EP3414639A1

EP3414639A1 - Applicator dummy and corresponding programming method

Info

Publication number: EP3414639A1
Application number: EP17718837.2A
Authority: EP
Inventors: Dmitri NOAK; Martin Wolf; Harald Kunz
Original assignee: Duerr Systems AG
Current assignee: Duerr Systems AG
Priority date: 2016-04-08
Filing date: 2017-03-31
Publication date: 2018-12-19
Also published as: DE102016004257B4; WO2017174452A1; DE102016004257A1

Abstract

The invention relates to an applicator dummy (8) for use in place of a real applicator when programming a movement path of the applicator. During the programming process, the applicator dummy (8) is moved over a surface of a component (1, 2) to be coated along the movement path to be programmed. The applicator dummy comprises a dummy body (10-13), the shape and dimensions of which substantially match the real applicator, and a virtual nozzle (14) which is located on the dummy body (10-13) of the applicator dummy (8) substantially in the same position as a real nozzle in the real applicator. During the path programming process, a specific distance (a) between the virtual nozzle (14) and the surface of the component (1, 2) to be coated is set. The invention is characterized by a distance control device (15) which is structurally integrated into the applicator dummy (8) for controlling the distance (a) between the virtual nozzle (14) and the surface of the component (1, 2) to be coated. The invention further relates to a corresponding programming method.

Description

DESCRIPTION Applicator dummy and associated programming method

The invention relates to an applicator uramy for use instead of a real applicator in a web programming a trajectory of the applicator, in particular instead of a real applicator, the application of a

Sealant on a flanged seam on a motor vehicle body component is used. Furthermore, the invention relates to an associated programming method for path programming for an applicator using the inventive Katordummummys.

From DE 10 2008 027 994 B3 an applicator is known, which is designed to apply a sealant to a flanged seam on a motor vehicle body component. For this purpose, the applicator is curved several times, so that the applicator can be passed through a gap between two laterally overlapping motor vehicle body components from the front to the back to apply the sealant on the back.

The movement of this known applicator is carried out by a multi-axis handling robot along a programmed trajectory, wherein the trajectory is predetermined by multiple track points, which are then traversed in the coating operation of the applicator. The programming of the desired trajectory is also referred to as "teaching" and usually takes place in that a programmer manually moves an applicator mounted on the handling robot to the desired trajectory points and then moves it pressing a memory key ensures that the current position is saved as a path point.

The problem here is that the programmer is located on the front of the motor vehicle body component, while the nozzle of the multi-curved applicator is located on the back of the motor vehicle body component. This is disadvantageous because the programmer has no visual contact with the nozzle of the applicator during programming and therefore can not judge the distance between the nozzle and the component surface. This can cause the programmer programmed path points, which have an inappropriate distance between the nozzle of the applicator and the component ^¬ surface so that the applied Dichtmittelrau- pe is not optimal on the component surface.

To solve this problem, it is known in the art that the programmer uses small mirrors to judge the distance between the nozzle and the component surface on the back side from the front side. ^¬ all recently is not optimal this improvised solution.

Another solution to this problem is known from DE 10 2008 032 259 B4. Thus, this document provides that the web programming takes place on a demounted sample component, which is inserted in a so-called teach frame. This offers the advantage that the programmer can enter the back of the pattern component during programming in order to assess the distance between the nozzle and the component surface. However, this solution is relatively expensive.

Furthermore, it is known from the prior art to use an applicator dummy instead of the real applicator in web programming, which is generally made of plastic. stands and therefore much cheaper. Malpositioning of the existing plastic applicator and then resulting damage to the applicator dumbbell are therefore less disturbing than a real applicator with a much higher price.

Finally, for the general technical background, reference is made to DE 199 38 328 A1, DE 10 2008 027 994 B3, DE 10 2007 Q37 865 B3 and DE 10 2007 033 309 A1.

It is therefore an object of the invention to provide a better solution to the problem described above whereby the programmer does not have visual contact with the nozzle of the applicator during web programming and therefore can not assess the distance between the nozzle and the component surface during web programming ,

This object is achieved by an inventive catordummy dummy or by an associated programming method according to the independent claims.

