EP3294466B1 - Coating edges using a robot - Google Patents

Coating edges using a robot Download PDF

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Publication number
EP3294466B1
EP3294466B1 EP16723056.4A EP16723056A EP3294466B1 EP 3294466 B1 EP3294466 B1 EP 3294466B1 EP 16723056 A EP16723056 A EP 16723056A EP 3294466 B1 EP3294466 B1 EP 3294466B1
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EP
European Patent Office
Prior art keywords
coating
workpiece
coating head
during
peripheral edge
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EP16723056.4A
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German (de)
French (fr)
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EP3294466A1 (en
Inventor
Stefan Schiele
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Josef Schiele OHG
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Josef Schiele OHG
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    • 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
    • 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
    • B05C5/0204—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
    • 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

  • the present invention also relates to a method for coating the peripheral edge of a workpiece with a coating head.
  • Such devices and methods are from the prior art, for example from US 2011/0 059 257 A1 and DE 296 17 525 U1 , known and are used, for example, to coat 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, for example a lacquer or an adhesive, to the edge.
  • these devices are unsuitable for complex components.
  • a device for at least partial, preferably complete, coating of the peripheral edge of a workpiece with a coating device which has a coating head, with a coating application means on / in the coating head which applies the coating to the peripheral edge and an air flow is provided, the excess Removes coating from the edge, the workpiece and the coating head being moved relative to one another, the movement being carried out by a movement means and taking place in at least two spatial directions.
  • the present description 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 can be made of wood, metal, plastic or a combination of these materials.
  • the workpiece can have, for example, rectangular, square, round, elliptical or any other shape.
  • the workpiece is provided in the form of a plate, i. one dimension is much smaller than the other two.
  • At least part of the circumferential edge, preferably the complete circumferential edge, is always provided with a coating agent, whereby it can be important that the coating is provided uniformly, in particular that no lacquer lenses are present.
  • the coating device has a coating head or the application chamber through which the paint is applied, a relative movement being present between the application head and the workpiece during coating.
  • the coating head or the application chamber is preferably 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 stream, which removes excess paint from the workpiece and / or distributes it evenly on the workpiece.
  • This air flow is preferably generated in that a negative pressure is applied to the coating head or the application chamber, with which air is sucked through a gap between the workpiece and the coating head or the application chamber, which wipes off excess paint from the workpiece.
  • This air flow is preferably fed to a separation system downstream of the coating head or the application chamber, which removes the paint components at least partially, preferably almost completely, from the air flow.
  • the device now has a moving means which moves the workpiece or the coating device in at least two spatial directions. As a result, the edges of complex components and / or the entire peripheral edge of a workpiece can also be coated.
  • the moving means is preferably an industrial robot.
  • An industrial robot is preferably a universal, programmable machine.
  • the machine generally consists of a manipulator, also called a robot arm, a controller and an effector, here a gripper, which grips the workpiece and / or can be connected to the coating device.
  • the effector is preferably a suction means with which the workpiece can be reversibly connected.
  • the industrial robot is preferably equipped with one or more sensors in order, for example, to detect the contour of the workpiece. Once programmed, the machine is able to carry out a work process autonomously or to vary the execution of the task within limits depending on sensor information.
  • the industrial robot arm preferably has at least two levers which can be moved relative to one another by means of a joint.
  • the two levers can preferably change their angle to one another and / or rotate relative to one another.
  • the robot arm is preferably provided as a whole rotatable relative to its bearing.
  • the effector is preferably provided movably at one end of a lever. At least one, preferably both, levers are preferably provided such that they can rotate about their longitudinal axis.
  • the workpiece or a processing means for example the coating device, is reversibly attached to the robot arm.
  • the effector is preferably a suction gripper.
  • the workpiece is preferably moved in a plane which, in particular, is oriented horizontally. If necessary, the workpiece can be moved on several levels, for example so that machining areas can overlap without the 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 one another.
  • the movement means preferably rotates the workpiece, in particular about a horizontal axis of rotation, the workpiece itself not having to be rotationally symmetrical, but being able to be.
  • the coating agent has a means for generating an air flow.
  • This means is, in particular, a negative pressure in the coating chamber or in the coating head.
  • air is sucked into the coating chamber between the coating agent and the workpiece, which brushes along the workpiece and thereby removes excess coating material from the workpiece and / or spreads it on the tool, i.e. arbitrates.
  • 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 can preferably be controlled and / or regulated separately from one another, in particular can be switched on and off. It is particularly preferably possible to maintain the air flow without the coating agent emerging from the application agent.
  • the movement means in particular the industrial robot, preferably aligns the workpiece before it is processed. This can be done by measuring and / or by means of a defined stop. As a result of the alignment, the industrial robot knows what position the workpiece is in relative to the robot arm and can regulate its movement accordingly.
  • the device preferably has a control / regulation system which controls / regulates the individual stations of the device.
  • the control / regulation preferably has a means which detects the position of the workpiece in space and / or its movement.
  • the stations are controlled / regulated depending on this. For example, the coating nozzles are switched 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 can change or remain the same during machining.
  • One object of the present invention is a method for coating the peripheral edge of a workpiece having the features of claim 1.
  • the peripheral edge of a workpiece is coated with a coating device described above.
  • the workpiece is rotated in the process.
  • a narrow area is usually painted twice. This double coat of paint is removed when it is passed the second time and / or distributed to the neighboring parts of the peripheral edge.
  • different process conditions prevail at / in the coating head, at least temporarily, during the first passage than during the second passage.
  • coating agent is applied on the first pass and not on the second pass.
  • the air flow is activated for the second painting.
  • any double-applied coating agent is distributed and / or removed so that no lenses or noses arise.
  • a coating agent is applied to the workpiece and any excess coating agent is removed by means of an air stream.
  • coating agent is removed and / or distributed in particular by the air stream.
  • 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 on the first and second pass.
  • the workpiece executes a circular motion when it passes through it for the first time and a spiral movement when it passes it again.
  • the position of the axis of rotation changes.
  • the distance between the axis of rotation and the coating agent preferably increases when the respective section of the peripheral edge is passed for the second time.
  • Figure 1 shows a first embodiment of the method according to the invention.
  • the workpiece which can have, for example, round or rectangular or any other shape and which can consist of metal, wood, plastic or a combination of these materials, is via an infeed conveyor 1, for example an endless belt or a clamping device, for example a lathe chuck, which is via a Shifting device is moved, moved into the working area of the moving means 2, which in the present case is designed as an industrial robot.
  • the arm of the industrial robot 2 in this example is equipped with a first and a second lever, the second lever being provided at the end of the first lever. The angle between the two levers can be changed. In addition, the angle of the first lever relative to the attachment of the industrial robot can be changed.
  • the industrial robot is provided as a whole about a vertically rotatable axis.
  • at least one of the levers preferably both levers, can preferably rotate about a longitudinal axis.
  • a gripper is provided in particular in an articulated manner, which is preferably designed as a suction gripper that secures itself to the workpiece so that it can be lifted and moved without changing the position of the workpiece relative to the gripper.
  • the industrial robot grabs the workpiece and aligns it. Alternatively, the workpiece is already aligned when it is at the end of the infeed conveyor.
  • Alignment by means of the industrial robot takes place either by measuring the workpiece, for example above the infeed conveyor and / or by shifting the workpiece, for example by means of the industrial robot against a defined stop, for example the infeed conveyor.
  • a coating preparation station for example a grinding station 3.
  • This coating preparation station only has to be present as an option.
  • the edge of the workpiece is then coated in a coating device 4.
  • This coating device has a coating head in which one or more coating nozzles are present which apply a coating agent, for example a lacquer, to the edge of the workpiece.
  • an air flow is present in the coating head, which is generated by a negative pressure applied to the coating head in order to remove excess coating material from the edge of the workpiece and / or to distribute the coating agent on the peripheral edge.
  • the workpiece preferably moves relative to the coating head which is stationary during coating.
  • the entire peripheral edge of the workpiece is preferably coated.
  • the industrial robot preferably rotates the workpiece about a vertical axis of rotation during the coating. Alternatively or additionally, however, it is also possible to move the coating device relative to the workpiece. After the circumferential edge has been at least partially provided with a coating agent, the industrial robot transports the workpiece to a drying facility 5.
  • the industrial robot also moves the workpiece in particular relative to the preferably stationary drying facility. Alternatively or additionally, however, it is also possible to move the drying system relative to the workpiece.
  • the machining process can be repeated depending on the surface requirements.
  • the workpiece is optionally again transported by the industrial robot to an outfeed 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 preferably designed to be comparatively narrow. In particular, its extension parallel to the direction of movement of the workpiece is less than 20 mm.
  • the coating agent is preferably injected into the coating head from 3 or 4 sides, two nozzles in each case preferably being provided at a 45-180 ° angle to one another.
  • the dryer can be, for example, a UV dryer or an IR dryer. However, there can be several dryers that can be activated independently of each other.
  • the UV emitters are, for example, gallium and / or mercury UV emitters,
  • Figure 2 shows a further embodiment of the device.
  • two industrial robots 2 are provided, which can be constructed identically or differently.
  • a storage and / or transport means 7 is preferably located between the two industrial robots.
  • the cycle time for processing a workpiece can be divided between 2 industrial robots.
  • the first industrial robot transports the workpiece during the preparation, here grinding work.
  • the second industrial robot moves the workpiece while it is being coated and / or dried.
  • An additional storage or transport means 7 can be provided between the two industrial robots, on which the workpieces are placed after and / or before their coating and / or on which the workpieces are placed and / or transported after they have been coated so that they are ready for painting again can be fed.
  • the person skilled in the art understands that there can also be more than two industrial robots.
  • Figure 4 Fig. 10 shows an embodiment of the device in which the coating head 4 is provided on the arm of the industrial robot.
  • the person skilled in the art understands that the coating preparation 3 and / or the drying 5 can also be provided on the robot arm.
  • the workpiece 9 is stationary during the coating and / or is moved by a transport means 10, here 2 conveyor belts.
  • the transport means 10 can also only be used to transport the workpiece 9 into the working area of the industrial robot.
  • Figure 5 shows the painting, grinding and drying of a workpiece.
  • the painting of the workpiece is shown. It can be clearly seen that first the peripheral edge 9a, then the peripheral edge 9b, then the peripheral edge 9c and finally the peripheral edge 9d is painted.
  • the pump that supplies the nozzles with coating agent is activated.
  • the workpiece is rotated counterclockwise during painting.
  • the workpiece can also stand still and the coating head moves.
  • the painting nozzles are deactivated, but the workpiece is transported further along the coating head as indicated by arrow 12.
  • the air flow in the coating head which is preferably created by the applied negative pressure.
  • the workpiece In the event that it is a round component, the workpiece is rotated further in the same direction after a 360 ° rotation and is slowly pulled out of the coating head.
  • the workpiece consequently makes a spiral movement in sections.
  • the distance between the axis of rotation of the workpiece and the coating head increases.
  • the air flow in the coating head remains activated and preferably increases. As a result, coating material in the area of the double coating is distributed in particular to the neighboring area and this area of the double coating is thus finished.
  • the workpiece is also rotated about an axis of rotation, which is shown by the arrow, during grinding.
  • the circumferential edge is ground during the entire turning process.
  • the industrial robot removes the workpiece from the abrasive.

