EP3519105B1 - Spreading unit - Google Patents

Spreading unit Download PDF

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Publication number
EP3519105B1
EP3519105B1 EP17746450.0A EP17746450A EP3519105B1 EP 3519105 B1 EP3519105 B1 EP 3519105B1 EP 17746450 A EP17746450 A EP 17746450A EP 3519105 B1 EP3519105 B1 EP 3519105B1
Authority
EP
European Patent Office
Prior art keywords
component
shaping
contour
spreading
spreading unit
Prior art date
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Active
Application number
EP17746450.0A
Other languages
German (de)
French (fr)
Other versions
EP3519105A1 (en
Inventor
Christoph Schneider
Sergej Pidan
Kay Rupp
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.)
Broetje Automation GmbH
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Broetje Automation GmbH
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Publication date
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Publication of EP3519105A1 publication Critical patent/EP3519105A1/en
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    • 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
    • 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
    • B05C11/023—Apparatus for spreading or distributing liquids or other fluent materials already applied to a 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
    • B05C11/04—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 blades
    • B05C11/041—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 blades characterised by means for positioning, loading, or deforming the blades
    • 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
    • B05C11/04—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 blades
    • B05C11/045—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 blades characterised by the blades themselves
    • 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
    • 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
    • B05C11/04—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 blades
    • B05C11/041—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 blades characterised by means for positioning, loading, or deforming the blades
    • B05C11/042—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 blades characterised by means for positioning, loading, or deforming the blades allowing local positioning, loading or deforming along the blades
    • 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
    • B05C17/00—Hand tools or apparatus using hand held tools, for applying liquids or other fluent materials to, for spreading applied liquids or other fluent materials on, or for partially removing applied liquids or other fluent materials from, surfaces
    • B05C17/005—Hand tools or apparatus using hand held tools, for applying liquids or other fluent materials to, for spreading applied liquids or other fluent materials on, or for partially removing applied liquids or other fluent materials from, surfaces for discharging material from a reservoir or container located in or on the hand tool through an outlet orifice by pressure without using surface contacting members like pads or brushes
    • B05C17/00503—Details of the outlet element
    • B05C17/00516—Shape or geometry of the outlet orifice or the outlet element
    • 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