The inventive applicator dummy initially has a dummy body in accordance with the applicator dummies known from the prior art, which essentially corresponds in terms of shape and dimensions to the real applicator. The dummy body is therefore a replica of the real applicator, wherein the applicator dummy can be made from inexpensive materials (eg plastic) and does not have to have any function as an applicator.

At the applicator dummy according to the invention is a virtual nozzle, and that in substantially the same position as a real nozzle in the real applicator. During the web programming then sets a certain distance between the virtual nozzle and the component surface of the component to be coated.

The applicator dummy according to the invention is now characterized by a distance control device which is integrated in the device dummy and makes it possible to control the distance between the virtual nozzle and the component surface of the component to be coated when programming the movement path. This eliminates the previously mentioned mirrors for controlling the distance between the nozzle and the component surface.

In a preferred exemplary embodiment of the invention, the applicator has a mounting flange in order to be able to mount the applicator dummy to a multi-axis handling robot. The applicator dummy is thus mounted with a mounting flange instead of the real applicator on the handling robot, so that then the web programming can be done with the applicator. In the coating operation and also in the web programming, the mounting flange of the applicator dummies is then usually at the front of the component, while the virtual nozzle of the applicator dummies is located at the rear side of the component and therefore can not be viewed by the programmer from the front side. The distance control device according to the invention then displays the distance between the virtual nozzle and the component surface of the component to be coated then preferably in a visible area, for example at the front of the component to be coated. This allows the programmer to evaluate the distance between the nozzle and the component surface during web programming even though the nozzle is in an area that is not visible to it. In a variant of the invention, the distance control device measures the distance between the virtual nozzle and the component surface qualitatively. For example, the distance control device can distinguish whether the distance between the nozzle and the component surface is within an acceptable range or outside the acceptable range.

In another variant of the invention, however, the distance control device measures the distance between the virtual nozzle and the component surface quantitatively, ie. H. the distance control device outputs a corresponding quantitative measured value for the distance.

In a preferred embodiment of the invention, the distance control device has an electrical switch which closes or opens a circuit in dependence on the distance between the virtual nozzle and the component surface of the component to be coated. For example, the switch may close the circuit when the virtual nozzle approaches the component surface when the desired distance is reached.

Preferably, this switch is designed as a touch switch, which switches in a touch contact with the component surface. It should be noted, however, that the touch contact between the touch switch and the component surface does not mean that also the distance between the virtual nozzle and the component surface is zero. Rather, the touch switch is preferably designed so that the touch contact between the touch switch and the component surface already occurs when the virtual nozzle on the applicator dummy is still spaced from the component surface. In the preferred embodiment of the invention, the switch closes the circuit when the distance between the virtual nozzles and the component surface falls below a predetermined minimum value. The circuit connected by the switch can then, for example, light a signal light so that the programmer sees that the desired distance has been reached.

The circuit connected by the switch preferably contains the dummy body of the applicator dummy, which for this purpose consists of an electrically conductive material. In the closed state of the switch, the current flows so on a part of the circuit through the dummy body. The contact switch of the distance control device preferably has an elastic contact element, which is deformed at a contact with the contact surface with the component surface and thereby triggers a switching operation. For example, this contact element may be a spring wire or a spring plate.

In another embodiment of the touch switch, the dummy body has two parts of an electrically conductive material which are movable relative to each other.

In one position, the two parts of the dummy body lie directly against each other and therefore form an electrical contact, so that a current flow between the two parts of the dummy body is possible.

In another position, however, the two parts of the dummy body are pulled apart and include an insulation gap between them, so that no electrical contact occurs between the two parts of the dummy body and thus flow between the two parts can flow.

The two parts of the dummy body are pulled together by a spring (eg spiral spring, elastic thread). Without an external mechanical load of the applicator dumbbell, the two parts of the dummy body are therefore pulled together and thereby form a mechanical contact. In the case of a physical contact between the applicator dummy and the component surface, on the other hand, the two parts of the dummy body are pulled apart against the force of the spring and then no longer form an electrical contact. In this way, a touch switch is realized, because the circuit is interrupted in a physical contact between the Applikatordum- my and the component surface by the two parts of the dummy body are pulled apart.