Description

Vorrichtung zur zumindest teilweisen, vorzugsweise vollständigen Beschichtung der Umlaufkante eines Werkstücks mit einer Beschichtungsvorrichtung, die einen Beschichtungskopf aufweist, wobei an/in dem Beschichtungskopf ein Beschichtungsapplikationsmittel, das die Beschichtung auf die Umlaufkante aufträgt und ein Luftstrom vorgesehen ist, der überschüssige Beschichtung von der Kante abträgt wobei das Werkstück und der Beschichtungskopf relativ zueinander bewegt werden. Des Weiteren betrifft die vorliegende Erfindung ein Verfahren zum Beschichten der Umlaufkante eines Werkstücks mit einem Beschichtungskopf.Device for at least partial, preferably complete coating of the circumferential edge of a workpiece with a coating device which has a coating head, with a coating application means on / in the coating head which applies the coating to the circumferential edge and an air stream is provided which removes excess coating from the edge wherein the workpiece and the coating head are moved relative to one another. The present invention also relates to a method for coating the peripheral edge of a workpiece with a coating head.

Derartige Vorrichtungen bzw. Verfahren sind aus dem Stand der Technik, beispielsweise aus US 2011/0 059 257 A1 und DE 296 17 525 U1 , bekannt und werden beispielsweise zur Beschichtung der Kanten von Parkett oder Fensterprofilen eingesetzt. Dabei wird das Werkstück auf ein Transportband aufgelegt und entlang eines Beschichtungskopfes geführt, der die Beschichtung, beispielsweise einen Lack oder einen Klebstoff auf die Kante aufträgt. Diese Vorrichtungen sind jedoch für komplexe Bauteile ungeeignet.Such devices and methods are from the prior art, for example from US 2011/0 059 257 A1 and DE 296 17 525 U1 , known and are used, for example, to coat 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, for example a lacquer or an adhesive, to the edge. However, these devices are unsuitable for complex components.