Definitions

  • the invention relates to a viscous material spreading unit according to the preamble of claim 1, a viscous material spreading system according to claim 11 and a viscous material spreading method according to the preamble of claim 13.
  • Various application units are known for applying viscous material, in particular sealing material such as, for example, aircraft sealing compounds or silicone-like sealing material.
  • sealing material such as, for example, aircraft sealing compounds or silicone-like sealing material.
  • EP 2 896 463 A1 describes a shaping nozzle for applying and shaping a sealing seam on a component. Only one seam with a nozzle-specific shape can be formed with one nozzle.
  • Japanese pamphlet JP 2014-057638 A describes a spreading unit for applying and spreading sealing material.
  • This spreading unit has two brush sections which can be manually adjusted relative to one another in order to bridge gaps in a component. This can be used to finish two different high sections across a projection. The smearing process must be interrupted for the adjustment. In addition, continuous adjustment of the spreading unit to changing component surfaces is also not possible.
  • the invention is based on the problem of designing and developing a known spreading unit in such a way that viscous material can be spread easily and flexibly on a component.
  • an adjustable shape or contour can be provided overall in order to meet changed requirements over the length of a material application.
  • the beginning and/or end of an applied sheet of caulking material can be shaped in a controlled manner. This allows a clean and Achieve repeatable form at the beginning and end of the lane.
  • stringing of a sealing material and/or undercuts often occur after a reduction in the material flow.
  • a shaping contour generally comprises a specifically shaped border, which partially or completely comes into contact with the applied material and causes a post-shaping or a shaping spreading of the material.
  • the shape of the shaper results in particular from the overlapping of the two shaping contours. This corresponds to a geometric overlapping of the shaping contours in the direction of application or brushing.
  • a free cross section of the first shaping contour is reduced by overlapping with the second shaping contour or the resulting adjustable shape results from the intersection of the free cross sections of the two shaping contours in their respective position.
  • An actuator is generally understood to be any motorized element for automatically adjusting at least the second shaping contour.
  • Examples are piezo actuators, electric linear drives, pneumatic linear drives or the like.
  • the second shaping contour can be controlled at least in one direction and continuously adjusted in its position relative to the first shaping contour.
  • the applied material can be largely or completely stripped off by contact of the second shaping contour with the component, as a result of which particularly well-formed starting areas and end areas are formed. If required, sections of an otherwise continuous web of material can also be cleanly left out of an application of material in this way.
  • the second shaping contour comprises at least two contour segments that can be moved separately from one another, with the contour segments being arranged next to one another, in particular transversely to the sweeping direction. This permits improved guidance, in particular along step edges of variable height.
  • one of the separately movable contour segments is resiliently movable relative to the other of the contour segments.
  • the advantages of the invention can be used particularly effectively if the component is a structural component of an aircraft.
  • One or more materials from the group consisting of aluminum alloy, composite fiber material and/or titanium are preferably included in the component.
  • the viscous material is generally preferably applied to a connecting seam of the component, with the connecting seam being designed in particular as a stepped seam or a fillet seam.
  • the second shaping contour at least partially covers the first shaping contour at least at the beginning of a material application, with the second shaping contour being moved back during the application of an initial area.
  • the second shaping contour at least largely releases the first shaping contour during a continuous application of material, with the second shaping contour being brought into overlap with the first shaping contour during the application of an end region.
  • the spreading unit has a nozzle for applying the viscous material, preferably the sealing material, to the component.
  • the nozzle can be structurally combined with the shaping contours and at the same time be moved with the shaping contours.
  • the nozzle and the former have a fixed distance. In this way, when drawing seams with the viscous material, a uniform drying and/or hardening of the viscous material can be achieved from the time it exits the nozzle until it is shaped by the shaping contours. This allows the seam quality to be increased in a simple manner.
  • the spreading unit can have a sensor, preferably a line laser, for detecting the region of the component to be painted.
  • a sensor for example, a joint can be detected which is to be painted over with the viscous material.
  • a volume flow and/or mass flow can be determined, which is required, for example, to fill up the joint.
  • the viscous material can in particular be a sealing material, in particular an aircraft sealing compound or a silicone-like sealing material.
  • the component is preferably an assembly of parts and the viscous material is preferably spread along a joint of the parts of the assembly.
  • the spreading of the viscous material can take place by a movement of the component and/or by a movement of the spreading unit in the spreading direction.
  • the spreading unit is designed as an end effector for a manipulator, such as a portal machine and/or an industrial robot.
  • the same advantages are obtained as previously described in connection with the spreading unit and system for spreading viscous material.
  • the viscous material is preferably spread automatically.
  • step a or in step b a starting area or an end area of the viscous material is applied.
  • the changeable shape of the shaper is used for controlled shaping of the beginning and end areas while avoiding threading or the formation of undercuts.
  • the viscous material is applied to the same area of the component one above the other in step a and in step b.
  • a first, smaller seam can first be applied using the second shaping contour in order to ensure that a corner of the component is filled.
  • the shape of the first seam is expediently formed in the second shaping contour.
  • a larger second seam is then subsequently applied using the first shaping contour.
  • the second seam can, in particular, completely cover the first seam. It is expedient to apply it in good time before the first seam is tied off.
  • a controlled shaping of the beginning and/or end regions can also be provided by the relative movement of the shaping contours.
  • the method can include a sensor, preferably a line laser, detecting an area of the component to be scanned and the sensor data being evaluated by a controller.
  • the shape of the shaper is preferably controlled and/or regulated by means of the controller as a function of the sensor data.
  • controller controls and/or regulates the relative movement between the component and the spreading unit as a function of the sensor data.
  • volume flow and/or mass flow is/are controlled by the controller as a function of the sensor data of viscous material is regulated and/or controlled through a nozzle onto the area to be coated.
  • a seam is created as the viscous material spreads.
  • the cross-section at the beginning and/or end of the seam is preferably reduced by changing the position of the second shaping contour.
  • a change in the cross section of the seam as a result of the change in position is particularly preferably carried out continuously as it elapses.
  • the 1 shows a spreading unit 1 with a shaper 2 for spreading viscous material 3 on a component 4.
  • the shaper 2 has a first shaping contour 5 and a second shaping contour 6 for shaping the viscous material 3 as it spreads.
