EP3294466A1 - Coating edges using a robot - Google Patents
Coating edges using a robotInfo
- Publication number
- EP3294466A1 EP3294466A1 EP16723056.4A EP16723056A EP3294466A1 EP 3294466 A1 EP3294466 A1 EP 3294466A1 EP 16723056 A EP16723056 A EP 16723056A EP 3294466 A1 EP3294466 A1 EP 3294466A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- coating
- workpiece
- peripheral edge
- coating head
- head
- 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.)
- Granted
Links
- 239000011248 coating agent Substances 0.000 title claims abstract description 140
- 238000000576 coating method Methods 0.000 title claims abstract description 121
- 230000002093 peripheral effect Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 17
- 210000003128 head Anatomy 0.000 description 35
- 238000001035 drying Methods 0.000 description 12
- 239000003973 paint Substances 0.000 description 10
- 239000000463 material Substances 0.000 description 9
- 230000032258 transport Effects 0.000 description 9
- 238000010422 painting Methods 0.000 description 8
- 238000000227 grinding Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 5
- 238000002360 preparation method Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 4
- 239000004033 plastic Substances 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 description 1
- 229910052733 gallium Inorganic materials 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 1
- 229910052753 mercury Inorganic materials 0.000 description 1
- 210000001331 nose Anatomy 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0204—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to the edges of essentially flat articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/02—Apparatus for spreading or distributing liquids or other fluent materials already applied to a surface ; Controlling means therefor; Control of the thickness of a coating by spreading or distributing liquids or other fluent materials already applied to the coated surface
- B05C11/06—Apparatus for spreading or distributing liquids or other fluent materials already applied to a surface ; Controlling means therefor; Control of the thickness of a coating by spreading or distributing liquids or other fluent materials already applied to the coated surface with a blast of gas or vapour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
Definitions
- Coating application agent that applies the coating to the peripheral edge and provides an air flow that removes excess coating from the edge, moving the workpiece and the coating head relative to one another. Furthermore, the present invention relates to a method for coating the peripheral edge of a workpiece with a coating head.
- Such devices and methods are known from the prior art and are used for example for coating the edges of parquet or window profiles.
- the workpiece is placed on a conveyor belt and guided along a coating head, which applies the coating, such as a paint or an adhesive to the edge.
- the coating such as a paint or an adhesive to the edge.
- these devices are unsuitable for complex components.
- the object is achieved with a device for at least partial, preferably complete coating of the peripheral edge of a workpiece with a
- Coating device having a coating head, wherein on / in the
- Coating head a coating applicator, which applies the coating to the peripheral edge and an air flow is provided, which removes excess coating from the edge, wherein the workpiece and the coating head are moved relative to each other, wherein the movement is carried out by atecsmittei and takes place in at least two spatial directions ,
- the present invention relates to a coating device which, for example, applies a paint, in particular a water-based paint and / or an adhesive and / or a plastic material, for example a seal, to at least part of the peripheral edge of a workpiece.
- a paint in particular a water-based paint and / or an adhesive and / or a plastic material, for example a seal
- the workpiece may be made of wood, metal plastic or a combination of these materials.
- the workpiece may be rectangular, square, round, elliptical or any other desired shape, for example.
- the workpiece is plate-like, ie one dimension is essential smaller than the other two.
- the charging device comprises a coating head or the application chamber, through which the paint is applied, wherein during the coating between the gun and the workpiece, a relative movement is present.
- the coating head or the application chamber is stationary and the workpiece moves relative to the coating head.
- the layer thickness with which the paint is applied to the workpiece is regulated by an air flow which removes excess paint from the workpiece and / or distributes it evenly on the workpiece.
- This air flow is preferably generated by applying a negative pressure to the coating head or the application chamber, with which air is drawn through a gap between the workpiece and the coating head or the application chamber, which wipes excess paint from the workpiece.
- this air stream is fed downstream of the coating head or the application chamber to a separation system which at least partially, preferably almost completely, removes the paint components from the air stream.