Es war deshalb die Aufgabe der vorliegenden Erfindung ein Verfahren zur Verfügung zu stellen, die/das die Nachteile des Standes der Technik nicht aufweist. Beschrieben wird zunächst eine Vorrichtung zur zumindest teilweisen, vorzugsweise vollständigen, Beschichtung der Umlaufkante eines Werkstücks mit einer Beschichtungsvorrichtung, die einen Beschichtungskopf aufweist, wobei an/in dem Beschichtungskopf ein Beschichtungsapplikationsmittel, das die Beschichtung auf die Umlaufkante aufträgt und ein Luftstrom vorgesehen ist, der überschüssige Beschichtung von der Kante abträgt, wobei das Werkstück und der Beschichtungskopf relativ zueinander bewegt werden, wobei die Bewegung durch ein Bewegungsmittel erfolgt und in mindestens zwei Raumrichtungen erfolgt.It was therefore the object of the present invention to provide a method which does not have the disadvantages of the prior art. First of all, a device is described for at least partial, preferably complete, coating of the peripheral edge of a workpiece with a coating device which has a coating head, with a coating application means on / in the coating head which applies the coating to the peripheral edge and an air flow is provided, the excess Removes coating from the edge, the workpiece and the coating head being moved relative to one another, the movement being carried out by a movement means and taking place in at least two spatial directions.

Die zu diesem Gegenstand gemachten Ausführungen gelten für das erfindungsgemäße Verfahren gleichermaßen.The statements made on this subject apply equally to the method according to the invention.

Die vorliegende Beschreibung betrifft eine Beschichtungsvorrichtung, die beispielsweise einen Lack, insbesondere einen wasserbasierten Lack und/oder einen Klebstoff und/oder ein Kunststoffmaterial, beispielsweise eine Dichtung auf mindestens einen Teil der Umlaufkante eines Werkstücks aufträgt. Das Werkstück kann aus Holz, Metall Kunststoff oder einer Kombination aus diesen Werkstoffen gefertigt sein. Das Werkstück kann beispielsweise rechteckig, quadratisch, rund, elliptisch oder eine sonstige beliebige Form aufweisen.The present description 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. The workpiece can be made of wood, metal, plastic or a combination of these materials. The workpiece can have, for example, rectangular, square, round, elliptical or any other shape.

Insbesondere ist das Werkstück plattenartig vorgesehen, d.h. eine Dimension ist wesentlich kleiner als die beiden anderen. Immer wird zumindest ein Teil der Umlaufkante, vorzugsweise die vollständige Umlaufkante mit einem Beschichtungsmittel versehen, wobei es wichtig sein kann, dass die Beschichtung gleichmäßig vorgesehen ist, insbesondere dass keine Lacklinsen vorhanden sind.In particular, the workpiece is provided in the form of a plate, i. one dimension is much smaller than the other two. At least part of the circumferential edge, preferably the complete circumferential edge, is always provided with a coating agent, whereby it can be important that the coating is provided uniformly, in particular that no lacquer lenses are present.

Die Beschichtungsvorrichtung weist einen Beschichtungskopf oder die Applikationskammer auf, durch den der Lackauftrag erfolgt, wobei beim Beschichten zwischen dem Auftragskopf und dem Werkstück eine Relativbewegung vorhanden ist. Vorzugsweise ist der Beschichtungskopf oder die Applikationskammer ortsfest und das Werkstück bewegt sich relativ zu dem Beschichtungskopf. Weiterhin erfindungsgemäß wird die Schichtdicke, mit der der Lack auf das Werkstück aufgetragen wird durch einen Luftstrom reguliert, der überschüssigen Lack von dem Werkstück wieder entfernt und/oder gleichmäßig auf dem Werkstück verteilt. Dieser Luftstrom wird vorzugsweise dadurch erzeugt, dass an den Beschichtungskopf oder die Applikationskammer ein Unterdruck angelegt wird, mit dem Luft durch einen Spalt zwischen dem Werkstück und dem Beschichtungskopf oder die Applikationskammer gesaugt wird, der überschüssigen Lack von dem Werkstück abstreift.The coating device has a coating head or the application chamber through which the paint is applied, a relative movement being present between the application head and the workpiece during coating. The coating head or the application chamber is preferably stationary and the workpiece moves relative to the coating head. Furthermore, according to the invention, the layer thickness with which the paint is applied to the workpiece is regulated by an air stream, which removes excess paint from the workpiece and / or distributes it evenly on the workpiece. This air flow is preferably generated in that a negative pressure is applied to the coating head or the application chamber, with which air is sucked through a gap between the workpiece and the coating head or the application chamber, which wipes off excess paint from the workpiece.

Vorzugsweise wird dieser Luftstrom stromabwärts von dem Beschichtungskopf oder der Applikationskammer einem Abscheidesystem zugeführt, das die Lackbestandteile zumindest teilweise, vorzugsweise nahezu vollständig, aus dem Luftstrom entfernt.This air flow is preferably fed to a separation system downstream of the coating head or the application chamber, which removes the paint components at least partially, preferably almost completely, from the air flow.

Die Vorrichtung weist nun ein Bewegungsmittel auf, das das Werkstück oder die Beschichtungsvorrichtung in mindestens zwei Raumrichtungen bewegt. Dadurch können auch die Kanten von komplexen Bauteilen und/oder die gesamte Umlaufkante eines Werkstückes beschichtet werden.The device now has a moving means which moves the workpiece or the coating device in at least two spatial directions. As a result, the edges of complex components and / or the entire peripheral edge of a workpiece can also be coated.

Vorzugsweise handelt es sich bei dem Bewegungsmittel um einen Industrieroboter. Ein Industrieroboter ist eine vorzugsweise universelle, programmierbare Maschine. Die Maschine besteht im Allgemeinen aus einem Manipulator auch Roboterarm genannt, einer Steuerung und einem Effektor, hier einem Greifer, der das Werkstück, ergreift und/oder mit der Beschichtungsvorrichtung verbindbar ist. Vorzugsweise ist der Effektor ein Saugmittel, mit dem das Werkstück reversibel verbunden werden kann. Vorzugsweise wird der Industrieroboter mit einem oder mehreren Sensoren ausgerüstet, um beispielsweise die Kontur des Werkstücks zu erfassen. Einmal programmiert ist die Maschine in der Lage, einen Arbeitsablauf autonom durchzuführen, oder die Ausführung der Aufgabe abhängig von Sensorinformationen in Grenzen zu variieren.The moving means is preferably an industrial robot. An industrial robot is preferably a universal, programmable machine. The machine generally consists of a manipulator, also called a robot arm, a controller and an effector, here a gripper, which grips the workpiece and / or can be connected to the coating device. The effector is preferably a suction means with which the workpiece can be reversibly connected. The industrial robot is preferably equipped with one or more sensors in order, for example, to detect the contour of the workpiece. Once programmed, the machine is able to carry out a work process autonomously or to vary the execution of the task within limits depending on sensor information.

