP3012031B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
    • B05B15/555—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids discharged by cleaning nozzles
    • 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
    • B05B13/0285—Stands for supporting individual articles to be sprayed, e.g. doors, vehicle body parts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/49—Protective device

Definitions

  • the invention relates to a handling robot for opening and closing doors or hoods of motor vehicle bodies in a painting process.
  • the invention relates to a corresponding operating method for such a handling robot.
  • the problem here is that the handling tools (gripper) of the handling robot are exposed to the spray of the painting robot and therefore are polluted by the applied paint.
  • this paint contamination of the robot can lead to paint dripping from the dirty surfaces of the robot and dripping in the worst case on the components to be painted, which would lead to damage of the previously applied paint layer.
  • This danger also exists with dried, powdery overspray which may be brought by the handling robot (e.g., door opener, bonnet opener) onto the vehicle body to be painted, which may be caused by, for example, cabin air, robot movement or vibration.
  • the Lackanhaftonnesch on the robot should be removed in a color change, to avoid subsequent contamination by the different colored Lackanhaftsch. This is only dispensable if, as is currently the case, the handling tools (for example grippers) act on surfaces of the motor vehicle bodywork that are not to be painted.
  • JP H07-222945 A Painting robots known that can clean each other, since the painting robots each carry a cleaning device on its robot arm, which makes it possible to clean a neighboring painting robot.
  • the disadvantage of this is, on the one hand, that the painting robots must be arranged adjacent so that they can be mutually cleaned.
  • Another disadvantage of this technique is that when cleaning a painting robot not only the painting robot to be cleaned is blocked, but also the adjacent, cleaning painting robot.
  • the invention is therefore an object of the invention to provide a correspondingly improved handling robot and a indicate the associated operating procedure.
  • the invention includes the general teachings of automatically cleaning the handling tool of a handling robot or other polluting robot member (e.g., a hand axis or robotic arm) of the robot.
  • a handling robot or other polluting robot member e.g., a hand axis or robotic arm
  • this offers the advantage that no or a shortened production interruptions of the paint shop are required for cleaning the robot, whereby the cost of the paint shop is improved.
  • the automatic cleaning of the handling robot according to the invention offers the advantage that the paint booth does not have to be entered by the maintenance staff for cleaning purposes, so that no dust is introduced during cleaning, which reduces the number of paint defects and thus improves the paint quality.
  • the invention is not limited to paint shops where no interruption in production takes place during the cleaning and the paint booth is not entered by maintenance personnel. Rather, the invention claimed regardless of the realization of these technical advantages protection for the idea of automatic cleaning of handling or painting robots.
  • the robots can also be within the scope of the invention partially and / or temporarily cleaned manually, which takes place for example in removable half-shells.
  • a cleaning device which cleans the handling tool or any other dirt-prone robotic member of the handling or painting robot from the paint that has been deposited in the paint shop.
  • the cleaning device has an insertion opening into which the handling robot inserts the handling tool to be cleaned when cleaning is required.
  • cleaning devices are for example for cleaning atomizers EP 0 333 040 A2 and DE 102 40 073 A1 In principle, they can also be used for cleaning purposes for handling tools, so that the content of these two publications of the present description is to be fully attributed to the structure and the mode of operation of the cleaning device.
  • the invention is not limited to the conventional cleaning devices for atomizers in terms of construction and operation of the cleaning device, but in principle also with other types of cleaning equipment feasible.
  • the handling robot can perform, for example, a linear movement of the handling tool.
  • the handling robot can introduce the handling tool linearly from top to bottom into the insertion opening of the cleaning device.
  • the handling robot it is alternatively also possible for the handling robot to insert the handling tool into the insertion opening of the handling tool Cleaning device performs a combined movement, which consists of a rotary motion and a linear movement.
  • the handling robot can perform a pivoting movement for insertion of the handling tool into the insertion opening of the cleaning device.
  • the cleaning device can be oriented horizontally so that the handling tool can be inserted in a horizontal direction into the insertion opening of the cleaning device. This movement can be realized in that the handling tool is pivoted about a horizontally extending axis of rotation.
  • the invention is not limited to the above-mentioned examples with regard to the introduction of the handling tool into the insertion opening of the cleaning device. Rather, another kinematics is conceivable that allows the introduction of the handling tool in the insertion of the cleaning device in the invention.
  • the cleaning device with the insertion opening for the handling tool is attached to the outside of the handling robot.
  • the cleaning device is arranged with the insertion opening for the handling tool in the housing of the handling robot.
  • a cleaning device serves both to clean a nebulizer and to clean the handling tool. This offers the advantage that it is possible to dispense with a separate additional cleaning device for the handling tool by using the already existing cleaning device for the atomizer.
  • the cleaning device has a protective cover which at least partially covers the handling tool or the dirt-prone robotic member and thereby prevents or at least impedes contamination of the handling tool or the dirt-prone robotic member with the applied lacquer. It is advantageous if the protective cover is replaceable to replace a soiled protective cover with a clean protective cover can.
  • such a protective cover consist of a protective cap or a protective film, which prevents contamination of the handling tool.
  • the protective cover may be automatically picked up by the handling robot with vacuum or with a locking mechanism (e.g., detent, locking lever, or the like).
  • the protective cover can be accommodated by means of a hook-and-loop fastener, a Velcro strip or a magnet, which can also serve as fastening means.
  • the protective cover can then be automatically dropped, which can be done for example with compressed air or with a mechanically operated ejection cylinder.
  • a disposal container is preferably provided, wherein the handling robot can dispose of the soiled protective covers independently in the disposal container.
  • a reservoir which contains a supply of clean protective covers, wherein the handling robot can remove the clean protective covers independently from the reservoir.
  • the handling robot according to the invention therefore preferably has a compressed air device in order to eject or suck in the protective cover.
  • the disposal container or the storage container is structurally mounted separately from the handling robot on the cabin floor or on the cabin wall of the painting booth.
