EP3145647B1 - Cleaning tool for a robot arm in order to clean threaded holes, stud bolts and surfaces, inter alia, on underbody structures - Google Patents

Cleaning tool for a robot arm in order to clean threaded holes, stud bolts and surfaces, inter alia, on underbody structures Download PDF

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Publication number
EP3145647B1
EP3145647B1 EP15745372.1A EP15745372A EP3145647B1 EP 3145647 B1 EP3145647 B1 EP 3145647B1 EP 15745372 A EP15745372 A EP 15745372A EP 3145647 B1 EP3145647 B1 EP 3145647B1
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EP
European Patent Office
Prior art keywords
air
cleaning
spray nozzle
robot arm
bolt
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EP15745372.1A
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German (de)
French (fr)
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EP3145647A1 (en
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André Friedenberger
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Schmitt Prof Moehlmann and Collegen Wirtschaftskanzlei Insolvenzverwalter AG
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Schmitt Prof Moehlmann and Collegen Wirtschaftskanzlei Insolvenzverwalter AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/005—Nozzles or other outlets specially adapted for discharging one or more gases

Definitions

  • the invention relates to a cleaning tool for a robot arm of an industrial robot arm for cleaning threaded holes, stud bolts and surfaces, among other things on machine and vehicle underbody constructions, by means of compressed air nozzle technology, the robot arm being equipped with a pneumatic rotary unit and with connecting elements to the robot arm.
  • a compressed air nozzle tool Also in the GB 887 099 A1 will be a solution to remove loose Particles in a borehole are shown by a compressed air nozzle tool.
  • the contaminant particles are transported out of the borehole and away from the borehole by means of centrally arranged and laterally arranged compressed air nozzles at the tool end by exact positioning of this nozzle shaft above the bore and exposure to compressed air.
  • blow-out nozzle body which can free dirt particles from the deep and often angled spark plug injection nozzle shafts.
  • a blow-out nozzle body which is equipped with nozzle arrangements and a compressed air supply, is fastened to a hose in order to be inserted and positioned in the angled injection nozzle shafts.
  • the object of the invention is to overcome the disadvantages of the prior art and to create a robot tool, with the aid of which the tool can be used for cleaning the surface, tapping and bolt cleaning of machine and chassis structures to be able to safely remove and clean these areas from existing soiling and residues of treatment materials, such as impregnation material, thread cutting dust and the like.
  • the housing of the pneumatic spray nozzle is arranged axially by means of a fastening flange within the torque support structure in such a way that the spray nozzle can execute a rotational movement aligned about its longitudinal axis.
  • the drive takes place via the rotating unit of the robot arm.
  • Between the torque support structure and the housing of the pneumatic spray nozzle are two separately sealed and Independently controllable air chambers arranged radially around the housing of the spray nozzle. These are each connected by means of air channels within the housing of the pneumatic spray nozzle to the air routing units running there separately for surface cleaning and for cleaning the tapped holes, and are each also separately controllable.
  • the air guide unit for the threaded bore cleaning is designed as an axially arranged separate movable spray nozzle with an outer diameter of approximately 1/3 of the inner diameter of the spray nozzle housing and has at least one air outlet opening for cleaning the threaded holes.
  • This air outlet opening is equipped with an air guiding edge, so that the air outlet is aligned against the air guiding direction.
  • the spray nozzle is designed such that it protrudes at least by the length of the hole depth to be cleaned from the upper end plane of the spray nozzle housing.
  • the upper part of the space between the inside diameter of the spray nozzle housing and the outside diameter of the spray nozzle is designed as an air guiding unit for surface cleaning and tapers to the area of the upper end level of the spray nozzle housing.
  • the air outlet for surface cleaning is formed between the upper end level of the spray nozzle housing and the outside diameter of the spray nozzle.
  • the pneumatic bolt cleaning nozzle is arranged peripherally at a right angle to the axis alignment of the spray nozzle arrangement on the torque support structure by means of fastening elements and is connected to a separately controllable air supply unit for bolt cleaning which is arranged on the torque support structure and can be controlled separately.
  • a separately sealed air chamber supplied by the air supply unit for the bolt cleaning and designed as a circumferential groove and tapering towards the air outlet opening, which via connecting channels with the inside of the bolt cleaning nozzle around the cylindrical, axially aligned bolt receptacle for the bolts to be cleaned arranged further air chamber is arranged in connection.
  • This further air chamber has an air outlet opening directed into the bolt receptacle at the end plane of the bolt cleaning nozzle.
  • At the lower end of the bolt cleaning nozzle there is also a channel for removing the removed dirt particles, so that the removed material and dirt residues can be pressed into and through the channel by the cleaning air to the collecting container.
  • the bolt receptacle is dimensioned such that it exceeds the dimensions of the largest bolt diameter that is present on the machine construction and is to be cleaned, and the largest length dimension thereof by at least 10%.
  • the design of the rotating unit of the robot arm is designed as a pneumatically driven rotating unit.
  • the air outlet opening of the second air chamber of the bolt cleaning nozzle can advantageously be formed on the end plane of the bolt cleaning nozzle as a circumferentially arranged air outlet groove directed into this bolt receptacle.
  • this air outlet opening is circumferential at the end plane of the bolt cleaning nozzle and is designed as individual air outlet openings aligned in the bolt receptacle.
  • a cleaning tool for use on a robot arm for cleaning threaded holes, stud bolts and surfaces using compressed air nozzle technology initially consists of a pneumatic rotating unit and connecting elements to the robot arm.
  • a torque support structure 1 is arranged, which serves to accommodate a rotatably mounted pneumatic spray nozzle 2 and the further arrangement of a pneumatic bolt cleaning nozzle 3.
  • the pneumatic spray nozzle 2 is advantageously axially inside by means of a fastening flange 2.1 on the rotating unit 1.1 of the robot arm the torque support structure 1 fixed.
  • the pneumatic spray nozzle is mounted in such a way that it can execute a rotational movement within the torque support structure 1.
  • two separately sealed air chambers LK 1 and LK 2 are formed between the torque support structure 1 and the pneumatic spray nozzle 2. These are connected to the air pressure supply with a separately controllable compressed air supply unit LF 1 or LF 2.
  • circumferential through bores 2.3 are arranged in the area of the air chamber arrangements, which serve to establish the connection between the air chambers LK 1 and LK 2 to the air guide units LF 1 and LF 2.
  • the air guide unit LF 1 is designed as an axially arranged separate spray nozzle 2.4. It has an outer diameter of approximately 1/3 of the inner diameter of the spray nozzle housing 2.2.
  • the air outlet opening 2.5 is arranged on the periphery of the spray nozzle 2.4, at least one of the air outlet openings 2.5 having an air outlet directed against the air guidance direction for cleaning the threaded bores.
  • the spray nozzle 2.4 protrudes at least by the length dimension of the tapped hole depth to be cleaned from the upper end plane 2.6 of the spray nozzle housing 2.2.
  • the upper part of the space between the inner diameter of the spray nozzle housing 2.2 and the outer diameter of the spray nozzle 2.4 is designed as an air guide unit LF 2 and tapers to the area of the upper end plane 2.6 of the spray nozzle housing 2.2, the air outlet 2.7 between this area and the outer periphery of the spray nozzle 2.4 is trained for surface cleaning.
  • the air outlet is already on the construction of the spray nozzle 2.4 and its housing 2.2 designed so advantageously that it emerges in three different directions, vertically in the direction of the air duct, opposite to the air duct and horizontally due to the swirling when these two vertical air streams meet.
  • the pneumatic bolt cleaning nozzle 3 which is further arranged at the periphery and there at a right angle to the axial alignment of the spray nozzle arrangement 2 on the torque support structure 1 by means of fastening elements 3.1, is connected to an air supply unit LF3 arranged separately on the torque support structure 1.
  • An air chamber LK 3/1 which is supplied by the air supply unit LF3 and is separately sealed and designed as a circumferential groove, is arranged within the torque support structure 1.
  • the air chamber LK 3/2 has at least one air outlet opening 3.6 directed into the bolt receptacle 3.5 at the end plane 3.2 of the bolt cleaning nozzle 3. At the lower end of the bolt cleaning nozzle 3 there is a channel 3.7 for the removal and removal of the removed dirt particles.
  • the removed material is transported in the direction of duct 3.7 through the air duct into the bolt receptacle 3.5 and through duct 3.7. away. This creates a very practical and efficient solution, avoiding post-processing of the stud to be cleaned.
  • the rotating unit 1.1 In order to realize the rotary movements of the rotating unit 1.1, it is designed as a pneumatically driven rotating unit 1.1 of the robot arm.
  • the air outlet opening 3.6 of the air chamber LK 3/2 at the end plane of the bolt cleaning nozzle 3 is advantageously designed as an air outlet groove 3.3 which is circumferentially arranged in the receptacle 3.5.
  • the air outlet opening 3.6 of the air chamber LK 3/2 at the end level 3.2 is designed as a plurality of individual air outlet openings 3.6, which are arranged in the bolt receptacle 3.5 and are arranged in a partially circumferential manner. These can be designed in such a way that their air flow axes deviate from one another, so that there is an effective flow of compressed air to the bolt to be cleaned and thus a comprehensive cleaning of the bolt.
  • Cleaning tools of this type are primarily required for cleaning mechanical engineering and automotive underbody constructions to remove impregnation material, residues of chip material in preparation for further processing.
  • a space-saving, inexpensive device has been created, which enables effective and time-saving cleaning of building structures without the need to change the robot arm cleaning tool, although the cleaning tasks in different directions and in different ways, as is the case with the bolts -, drilling and surface cleaning require it to be carried out.
  • These different tasks can be carried out by the inventive solution with a single cleaning tool for a robot arm.