  • the viscous material 3 is here and preferably a sealing material, in particular an aircraft sealing compound or a silicone-like sealing material.
  • the component 4 can in particular be an assembly, preferably an aircraft structural component and/or a motor vehicle part, in particular a body structural component.
  • the spreading unit 1 has a nozzle 8 for applying the viscous material 3 to the component.
  • the nozzle 8 is preferably arranged in front of the shaper 2 in the direction of movement of the spreading unit 1 relative to the component 4 .
  • the nozzle 8 is arranged at a predefined, fixed distance from the shaper 2 . This can ensure a robust spreading process because the viscous material 3 can pre-solidify and/or partially harden in a predefined manner on the stretch from the nozzle 8 to the shaper 2 . In the case of a compressible viscous material 3, this allows the viscous material 3 to expand and/or relax prior to shaping.
  • the distance between the nozzle 8 and the shaper 2 is preferably a maximum of 5 cm, more preferably a maximum of 3 cm, more preferably a maximum of 1 cm.
  • the shaping contours 5, 6 are arranged directly one behind the other in an application or coating direction V.
  • the first shaping contour 5 lies behind the second shaping contour 6 in the sweeping direction V and is arranged at a fixed distance relative to the nozzle 8 .
  • the second shaping contour 6 can be moved relative to the first shaping contour 5 by means of an actuator 7 in the form of a pneumatic cylinder or servomotor. The movement is perpendicular to the strike direction V towards the component 4 or away from the component 4 .
  • the second shaping contour 6 also comprises two contour segments 6a, 6b that can be moved separately from one another and are arranged next to one another transversely to the sweeping direction V.
  • one of the contour segments 6a is directly connected to the actuator 7, the other of the contour segments 6b being guided separately and movably on the first contour segment 6a.
  • the second contour segment 6b is prestressed by a spring 6c, so that it is always advanced up to a stop on the first contour segment 6a, provided it is not in contact with the component 4 and is thereby moved out of the stop position relative to the first contour segment 6a.
  • the second contour segment can rest on the upper edge of the step and completely scrape off the viscous material there, while the second contour segment is adjusted in a targeted manner.
  • the second shaping contour 6 shows the spreading unit 1 in three different positions of the second shaping contour 6 .
  • the second shaping contour 6 is partially pushed forward, so that the second contour section 6b is already lying on the upper edge of the component step and prevents the application of material there.
  • the first contour section 6a still allows a material application that is reduced in height in the lower area of the component step.
  • the second shaping contour 6 is pushed forward to the maximum and completely covers the first shaping contour 5 .
  • the spreading unit 1 here and preferably has a sensor (not shown) for detecting the area to be painted over, preferably a joint of the component 4 .
  • the sensor is arranged here and preferably in front of the nozzle 8 and/or the shaper 2 in the direction of relative movement. As it passes, it runs here and preferably ahead of the nozzle 8 and/or the shaper 2 .
  • the sensor is preferably designed as an optical sensor, in particular a line laser. A line laser enables reliable detection of the joint in question.
  • the senor detects an area of the component 4 that is to be scanned.
  • a controller evaluates the resulting sensor data.
  • the shaping contours of the shaper 2 are preferably controlled and/or regulated by means of the controller as a function of the sensor data. Additionally or alternatively, the controller can control and/or regulate the relative movement between the component 4 and the spreading unit 1 depending on the sensor data.
  • the seam quality can be increased by a combination of controlling the relative movement and the shaping contours. For example, movement deviations of a manipulator carrying the spreading unit can be compensated for in this way by adjusting the shaping contour.
  • the controller can control and/or regulate the relative movement between the component 4 and the spreading unit 1 depending on the sensor data.
  • the relative movement between the component 4 and the shaper 2 that is necessary for the elapse can be generated in different ways.
  • the spreading unit 1 is designed as an end effector, e.g. of an industrial robot, and can be moved relative to the component 4.
  • the component 4 can be moved relative to the shaper 2 .
  • the component 4 can be accommodated in a component holder, which in turn can be moved relative to the shaper 2 .
  • the controller regulates and/or controls the volume flow and/or mass flow of viscous material through the nozzle 8 to the area to be swept, depending on the sensor data.
  • an initial area of the seam can be shaped in a controlled manner by first pushing the second shaping contour 6 forward to the maximum and completely covering the first shaping contour 5 ( Figure 3a ). Then, the viscous material is started to be discharged from the nozzle 8, and the squeegee unit 1 is moved in the smearing V direction.
  • the second shaping contour 6 can be moved upwards continuously, so that material with increasing thickness is increasingly applied in the lower area of the component stage ( Figure 3b ).
  • Last is according to 3c the second shaping contour is completely withdrawn, so that only the first shaping contour determines the cross-section of the deposited material. This is a quasi-steady state in which an arbitrarily long central region of the seam is applied.
  • an end area of the seam can be shaped in a controlled manner by first withdrawing the second shaping contour 6 to the maximum extent and applying the above-mentioned central area of the seam ( Figure 4a ).
  • the second shaping contour 6 is then continuously moved downwards so that the cross section is increasingly limited ( Figure 4b ).
  • the second shaping contour is pushed completely against component 4, so that all material is stripped off ( Figure 4c ).
  • the flow of material from the nozzle 8 is expediently stopped.
  • a first, smaller seam 9 is applied using the second shaping contour in order to ensure that a corner of the component step is filled ( Figure 5a ).
  • the shape of the first seam is expediently shaped in the second shaping contour 6, here on the contour segment 6a.
  • the shape of the contour segment 6a in this area can be changed as in the methods in 3 or. 4 be formed, or a corresponding release can be provided.
  • the spreading unit is then subsequently moved back into a starting position and a larger, second seam 10 is applied by means of the first shaping contour 5 ( Figure 5b ).
  • the second seam 10 can, in particular, completely cover the first seam. It is expedient to apply it in good time before the first seam is tied off.
  • a controlled shaping of the beginning and/or end regions can also be provided by the relative movement of the shaping contours 5, 6. Accordingly, the procedures 3 / 4 on the one hand and the double order behind figure 5 done in combination.
  • the second shaping contour 6 shows a simplified embodiment of the invention, in which the second shaping contour 6 is formed in one piece or is not divided into contour segments.
  • the second shaping contour 6 is connected to the first shaping contour via a guide 11 and can be moved relative thereto by means of an actuator (not shown).
  • an actuator not shown.
  • the shaping contours 5, 6 are optimized for application of a fillet weld.
  • the second shaping contour has an acute-angled shape, which can fully engage in a groove of the component 4 in the advanced state in the fillet weld.
  • first shaping contour 5 and the second shaping contour 6 are dimensionally stable, here and preferably rigid, designed as far as the respective with the viscous Material coming into forming engagement sections are affected.
  • These sections can each be formed, for example, from at least one sheet metal element or at least one elastic but dimensionally stable shaping element, in particular wall element.