  • the protective cover for the handling robot consists of two half-shells which in the installed state surround the dirt-prone robotic member (eg, a robot's hand axis) and are connected together by a fastener, thereby fixing the protective cover to the dirt-prone robotic member.
  • the dirt-prone robotic member eg, a robot's hand axis
  • the attachment means for connecting the two half-shells may be a conventional adhesive tape.
  • the cleaning of the handling tool can be realized in that the handling tool is connected by a quick-change coupling with the rest of the handling robot to allow a quick replacement of the soiled handling tool by a clean handling tool.
  • the separated handling tool can then be stored directly in a cleaning device, so that the cleaning of the previously replaced and stored handling tool takes place during the painting process.
  • the distal robot arm serving to guide the handling tool is connected to the rest of the handling robot by means of a quick-change coupling in order to enable a quick replacement of the soiled robot arm with the handling tool attached thereto.
  • the contamination of the handling robot is minimized by the fact that the serving for guiding the handling tool distal robot arm is aligned at an acute angle or even parallel to the spray of the paint to provide the spray as little as possible attack surface.
  • the robot arm serving to guide the handling tool has a drip point at which the paint drips off the robot arm.
  • the Abtropfstelle can be formed for example by a bead in the robot arm. By this constructive measure, the Abtropfstelle can be selectively influenced, whereby unwanted drips are prevented at a disturbing point on the component surfaces to be painted or on the handling robot itself.
  • the serving for guiding the handling tool robot arm and / or the handling tool itself has an absorbent coating, which absorbs the impinging paint and thereby prevents dripping of the paint or extends the time to the next necessary cleaning ,
  • the robot arm serving to guide the handling tool and / or the handling tool to be cleaned may have cleaning nozzles in its outer wall, via which cleaning agents (for example solvent, compressed air) can be dispensed in order to avoid paint adhesion.
  • cleaning agents for example solvent, compressed air
  • the robot arm may also be porous, so that the detergent can escape over a large area through the individual pores of the robot arm. The pores can also be used to allow different amounts of air to escape at any time or at any time to prevent soiling (free-flow air).
  • the handling robot is in a painting booth with a booth wall arranged, wherein the cabin wall spatially limits the spray booth.
  • a cleaning opening is arranged in the cabin wall through which the handling tool can be inserted from the inside of the cabin wall on the outside of the cabin wall to clean or replace the handling tool outside the spray booth, which can be done either automatically or manually in this embodiment ,
  • the handling robot in the present invention preferably a SCARA robot (SCARA: S elective C ompliants A ssembly R obot A rm) is, has the vertically oriented rotational axes of motion and is therefore also of the horizontal articulated robot, since essentially only rotational movements in the horizontal direction are possible.
  • SCARA robots are described for example in FIG SPONG / HUTCHINSON / VIDYASAGAR: "Robot Modeling and Control", pages 15-16, John Wiley & Sons (2006 ), so that the contents of this textbook of the present description with regard to the structure and operation of a SCARA robot is attributable.
  • the term robot used in the context of the invention is based on a multi-axis robot with, for example, 5, 6 or 7 axes, from which so-called side machines and roof machines are to be distinguished.
  • the invention comprises not only the handling robot according to the invention described above, but also a complete painting installation with such a handling robot.
  • the invention is not only directed to a handling robot or a paint shop, but also relates to a corresponding operating method in which the cleaning or keeping clean the handling robot automatically.
  • the handling robot can be cleaned by a neighboring painting robot.
  • the painting robot can apply solvent (for example, rinsing agent, cleaning agent) or compressed air to the areas of the handling robot to be cleaned, whereby an alternating application of solvent and compressed air is also possible in order to improve the cleaning effect.
  • solvent for example, rinsing agent, cleaning agent
  • compressed air to the areas of the handling robot to be cleaned, whereby an alternating application of solvent and compressed air is also possible in order to improve the cleaning effect.
  • the application of the solvent or the compressed air through the adjacent painting robot can be done either by the already existing atomizer or by a separate cleaning nozzle, which may be provided on the painting robot.
  • the cleaning robot is preferably cleaned during an already occurring color change time in which the paint to be applied is changed. This is advantageous because the cleaning of the handling robot then does not require a production interruption.
  • paint shops regularly production interruptions, for example, at the weekend or a shift change, these already occurring production interruptions can then be used advantageously for cleaning the handling robot.
  • FIG. 1 shows a handling robot 1, which is mounted on a cabin floor 2 of a spray booth in a paint shop and has the task in motor vehicle bodies with pre-assembled doors to open the doors for interior painting and then close again, which is known per se from the prior art , so that the handling robot 1 is also referred to as a door opener.
  • the handling robot 1 as the SCARA robot is formed, and has in addition to a stationary robot base 3, two robot arms 4, 5, which are rotatable about vertical axes of rotation A1, A2.
  • a boom 6 is mounted, which carries on its upper side a handling tool 7, wherein the handling tool 7 relative to the boom 6 in the vertical direction along a movement axis A3 displaceable and beyond a vertical axis of rotation along a movement axis A4 is rotatable.
  • the handling robot 1 thus has four axes of movement A1-A4 in this exemplary embodiment.
  • a cleaning device 8 is further attached, which allows a cleaning of the handling tool 7.
  • the cleaning tool 7 is introduced into an insertion opening of the cleaning device 8 and then cleaned in the cleaning device 8.
  • the cleaning device 8 may be constructed like a conventional atomizer cleaning device, as used in e.g. EP 0 333 040 B1
  • other constructions of the cleaning device 8 are possible.
  • FIG. 2 is largely consistent with those described above and in FIG. 1 illustrated embodiment, so reference is made to avoid repetition of the above description, wherein the same reference numerals are used for corresponding details.
  • a special feature of this embodiment is that the cleaning device 8 is arranged in the housing of the boom 6.
  • Another special feature of this embodiment is that the cleaning device 8 is aligned horizontally, so that the handling tool 7 must be inserted in the horizontal direction in the insertion of the cleaning device 8.
  • the axis of movement A4 is therefore likewise a rotational movement axis
  • the axis of rotation is aligned at right angles to the plane of the drawing. This means that the handling tool 7 can be pivoted from the position shown in solid lines down to the position shown in dashed lines and then further into the cleaning device 8.