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  • Cleaning By Liquid Or Steam (AREA)
  • Cleaning In General (AREA)

Description

Die Erfindung betrifft ein Reinigungswerkzeug für einen Roboterarm eines Industrieroboterarm zur Reinigung von Gewindebohrungen, Stiftbolzen und Flächen, unter anderem an Maschinen- und Kfz-Unterbodenkonstruktionen, mittels Druckluftdüsentechnik, wobei der Roboterarm mit einer Pneumatik-Dreheinheit ausgestattet ist und mit Verbindungselementen zum Roboterarm.The invention relates to a cleaning tool for a robot arm of an industrial robot arm for cleaning threaded holes, stud bolts and surfaces, among other things on machine and vehicle underbody constructions, by means of compressed air nozzle technology, the robot arm being equipped with a pneumatic rotary unit and with connecting elements to the robot arm.

Vorrichtungen zum Reinigen von Maschinenteilen mittels Robotertechnik sind bereits bekannt.Devices for cleaning machine parts using robot technology are already known.

So beschreibt dieSo describes the DE 198 53 248 A1DE 198 53 248 A1 eine Vorrichtung und ein Verfahren zur Entfernung von Beschichtungen auf gewindeholzen, bei der ein hohlring- bzw. hohlzylinderförmiger Reinigungskopf einen Innendurchmesser aufweist, welcher größer ist als der Außendurchmesser des zu reinigenden Gewindebolzens, wobei der Reinigungskopf zentral zum Gewindebolzen gerichtete Luftdüsen aufweist, welche mit einer Druckluftquelle verbunden sind. Weiterhin sieht diese technische Lösung vor, dass der Reinigungskopf rotierende Bürsten aufweist, welche parallel oder senkrecht zur Längsachse des zu reinigenden Gewindebolzens ausgerichtet sind. Mit dieser Lösung ist es vorteilhaft möglich, Gewindebolzen von Beschichtungen zur befreien.a device and a method for removing coatings on threaded, in which a hollow ring or hollow cylindrical cleaning head has an inner diameter which is greater than the outer diameter of the threaded bolt to be cleaned, the cleaning head having air nozzles centrally directed to the threaded bolt, which with a compressed air source are connected. Furthermore, this technical solution provides that the cleaning head has rotating brushes which are aligned parallel or perpendicular to the longitudinal axis of the threaded bolt to be cleaned. With this solution it is advantageously possible to remove coatings from threaded bolts.