- the device now has a movement means which moves the workpiece or the coating device in at least two spatial directions.
- a movement means which moves the workpiece or the coating device in at least two spatial directions.
- the moving means is an industrial robot.
- An industrial robot is a preferably universal, programmable machine.
- Machine generally consists of a manipulator also called robot arm, a controller and an effector, here a gripper, which grips the workpiece, and / or connectable to the coating device.
- the effector is a Saugmittei, with which the workpiece can be reversibly connected.
- the effector is a Saugmittei, with which the workpiece can be reversibly connected.
- Industrial robot equipped with one or more sensors, for example, to capture the contour of the workpiece.
- the machine is able to autonomously perform a workflow, or to vary the execution of the task, depending on sensor information.
- the industrial robot arm has at least two levers which are movable relative to each other by a hinge.
- the two levers their Change angle to each other and / or rotate relative to each other.
- the robot arm is preferably provided rotatable relative to its total bearing.
- the effector is preferably movably provided at the one end of a lever.
- at least one, preferably both levers are provided rotatably about their longitudinal axis.
- the workpiece or a processing means such as
- Coating device reversibly attached to the robot arm.
- the effector is a suction gripper.
- the movement of the workpiece takes place in a plane which is aligned in particular horizontally. If necessary, the movement of the workpiece can take place on several levels, for example, so that machining areas can overlap without risk of collision.
- the movement means preferably moves the workpiece and / or the coating head or another processing or drying tool in at least two spatial directions provided at an angle to one another. As a result, in particular the peripheral edge of the workpiece and the corresponding tool are moved relative to each other.
- the moving means rotates the workpiece, in particular about a horizontal axis of rotation, wherein the workpiece itself does not have to be rotationally symmetric, but can be.
- the coating agent has a means for generating an air flow.
- This agent is in particular a negative pressure in the
- Coating agent and the workpiece sucked air into the coating chamber, which sweeps along the workpiece and thereby removes excess coating material from the workpiece and / or distributed on the tool, i. settles.
- the coating agent in particular the coating chamber, also has one or more, in particular four, means, for example nozzles, in order to apply the coating agent to the edge of the workpiece.
- the air flow and / or the application means are separately controllable and / or controllable, in particular switched on and off. Particularly preferably, it is possible to maintain the air flow upright without coating agent emerging from the application means.
- the moving means in particular the industrial robot, the robot
- the device according to the invention has a control / regulation, which controls the individual stations of the device / controls.
- the control / regulation which controls the individual stations of the device / controls.
- the coating nozzles are shut off shortly before, after or during a 360 ° rotation of the workpiece and / or the axis of rotation of the workpiece is shifted as soon as or after the workpiece has rotated 360 °.
- the speed of movement of the workpiece may change or remain the same during its machining.
- Yet another object of the present invention is a method for coating the peripheral edge of a workpiece with a Beschich processing head, wherein at least a portion of the peripheral edge passes through the coating head at least twice.
- the peripheral edge of a workpiece is coated.
- the workpiece is rotated during this process.
- the coating is coated everywhere, i.
- different process conditions prevail on / in the coating head, at least at times when passing first, than during the second pass.
- coating agent is applied at the first pass and not at the second pass.
- the air flow is activated. This will be the second
- a coating agent is applied to the workpiece and optionally excess coating agent by means of a
- coating material is removed and / or distributed in particular by the air flow during the second pass.
- the second pass preferably no coating agent flows out of the coating nozzles of the coating head.
- the relative movement between the workpiece and the coating head is preferably different during the first and second passes.
- the distance between the axis of rotation and the coating agent increases during the second passage of the respective section of the peripheral edge.
- FIG. 1 shows a first embodiment of the device according to the invention.
- FIG. 2 shows a further embodiment of the device according to the invention.
- FIG. 3 shows an embodiment in which the coating device is movably provided relative to the industrial robot.
- Figure 4 shows an embodiment in which the coating device on the
- FIG. 5 shows an embodiment of the method according to the invention.