In another simple exemplary embodiment of the applicator dumbbell according to the invention, however, the distance control device consists of a simple scale, which is attached to the dummy body in the field of view of the programmer. In the case of path programming, the applicator is then inserted at a specific immersion depth into a component gap between laterally overlapping motor vehicle body components, the scale of the distance control device indicating the immersion depth and thus also the distance between the nozzle and the component surface on the rear side.

The scale can be permanently applied to the outer surface of the dummy body, for example by means of a laser engraving. Alternatively, there is the possibility that the scale is glued to the outer surface of the dummy body. Furthermore, there is the possibility within the scope of the invention that the dummy body is resiliently mounted, so that the dummy body can execute an evasive movement with a specific stroke when the contact between the applicator dummy and the component surface is in contact. The distance control device can then measure and display the stroke of the evasive movement.

Furthermore, within the scope of the invention, the possibility exists that the distance control device has an inductive sensor which measures the distance between the virtual nozzle and the component surface inductively. For example, the dummy body may have two parts, which are displaceable relative to each other, wherein the inductive sensor has a plunger anchor, which is connected to one of the two parts and immersed in a coil in the other part. In the event of a physical contact between the applicator dummy and the component surface, the immersion depth of the plunger armature is then changed, which the inductive sensor measures. For example, the coil of the inductive sensor can form a Wheatstone half bridge.

In contrast, in another simple exemplary embodiment, the distance control device has a strain gauge (DMS) which measures a deformation of the applicator dumbbell and can thereby detect a physical contact with the component surface.

Alternatively, there is the possibility that the distance control device has a piezoelectric element which measures a deformation of the applicator dumbbell and can thereby detect a touch contact. Other possible embodiments for the distance control device include a capacitive sensor or a camera. It should also be mentioned that the distance control device can measure the distance without contact or by means of a contact contact.

The measurement of the distance can in this case also take place in several spatial degrees of freedom.

It has already been mentioned briefly above that the distance control device for displaying the distance may have a signal light, which may be formed, for example, as a light-emitting diode (LED). Alternatively, it is also possible that another optical display is provided, which also allows a quantitative indication of the distance.

It has already been mentioned at the outset that the dummy body in the case of the inventive applicator dummy is preferably with regard to

Form and dimensions of the real applicator coincides, as it is known for example from DE 10 2008 027 994 B3. The content of this document is therefore to be fully attributed to the present description with regard to the design of the real applicator and thus also with regard to the design of the dummy body. It should merely be mentioned at this point that the dummy body is preferably shaped in such a way that it can be guided from the front to the rear side through a body gap between two adjacent, laterally overlapping body components in order to apply the sealant to the rear side. In this case, the dummy body preferably has at least two legs, which are angled relative to one another, wherein the proximal legs are guided through the body gap while the virtual nozzle is on the distal leg.

It should also be mentioned that the invention not only

Protection claimed for the inventive Applikatordummy described above as a single component. Rather, the invention also claims protection for a multi-axis handling robot on which such an applicator dummy is mounted.

Finally, the invention also claims protection for a corresponding programming method in which the applicator dummy is successively positioned in each case at the desired track points, whereupon the positions of the applicator dumbbells are then stored at the respective track points in order subsequently to enable so-called playback operation. The programming method according to the invention is characterized in that the distance between the virtual nozzle of the applicator dummy and the component surface is controlled by a distance control device. At the

Playback mode (automatic web generation), the measured distance must be transferred to the robot controller.

The control of the distance comprises measuring the distance and displaying the distance, for example by means of a signal light.

Other advantageous developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred exemplary embodiments of the invention with reference to the figures. Show it:

FIG. 1 shows a schematic representation of an applicator dumbbell according to the invention, which is used for web Programming through a gap between

two motor vehicle body components is passed and has a touch switch,

Figure 2 shows another embodiment of an applicator dumbbell according to the invention with a scale for displaying the immersion depth, Figure 3 shows another embodiment of an applicator dumbbell invention, which is resiliently mounted and has a visual display, Figures 4A, 4B, another embodiment of the inventions to the invention ^¬ Applikatordummys with a touch switch .