Description

Die Erfindung betrifft eine Verstreicheinheit zum Verstreichen von viskosem Material gemäß dem Oberbegriff des Anspruchs 1, ein System zum Verstreichen von viskosem Material gemäß Anspruch 11 sowie ein Verfahren zum Verstreichen eines viskosen Materials gemäß dem Oberbegriff des Anspruchs 13.The invention relates to a viscous material spreading unit according to the preamble of claim 1, a viscous material spreading system according to claim 11 and a viscous material spreading method according to the preamble of claim 13.

Aus der JP 2002 248406 A ist eine Beschichtungsanlage bekannt, welche viskoses Material indirekt über eine Rolle auf Bahnmaterial aufträgt. Ferner ist aus der JP 2010 258142 A eine Beschichtungsanlage zum Beschichten von unebenen Material bekannt. In der US 5,273,704 ist das Auftragen eines viskosen Materials auf eine Scheibe beschrieben.From the JP 2002 248406 A a coating system is known which applies viscous material indirectly via a roller to web material. Furthermore, from the JP 2010 258142 A a coating system for coating uneven material is known. In the U.S. 5,273,704 describes the application of a viscous material to a disk.

Zum Aufbringen von viskosem Material, insbesondere Dichtungsmaterial wie bspw. Flugzeugdichtmassen oder silikonartigen Dichtungsmaterial, sind verschiedene Applikationseinheiten bekannt. Bspw. ist in der EP 2 896 463 A1 eine Formgebungsdüse zum Auftragen und Formen einer Dichtnaht auf einem Bauteil beschrieben. Mit einer Düse kann hier jeweils nur eine Naht mit einer düsenspezifischen Form geformt werden.Various application units are known for applying viscous material, in particular sealing material such as, for example, aircraft sealing compounds or silicone-like sealing material. E.g. is in the EP 2 896 463 A1 describes a shaping nozzle for applying and shaping a sealing seam on a component. Only one seam with a nozzle-specific shape can be formed with one nozzle.

Darüber hinaus ist in der japanischen Druckschrift JP 2014-057638 A eine Verstreicheinheit zum Auftragen und Verstreichen von Dichtungsmaterial beschrieben. Diese Verstreicheinheit weist zwei Pinselabschnitte auf, welche zur Überbrückung von Absätzen in einem Bauteil manuell relativ zueinander verstellt werden können. Hiermit können zwei unterschiedliche hohe Abschnitte über einen Vorsprung hinweg oberflächenbehandelt werden. Für die Verstellung muss der Verstreichprozess unterbrochen werden. Darüber hinaus ist auch ein kontinuierliches Anpassen der Verstreicheinheit an sich verändernde Bauteilflächen nicht möglich.In addition, in Japanese pamphlet JP 2014-057638 A describes a spreading unit for applying and spreading sealing material. This spreading unit has two brush sections which can be manually adjusted relative to one another in order to bridge gaps in a component. This can be used to finish two different high sections across a projection. The smearing process must be interrupted for the adjustment. In addition, continuous adjustment of the spreading unit to changing component surfaces is also not possible.

Der Erfindung liegt das Problem zugrunde, eine bekannte Verstreicheinheit derart auszugestalten und weiterzubilden, dass viskoses Material auf einfache Art und Weise und flexibel an einem Bauteil verstrichen werden kann.The invention is based on the problem of designing and developing a known spreading unit in such a way that viscous material can be spread easily and flexibly on a component.

Gelöst wird diese Aufgabe durch eine Verstreicheinheit mit den Merkmalen des Anspruchs 1.This problem is solved by a spreading unit with the features of claim 1.