In derIn the DE 44 03 327 A1DE 44 03 327 A1 beschreibt eine Lösung zum Reinigen von Bohrungen, wobei an einer mehrachsigen Werkzeugmaschine wenigstens eine Werkzeugaufnahme mit einer Werkzeugwechselvorrichtung ausgestattet ist, welche zusätzlich im Bedarfsfall das Reinigungswerkzeug aufnehmen kann. Diese Lösung hat den Vorteil, dass die Werkzeugmaschine gleichzeitig zum reinigungswerkzeug umgerüstet werden kann, ohne dabei zusätzlich personal zu benötigen. Der Wechsel erfolgt durch die Werkzeugmaschine, in dem diese ein Magazin anfährt und das Reinigungswerkzeug an dem Bearbeitungswerkzeug integriert oder mit diesem ausgetauscht wird.describes a solution for cleaning bores, wherein on a multi-axis machine tool at least one tool holder is equipped with a tool changing device, which can also accommodate the cleaning tool if necessary. This solution has the advantage that the machine tool can be converted into a cleaning tool at the same time without requiring additional personnel. The change is made by the machine tool, in which it moves to a magazine and the cleaning tool is integrated on the processing tool or is exchanged with it.

Auch in der GB 887 099 A1 wird eine Lösung zum Entfernen von losen Partikeln, welche sich in einem Bohrloch befinden durch ein dafür geschaffenes Druckluft-Düsen-Werkzeug aufgezeigt. Dabei wird mittels zentral angeordneter und seitlich angeordneter Druckluftdüsen am Werkzeugende durch exakte Positionierung dieses Düsenschaftes oberhalb der Bohrung und Beaufschlagung mit Druckluft, die Verunreinigungspartikel aus dem Bohrloch und vom Bohrloch weg transportiert. Also in the GB 887 099 A1 will be a solution to remove loose Particles in a borehole are shown by a compressed air nozzle tool. In this case, the contaminant particles are transported out of the borehole and away from the borehole by means of centrally arranged and laterally arranged compressed air nozzles at the tool end by exact positioning of this nozzle shaft above the bore and exposure to compressed air.

In derIn the DE 202012 008 350 U1DE 202012 008 350 U1 wird ein Ausblasdüsenkörper beschrieben, welcher die tiefen und oft verwinkelten Zündkerzen-Einspritzdüsenschächte von Schmutzpartikeln befreien zu können. Dazu ist ein Ausblasdüsenkörper, welcher mit Düsenanordnungen und einer Druckluftzufuhr ausgestattet ist an einem Schlauch befestigt, um in die verwinkelten Einspritzdüsenschächte eingeführt und positioniert zu werden.describes a blow-out nozzle body which can free dirt particles from the deep and often angled spark plug injection nozzle shafts. For this purpose, a blow-out nozzle body, which is equipped with nozzle arrangements and a compressed air supply, is fastened to a hose in order to be inserted and positioned in the angled injection nozzle shafts.

Auch diese Lösung ist speziell nur für das Reinigen von Löchern bzw. Bohrungen geeignet.This solution is also only suitable for cleaning holes or bores.

Die Aufgabe der Erfindung besteht darin, die aufgezeigten Nachteile des Standes der Technik zu überwinden und ein Roboterannwerkzeug zu schaffen, mit dessen Hilfe ohne Umrüstaufwand das Werkzeug sowohl für die Flächen-, Gewindebohrungs- und auch Bolzenreinigung an Maschinen- und Fahrwerkskonstruktionen eingesetzt werden kann, um diese Bereiche sicher von vorhandenen Verschmutzung und Restbeständen von Behandlungsmaterialien, wie beispielsweise Imprägnierungsmaterial, Gewindeschneidstaub und dergleichen, sicher zu befreien und säubern zu können.The object of the invention is to overcome the disadvantages of the prior art and to create a robot tool, with the aid of which the tool can be used for cleaning the surface, tapping and bolt cleaning of machine and chassis structures to be able to safely remove and clean these areas from existing soiling and residues of treatment materials, such as impregnation material, thread cutting dust and the like.

Erfindungsgemäß wird die Aufgabe durch die Merkmale des Anspruchs 1 gelöst, wobei die forteilhaften Ausgestaltungen in den Unteransprüchen beschrieben sind.According to the invention, the object is achieved by the features of claim 1, the advantageous embodiments being described in the subclaims.

Das Gehäuse der Pneumatik-Spritzdüse ist axial mittels eines Befestigungsflansches innerhalb der Drehmomenten-Stützkonstruktion so angeordnet, dass die Spritzdüse in eine um ihre Längsachse ausgerichtete Rotationsbewegung ausfuhren kann. Der Antrieb erfolgt über die Dreheinheit des Roboterarms. Zwischen der Drehmomenten-Stützkonstruktion und dem Gehäuse der Pneumatik-Spritzdüse sind zwei separat abgedichtete und von einander unabhängig ansteuerbare Luftkammern radial um das Gehäuse der Spritzdüse umlaufend ausgebildet angeordnet. Diese sind mittels Luftkanälen innerhalb des Gehäuses der Pneumatik-Spritzdüse mit den dort separat verlaufenden Luftführungseinheiten für die Flächenreinigung und für die Gewindebohrungsreinigung jeweils verbunden und auch jeweils separat ansteuerbar ausgebildet.The housing of the pneumatic spray nozzle is arranged axially by means of a fastening flange within the torque support structure in such a way that the spray nozzle can execute a rotational movement aligned about its longitudinal axis. The drive takes place via the rotating unit of the robot arm. Between the torque support structure and the housing of the pneumatic spray nozzle are two separately sealed and Independently controllable air chambers arranged radially around the housing of the spray nozzle. These are each connected by means of air channels within the housing of the pneumatic spray nozzle to the air routing units running there separately for surface cleaning and for cleaning the tapped holes, and are each also separately controllable.