FIG. 5A shows a schematic representation of the touch switch in the exemplary embodiment according to FIGS. 4A and 4B,

FIG. 5B shows a schematic illustration of a modification of the touch switch from FIG. 5A,

FIG. 6 shows a schematic illustration of a touch switch according to the invention,

Figure 7A is a schematic representation of an inductive sensor, as well

FIG. 7B shows a Wheatstone half bridge for the inductive sensor from FIG. 7A. Figure 1 shows first a trailing edge of a front door 1 of a motor vehicle body and the front edge of a rear door 2 of the vehicle body, wherein the front door 1 and the rear door 2 overlap in the longitudinal direction of the vehicle body and include a gap 3, which is known per se from the prior art and for example in

DE 10 2008 027 994 B3 is described.

The front door 1 has an inner panel 4 and an outer sheet metal paneling 5, wherein the sheet metal paneling 5 is crimped on the trailing edge of the front door 1 around the inner panel 4 around.

The back door 2 also has an inner panel 6 and a Blechbeplankung 7, wherein the Blechbeplankung 7 at the

Front edge of the back door 2 is crimped around the inner panel.

The flanged edge at the trailing edge of the front door 1 should be sealed in normal operation by means of an applicator with a sealing mass ^¬ , which is known per se from DE 10 2008 027 994 B3. For this purpose, the real applicator is guided by a handling robot from the front side through the gap 3 to the back, so that then the nozzle of the applicator can apply the sealant to the flanged seam on the back. In the drawing according to FIG. 1, instead of the real applicator, an applicator dummy 8 is shown, which is used for web programming instead of the real applicator and corresponds in terms of shape and dimensions to the real applicator.

The applicator dummy 8 initially has a mounting flange 9 shown here only schematically, which is fastened to a handling robot which holds the applicator dummy 8 at the rail programming leads. Furthermore, the applicator dummy 8 has a plurality of legs 10, 11, 12, 13, which are arranged one behind the other and angled relative to one another. At the distal leg 13 is a virtual nozzle 14 with the virtual nozzle 14 attached to the same position as the real applicator.

It should be noted that the legs 10, 11, 12, 13 need not necessarily be straight. Rather, there is also the possibility that the legs 10, 11, 12, 13 are bent or curved.

In addition, the applicator dummy 8 has a touch switch 15 which detects contact with the flanged seam by means of an electrically conductive and elastically resilient contact element 16. In such a touch contact of the touch switch 15 includes a circuit 17, wherein the circuit 17 includes, inter alia, a signal light 18, a voltage source 19 and the legs 10-13 of the applicator 8 dummies. In the closed state of the touch switch 15 so a current flows through the legs 10-13, which therefore consist of an electrically conductive material. The signal light 18 then indicates a touch contact, which makes it easier for the programmer to control the desired distance between the virtual nozzle 14 and the component surface at the flanging edge. The contact element 16 and the touch switch 15 are here designed so that the circuit 17 is closed when the desired distance is reached.

FIG. 2 shows a modification of the embodiment according to FIG. 1, so that reference is made to the above description to avoid repetition, the same reference numbers being used for corresponding details. A special feature of this embodiment is that a scale 20 is used as a distance control device, which is attached to the legs 10 and 12 of the applicator dumbbell 8 and the immersion depth of the Applikatordummys 8 indicates in the gap 3. This immersion depth in turn corresponds to the nozzle spacing a between the virtual nozzle 14 and the component surface of the flanged seam on the rear side of the front door 1.

The exemplary embodiment according to FIG. 3 likewise corresponds in part to the exemplary embodiment according to FIG. 1, so that reference is made to the above description to avoid repetition, the same reference numbers being used for corresponding details.

In this embodiment, the proximal leg 10 of the applicator dumbbell 8 is resiliently mounted in a cylinder 21, wherein a coil spring 22 acts on the leg 10.

Furthermore, a display panel with two boundary regions 23, 24 is attached to the leg 10. Only when the area between the two boundary areas 23, 24 is visible during programming, the distance was set correctly. Thus, touching contact between the virtual nozzle 14 and the component surface causes the leg 10 of the applicator dumbbell 8 to be pulled out of the cylinder 21 against the force of the coil spring 22 so that the area between the two boundary regions 23, 24 is visible. In this way, the programmer at the front one

Detecting touch contact of the virtual nozzle 14 on the back. Again, the embodiment according to FIGS. 4A and 4B corresponds in part to the above-described exemplary embodiments, so that reference is made to the above description to avoid repetition, the same reference numerals being used for corresponding details.

