EP3294466B1 - Revêtement d'arête au moyen d'un robot - Google Patents

Revêtement d'arête au moyen d'un 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
Authority
EP
European Patent Office
Prior art keywords
coating
workpiece
coating head
during
peripheral edge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16723056.4A
Other languages
German (de)
English (en)
Other versions
EP3294466A1 (fr
Inventor
Stefan Schiele
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Josef Schiele OHG
Original Assignee
Josef Schiele OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Josef Schiele OHG filed Critical Josef Schiele OHG
Publication of EP3294466A1 publication Critical patent/EP3294466A1/fr
Application granted granted Critical
Publication of EP3294466B1 publication Critical patent/EP3294466B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • 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.

Landscapes

  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Claims (7)

  1. Procédé de revêtement du bord périphérique (9a-d) d'une pièce de fabrication (9) avec un dispositif de revêtement (4), lequel comporte une tête de revêtement, dans lequel un moyen d'application de revêtement est prévu au niveau de/dans la tête de revêtement, lequel applique le revêtement sur le bord périphérique (9a-d), et dans lequel la tête de revêtement comporte un moyen de générer un flux d'air, dans lequel le moyen est une pression négative, dans lequel le flux d'air enlève le revêtement excédentaire du bord, dans lequel le dispositif comporte un moyen de déplacement (2), lequel est configuré de sorte que la pièce de fabrication (9) et la tête de revêtement (4) sont déplacées l'une par rapport à l'autre, dans lequel le déplacement s'effectue dans au moins deux directions spatiales, caractérisé en ce qu'au moins une section du bord périphérique (9a-d) passe la tête de revêtement au moins deux fois, dans lequel lors du premier passage un agent de revêtement est appliqué sur la pièce de fabrication et, le cas échéant, l'agent de revêtement excédentaire est enlevé au moyen d'un flux d'air, dans lequel lors du deuxième passage de l'agent de revêtement est enlevé et/ou réparti.
  2. Procédé selon la revendication 1, caractérisé en ce que dans la tête de revêtement, les conditions de processus régnant lors du premier passage sont différentes de celles régnant lors du deuxième passage.
  3. Procédé selon l'une des revendications précédentes, caractérisé en ce que le déplacement relatif entre la pièce de fabrication et la tête de revêtement est différent lors du premier et du deuxième passage.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que le moyen de déplacement (2) déplace la pièce de fabrication et/ou la tête de revêtement dans au moins deux directions spatiales formant un angle l'une par rapport à l'autre.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que le moyen de déplacement (2) fait tourner la pièce de fabrication.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que le moyen de déplacement (2) oriente la pièce de fabrication avant le traitement de celle-ci.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que la tête de revêtement est prévue de sorte que l'injection d'agent de revêtement s'effectue depuis trois ou quatre côtés, dans lequel deux buses forment respectivement un angle de 45°-180° l'une par rapport à l'autre.
EP16723056.4A 2015-05-08 2016-05-06 Revêtement d'arête au moyen d'un robot Active EP3294466B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015005772 2015-05-08
PCT/EP2016/060209 WO2016180731A1 (fr) 2015-05-08 2016-05-06 Revêtement d'arête au moyen d'un robot

Publications (2)

Publication Number Publication Date
EP3294466A1 EP3294466A1 (fr) 2018-03-21
EP3294466B1 true EP3294466B1 (fr) 2020-09-02

Family

ID=56008598

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16723056.4A Active EP3294466B1 (fr) 2015-05-08 2016-05-06 Revêtement d'arête au moyen d'un robot

Country Status (5)

Country Link
US (1) US11440046B2 (fr)
EP (1) EP3294466B1 (fr)
CA (1) CA2985253A1 (fr)
RU (1) RU2017142805A (fr)
WO (1) WO2016180731A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3798813A1 (fr) * 2019-09-24 2021-03-31 Jesús Francisco Barberan Latorre Procédé de décoration d'un substrat et substrat ainsi décoré

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4123588A1 (de) * 1991-07-17 1993-01-21 Ver Glaswerke Gmbh Verfahren und vorrichtung zur herstellung eines fahrzeugfensters
FR2725657B1 (fr) * 1994-10-17 1997-01-10 Saint Gobain Vitrage Dispositif pour l'extrusion d'un cordon profile en polymere sur un objet en forme de plaque
DE29617525U1 (de) * 1996-10-11 1996-12-12 Josef Schiele oHG, 56651 Niederzissen Lackierkopf
ITUD20020045A1 (it) * 2002-02-25 2003-08-25 Delle Vedove Levigatrici Spa Testa di verniciatura sottovuoto e relativo procedimento di verniciatura
JP5607326B2 (ja) * 2009-08-06 2014-10-15 ノードソン コーポレーション 塗工ノズル、塗工方法、及び内容積制御弁
DE102013003688A1 (de) 2012-10-26 2014-04-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Kombinationsdüse sowie Vorrichtung für den Auftrag eines viskosen Materials auf eine Bauteilkante
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
CA2985253A1 (fr) 2016-11-17
US11440046B2 (en) 2022-09-13
US20190126313A1 (en) 2019-05-02
RU2017142805A (ru) 2019-06-10
WO2016180731A1 (fr) 2016-11-17
EP3294466A1 (fr) 2018-03-21

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