Die Luftführungseinheit für die Gewindebohrungsreinigung ist als axial angeordnete separate bewegliche Spritzdüse mit einem Außendurchmesser von ca. 1/3 des Innendurchmessers des Spritzdüsengehäuses ausgebildet und weist wenigstens eine Luftaustrittsöffnung zur Reinigung der Gewindebohrungen auf. Diese Luftaustrittsöffnung ist mittels einer Luftführungskante ausgestattet, so dass der Luftaustritt entgegen der Luftführungsrichtung ausgerichtet ist. Um auch das Innerste der Gewindebohrung mit der Spritzdüse erreichen zu können, ist die Spritzdüse so ausgebildet, dass sie wenigstens um das Längenmaß der zu reinigenden Lochtiefe aus der oberen Abschlussebene des Spritzdüsengehäuses herausragt.The air guide unit for the threaded bore cleaning is designed as an axially arranged separate movable spray nozzle with an outer diameter of approximately 1/3 of the inner diameter of the spray nozzle housing and has at least one air outlet opening for cleaning the threaded holes. This air outlet opening is equipped with an air guiding edge, so that the air outlet is aligned against the air guiding direction. In order to be able to reach the innermost part of the threaded bore with the spray nozzle, the spray nozzle is designed such that it protrudes at least by the length of the hole depth to be cleaned from the upper end plane of the spray nozzle housing.

Für die Reinigung der Flächenbereiche und auch für die Gewindebohrungen selbst, ist der obere Teil des Zwischenraums zwischen Innendurchmessers des Spritzdüsengehäuses und dem Außendurchmesser der Spritzdüse als Luftführungseinheit für die Flächenreinigung ausgebildet und verjüngt sich bis zum Bereich der oberen Abschlussebene des Spritzdüsengehäuses. Zwischen oberen Abschlussebene des Spritzdüsengehäuses und dem Außendurchmesser der Spritzdüse ist der Luftaustritt zur Flächenreinigung ausgebildet.For the cleaning of the surface areas and also for the threaded holes themselves, the upper part of the space between the inside diameter of the spray nozzle housing and the outside diameter of the spray nozzle is designed as an air guiding unit for surface cleaning and tapers to the area of the upper end level of the spray nozzle housing. The air outlet for surface cleaning is formed between the upper end level of the spray nozzle housing and the outside diameter of the spray nozzle.

Für die angestrebte zusätzlich Möglichkeit der Bolzenreinigung ist die pneumatische Bolzenreinigungsdüse peripher in einem rechten Winkel zur Achsausrichtung der Spritzdüsenanordnung an der Drehmomenten-Stützkonstruktion mittels Befestigungselementen angeordnet und steht mit einer separat an der Drehmomenten-Stützkonstruktion angeordneten und separat steuerbaren Luftzuführeinheit für die Bolzenreinigung in Verbindung.For the desired additional possibility of bolt cleaning, the pneumatic bolt cleaning nozzle is arranged peripherally at a right angle to the axis alignment of the spray nozzle arrangement on the torque support structure by means of fastening elements and is connected to a separately controllable air supply unit for bolt cleaning which is arranged on the torque support structure and can be controlled separately.

Bereits innerhalb der Drehmomenten-Stützkonstruktion ist eine von der Luftzuführeinheit für die Bolzenreinigung versorgte separat abgedichtete und als umlaufende Nut ausgebildete, sich zur Luftaustrittsöffnung verjüngende Luftkammer angeordnet, welche über Verbindungskanäle mit der innerhalb der Bolzenreinigungsdüse um die zylindrisch ausgebildete axial ausgerichtete Bolzenaufnahme für die zu reinigenden Bolzen angeordneten weiteren Luftkammer in Verbindung stehend angeordnet ist. Diese weitere Luftkammer weist an der Abschlussebene der Bolzenreinigungsdüse eine in die Bolzenaufnahme gerichtete Luftaustrittsöffnung auf. Am unteren Ende der Bolzenreinigungsdüse ist zusätzlich ein Kanal für die Entfernung der abgetragenen Verschmutzungspartikel angeordnet, so dass die abgetragenen material- und Schmutzreste von der Reinigungsluft in den und durch den Kanal bis zum Auffangbehälter gedrückt werden können.Already within the torque support structure is a separately sealed air chamber supplied by the air supply unit for the bolt cleaning and designed as a circumferential groove and tapering towards the air outlet opening, which via connecting channels with the inside of the bolt cleaning nozzle around the cylindrical, axially aligned bolt receptacle for the bolts to be cleaned arranged further air chamber is arranged in connection. This further air chamber has an air outlet opening directed into the bolt receptacle at the end plane of the bolt cleaning nozzle. At the lower end of the bolt cleaning nozzle there is also a channel for removing the removed dirt particles, so that the removed material and dirt residues can be pressed into and through the channel by the cleaning air to the collecting container.

Die Bolzenaufnahme ist dabei so dimensioniert, dass sie die Maße des größten an der Maschinenkonstruktion vorhandenen und zu reinigenden Bolzendurchmesser und das größte Längenmaß dieser um wenigstens 10% übersteigt.The bolt receptacle is dimensioned such that it exceeds the dimensions of the largest bolt diameter that is present on the machine construction and is to be cleaned, and the largest length dimension thereof by at least 10%.

Die Ausgestaltung der Dreheinheit des Roboterarmes ist als pneumatisch angetriebene Dreheinheit ausgebildet.The design of the rotating unit of the robot arm is designed as a pneumatically driven rotating unit.