A special feature of this embodiment is that the leg 10 of the applicator dumbbell 8 consists of two parts 10.1, 10.2, which are relative to each other in the longitudinal direction and are made of electrically conductive material.

Figure 4A here shows a position in which the two TEI len 10.1, 10.2 are drawn together because, although a touch ^¬ contact between the leg 12 and the component surface exists, but the component surface or does not exert any force on the Applikatordummy. 8 On the other hand, FIG. 4B shows a state in which the two parts 10.1, 10.2 are pulled apart due to the contact with the flanged seam and then enclose an insulation gap 25, ie the circuit via the parts 10.1, 10.2 is interrupted, which allows electrical evaluation.

Figure 5A shows a possible technical realization of this embodiment by means of an electrically insulating plunger 26, which is attached to the part 10.1 and immersed in the other part 10.2, wherein the plunger 26 is biased by a coil spring 27.

Figure 5B shows a modification of Figure 5A, so that the Ver ^¬ avoiding repetition of the foregoing description the same reference numbers are used for corresponding details.

A special feature of this embodiment is that instead of the coil spring 27, an elastic thread 28 is used.

FIG. 6 also shows how the circuit 17 in the exemplary embodiment according to FIGS. 4A, 4B, 5A, 5B is closed or opened in dependence on the contact between the virtual nozzle 14 and the component surface.

Finally, Figures 7A and 7B show a modification of the embodiment according to Figures 4A, 4B, 5A, 5B, wherein the distance control means comprises an inductive sensor.

The plunger 26 thus consists of a magnetic material, and to the coil spring 27 is a Wheatstone 'see half-bridge 29 is connected.

The invention is not limited to the preferred embodiments described above. Rather, a variety of variants and modifications is possible, which also make use of the inventive idea and therefore fall within the scope. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims in each case referred to and in particular without the features of the main claim. The invention thus encompasses various aspects of the invention which enjoy protection independently of each other. LIST OF REFERENCE NUMBERS

1 front door

2 back door

3 gap between front door and back door

4 inner panel of the front door

5 sheet metal facing the front door

6 inner panel of the back door

7 sheet metal covering the back door

8 Applicator Dummy

9 Mounting flange of the applicator dummies

10 Proximal limb of the main body

10.1 part of the leg 10

10.2 part of the leg 10

11 Second leg of the main body

12 Third leg of the main body

13 Distal leg of the main body

14 Virtual nozzle

15 touch switch

16 contact element of the touch switch

17 circuit

18 Signal light for distance indication

19 voltage source

20 scale for distance indication

21 cylinders

22 spiral spring

23 Limit of the display field

24 Limit of the display field

25 insulation gap

26 plunger anchors

27 spiral spring

28 Elastic thread

29 Wheatstone's half bridge

* * * * *

Claims

1. Applicator dummy (8) for use instead of a real applicator in a path programming of a movement path of the applicator, wherein the applicator dummy (8) is moved during the path programming along the path to be programmed on a component surface of a component to be coated (1, 2),

in particular instead of a real applicator for applying a sealing compound to a flanged seam on a motor vehicle body component (1, 2), with

a) a dummy body (10-13), which corresponds in shape and dimensions substantially with the real applicator, and

b) a virtual nozzle (14) attached to the dummy body

(10-13) of the applicator dumbbell (8) is substantially in the same position as a real nozzle in the real applicator, wherein in the web programming a certain distance (a) between the virtual nozzle (14) and the component surface of the component to be coated (1, 2) stops,

marked by

c) a distance control device (15-19; 20; 21-24; 25-27) structurally integrated in the applicator dummy (8) for checking the distance (a) between the virtual nozzle (14) and the component surface of the component to be coated (1, 2).