Vorzugsweise weist der Industrieroboterarm mindestens zwei Hebel auf, die durch ein Gelenk relativ zueinander bewegbar sind. Vorzugsweise können die beiden Hebel ihren Winkel zueinander verändern und/oder sich relativ zueinander drehen. Der Roboterarm ist vorzugsweise insgesamt relativ zu seinem Lager drehbar vorgesehen. Der Effektor ist vorzugsweise beweglich an dem einen Ende eines Hebels vorgesehen. Vorzugsweise ist mindestens ein, vorzugsweise beide Hebel um ihre Längsachse drehbar vorgesehen.The industrial robot arm preferably has at least two levers which can be moved relative to one another by means of a joint. The two levers can preferably change their angle to one another and / or rotate relative to one another. The robot arm is preferably provided as a whole rotatable relative to its bearing. The effector is preferably provided movably at one end of a lever. At least one, preferably both, levers are preferably provided such that they can rotate about their longitudinal axis.

Mit dem Effektor wird das Werkstück oder ein Bearbeitungsmittel, beispielsweise die Beschichtungsvorrichtung reversibel an dem Roboterarm befestigt. Vorzugsweise ist der Effektor ein Sauggreifer.With the effector, the workpiece or a processing means, for example the coating device, is reversibly attached to the robot arm. The effector is preferably a suction gripper.

Vorzugsweise erfolgt die Bewegung des Werkstücks in einer Ebene, die insbesondere horizontal ausgerichtet ist. Bedarfsweise kann die Bewegung des Werkstücks auf mehreren Ebenen stattfinden, beispielsweise damit sich Bearbeitungsbereiche ohne Kollisionsgefahr überschneiden können.The workpiece is preferably moved in a plane which, in particular, is oriented horizontally. If necessary, the workpiece can be moved on several levels, for example so that machining areas can overlap without the risk of collision.

Vorzugsweise bewegt das Bewegungsmittel das Werkstück und/oder den Beschichtungskopf oder ein anderes Bearbeitungs- oder Trocknungswerkzeug in mindestens zwei in einem Winkel zueinander vorgesehenen Raumrichtungen. Dadurch werden insbesondere die Umlaufkante des Werkstücks und das entsprechende Werkzeug relativ zueinander bewegt.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 one another.

Vorzugsweise dreht das Bewegungsmittel das Werkstück, insbesondere um eine horizontale Drehachse, wobei das Werkstück selbst nicht rotationssymmetrisch sein muss, aber sein kann.The movement means preferably rotates the workpiece, in particular about a horizontal axis of rotation, the workpiece itself not having to be rotationally symmetrical, but being able to be.

Das Beschichtungsmittel weist ein Mittel zur Erzeugung eines Luftstroms auf. Bei diesem Mittel handelt es sich insbesondere um einen Unterdruck in der Beschichtungskammer oder in dem Beschichtungskopf. Dadurch wird zwischen dem Beschichtungsmittel und dem Werkstück Luft in die Beschichtungskammer gesaugt, die entlang des Werkstücks streicht und dadurch überschüssiges Beschichtungsmaterial von dem Werkstück entfernt und/oder auf dem Werkzeug verteilt, d.h. schlichtet.The coating agent has a means for generating an air flow. This means is, in particular, a negative pressure in the coating chamber or in the coating head. As a result, air is sucked into the coating chamber between the coating agent and the workpiece, which brushes along the workpiece and thereby removes excess coating material from the workpiece and / or spreads it on the tool, i.e. arbitrates.

Das Beschichtungsmittel, insbesondere die Beschichtungskammer weist außerdem ein oder mehrere, insbesondere vier Mittel, beispielsweise Düsen auf, um das Beschichtungsmittel auf die Kante des Werkstücks aufzutragen. Vorzugsweise sind der Luftstrom und/oder das Auftragungsmittel getrennt voneinander steuer- und/oder regelbar, insbesondere an- und abschaltbar. Besonders bevorzugt ist es möglich den Luftstrom aufrecht zu halten, ohne dass Beschichtungsmittel aus den Auftragsmitteln austritt.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 can preferably be controlled and / or regulated separately from one another, in particular can be switched on and off. It is particularly preferably possible to maintain the air flow without the coating agent emerging from the application agent.

Vorzugsweise richtet das Bewegungsmittel, insbesondere der Industrieroboter, das Werkstück vor dessen Bearbeitung aus. Dies kann durch Vermessen und/oder mittels eines definierten Anschlags erfolgen. Durch die Ausrichtung weiß der Industrieroboter in welcher Lage sich das Werkstück relativ zu dem Roboterarm befindet und kann dessen Bewegung entsprechend regeln.The movement means, in particular the industrial robot, preferably aligns the workpiece before it is processed. This can be done by measuring and / or by means of a defined stop. As a result of the alignment, the industrial robot knows what position the workpiece is in relative to the robot arm and can regulate its movement accordingly.

Vorzugsweise weist die Vorrichtung eine Steuerung/Regelung auf, die die einzelnen Stationen der Vorrichtung steuert/regelt. Vorzugsweise weist die Steuerung/Regelung ein Mittel auf, das die Position des Werkstücks im Raum und/oder dessen Bewegung erfasst. Abhängig davon werden die Stationen gesteuert/geregelt. Beispielsweise werden die Beschichtungsdüsen abgeschaltet, kurz bevor, nach oder bei einer 360°-Drehung des Werkstücks und/oder die Drehachse des Werkstücks wird verschoben, sobald oder nachdem das Werkstück sich um 360° gedreht hat.The device preferably has a control / regulation system which controls / regulates the individual stations of the device. The control / regulation preferably has a means which detects the position of the workpiece in space and / or its movement. The stations are controlled / regulated depending on this. For example, the coating nozzles are switched 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 °.

Die Bewegungsgeschwindigkeit des Werkstücks kann sich bei dessen Bearbeitung verändern oder gleichbleiben.The speed of movement of the workpiece can change or remain the same during machining.

Ein Gegenstand der vorliegenden Erfindung ist ein Verfahren zum Beschichten der Umlaufkante eines Werkstücks mit den Merkmalen des Patentanspruchs 1.One object of the present invention is a method for coating the peripheral edge of a workpiece having the features of claim 1.

Erfindungsgemäß wird die Umlaufkante eines Werkstücks mit einer vorstehend beschriebenen Beschichtungsvorrichtung beschichtet. Beispielsweise wird das Werkstück dabei gedreht. Um sicherzustellen, dass die Beschichtung überall, d.h. entlang der gesamten Umlaufkante erfolgt ist, wird in der Regel ein schmaler Bereich doppelt lackiert. Diese Doppellackierung wird beim zweiten Passieren abgetragen und/oder auf die benachbarten Teile der Umlaufkante verteilt.According to the invention, the peripheral edge of a workpiece is coated with a coating device described above. For example, the workpiece is rotated in the process. To ensure that the coating is everywhere i.e. has taken place along the entire circumferential edge, a narrow area is usually painted twice. This double coat of paint is removed when it is passed the second time and / or distributed to the neighboring parts of the peripheral edge.