Durch das Vorsehen einer zweiten Formgebungskontur kann insgesamt eine verstellbare Form bzw. Kontur bereitgestellt werden, um veränderten Anforderungen über die Länge eines Materialauftrags gerecht zu werden. So können zum Beispiel der Anfang und/oder das Ende einer aufgetragenen Bahn aus Dichtungsmaterial kontrolliert geformt werden. Damit lässt sich eine saubere und wiederholbare Form am Anfang und Ende der Bahn erreichen. Gerade am Ende der Bahn kommt es bei einer unveränderlichen Form des Formgebers häufig zu einem Fadenzug eines Dichtungsmaterials und/oder zu Hinterschneidungen nach einer Reduzierung des Materialflusses.By providing a second shaping contour, an adjustable shape or contour can be provided overall in order to meet changed requirements over the length of a material application. For example, the beginning and/or end of an applied sheet of caulking material can be shaped in a controlled manner. This allows a clean and Achieve repeatable form at the beginning and end of the lane. Especially at the end of the track, if the shape of the shaper is unchanging, stringing of a sealing material and/or undercuts often occur after a reduction in the material flow.

Eine Formgebungskontur umfasst dabei im Allgemeinen eine gezielt geformte Berandung, die teilweise oder vollständig mit dem aufgetragenen Material in Kontakt kommt und eine Nachformung bzw. ein formgebendes Verstreichen des Materials bewirkt.In this case, a shaping contour generally comprises a specifically shaped border, which partially or completely comes into contact with the applied material and causes a post-shaping or a shaping spreading of the material.

Die Form des Formgebers ergibt sich im Fall der vorliegenden Erfindung insbesondere durch Überdeckung der beiden Formgebungskonturen. Dies entspricht einer geometrischen Überlappung der Formgebungskonturen in der Auftragsrichtung bzw. Streichrichtung.In the case of the present invention, the shape of the shaper results in particular from the overlapping of the two shaping contours. This corresponds to a geometric overlapping of the shaping contours in the direction of application or brushing.

Im Regelfall wird daher ein freier Querschnitt der ersten Formgebungskontur durch die Überdeckung mit der zweiten Formgebungskontur verringert bzw. die resultierende verstellbare Form ergibt sich aus der Schnittmenge der freien Querschnitte der beiden Formgebungskonturen in ihrer jeweiligen Position.As a rule, therefore, a free cross section of the first shaping contour is reduced by overlapping with the second shaping contour or the resulting adjustable shape results from the intersection of the free cross sections of the two shaping contours in their respective position.

Unter einem Aktor wird im Allgemeinen jedes motorische Element zum automatischen Verstellen zumindest der zweiten Formgebungskontur verstanden. Beispiele sind Piezoaktoren, elektrische Linearantriebe, pneumatische Linearantriebe oder Ähnliches. Bevorzugt kann die zweite Formgebungskontur zumindest in einer Richtung kontrolliert und stufenlos in ihrer Position relativ zu der ersten Formgebungskontur verstellt werden.An actuator is generally understood to be any motorized element for automatically adjusting at least the second shaping contour. Examples are piezo actuators, electric linear drives, pneumatic linear drives or the like. Preferably, the second shaping contour can be controlled at least in one direction and continuously adjusted in its position relative to the first shaping contour.

Allgemein vorteilhaft ist es vorgesehen, dass die zweite Formgebungskontur einen Umriss aufweist, der im Wesentlichen einem Querschnitt des Bauteils im Bereich des Verstreichens entspricht. Hierdurch kann das aufgetragene Material durch Kontakt der zweiten Formgebungskontur mit dem Bauteil weitgehend oder vollständig abgestreift werden, wodurch besonders gut geformte Anfangsbereiche und Endbereiche ausgebildet werden. Bei Bedarf können auf diese Weise auch Abschnitte einer sonst durchgehenden Materialbahn sauber von einem Materialauftrag ausgespart werden.Provision is generally advantageously made for the second shaping contour to have an outline which essentially corresponds to a cross section of the component in the region of the fading. As a result, the applied material can be largely or completely stripped off by contact of the second shaping contour with the component, as a result of which particularly well-formed starting areas and end areas are formed. If required, sections of an otherwise continuous web of material can also be cleanly left out of an application of material in this way.

Bei einer bevorzugten Ausführungsform der Erfindung ist es vorgesehen, dass die zweite Formgebungskontur zumindest zwei separat zueinander bewegbare Kontursegmente umfasst, wobei die Kontursegmente insbesondere quer zu der Streichrichtung nebeneinander angeordnet sind. Dies erlaubt eine verbesserte Führung insbesondere entlang von Stufenkanten veränderlicher Höhe. Im Interesse einer einfachen und effektiven baulichen Realisierung kann es dabei vorgesehen sein, dass eines der separat bewegbaren Kontursegmente federelastisch gegenüber dem anderen der Kontursegmente bewegbar ist.In a preferred embodiment of the invention, it is provided that the second shaping contour comprises at least two contour segments that can be moved separately from one another, with the contour segments being arranged next to one another, in particular transversely to the sweeping direction. This permits improved guidance, in particular along step edges of variable height. In the interest of a simple and effective structural realization, it can be provided that one of the separately movable contour segments is resiliently movable relative to the other of the contour segments.