2. Applicator dummy (8) according to claim 1,

characterized, a) that the applicator dummy (8) has a mounting flange (9) for mounting the applicator dumbbell (8) on a multi-axis handling robot,

b) that the mounting flange (9) of the Applikatordummys (8) in the web programming on a front of

Component (1, 2) is arranged,

c) that the virtual nozzle (14) of the Applikatordummys

(8) is located on a rear side of the component (1, 2) during path programming,

d) that the virtual nozzle located at the back

(14) of the applicator dumbbell (8) is not visible from the front, and / or

e) that the distance control device displays the distance (a) between the virtual nozzle (14) and the component surface of the component to be coated (1, 2) in an accessible area, in particular on the front side of the component to be coated (1, 2) ,

3. Applicator dummy (8) according to one of the preceding claims, characterized

a) that the distance control device (15-19; 20; 21-24;

25-27) qualitatively measures the distance (a) between the virtual nozzle (14) and the component surface, or b) that the distance control means (15-19; 20; 21-24;

25-27) the distance (a) between the virtual nozzle

(14) and quantitatively measures the component surface.

4. Applicator dummy (8) according to one of the preceding claims, characterized in that

a) that the distance control device (15-19) a

electrical switch (15) to be coated in the dependent ^¬ speed of the distance (a) between the virtual nozzle (14) and the surface of the component Component (1, 2) closes or opens a circuit (17), and / or

b) that the switch (15) is a touch switch that switches with the component surface in a touch contact, and / or

c) that the switch (15) closes the circuit (17) when the distance (a) between the virtual nozzle (14) and the component surface falls below a predetermined minimum value, and / or

d) that of the switch (15) connected circuit

(17) contains the dummy body (10-13) of the applicator dumbbell (8), which for this purpose consists of an electrically conductive material, so that in the closed state of the switch (15) current flows through the dummy body (10-13).

5. Applicator dummy (8) according to claim 4,

characterized,

a) that the touch switch (15) has an elastic contact element (16) which is deformed in a touch contact with the component surface and triggers a switching operation, and / or

b) that the contact element (16) is a spring wire or a

Is spring plate.

6. Applicator dummy (8) according to claim 4,

characterized,

a) that the switch is a touch switch,

b) that the dummy body (10-13) of the applicator dummy (8) has two parts (10.1, 10.2) of an electrically conductive material,

c) that the two parts (10.1, 10.2) of the dummy body

(10-13) are pulled together by a spring (27, 28). in particular by a spiral spring (27) or an elastic thread (28),

d) that the two parts (10.1, 10.2) of the dummy body

(10-13) are pulled together with the component surface by the spring (27, 28) without touching the contactor of the applicator (8) and then closing the circuit in the contracted state, and

e) that the two parts (10.1, 10.2) of the dummy body

(10-13) are pulled apart at a contact contact of the Applikatordums- mys (8) with the component surface against the force of the spring (27, 28) and then open the circuit (17) in a disconnected state.

7. Applicator dummy (8) according to one of the preceding claims, characterized in that

a) that the applicator dummy (8) is introduced in the path programming with a certain immersion depth in a component gap (3), and / or

b) that the distance control device (20) indicates the immersion depth, and / or

c) that on the dummy body (10-13) of the applicator dumbbell

(8) a scale (20) is attached, which indicates the immersion depth, and / or

d) that the scale (20) is permanently applied to the outer surface of the

Dummy body (10-13) is applied, in particular by means of a laser, or

e) that the scale (20) is glued to the outer surface of the dummy body (10-13).

8. applicator dummy (8) according to any one of the preceding claims, characterized

a) that the dummy body (10-13) is mounted resiliently, so that the dummy body (10-13) is in contact with the surface of the component with an evasive action supply with a certain stroke can give resilient, and

b) that the distance control device indicates the stroke of the evasive movement.

9. applicator dummy (8) according to any one of the preceding claims, characterized

a) that the distance control device comprises an inductive sensor which measures the distance (a) between the virtual nozzle (14) and the component surface inductively, and / or

b) that the dummy body (10-13) of the applicator dumbbell (8) has two parts (10.1, 10.2) which are displaceable relative to each other, and / or

c) that the inductive sensor has a plunger armature (26) which is connected ver with one of the two parts (10.1, 10.2) and immersed in a coil (27) in the other part, and / or

d) that the coil forms a Wheatstone half bridge.