Vorzugsweise herrschen an/in dem Beschichtungskopf zumindest zeitweise beim ersten Passieren andere Prozessbedingungen als beim zweiten Passieren. Beispielsweise wird beim ersten Passieren Beschichtungsmittel aufgetragen und beim zweiten Passieren nicht. Dafür ist beim zweiten Lackieren der Luftstrom aktiviert. Dadurch wird beim zweiten Passieren eventuell doppelt aufgetragenes Beschichtungsmittel verteilt und/oder abgetragen, so dass keine Linsen oder Nasen entstehen.Preferably, different process conditions prevail at / in the coating head, at least temporarily, during the first passage than during the second passage. For example, coating agent is applied on the first pass and not on the second pass. The air flow is activated for the second painting. As a result, on the second pass, any double-applied coating agent is distributed and / or removed so that no lenses or noses arise.

Erfindungsgemäß wird beim ersten Passieren ein Beschichtungsmittel auf das Werkstück aufgetragen und gegebenenfalls überschüssiges Beschichtungsmittel mittels eines Luftstroms abgetragen.According to the invention, when it is passed for the first time, a coating agent is applied to the workpiece and any excess coating agent is removed by means of an air stream.

Erfindungsgemäß wird beim zweiten Passieren Beschichtungsmittel insbesondere durch den Luftstrom abtragen und/oder verteilt. Beim zweiten Passieren strömt vorzugsweise kein Beschichtungsmittel aus den Beschichtungsdüsen des Beschichtungskopfes.According to the invention, during the second passage, coating agent is removed and / or distributed in particular by the air stream. During the second passage, preferably no coating agent flows out of the coating nozzles of the coating head.

Vorzugsweise ist die Relativbewegung zwischen Werkstück und Beschichtungskopf beim ersten und beim zweiten Passieren unterschiedlich. Beispielsweise vollführt das Werkstück beim ersten Passieren eine Kreis- und beim zweiten Passieren eine Spiralbewegung, d.h. die Lage der Drehachse verändert sich. Vorzugsweise vergrößert sich der Abstand zwischen Drehachse und Beschichtungsmittel beim zweiten Passieren des jeweiligen Abschnitts der Umlaufkante.The relative movement between the workpiece and the coating head is preferably different on the first and second pass. For example, the workpiece executes a circular motion when it passes through it for the first time and a spiral movement when it passes it again. the position of the axis of rotation changes. The distance between the axis of rotation and the coating agent preferably increases when the respective section of the peripheral edge is passed for the second time.

Im Folgenden werden die Erfindungen anhand der Figuren erläutert. Diese Erläuterungen sind lediglich beispielhaft und schränken den allgemeinen Erfindungsgedanken nicht ein.

  • Figur 1 zeigt eine Erstausführungsform der Vorrichtung.
  • Figur 2 zeigt eine weitere Ausführungsform der Vorrichtung.
  • Figur 3 zeigt eine Ausführungsform, bei der die Beschichtungsvorrichtung relativ zu dem Industrieroboter bewegbar vorgesehen ist.
  • Figur 4 zeigt eine Ausführungsform, bei der die Beschichtungsvorrichtung an dem Industrieroboter angeordnet ist.
  • Figur 5 zeigt eine Ausführungsform, des erfindungsgemäßen Verfahrens.
The inventions are explained below with reference to the figures. These explanations are merely exemplary and do not restrict the general inventive concept.
  • Figure 1 Figure 3 shows an initial embodiment of the device.
  • Figure 2 shows a further embodiment of the device.
  • Figure 3 shows an embodiment in which the coating device is provided movable relative to the industrial robot.
  • Figure 4 shows an embodiment in which the coating device is arranged on the industrial robot.
  • Figure 5 shows an embodiment of the method according to the invention.