Die Vorteile der Erfindung sind besonders effektiv nutzbar, wenn das Bauteil ein Strukturbauteil eines Flugzeugs ist. Bevorzugt sind bei dem Bauteil eines oder mehrere Materialien aus der Gruppe Aluminiumlegierung, Verbundfaserwerkstoff und/oder Titan umfasst.The advantages of the invention can be used particularly effectively if the component is a structural component of an aircraft. One or more materials from the group consisting of aluminum alloy, composite fiber material and/or titanium are preferably included in the component.

Allgemein bevorzugt wird das viskose Material auf eine Verbindungsnaht des Bauteils aufgebracht, wobei die Verbindungsnaht insbesondere als eine Stufennaht oder eine Kehlnaht ausgebildet ist.The viscous material is generally preferably applied to a connecting seam of the component, with the connecting seam being designed in particular as a stepped seam or a fillet seam.

Zur kontrollierten Erzeugung eines sauber geformten Anfangsbereiches des viskosen Materials ist es vorteilhaft vorgesehen, dass die zweite Formgebungskontur die erste Formgebungskontur zumindest zu Beginn eines Materialauftrags zumindest teilweise überdeckt, wobei die zweite Formgebungskontur während des Auftrags eines Anfangsbereiches zurückbewegt wird.For the controlled production of a cleanly shaped initial area of the viscous material, it is advantageously provided that the second shaping contour at least partially covers the first shaping contour at least at the beginning of a material application, with the second shaping contour being moved back during the application of an initial area.

Zur kontrollierten Erzeugung eines sauber geformten Endbereiches des viskosen Materials ist es vorteilhaft vorgesehen, dass die zweite Formgebungskontur die erste Formgebungskontur während eines kontinuierlichen Materialauftrags zumindest überwiegend freigibt, wobei die zweite Formgebungskontur während des Auftrags eines Endbereiches in Überdeckung mit der ersten Formgebungskontur gebracht wird.In order to produce a cleanly shaped end area of the viscous material in a controlled manner, it is advantageously provided that the second shaping contour at least largely releases the first shaping contour during a continuous application of material, with the second shaping contour being brought into overlap with the first shaping contour during the application of an end region.

Erfindungsgemäß hat die Verstreicheinheit eine Düse zur Applikation des viskosen Materials, bevorzugt des Dichtungsmaterials, auf dem Bauteil. Die Düse kann insbesondere baulich mit den Formgebungskonturen zusammengefasst sein und zugleich mit dem Formgebungskonturen bewegt werden. Die Düse und der Formgeber weisen einen festen Abstand auf. Auf diese Weise kann bspw. beim Ziehen von Nähten mit dem viskosen Material ein gleichmäßiges Abtrocknen und/oder Aushärten des viskosen Materials vom Zeitpunkt des Austritts aus der Düse bis zum Formen durch die Formgebungskonturen erzielt werden. Hierdurch lässt sich die Nahtqualität auf einfache Weise steigern.According to the invention, the spreading unit has a nozzle for applying the viscous material, preferably the sealing material, to the component. In particular, the nozzle can be structurally combined with the shaping contours and at the same time be moved with the shaping contours. The nozzle and the former have a fixed distance. In this way For example, when drawing seams with the viscous material, a uniform drying and/or hardening of the viscous material can be achieved from the time it exits the nozzle until it is shaped by the shaping contours. This allows the seam quality to be increased in a simple manner.

Zur genauen Positionskontrolle der Verstreicheinheit gegenüber dem Bauteil kann die Verstreicheinheit einen Sensor, bevorzugt einen Linienlaser, zur Erkennung des zu überstreichenden Bereichs des Bauteils aufweisen. Mit Hilfe des Sensors kann bspw. eine Fuge detektiert werden, welche mit dem viskosen Material überstrichen werden soll. Darüber hinaus ist ein Volumenstrom und/oder Massenstrom bestimmbar, welcher bspw. zum Auffüllen der Fuge benötigt wird.For precise position control of the spreading unit relative to the component, the spreading unit can have a sensor, preferably a line laser, for detecting the region of the component to be painted. With the help of the sensor, for example, a joint can be detected which is to be painted over with the viscous material. In addition, a volume flow and/or mass flow can be determined, which is required, for example, to fill up the joint.

Bei dem viskosen Material kann es sich insbesondere um ein Dichtungsmaterial, insbesondere eine Flugzeugdichtmasse oder ein silikonartiges Dichtungsmaterial handeln. Das Bauteil ist vorzugsweise ein Zusammenbau von Teilen und das viskose Material wird vorzugsweise entlang eine Fuge der Teile des Zusammenbaus verstrichen.The viscous material can in particular be a sealing material, in particular an aircraft sealing compound or a silicone-like sealing material. The component is preferably an assembly of parts and the viscous material is preferably spread along a joint of the parts of the assembly.