Landscapes

  • Spray Control Apparatus (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
  • Manipulator (AREA)
  • Cleaning By Liquid Or Steam (AREA)
EP15002780.3A 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren Active EP3012031B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL15002780T PL3012031T3 (pl) 2007-10-08 2008-10-06 Robot z urządzeniem czyszczącym i przynależny sposób eksploatacji

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102007048248A DE102007048248A1 (de) 2007-10-08 2007-10-08 Roboter mit einer Reinigungseinrichtung und zugehöriges Betriebsverfahren
EP08836798.2A EP2197593B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren
PCT/EP2008/008423 WO2009046952A1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP08836798.2A Division-Into EP2197593B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren
EP08836798.2A Division EP2197593B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren

Publications (2)

Publication Number Publication Date
EP3012031A1 EP3012031A1 (de) 2016-04-27
EP3012031B1 true EP3012031B1 (de) 2018-12-19

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Family Applications (3)

Application Number Title Priority Date Filing Date
EP15002780.3A Active EP3012031B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren
EP15002873.6A Active EP3012032B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren
EP08836798.2A Active EP2197593B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP15002873.6A Active EP3012032B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren
EP08836798.2A Active EP2197593B1 (de) 2007-10-08 2008-10-06 Roboter mit einer reinigungseinrichtung und zugehöriges betriebsverfahren

Country Status (12)

Country Link
US (1) US8726830B2 (es)
EP (3) EP3012031B1 (es)
KR (2) KR101968104B1 (es)
CN (2) CN101861212A (es)
BR (1) BRPI0817487B1 (es)
DE (1) DE102007048248A1 (es)
ES (2) ES2566530T3 (es)
HU (2) HUE028732T2 (es)
MX (1) MX2010003805A (es)
PL (2) PL2197593T3 (es)
TR (1) TR201900664T4 (es)
WO (1) WO2009046952A1 (es)

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Also Published As

Publication number Publication date
MX2010003805A (es) 2010-04-21
WO2009046952A8 (de) 2009-06-18
EP2197593A1 (de) 2010-06-23
EP3012032B1 (de) 2017-03-08
HUE042598T2 (hu) 2019-07-29
PL3012031T3 (pl) 2019-07-31
HUE028732T2 (en) 2017-01-30
PL2197593T3 (pl) 2016-06-30
EP2197593B1 (de) 2016-01-06
DE102007048248A1 (de) 2009-05-14
CN101861212A (zh) 2010-10-13
ES2566530T3 (es) 2016-04-13
TR201900664T4 (tr) 2019-02-21
KR20100072285A (ko) 2010-06-30
BRPI0817487B1 (pt) 2019-11-12
US8726830B2 (en) 2014-05-20
CN104722436A (zh) 2015-06-24
EP3012031A1 (de) 2016-04-27
ES2714512T3 (es) 2019-05-28
EP3012032A1 (de) 2016-04-27
KR20160018835A (ko) 2016-02-17
BRPI0817487A2 (pt) 2015-09-15
KR101968104B1 (ko) 2019-04-11
US20110045194A1 (en) 2011-02-24
WO2009046952A1 (de) 2009-04-16

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