Figur 1 zeigt eine erste Ausführungsform des erfindungsgemäßen Verfahrens. Das Werkstück, das beispielsweise rund oder rechteckig oder eine sonstige beliebige Form aufweisen kann und das beispielsweise aus Metall, Holz, Kunststoff oder einer Kombination dieser Werkstoffe bestehen kann, wird über einen Einlaufförderer 1 beispielsweise ein Endlosband oder eine Spannvorrichtung beispielsweise ein Drehfutter, welches über eine Verschiebevorrichtung bewegt wird, in den Arbeitsbereich des Bewegungsmittels 2, das in dem vorliegendem Fall als Industrieroboter ausgeführt ist, bewegt. Der Arm des Industrieroboters 2 ist bei diesem Beispiel mit einem ersten und einem zweiten Hebel ausgestattet, wobei der zweite Hebel an dem Ende des ersten Hebels vorgesehen ist. Der Winkel beider Hebel zueinander ist veränderbar. Außerdem ist auch der Winkel des ersten Hebels relativ zur Befestigung des Industrieroboters veränderbar. Der Industrieroboter ist insgesamt um eine vertikal drehbare Achse vorgesehen. Vorzugsweise kann sich außerdem mindestens einer der Hebel, vorzugsweise beide Hebel, um eine Längsachse drehen. Am Ende des zweiten Hebels ist insbesondere gelenkig ein Greifer vorgesehen, der vorzugsweise als Sauggreifer ausgebildet ist, der sich an dem Werkstück festsaugt, sodass dieses anhebbar und bewegbar ist, ohne dass sich die Lage des Werkstücks relativ zu dem Greifer verändert. Der Industrieroboter greift das Werkstück und richtet dieses aus. Alternativ ist das Werkstück bereits ausgerichtet, wenn sich dieses am Ende des Einlaufförderers befindet. Die Ausrichtung mittels des Industrieroboters erfolgt entweder über eine Vermessung des Werkstücks, beispielsweise oberhalb des Einlaufförderers und/oder durch eine Verschiebung des Werkstücks, beispielsweise mittels des Industrieroboters gegen einen definierten Anschlag, beispielsweise des Einlaufförderers. Nachdem der Industrieroboter das Werkstück ergriffen hat, transportiert dieser dieses beispielsweise zu einer Beschichtungsvorbereitungsstation, beispielsweise einer Schleifstation 3. Der Fachmann versteht, dass diese Beschichtungsvorbereitungsstation jedoch nur optional vorhanden sein muss. Danach erfolgt die Beschichtung der Kante des Werkstücks in einer Beschichtungsvorrichtung 4. Diese Beschichtungsvorrichtung weist einen Beschichtungskopf auf, in dem eine oder mehrere Beschichtungsdüsen vorhanden sind, die ein Beschichtungsmittel, beispielsweise einen Lack, auf die Kante des Werkstücks auftragen. Erfindungsgemäß ist in dem Beschichtungskopf ein Luftstrom vorhanden, der durch einen Unterdruck, der an dem Beschichtungskopf anliegt, erzeugt wird, um überschüssiges Beschichtungsmaterial von der Kante des Werkstücks abzutragen und/oder um das Beschichtungsmittel auf der Umlaufkante zu verteilen. Beim Beschichten bewegt sich vorzugsweise das Werkstück relativ zu dem beim Beschichten ortsfesten Beschichtungskopf. Vorzugsweise erfolgt die Beschichtung der gesamten Umlaufkante des Werkstücks. Dafür dreht der Industrieroboter das Werkstück vorzugsweise um eine vertikale Drehachse während des Beschichtens. Alternativ oder zusätzlich ist es aber auch möglich die Beschichtungsvorrichtung relativ zu dem Werkstück zu bewegen. Nachdem die Umlaufkante zumindest teilweise mit einem Beschichtungsmittel versehen worden ist, transportiert der Industrieroboter das Werkstück zu einer Trocknung 5. Auch beim Trocknen bewegt der Industrieroboter das Werkstück insbesondere relativ zu der vorzugsweise ortsfesten Trocknung. Alternativ oder zusätzlich ist es aber auch möglich die Trocknung relativ zu dem Werkstück zu bewegen. Abhängig von der Oberflächenanforderung kann der Bearbeitungsvorgang wiederholt werden. Nachdem die Beschichtung zumindest teilweise getrocknet worden ist, wird das Werkstück optional wiederum von dem Industrieroboter zu einem Auslaufförderer 6 transportiert, der das Werkstück aus dem Arbeitsbereich des Roboters heraus bewegt. Figure 1 shows a first embodiment of the method according to the invention. The workpiece, which can have, for example, round or rectangular or any other shape and which can consist of metal, wood, plastic or a combination of these materials, is via an infeed conveyor 1, for example an endless belt or a clamping device, for example a lathe chuck, which is via a Shifting device is moved, moved into the working area of the moving means 2, which in the present case is designed as an industrial robot. The arm of the industrial robot 2 in this example is equipped with a first and a second lever, the second lever being provided at the end of the first lever. The angle between the two levers can be changed. In addition, the angle of the first lever relative to the attachment of the industrial robot can be changed. The industrial robot is provided as a whole about a vertically rotatable axis. In addition, at least one of the levers, preferably both levers, can preferably rotate about a longitudinal axis. At the end of the second lever, a gripper is provided in particular in an articulated manner, which is preferably designed as a suction gripper that secures itself to the workpiece so that it can be lifted and moved without changing the position of the workpiece relative to the gripper. The industrial robot grabs the workpiece and aligns it. Alternatively, the workpiece is already aligned when it is at the end of the infeed conveyor. Alignment by means of the industrial robot takes place either by measuring the workpiece, for example above the infeed conveyor and / or by shifting the workpiece, for example by means of the industrial robot against a defined stop, for example the infeed conveyor. After the industrial robot has grasped the workpiece, it transports it, for example, to a coating preparation station, for example a grinding station 3. The person skilled in the art understands that this coating preparation station only has to be present as an option. The edge of the workpiece is then coated in a coating device 4. This coating device has a coating head in which one or more coating nozzles are present which apply a coating agent, for example a lacquer, to the edge of the workpiece. According to the invention, an air flow is present in the coating head, which is generated by a negative pressure applied to the coating head in order to remove excess coating material from the edge of the workpiece and / or to distribute the coating agent on the peripheral edge. During coating, the workpiece preferably moves relative to the coating head which is stationary during coating. The entire peripheral edge of the workpiece is preferably coated. For this, the industrial robot preferably rotates the workpiece about a vertical axis of rotation during the coating. Alternatively or additionally, however, it is also possible to move the coating device relative to the workpiece. After the circumferential edge has been at least partially provided with a coating agent, the industrial robot transports the workpiece to a drying facility 5. During drying, the industrial robot also moves the workpiece in particular relative to the preferably stationary drying facility. Alternatively or additionally, however, it is also possible to move the drying system relative to the workpiece. The machining process can be repeated depending on the surface requirements. After the coating has been at least partially dried, the workpiece is optionally again transported by the industrial robot to an outfeed conveyor 6, which moves the workpiece out of the working area of the robot.

Die Bearbeitungsstationen können entweder dem Roboter abgewandt oder um den Fuß des Roboters herum angeordnet sein.The processing stations can either face away from the robot or be arranged around the foot of the robot.

Vorzugsweise ist der Beschichtungskopf vergleichsweise schmal ausgeführt. Insbesondere beträgt seine Erstreckung parallel zu der Bewegungsrichtung des Werkstückes weniger als 20 mm. Vorzugsweise erfolgt die Beschichtungsmitteleinspritzung in den Beschichtungskopf von 3 oder 4 Seiten, wobei jeweils zwei Düsen vorzugsweise in einem 45 - 180° Winkel zueinander vorgesehen sind.The coating head is preferably designed to be comparatively narrow. In particular, its extension parallel to the direction of movement of the workpiece is less than 20 mm. The coating agent is preferably injected into the coating head from 3 or 4 sides, two nozzles in each case preferably being provided at a 45-180 ° angle to one another.

Bei dem Trockner kann es sich beispielsweise um einen UV-Trockner oder einen IR-Trockner handeln. Es können jedoch mehrere Trockner vorhanden sein, die unabhängig voneinander aktiviert werden können. Bei den UV-Strahlern handelt es sich beispielsweise um Gallium- und / oder Quecksilber-UV-Strahler,The dryer can be, for example, a UV dryer or an IR dryer. However, there can be several dryers that can be activated independently of each other. The UV emitters are, for example, gallium and / or mercury UV emitters,

Der Fachmann versteht, dass ein Werkstück eine Bearbeitungsstation mehrfach anlaufen kann. Beispielsweise kann ein Arbeitsablauf wie folgt aussehen:

  • Auflegen des Werkstücks
  • Einfördern in den Arbeitsbereich des Industrieroboters
  • Aufnahme und /oder Ausrichtung des Werkstücks durch den Industrieroboter
  • Schleifen mindestens einer Kante, vorzugsweise der gesamten Umlaufkante, des Werkstücks
  • Lackieren mindestens einer, vorzugsweise der gesamten, Umlaufkante des Werkstücks
  • Trocknen der beschichteten Kanten
  • Ablegen des Werkstücks auf den Auslaufförderer
  • Ausfördern des Werkzeugs.
The person skilled in the art understands that a workpiece can approach a processing station several times. For example, a workflow can look like this:
  • Place the workpiece
  • Feeding into the working area of the industrial robot
  • Pick-up and / or alignment of the workpiece by the industrial robot
  • Grinding of at least one edge, preferably the entire peripheral edge, of the workpiece
  • Painting at least one, preferably the entire, peripheral edge of the workpiece
  • Drying the coated edges
  • Depositing the workpiece on the outfeed conveyor
  • Conveying the tool.