Das Verstreichen des viskosen Materials kann durch eine Bewegung des Bauteils und/oder durch eine Bewegung der Verstreicheinheit in der Streichrichtung erfolgen. Im Sinne einer flexiblen und einer zumindest teilautomatisierten Fertigung hat es sich als vorteilhaft erwiesen, wenn die Verstreicheinheit als Endeffektor für einen Manipulator, wie bspw. eine Portalmaschine und/oder einen Industrieroboter ausgebildet ist.The spreading of the viscous material can take place by a movement of the component and/or by a movement of the spreading unit in the spreading direction. In terms of flexible and at least partially automated production, it has proven to be advantageous if the spreading unit is designed as an end effector for a manipulator, such as a portal machine and/or an industrial robot.

Darüber hinaus wird die vorstehend genannte Aufgabe durch ein System mit den Merkmalen des Anspruchs 11 gelöst. Diesem System kommt eigenständige erfinderische Bedeutung zu. Es ergeben sich die gleichen Vorteile wie zuvor in Zusammenhang mit der Verstreicheinheit beschrieben.In addition, the above object is achieved by a system having the features of claim 11. This system has independent inventive importance. The same advantages are obtained as previously described in connection with the spreading unit.

Nach einer weiteren Lehre der Erfindung, welcher eigenständige Bedeutung zukommt, wird die oben genannte Aufgabe verfahrensmäßig durch die Merkmale des Anspruchs 13 gelöst.According to a further teaching of the invention, which is of independent importance, the above-mentioned object is achieved by the features of claim 13 in terms of the method.

Es ergeben sich die gleichen Vorteile wie zuvor im Zusammenhang mit der Verstreicheinheit und dem System zum Verstreichen von viskosem Material beschrieben. Vorzugsweise wird das viskose Material automatisiert verstrichen.The same advantages are obtained as previously described in connection with the spreading unit and system for spreading viscous material. The viscous material is preferably spread automatically.

Bei einem ersten Auftragsverfahren ist es vorgesehen, dass in Schritt a oder in Schritt b jeweils ein Anfangsbereich oder ein Endbereich des viskosen Materials aufgetragen wird. Hierbei wird die veränderbare Form des Formgebers zur kontrollierten Ausformung der Anfangs- und Endbereiche unter Vermeidung von Fadenzug oder Bildung von Hinterschneidungen genutzt.In a first application method, it is provided that in step a or in step b a starting area or an end area of the viscous material is applied. Here, the changeable shape of the shaper is used for controlled shaping of the beginning and end areas while avoiding threading or the formation of undercuts.

Bei einem alternativen oder ergänzenden Verfahren ist es vorgesehen, dass das viskose Material in Schritt a und in Schritt b übereinander auf denselben Bereich des Bauteils aufgetragen wird. Dies erlaubt zwei Auftragsschritte mittels derselben Düse. Dabei kann zum Beispiel zunächst eine erste, kleinere Naht mittels der zweiten Formgebungskontur aufgebracht werden, um das Ausfüllen einer Ecke des Bauteils sicherzustellen. Dabei ist zweckmäßig die Form der ersten Naht in der zweiten Formgebungskontur ausgeformt. Nachfolgend wird dann mittels der ersten Formgebungskontur eine größere zweite Naht aufgebracht. Die zweite Naht kann die erste Naht insbesondere vollständig überdecken. Zweckmäßig wird sie rechtzeitig vor einem Abbinden der ersten Naht aufgebracht. Auch bei einem solchen mehrstufigen Auftrag des Materials kann zudem eine kontrollierte Ausformung der Anfangs- und/oder Endbereiche durch die Relativbewegung der Formgebungskonturen vorgesehen sein.In an alternative or supplementary method, it is provided that the viscous material is applied to the same area of the component one above the other in step a and in step b. This allows two application steps using the same nozzle. In this case, for example, a first, smaller seam can first be applied using the second shaping contour in order to ensure that a corner of the component is filled. The shape of the first seam is expediently formed in the second shaping contour. A larger second seam is then subsequently applied using the first shaping contour. The second seam can, in particular, completely cover the first seam. It is expedient to apply it in good time before the first seam is tied off. In the case of such a multi-stage application of the material, a controlled shaping of the beginning and/or end regions can also be provided by the relative movement of the shaping contours.

Das Verfahren kann umfassen, dass ein Sensor, bevorzugt ein Linienlaser, einen zu überstreichenden Bereich des Bauteils erfasst und die Sensordaten von einer Steuerung ausgewertet werden. Vorzugsweise werden mittels der Steuerung die Form des Formgebers in Abhängigkeit von den Sensordaten gesteuert und/oder geregelt.The method can include a sensor, preferably a line laser, detecting an area of the component to be scanned and the sensor data being evaluated by a controller. The shape of the shaper is preferably controlled and/or regulated by means of the controller as a function of the sensor data.