Die Luftaustrittsöffnung der zweiten Luftkammer der Bolzenreinigungsdüse kann vorteilhaft an der Abschlussebene der Bolzenreinigungsdüse als eine in diese Bolzenaufnahme gerichtete umlaufend angeordnete Luftaustrittnut ausgebildet sein.The air outlet opening of the second air chamber of the bolt cleaning nozzle can advantageously be formed on the end plane of the bolt cleaning nozzle as a circumferentially arranged air outlet groove directed into this bolt receptacle.

Es besteht aber auch die Möglichkeit, dass diese Luftaustrittsöffnung an der Abschlussebene der Bolzenreinigungsdüse umlaufend und als in die Bolzenaufnahme ausgerichtete einzelne Luftaustrittsöffnungen ausgebildet ist.However, there is also the possibility that this air outlet opening is circumferential at the end plane of the bolt cleaning nozzle and is designed as individual air outlet openings aligned in the bolt receptacle.

Mit diesem Reinigungswerkzeug wurde eine Lösung geschaffen, mit deren Hilfe es möglich ist, dass mit einem einzigen Roboterarm-Werkzeug sowohl vorhandene Bolzen, Bohrungen, Gewindebohrungen und auch Flächenbereichen eines Maschinenbauteils oder einer Unterbodengruppe von Kraftfahrzeugen sicher gereinigt werden können, da dieses Werkzeug mit mehreren in verschiedenen Richtungen angeordneten und separat ansteuerbaren Luftaustrittsöffnungen ausgestattet wurde, deren Luftaustritt in Verbindung mit den Roboterarmgelenken in nahezu alle notwenigen Bereiche der zu reinigenden Baugruppen ausgerichtet werden kann. Ein weiterer Vorteil sind dabei die jeweils separat ansteuerbaren Luftaustrittsbereiche, welche jedoch von einer Luftversorgungseinheit mit Luft versorgt werden, was den Bauaufwand wesentlich minimiert. Ein weiterer wesentlicher Vorteil ist der gleichzeitig organisierte Abtragsport des abgetragenen bzw. entfernten Materials bei der Bolzenreinigungsdüse während des Reinigungsprozesses. Eine Nachbehandlung der Bolzen ist nicht notwendig.With this cleaning tool, a solution was created with the help of which it is possible that with a single robot arm tool, both existing bolts, bores, threaded bores and also surface areas of a machine component or an underbody group of motor vehicles can be safely cleaned, since this tool can be used with several tools Air outlet openings arranged in different directions and separately controllable, the air outlet in connection with the robot arm joints can be aligned in almost all necessary areas of the assemblies to be cleaned. A further advantage are the separately controllable air outlet areas, which, however, are supplied with air by an air supply unit, which considerably minimizes the construction effort. Another important advantage is the organized removal of the removed or removed material in the pin cleaning nozzle during the cleaning process. Post-treatment of the bolts is not necessary.

Die Erfindung soll anhand eines Ausführungsbeispiels näher erläutert werden.The invention will be explained in more detail using an exemplary embodiment.

In den beigefügten Zeichnungen zeigen:

Fig. 1
eine schematische Seitenansicht auf das Reinigungswerkzeug;
Fig. 2
eine schematische Ansicht von Hinten auf das Reinigungswerkzeug;
Fig. 3
eine schematische Seitenansicht um 180 ° versetzt zur Ansicht aus Fig. 1 und
Fig. 4
eine schematische Seitenansicht um 90 ° versetzt zur Ansicht aus Fig. 1.
In the accompanying drawings:
Fig. 1
a schematic side view of the cleaning tool;
Fig. 2
a schematic rear view of the cleaning tool;
Fig. 3
a schematic side view offset by 180 ° to the view Fig. 1 and
Fig. 4
a schematic side view offset by 90 ° to the view Fig. 1 .

Ausführungsbeispiel 1:Example 1:

Gemäß der Figuren 1 bis 4 besteht ein Reinigungswerkzeug für den Einsatz an einem Roboterarm zur Reinigung von Gewindebohrungen, Stiftbolzen und Flächen mittels Druckluftdüsentechnik zunächst aus einer Pneumatik-Dreheinheit und Verbindungselementen zum Roboterarm. An dem Roboterarmende ist dabei eine Drehmomenten-Stützkonstruktion 1 angeordnet, welche der Aufnahme einer drehbar gelagerten Pneumatik-Spritzdüse 2 und der weiteren Anordnung einer pneumatischen Bolzenreinigungsdüse 3 dient. Die Pneumatik-Spritzdüse 2 ist vorteilhafter weise axial mittels eines Befestigungsflansches 2.1 an der Dreheinheit 1.1 des Roboterarmes innerhalb der Drehmomenten-Stützkonstruktion 1 fest angeordnet. Dabei ist die Pneumatik-Spritzdüse so gelagert, dass sie innerhalb der Drehmomenten-Stützkonstruktion 1 eine Rotationsbewegung ausüben kann. Zwischen der Drehmomenten-Stützkonstruktion 1 und der Pneumatik-Spritzdüse 2 sind zwei jeweils separat abgedichtete und jeweils separat voneinander unabhängig ansteuerbare Luftkammer LK 1 und LK 2 ausgebildet. Diese stehen zur Luftdruckversorgung mit einer jeweils separat steuerbaren Druckluft-Zuführeinheit LF 1 bzw. LF 2 in Verbindung.According to the Figures 1 to 4 a cleaning tool for use on a robot arm for cleaning threaded holes, stud bolts and surfaces using compressed air nozzle technology initially consists of a pneumatic rotating unit and connecting elements to the robot arm. At the end of the robot arm, a torque support structure 1 is arranged, which serves to accommodate a rotatably mounted pneumatic spray nozzle 2 and the further arrangement of a pneumatic bolt cleaning nozzle 3. The pneumatic spray nozzle 2 is advantageously axially inside by means of a fastening flange 2.1 on the rotating unit 1.1 of the robot arm the torque support structure 1 fixed. The pneumatic spray nozzle is mounted in such a way that it can execute a rotational movement within the torque support structure 1. Between the torque support structure 1 and the pneumatic spray nozzle 2, two separately sealed air chambers LK 1 and LK 2, each of which can be controlled independently of one another, are formed. These are connected to the air pressure supply with a separately controllable compressed air supply unit LF 1 or LF 2.