Ein Arbeitsablauf, bei dem die Kanten zweimal lackiert werden, kann beispielsweise wie folgt aussehen:

  • Auflegen des Werkstücks
  • Einfördern des Werkstücks in den Arbeitsbereich des Industrieroboters
  • Aufnahme und Ausrichtung des Werkstücks, beispielsweise durch den Industrieroboter
  • Schleifen mindestens einer Kante, vorzugsweise der gesamten Umlaufkante
  • Lackieren zumindest eines Teilbereichs, vorzugsweise der vollständigen Umlaufkante
  • Trocknen der beschichteten Bereiche
  • Schleifen zumindest eines Teilbereichs, vorzugsweise der vollständigen der Umlaufkante
  • Lackieren zumindest eines Teilbereichs, vorzugsweise der vollständigen Umlaufkante
  • Trocknung des erneut beschichteten Bereichs der Umlaufkante
  • Ablegen des Werkstücks auf den Auslaufförderer
  • Ausfördern des Werkstücks.
For example, a workflow in which the edges are painted twice could look like this:
  • Place the workpiece
  • Conveying the workpiece into the working area of the industrial robot
  • Pick-up and alignment of the workpiece, for example by the industrial robot
  • Grinding at least one edge, preferably the entire circumferential edge
  • Painting of at least a partial area, preferably the complete peripheral edge
  • Drying the coated areas
  • Grinding of at least a partial area, preferably the whole of the peripheral edge
  • Painting of at least a partial area, preferably the complete peripheral edge
  • Drying of the recoated area of the peripheral edge
  • Depositing the workpiece on the outfeed conveyor
  • Conveying the workpiece.

Figur 2 zeigt eine weitere Ausführungsform der Vorrichtung. Im Vergleich zu der Ausführungsform gemäß Figur 2 sind in dem vorliegenden Fall zwei Industrieroboter 2 vorgesehen, die baugleich oder unterschiedlich ausgeführt sein können. Vorzugsweise befindet sich zwischen den beiden Industrierobotern ein Ablage- und / oder Transportmittel 7. Bei der vorliegenden Ausführungsform kann die Zykluszeit der Bearbeitung eines Werkstücks auf 2 Industrieroboter aufgeteilt werden. Beispielsweise erfüllt der erste Industrieroboter den Transport des Werkstücks während der Vorbereitungs-, hier Schleifarbeiten. Der zweite Industrieroboter bewegt das Werkstück bei dessen Beschichtung und / oder Trocknung. Zwischen den beiden Industrierobotern kann ein zusätzliches Ablage- oder Transportmittel 7 vorgesehen werden, auf dem die Werkstücke nach und/oder vor deren Beschichtung abgelegt werden und/oder auf dem die Werkstücke nach deren Beschichtung abgelegt und / oder transportiert werden, damit sie erneut der Lackiervorbereitung zugeführt werden können. Der Fachmann versteht, dass auch mehr als zwei Industrieroboter vorhanden sein können. Figure 2 shows a further embodiment of the device. In comparison to the embodiment according to Figure 2 In the present case, two industrial robots 2 are provided, which can be constructed identically or differently. A storage and / or transport means 7 is preferably located between the two industrial robots. In the present embodiment, the cycle time for processing a workpiece can be divided between 2 industrial robots. For example, the first industrial robot transports the workpiece during the preparation, here grinding work. The second industrial robot moves the workpiece while it is being coated and / or dried. An additional storage or transport means 7 can be provided between the two industrial robots, on which the workpieces are placed after and / or before their coating and / or on which the workpieces are placed and / or transported after they have been coated so that they are ready for painting again can be fed. The person skilled in the art understands that there can also be more than two industrial robots.

Figur 3 zeigt eine weitere Ausführungsform der Vorrichtung. In dem vorliegenden Fall ist beispielsweise die Beschichtungsvorrichtung, die Beschichtungsvorbereitung 3 und / oder die Trocknung relativ zu dem Arbeitsbereich 8 des Roboters beweglich vorgesehen. Die Bewegung dieser Stationen erfolgt vor und/oder während des jeweiligen Arbeitsgangs. Die Bewegung einer oder mehrerer der Stationen 3 - 5 hat insbesondere den Vorteil, dass Werkstücke mit unterschiedlicher Größe an den Arbeitsbereich des Industrieroboters angepasst werden können. Figure 3 shows a further embodiment of the device. In the present case, for example, the coating device, the coating preparation 3 and / or the drying facility is provided so as to be movable relative to the working area 8 of the robot. These stations are moved 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 can be adapted to the work area of the industrial robot.

Figur 4 zeigt eine Ausführungsform der Vorrichtung, bei dem der Beschichtungskopf 4 an dem Arm des Industrieroboters vorgesehen ist. Der Fachmann versteht, dass auch die Beschichtungsvorbereitung 3 und/oder die Trocknung 5 an dem Roboterarm vorgesehen sein können. In dem vorliegendem Fall ist das Werkstück 9 beim Beschichten ortsfest und/oder wird durch ein Transportmittel 10, hier 2 Transportbänder bewegt. Das Transportmittel 10 kann aber auch nur dazu dienen, das Werkstück 9 in den Arbeitsbereich des Industrieroboters zu transportieren. Figure 4 Fig. 10 shows an embodiment of the device in which the coating head 4 is provided on the arm of the industrial robot. The person skilled in the art understands that the coating preparation 3 and / or the drying 5 can also be provided on the robot arm. In the present case, the workpiece 9 is stationary during the coating and / or is moved by a transport means 10, here 2 conveyor belts. However, the transport means 10 can also only be used to transport the workpiece 9 into the working area of the industrial robot.