10. Applicator dummy (8) according to one of the preceding claims, characterized in that

a) that the distance control device has a strain gauge, which measures a deformation of the applicator dumbbell (8), and / or

b) that the distance control device comprises a piezoelectric element which measures a deformation of the applicator dumbbell (8) and / or

c) that the distance control device for measuring the distance (a) comprises a capacitive sensor, and / or

d) that the distance control device for measuring the distance (a) comprises a camera.

11. Applicator dummy (8) according to one of the preceding claims, characterized

a) that the distance control device measures the distance (a) without contact, or

b) that the distance control device measures the distance (a) by establishing a touch contact.

12. Applikatordummy (8) according to any one of the preceding claims, characterized

a) that the distance control device controls the distance (a) to the component surface in a plurality of spatial degrees of freedom, and / or

b) that the distance control device for displaying the distance (a) has an optical display (18), in particular a signal light (18), in particular in the form of a light emitting diode, which is turned on when the distance (a) falls below a predetermined minimum value.

13. Applicator dummy (8) according to one of the preceding claims, characterized

a) that the dummy body (10-13) is shaped so that it can be guided through a body gap (3) between two adjacent, laterally overlapping body components (1, 2) from the front to the back to the sealant on the back, and / or

b) that the dummy body (10-13) at least four legs

(10-13), which are angled relative to each other with the proximal legs (10-12) passing through the body slot (3) while the virtual nozzle (14) is on the distal leg (13).

14. Applicator dummy (8) according to one of the preceding claims, characterized in that

a) that the dummy body (10-13) has a distal first

Leg (13) on which the virtual nozzle (14) is located,

b) that the dummy body (10-13) has a second leg

(12) adjacent to the first leg (13) and curved with respect to the first leg (13) at a given angle of curvature, the angle of curvature between the first leg (13) and the second leg (12) being between 70 ° and 110 °, c) that the dummy body (10-13) has a third leg

(11) adjacent to the second leg (12) and curved with respect to the second (12) leg at a given angle of curvature, the angle of curvature between the second leg (12) and the third leg (11) being between 70 ° and 110 °, d) that the dummy body (10-13) has a fourth leg

(10) adjacent to the third leg (11) and curved with respect to the third leg (11) at a given angle of curvature, the angle of curvature between the third leg (11) and the fourth leg (10) being between 70 ° and 110 °.

15. Handling robot for moving an applicator along a programmed path of movement over a component surface of a component to be coated (1, 2), in particular an applicator for applying a sealing compound to a hemming seam on a motor vehicle body component, wherein for a path programming of the movement path, an applicator dummy (8) is mounted on the handling robot instead of the real applicator, characterized in that the applicator dummy (8) is designed according to one of the preceding claims.

16. Programming method for programming a movement path of an applicator along a component surface of a component (1, 2), in particular an applicator for applying a sealant to a flanged seam on a motor vehicle body component, comprising the following steps:

a) positioning an applicator dumbbell (8) instead of the real applicator at desired path points along the movement path, in particular by means of a multi-axis handling robot,

b) storing the positions of the applicator dumbbell (8) at the desired path points, and

c) controlling the distance (a) between a virtual nozzle (14) on the applicator dummy (8) and the component surface, wherein the virtual nozzle (14) on the applicator dummy (8) is at the same position as a real nozzle on the real one applicator

characterized,

d) that the distance (a) between the virtual nozzle (14) and the component surface is controlled by means of a distance control device (15-19; 20; 21-24; 25-27) structurally integrated into the applicator dummy (8) is.

A programming method according to claim 16, characterized in that the step of controlling the distance (a) comprises the steps of:

a) measuring the distance (a) between the virtual nozzle

(14) and the component surface, and

b) displaying the distance (a) between the virtual nozzle

(14) and the component surface.

18. Programming method according to claim 16 or 17,

characterized by the following steps: a) introducing the Applikatordummys (8) through a body gap (3) between two adjacent, laterally overlapping body components (1, 2) through from the front to the back, so that the virtual nozzle (14) on the non-visible from the front Rear of the body parts (1, 2) is located, and

b) measuring the distance (a) between the virtual nozzle

(14) and the component surface, and

c) Display of the distance (a) between the virtual nozzle

(14) and the component surface on the visible front.