- FIG. 1 shows a first embodiment of the method according to the invention.
- Workpiece which may have, for example, round or rectangular or any other shape and which may for example consist of metal, wood, plastic or a combination of these materials is an inlet conveyor 1, for example, an endless belt or a clamping device, for example, a lathe chuck, which via a displacement device is moved into the working range of the moving means 2, which is designed in the present case as an industrial robot moves.
- Industrial robot 2 is provided in this example with a first and a second lever, wherein the second lever is provided at the end of the first lever.
- the angle of both levers with each other is changeable.
- the angle of the first Hebeis is variable relative to the attachment of the industrial robot.
- the industrial robot is provided on the whole about a vertically rotatable axis.
- at least one of the levers, preferably both levers may also rotate about a longitudinal axis.
- a gripper is provided which
- the industrial robot grips the workpiece and aligns it. Alternatively, the workpiece is already aligned when it is at the end of the inlet conveyor. The alignment of the industrial robot takes place either via a
- Measuring the workpiece for example above the inlet conveyor and / or by a displacement of the workpiece, for example by means of the industrial robot against a defined stop, for example, the inlet conveyor. After the industrial robot has grasped the workpiece, this transports this, for example, to a coating preparation station, for example a grinding station 3.
- This coating preparation station must only be present as an option. Thereafter, the coating of the edge of the workpiece takes place in a coating device 4.
- This coating device has a coating head, in which one or more coating nozzles are present, the one
- coating agent such as a paint
- an air flow is present, which is generated in particular by a negative pressure, which is applied to the coating head to
- the workpiece preferably moves relative to that which is stationary during coating
- the coating preferably takes place over the entire peripheral edge of the workpiece.
- the industrial robot preferably rotates the workpiece about a vertical axis of rotation during the coating.
- Circulating edge has been at least partially provided with a coating agent
- the industrial robot transports the workpiece to a drying 5. Even when drying the industrial robot moves the workpiece in particular relative to the preferably stationary drying. Alternatively or additionally, it is also possible to move the drying relative to the workpiece. Depending on the surface requirement, the machining process can be repeated.
- the workpiece is optionally in turn transported by the industrial robot to a discharge conveyor 6 which moves the workpiece out of the working area of the robot.
- the processing stations can either face away from the robot or be arranged around the foot of the robot.
- the coating head is made comparatively narrow.
- its extension is parallel to the direction of movement of the workpiece less than 20 mm.
- the coating agent injection into the coating head preferably takes place from 3 or 4 sides, wherein in each case two nozzles are preferably provided at a 45-180 ° angle to one another.
- the dryer can be, for example, a UV dryer or an IR dryer. However, there may be several dryers that are independent can be activated by each other.
- the UV lamps are, for example, gallium and / or mercury UV lamps,
- a workflow in which the edges are painted twice may look like this:
- FIG. 2 shows a further embodiment of the device according to the invention. in the
- two industrial robots 2 are provided, which can be constructed identical or different.
- the first industrial robot fulfills the transport of the workpiece during the preparation, here grinding work.
- the second industrial robot moves the workpiece during its coating and / or drying.
- An additional storage or transport means 7 can be provided between the two industrial robots, on which the workpieces are deposited after and / or before their coating and / or on which the workpieces after their
- FIG. 3 shows a further embodiment of the device according to the invention.
- the coating apparatus for example, the coating apparatus
- Coating preparation 3 and / or the drying provided relative to the working area 8 of the robot movable The movement of these stations takes place before and / or during the respective operation.
- the movement of one or more of the stations 3 - 5 has the particular advantage that workpieces of different sizes to the
- Work area of the industrial robot can be adjusted.
- Figure 4 shows an embodiment of the device according to the invention, in which the coating head 4 is provided on the arm of the industrial robot.
- the coating preparation 3 and / or the drying 5 can also be provided on the robot arm.