Figur 5 zeigt das Lackieren, Schleifen und Trocknen eines Werkstücks. In Figur 5a ist die Lackierung des Werkstücks dargestellt. Es ist deutlich zu erkennen, dass zunächst die Umlaufkante 9a, dann die Umlaufkante 9b, anschließend die Umlaufkante 9c und abschließend die Umlaufkante 9d lackiert wird. Während dieser Lackierung ist die Pumpe, die die Düsen mit Beschichtungsmittel versorgt, aktiviert. Das Werkstück wird, wie durch den Pfeil dargestellt, beim Lackieren gegen den Uhrzeigersinn gedreht. Alternativ oder zusätzlich kann das Werkstück auch still stehen und der Beschichtungskopf bewegt sich. Vor, sobald und/oder nachdem sich der Anfangspunkt der Lackierung der Umlaufkante wieder in dem Beschichtungskopf befindet, werden die Lackierdüsen deaktiviert, aber das Werkstück wird wie durch den Pfeil 12 angedeutet noch weiter entlang des Beschichtungskopfes transportiert. Dadurch wird insbesondere Beschichtungsmaterial, das in einen Bereich der Doppelbeschichtung vorhanden ist, abgetragen und / oder auf die benachbarten Bereiche verteilt, sodass sich keine Lackierlinsen ausbilden. Dies erfolgt durch den Luftstrom in dem Beschichtungskopf, der vorzugsweise durch den anliegenden Unterdruck entsteht. Figure 5 shows the painting, grinding and drying of a workpiece. In Figure 5a the painting of the workpiece is shown. It can be clearly seen that first the peripheral edge 9a, then the peripheral edge 9b, then the peripheral edge 9c and finally the peripheral edge 9d is painted. During this painting process, the pump that supplies the nozzles with coating agent is activated. As shown by the arrow, the workpiece is rotated counterclockwise during painting. Alternatively or in addition, the workpiece can also stand still and the coating head moves. Before, as soon as and / or after the starting point of painting the circumferential edge is again in the coating head, the painting nozzles are deactivated, but the workpiece is transported further along the coating head as indicated by arrow 12. As a result, in particular coating material that is present in one area of the double coating is removed and / or distributed to the adjacent areas, so that no painting lenses are formed. This is done by the air flow in the coating head, which is preferably created by the applied negative pressure.

Für den Fall, dass es sich um ein rundes Bauteil handelt, wird das Werkstück nach einer 360°-Drehung weiter in dieselbe Richtung gedreht und dabei langsam aus dem Beschichtungskopf herausgezogen. Das Werkstück macht folglich abschnittsweise eine Spiralbewegung. Der Abstand zwischen der Drehachse des Werkstücks und dem Beschichtungskopf vergrößert sich. Dabei bleibt der Luftstrom in dem Beschichtungskopf aktiviert und vergrößert sich vorzugsweise. Dadurch wird Beschichtungsmaterial im Bereich der Doppellackierung insbesondere auf den Nachbarbereich verteilt und somit dieser Bereich der Doppellackierung geschlichtet.In the event that it is a round component, the workpiece is rotated further in the same direction after a 360 ° rotation and is slowly pulled out of the coating head. The workpiece consequently makes a spiral movement in sections. The distance between the axis of rotation of the workpiece and the coating head increases. The air flow in the coating head remains activated and preferably increases. As a result, coating material in the area of the double coating is distributed in particular to the neighboring area and this area of the double coating is thus finished.

Wie Figur 5b entnommen werden kann, wird das Werkstück beim Schleifen ebenfalls um eine Drehachse, die durch den Pfeil dargestellt ist, gedreht. Während des gesamten Drehvorgangs wird die Umlaufkante geschliffen. Sobald der gesamte Bereich der Umlaufkante geschliffen worden ist, entfernt der Industrieroboter das Werkstück aus dem Schleifmittel.How Figure 5b can be removed, the workpiece is also rotated about an axis of rotation, which is shown by the arrow, during grinding. The circumferential edge is ground during the entire turning process. As soon as the entire area of the peripheral edge has been sanded, the industrial robot removes the workpiece from the abrasive.

Dasselbe gilt für die Trocknung (Figur 5c). Auch hier wird, wie durch den Pfeil dargestellt, das Werkstück relativ zu einem Trockner gedreht. Dabei trocknet das auf die Umlaufkante aufgetragene Beschichtungsmaterial.The same applies to drying ( Figure 5c ). Here too, as shown by the arrow, the workpiece is rotated relative to a dryer. The coating material applied to the peripheral edge dries.

Bezugszeichenliste:List of reference symbols:

11
EinlauffördererInfeed conveyor
22
Bewegungsmittel, IndustrieroboterMeans of movement, industrial robots
33
Vorbehandlungsmittel, Schleifmittel, SchleifbürstePretreatment agents, abrasives, abrasive brushes
44th
Beschichtungsvorrichtung, ApplikationskammerCoating device, application chamber
55
Trockner, UV-Trockner, IR-TrocknerDryer, UV dryer, IR dryer
66th
AuslauffördererOutfeed conveyor
77th
Ablage- und/oder TransportmittelStorage and / or means of transport
88th
Arbeitsbereich des Bewegungsmittels 2Work area of the mobility device 2
99
Werkstückworkpiece
9a-d9a-d
Kantenabschnitt, Umlaufkantenabschnitte des WerkstücksEdge section, peripheral edge sections of the workpiece
1010
FördermittelFunding
1111
BeschichtungsphaseCoating phase
1212
SchlichtungsphaseArbitration phase

Claims (7)

  1. Method for coating the peripheral edge (9a-d) of a workpiece (9) using a coating apparatus (4) that comprises a coating head, wherein a coating application means is provided on/in the coating head and said coating application means applies the coating to the peripheral edge (9a-d), and wherein the coating head comprises a means for generating an air flow, wherein the means is a negative pressure, wherein the air flow removes excess coating from the edge, wherein the apparatus comprises a movement means (2) that is configured in such a manner that the workpiece (9) and the coating head (4) are moved relative to one another, wherein the movement is performed in at least two spatial directions, characterised in that at least one section of the peripheral edge (9a-d) passes the coating head at least twice, wherein a coating agent is applied to the workpiece during a first pass and where applicable excess coating agent is removed by means of an air flow, wherein coating agent is removed and/or dispensed during a second pass.
  2. Method according to claim 1, characterised in that during the first pass different procedure conditions prevail in the coating head than during the second pass.
  3. Method according to one of the preceding claims, characterised in that the relative movement between the workpiece and coating head is different during the first pass and during the second pass.
  4. Method according to one of the preceding claims, characterised in that the movement means (2) moves the workpiece and/or the coating head in at least two spatial directions that are provided at an angle with respect to one another.
  5. Method according to one of the preceding claims, characterised in that the movement means (2) rotates the workpiece.
  6. Method according to one of the preceding claims, characterised in that the movement means (2) orients the workpiece prior to processing.
  7. Method according to one of the preceding claims, characterised in that the coating head is provided in such a manner that the coating agent injection procedure is performed from three or four sides, wherein respectively two nozzles are provided at an angle of 45° - 180° with respect to one another.
EP16723056.4A 2015-05-08 2016-05-06 Coating edges using a robot Active EP3294466B1 (en)

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 EP3294466A1 (en) 2018-03-21
EP3294466B1 true EP3294466B1 (en) 2020-09-02

Family

ID=56008598

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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)

* Cited by examiner, † Cited by third party
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 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

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP3294466A1 (en) 2018-03-21
CA2985253A1 (en) 2016-11-17
WO2016180731A1 (en) 2016-11-17
US20190126313A1 (en) 2019-05-02
RU2017142805A (en) 2019-06-10
US11440046B2 (en) 2022-09-13

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