Im Gehäuse 2.2 der Pneumatik-Spritzdüse 2 sind jeweils im Bereich der Luftkammeranordnungen umlaufend angeordnete durchgängige Bohrungen 2.3 angeordnet, welche dazu dienen, die Verbindung zwischen den Luftkammern LK 1 und LK 2 zu den Luftführungseinheiten LF 1 und LF 2 herzustellen.In the housing 2.2 of the pneumatic spray nozzle 2, circumferential through bores 2.3 are arranged in the area of the air chamber arrangements, which serve to establish the connection between the air chambers LK 1 and LK 2 to the air guide units LF 1 and LF 2.

Die Luftführungseinheit LF 1 ist als axial angeordnete separate Spritzdüse 2.4 ausgebildet ist. Sie weist einen Außendurchmesser von ca. 1/3 des Innendurchmessers des Spritzdüsengehäuses 2.2 auf. An der Peripherie der Spritzdüse 2.4 sind die Luftaustrittsöffnung 2.5 angeordnet, wobei wenigstens eine der Luftaustrittsöffnungen 2.5 einen, entgegen der Luftführungsrichtung gerichteten Luftaustritt zur Reinigung der Gewindebohrungen aufweist.The air guide unit LF 1 is designed as an axially arranged separate spray nozzle 2.4. It has an outer diameter of approximately 1/3 of the inner diameter of the spray nozzle housing 2.2. The air outlet opening 2.5 is arranged on the periphery of the spray nozzle 2.4, at least one of the air outlet openings 2.5 having an air outlet directed against the air guidance direction for cleaning the threaded bores.

Die Spritzdüse 2.4 ragt wenigstens um das Längenmaß der zu reinigenden Gewindebohrungstiefe aus der oberen Abschlussebene 2.6 des Spritzdüsengehäuses 2.2 heraus. Der obere Teil des Zwischenraums zwischen Innendurchmessers des Spritzdüsengehäuses 2.2 und dem Außendurchmesser der Spritzdüse 2.4 ist als Luftführungseinheit LF 2 ausgebildet und verjüngt sich bis zum Bereich der oberen Abschlussebene 2.6 des Spritzdüsengehäuses 2.2, wobei zwischen diesem Bereich und der äußeren Peripherie der Spritzdüse 2.4 der Luftaustritt 2.7 zur Flächenreinigung ausgebildet ist. Der Luftaustritt ist bereits an der Konstruktion der Spritzdüse 2.4 und deren Gehäuse 2.2 dadurch so vorteilhaft gestaltet, dass er in drei verschiedene Richtungen austritt, vertikal in Richtung der Luftführung, entgegengesetzt zur Luftführung und horizontal durch die Verwirbelung beim Zusammentreffen dieser beiden vertikalen Luftströme. Eine sehr effiziente Luftführung für den Reinigungsprozess von Bohrungen, vor allem Gewindebohrungen.The spray nozzle 2.4 protrudes at least by the length dimension of the tapped hole depth to be cleaned from the upper end plane 2.6 of the spray nozzle housing 2.2. The upper part of the space between the inner diameter of the spray nozzle housing 2.2 and the outer diameter of the spray nozzle 2.4 is designed as an air guide unit LF 2 and tapers to the area of the upper end plane 2.6 of the spray nozzle housing 2.2, the air outlet 2.7 between this area and the outer periphery of the spray nozzle 2.4 is trained for surface cleaning. The air outlet is already on the construction of the spray nozzle 2.4 and its housing 2.2 designed so advantageously that it emerges in three different directions, vertically in the direction of the air duct, opposite to the air duct and horizontally due to the swirling when these two vertical air streams meet. A very efficient air duct for the cleaning process of bores, especially threaded bores.

Die weiterhin an der Peripherie und dort in einem rechten Winkel zur Achsausrichtung der Spritzdüsenanordnung 2 an der Drehmomenten-Stützkonstruktion 1 mittels Befestigungselementen 3.1 angeordneten pneumatischen Bolzenreinigungsdüse 3 steht mit einer separat an der Drehmomenten-Stützkonstruktion 1 angeordneten Luftzuführeinheit LF3 in Verbindung. Innerhalb der Drehmomenten-Stützkonstruktion 1 ist dabei eine von der Luftzuführeinheit LF3 versorgte, separat abgedichtete und als umlaufende Nut ausgebildete Luftkammer LK 3/1 angeordnet.The pneumatic bolt cleaning nozzle 3, which is further arranged at the periphery and there at a right angle to the axial alignment of the spray nozzle arrangement 2 on the torque support structure 1 by means of fastening elements 3.1, is connected to an air supply unit LF3 arranged separately on the torque support structure 1. An air chamber LK 3/1, which is supplied by the air supply unit LF3 and is separately sealed and designed as a circumferential groove, is arranged within the torque support structure 1.

Diese ist über den Verbindungskanal 3.4 mit der innerhalb der Bolzenreinigungsdüse 3 und um die zylindrisch ausgebildete Bolzenaufnahme 3.5 für die zu reinigenden Bolzen angeordnete und sich zur Luftaustrittsöffnung 3.3 verjüngende Luftkammer LK 3/2 in Verbindung stehend angeordnet.This is arranged via the connecting channel 3.4 with the inside of the bolt cleaning nozzle 3 and around the cylindrical bolt receptacle 3.5 for the bolts to be cleaned and the air chamber LK 3/2 tapering towards the air outlet opening 3.3.