- the workpiece 9 is stationary during coating and / or is moved by a transport means 10, here 2 conveyor belts.
- the transport means 10 can also serve only to transport the workpiece 9 in the work area of the industrial robot.
- FIG. 5 shows the painting, grinding and drying of a workpiece.
- the paint of the workpiece is shown. It can clearly be seen that initially the peripheral edge 9a, then the circumferential edge 9b, then the peripheral edge 9c and finally the peripheral edge 9d is painted.
- the pump which supplies the nozzles with coating agent is activated.
- the workpiece is rotated as shown by the arrow during painting counterclockwise. Alternatively or additionally, the workpiece can also stand still and the coating head moves.
- the painting nozzles are deactivated, but the workpiece is further along the coating head as indicated by the arrow 12
- the workpiece is rotated in the same direction after a 360 ° rotation and thereby slowly out of the
- Pulled out coating head The workpiece consequently makes a spiral movement in sections.
- Coating head increases.
- the air flow in the coating head remains activated and preferably increases.
- coating material in the area of the double coating is distributed in particular to the neighboring area and thus this area of the double coating is finished.
- Circumferential edge has been ground, the industrial robot removes the workpiece from the abrasive.
Landscapes
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015005772 | 2015-05-08 | ||
PCT/EP2016/060209 WO2016180731A1 (en) | 2015-05-08 | 2016-05-06 | Coating edges using a robot |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3294466A1 true EP3294466A1 (en) | 2018-03-21 |
EP3294466B1 EP3294466B1 (en) | 2020-09-02 |
Family
ID=56008598
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16723056.4A Active EP3294466B1 (en) | 2015-05-08 | 2016-05-06 | Coating edges using a robot |
Country Status (5)
Country | Link |
---|---|
US (1) | US11440046B2 (en) |
EP (1) | EP3294466B1 (en) |
CA (1) | CA2985253A1 (en) |
RU (1) | RU2017142805A (en) |
WO (1) | WO2016180731A1 (en) |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4123588A1 (en) * | 1991-07-17 | 1993-01-21 | Ver Glaswerke Gmbh | METHOD AND DEVICE FOR PRODUCING A VEHICLE WINDOW |
FR2725657B1 (en) | 1994-10-17 | 1997-01-10 | Saint Gobain Vitrage | DEVICE FOR EXTRUDING A PROFILED POLYMER CORD ON A PLATE-SHAPED OBJECT |
DE29617525U1 (en) | 1996-10-11 | 1996-12-12 | Josef Schiele oHG, 56651 Niederzissen | Painting head |
ITUD20020045A1 (en) * | 2002-02-25 | 2003-08-25 | Delle Vedove Levigatrici Spa | VACUUM PAINTING HEAD AND RELATED PAINTING PROCEDURE |
JP5607326B2 (en) * | 2009-08-06 | 2014-10-15 | ノードソン コーポレーション | Coating nozzle, coating method, and internal volume control valve |
DE102013003688A1 (en) * | 2012-10-26 | 2014-04-30 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Combination nozzle and device for applying a viscous material to a component edge |
US9266141B2 (en) * | 2013-09-10 | 2016-02-23 | Awi Licensing Company | System for applying a coating to a workpiece |
-
2016
- 2016-05-06 RU RU2017142805A patent/RU2017142805A/en not_active Application Discontinuation
- 2016-05-06 EP EP16723056.4A patent/EP3294466B1/en active Active
- 2016-05-06 US US15/571,388 patent/US11440046B2/en active Active
- 2016-05-06 WO PCT/EP2016/060209 patent/WO2016180731A1/en active Application Filing
- 2016-05-06 CA CA2985253A patent/CA2985253A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
RU2017142805A (en) | 2019-06-10 |
US20190126313A1 (en) | 2019-05-02 |
EP3294466B1 (en) | 2020-09-02 |
US11440046B2 (en) | 2022-09-13 |
WO2016180731A1 (en) | 2016-11-17 |
CA2985253A1 (en) | 2016-11-17 |
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