Die Luftkammer LK 3/2 weist an der Abschlussebene 3.2 der Bolzenreinigungsdüse 3 wenigstens eine in die Bolzenaufnahme 3.5 gerichtete Luftaustrittsöffnung 3.6 auf. Am unteren Ende der Bolzenreinigungsdüse 3 ist ein Kanal 3.7 für den Abtransport und die Entfernung der abgetragenen Verschmutzungspartikel angeordnet. Durch die Luftführung in die Bolzenaufnahme 3.5 wird das abgetragene Material in Richtung Kanal 3.7 transportiert und durch den Kanal 3.7. entfernt. Dadurch ist eine sehr praktische und effiziente Lösung geschaffen, wodurch eine Nachbearbeitung des zu reinigenden Bolzens vermieden wird.The air chamber LK 3/2 has at least one air outlet opening 3.6 directed into the bolt receptacle 3.5 at the end plane 3.2 of the bolt cleaning nozzle 3. At the lower end of the bolt cleaning nozzle 3 there is a channel 3.7 for the removal and removal of the removed dirt particles. The removed material is transported in the direction of duct 3.7 through the air duct into the bolt receptacle 3.5 and through duct 3.7. away. This creates a very practical and efficient solution, avoiding post-processing of the stud to be cleaned.

Um die Drehbewegungen der Dreheinheit 1.1 zu realisieren, ist diese als pneumatisch angetriebene Dreheinheit 1.1 des Roboterarmes ausgebildet.In order to realize the rotary movements of the rotating unit 1.1, it is designed as a pneumatically driven rotating unit 1.1 of the robot arm.

Die Luftaustrittsöffnung 3.6 der Luftkammer LK 3/2 an der Abschlussebene der Bolzenreinigungsdüse 3 ist vorteilhafter weise als eine in die Aufnahme 3.5 gerichtete umlaufend angeordnete Luftaustrittsnut 3.3 ausgebildet ist.The air outlet opening 3.6 of the air chamber LK 3/2 at the end plane of the bolt cleaning nozzle 3 is advantageously designed as an air outlet groove 3.3 which is circumferentially arranged in the receptacle 3.5.

Es besteht auch die Möglichkeit, dass die Luftaustrittsöffnung 3.6 der Luftkammer LK 3/2 an der Abschlussebene 3.2 als mehrere einzelne, in die Bolzenaufnahme 3.5 ausgerichtete, partiell umlaufend angeordnete Luftaustrittsöffnungen 3.6 gestaltet ist. Diese können so ausgebildet sein, dass deren Luftströmungsachse voneinander abweichen, so dass eine effektive Anströmung des zu reinigenden Bolzens mit Druckluft und somit eine umfassende Reinigung des Bolzens erfolgt.There is also the possibility that the air outlet opening 3.6 of the air chamber LK 3/2 at the end level 3.2 is designed as a plurality of individual air outlet openings 3.6, which are arranged in the bolt receptacle 3.5 and are arranged in a partially circumferential manner. These can be designed in such a way that their air flow axes deviate from one another, so that there is an effective flow of compressed air to the bolt to be cleaned and thus a comprehensive cleaning of the bolt.

Reinigungswerkzeuge dieser Art werden vor allem für die Reinigung von Maschinenbau- und Kfz-Unterbodenkonstruktionen zur Entfernung von Imprägnierungsmaterial, Resten von Spanmaterial zur Vorbereitung auf die weitere Bearbeitung benötigt. Mit dieser Lösung ist eine platzsparende, kostengünstige Vorrichtung geschaffen worden, die eine effektive und zeitsparende Reinigung von Baukonstruktionen ermöglicht, ohne dass eine Umrüstung des Roboterarm-Reinigungswerkzeuges erforderlich wird, obwohl die Reinigungsaufgaben in unterschiedlichen Richtungen und in unterschiedlicher Art und Weise, wie es die Bolzen-, Bohrungs- und Flächenreinigung es erfordern, durchgeführt werden müssen. Diese unterschiedlichen Aufgaben können durch die erfinderische Lösung mit einem einzigen Reinigungswerkzeug für einen Roboterarm durchgeführt werden.Cleaning tools of this type are primarily required for cleaning mechanical engineering and automotive underbody constructions to remove impregnation material, residues of chip material in preparation for further processing. With this solution, a space-saving, inexpensive device has been created, which enables effective and time-saving cleaning of building structures without the need to change the robot arm cleaning tool, although the cleaning tasks in different directions and in different ways, as is the case with the bolts -, drilling and surface cleaning require it to be carried out. These different tasks can be carried out by the inventive solution with a single cleaning tool for a robot arm.

BezugszeichenlisteReference list

11
Drehmomenten-StützkonstruktionTorque support structure
22nd
Pneumatik-SpritzdüsePneumatic spray nozzle
33rd
BolzenreinigungsdüseBolt cleaning nozzle
2.12.1
BefestigungsflanschesMounting flange
1.11.1
Dreheinheit des RoboterarmesRotary unit of the robot arm
LK 1LK 1
ansteuerbare Luftkammer der Spritzdüsecontrollable air chamber of the spray nozzle
LK 2LK 2
ansteuerbare Luftkammer der Spritzdüsecontrollable air chamber of the spray nozzle
LF 1LF 1
Druckluft-ZuführeinheitCompressed air supply unit
LF 2LF 2
Druckluft-ZuführeinheitCompressed air supply unit
2.22.2
Gehäuse der SpritzdüseSpray nozzle housing
2.32.3
BohrungenHoles
2.42.4
SpritzdüseSpray nozzle
2.52.5
LuftaustrittsöffnungAir outlet opening
2.62.6
Abschlussebene des SpritzdüsengehäusesFinal level of the spray nozzle housing
2.72.7
Luftaustritt zur FlächenreinigungAir outlet for surface cleaning
LF 3LF 3
LuftzuführeinheitAir supply unit
LK 3/1LK 3/1
Luftkammer in der StützkonstruktionAir chamber in the support structure
LK 3/2LK 3/2
Luftkammer in der BolzenreinigungsdüseAir chamber in the pin cleaning nozzle
3.13.1
BefestigungselementenFasteners
3.23.2
Abschlussebene der BolzenreinigungsdüseFinal level of the pin cleaning nozzle
3.33.3
LuftaustrittsnutAir outlet groove
3.43.4
VerbindungskanalConnecting channel
3.53.5
BolzenaufnahmeBolt holder
3.63.6
LuftaustrittsöffnungAir outlet opening
3.73.7
Kanalchannel

Claims (5)

  1. Cleaning tool for a robot arm for cleaning threaded bores, studs and surfaces, inter alia on sub-structures of machinery and motor vehicles, by means of pressurized air nozzle technique, wherein the robot arm is equipped with a pneumatic rotation unit and with connecting elements to the cleaning tool, including a torque support structure (1) arrangeable on the end of the robot arm, on which a rotatably-supported pneumatic spray nozzle (2) and a pneumatic bolt cleaning nozzle (3) are arranged, and the upper part of the intermediate space between the inner diameter of a spray nozzle housing (2.2) and the outer diameter of a spray nozzle (2.4) is configured as an air guiding unit for surface cleaning and tapers as far as to the region of the upper terminating plane of the spray nozzle housing.
  2. Cleaning tool for a robot arm according to claim 1,
    characterized in that
    the pneumatic spray nozzle (2) is fixedly arranged on the rotation unit (1.1) of the robot arm within the torque support structure (1) in a manner to be inducible to rotary movement axially by means of a fastening flange (2.1),
    that two separately-sealed and mutually independently controllable air chambers (LK1) and (LK2) are formed between the torque support structure (1) and the pneumatic spray nozzle (2), which are in each case arranged in a manner to be communicated with an in each case separately-controllable pressurized-air supply unit (LF1) or (LF2), respectively, for the purpose of air supply,
    that circumferentially-arranged and continuous bores (2.3) are respectively arranged in the housing (2.2.) of the spray nozzle (2) in the region of the air chamber arrangement (LK1), establishing the connection between the air chambers (LK1) and (LK2) to the air guide units (LF1) and (LF2),
    that the air guide unit (LF1) is configured as an axially-arranged separate spray nozzle (2.4) having an outer diameter of approximately 1/3 of the inner diameter of the spray nozzle housing (2,2) and comprises at least one air outlet opening (2,5) oriented counter to the air guiding direction for cleaning the threaded bores and at least by the longitudinal dimension of the depth of the threaded bore protrudes from the upper terminating level (2.6) of the spray nozzle housing (2.2).
  3. Cleaning tool for a robot arm according to claims 1 and 2,
    characterized in that
    the pneumatic bolt cleaning nozzle (3) is arranged on the torque support structure (1) peripherally at a right angle to the axial orientation of the spray nozzle arrangement (2) by means of fastening elements (3.1) and is communicated with an air supply unit (LF3) arranged separately on the torque support structure (1),
    that a separately sealed air chamber (LK 3/1) supplied by the air supply unit (LF3) and configured as circumferential groove is arranged within the torque support structure (1), which chamber is arranged in communication, via connecting channels (3,4), with the air chamber (LK 3/2) that is arranged within the bolt cleaning nozzle (3) and around the cylindrically formed bolt receptacle (3.5) for the bolts to be cleaned and tapers towards the air outlet opening (3.3),
    that the air chamber (L/K) comprises an air outlet opening (3.6) directed into the bolt receptacle (3.5), on the terminating plane (3.2) of the bolt cleaning nozzle (3), and that a channel (3.7) for the evacuation and removal of the removed dirt particles is arranged at the lower end of the bolt cleaning nozzle (3).
  4. Cleaning tool for the robot arm according to any one of claims 1 to 4, characterized in that the air outlet opening (3.6) of the air chamber (LK 3/2) at the terminating plane of the bolt cleaning nozzle (3) is formed as a circumferentially-arranged air outlet groove (3.3) directed into the receptacle (3.5).
  5. Cleaning tool for a robot arm according to any one of claims 1 to 5, characterized in that the air outlet opening (3.6) of the air chamber (LK 3/2) at the terminating plane (3.2) of the bolt cleaning nozzle (3) is formed as multiple, partially circumferentially-arranged individual air outlet openings (3.6) directed into the bolt receptacle (3.5).
EP15745372.1A 2014-05-19 2015-05-19 Cleaning tool for a robot arm in order to clean threaded holes, stud bolts and surfaces, inter alia, on underbody structures Active EP3145647B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014007205 2014-05-19
PCT/DE2015/000249 WO2015176702A1 (en) 2014-05-19 2015-05-19 Cleaning tool for a robot arm in order to clean threaded holes, stud bolts and surfaces, inter alia, on underbody structures

Publications (2)

Publication Number Publication Date
EP3145647A1 EP3145647A1 (en) 2017-03-29
EP3145647B1 true EP3145647B1 (en) 2020-07-01

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EP (1) EP3145647B1 (en)
DE (2) DE102015006350A1 (en)
ES (1) ES2819532T3 (en)
WO (1) WO2015176702A1 (en)

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Publication number Priority date Publication date Assignee Title
JP6691066B2 (en) 2017-01-28 2020-04-28 株式会社スギノマシン Air blower

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB887099A (en) * 1960-01-05 1962-01-17 Borje Lennart Schoberg Improvements in or relating to a method of and means for removing loose particles from cavities
DE4403327A1 (en) * 1994-02-03 1995-08-10 Karl Bauch Cleaning device for multi-shafted machine tool
DE19853248A1 (en) * 1998-11-18 2000-07-06 Pbi Automation Gmbh Device especially for removing underseal coatings from bolts used in assembly of motor vehicle bodies has hollow annular or hollow cylindrical form cleaning head with air jets orientated centrally to threaded bolt to be cleaned
DE202012008350U1 (en) * 2012-08-31 2012-10-30 Norbert Seifert Apparatus for cleaning sealing surfaces of spark plug glow plug injector seats

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Also Published As

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EP3145647A1 (en) 2017-03-29
DE112015002349A5 (en) 2017-02-16
DE102015006350A1 (en) 2015-11-19
ES2819532T3 (en) 2021-04-16
WO2015176702A1 (en) 2015-11-26

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