Dabei kann es vorgesehen sein, dass die Steuerung in Abhängigkeit von den Sensordaten die Relativbewegung zwischen dem Bauteil und der Verstreicheinheit steuert und/oder regelt.It can be provided that the controller controls and/or regulates the relative movement between the component and the spreading unit as a function of the sensor data.

Alternativ oder ergänzend kann es vorgesehen sein, dass durch die Steuerung in Abhängigkeit von den Sensordaten der Volumenstrom und/oder Massenstrom von viskosem Material durch eine Düse auf den zu überstreichenden Bereich geregelt und/oder gesteuert wird.As an alternative or in addition, it can be provided that the volume flow and/or mass flow is/are controlled by the controller as a function of the sensor data of viscous material is regulated and/or controlled through a nozzle onto the area to be coated.

Alternativ oder ergänzend kann es vorgesehen sein, dass mit dem Verstreichen des viskosen Materials eine Naht erzeugt wird. Vorzugsweise wird der Querschnitt am Anfang und/oder Ende der Naht durch eine Änderung der Position der zweiten Formgebungskontur verringert. Besonders bevorzugt wird beim Verstreichen eine Querschnittsänderung der Naht durch die Positionsänderung kontinuierlich durchgeführt.Alternatively or additionally, it can be provided that a seam is created as the viscous material spreads. The cross-section at the beginning and/or end of the seam is preferably reduced by changing the position of the second shaping contour. A change in the cross section of the seam as a result of the change in position is particularly preferably carried out continuously as it elapses.

Weitere Vorteile und Merkmale ergeben sich aus den nachfolgend beschriebenen Ausführungsbeispielen sowie aus den abhängigen Ansprüchen.Further advantages and features emerge from the exemplary embodiments described below and from the dependent claims.

Nachfolgend werden mehrere Ausführungsbeispiele der Erfindung beschrieben und anhand der anliegenden Zeichnungen näher erläutert. Dabei zeigt

Fig. 1
eine erfindungsgemäße Verstreicheinheit einer ersten Ausführungsform der Erfindung in seitlicher und in frontaler Ansicht,
Fig. 2
die Verstreicheinheit aus Fig. 1 in drei verschiedenen Stellungen von Formgebungskonturen,
Fig. 3
die Verstreicheinheit aus Fig. 1 in mehreren Verfahrensschritten zur Ausbildung eines Anfangsbereiches einer Naht,
Fig. 4
die Verstreicheinheit aus Fig. 1 in mehreren Verfahrenschritten zur Ausbildung eines Endbereiches einer Naht,
Fig. 5
die Verstreicheinheit aus Fig. 1 in mehreren Verfahrenschritten zur Ausbildung einer Naht aus zwei übereinander aufgebrachten Schichten,
Fig. 6
eine erfindungsgemäße Verstreicheinheit einer zweiten Ausführungsform der Erfindung,
Fig. 7
eine erfindungsgemäße Verstreicheinheit einer dritten Ausführungsform der Erfindung in mehreren Verfahrensschritten zur Aufbringung einer Kehlnaht.
Several exemplary embodiments of the invention are described below and explained in more detail with reference to the accompanying drawings. while showing
1
a spreading unit according to the invention of a first embodiment of the invention in side and frontal views,
2
the lapse unit 1 in three different positions of shaping contours,
3
the lapse unit 1 in several process steps to form an initial area of a seam,
4
the lapse unit 1 in several process steps to form an end area of a seam,
figure 5
the lapse unit 1 in several process steps to form a seam from two layers applied one on top of the other,
6
a spreading unit according to the invention of a second embodiment of the invention,
7
a spreading unit according to the invention of a third embodiment of the invention in several process steps for the application of a fillet weld.

Die Fig. 1 zeigt eine Verstreicheinheit 1 mit einem Formgeber 2 zum Verstreichen von viskosen Material 3 auf einem Bauteil 4.The 1 shows a spreading unit 1 with a shaper 2 for spreading viscous material 3 on a component 4.

Der Formgeber 2 weist eine erste Formgebungskontur 5 sowie eine zweite Formgebungskontur 6 zum Formen des viskosen Materials 3 beim Verstreichen auf. Bei dem viskosen Material 3 handelt es sich hier und vorzugsweise um ein Dichtungsmaterial, insbesondere eine Flugzeugdichtmasse oder ein silikonartiges Dichtungsmaterial. Das Bauteil 4 kann insbesondere ein Zusammenbau, vorzugsweise ein Flugzeugstrukturbauteil und/oder ein Kraftfahrzeugteil insbesondere ein Karosseriestrukturbauteil sein.The shaper 2 has a first shaping contour 5 and a second shaping contour 6 for shaping the viscous material 3 as it spreads. The viscous material 3 is here and preferably a sealing material, in particular an aircraft sealing compound or a silicone-like sealing material. The component 4 can in particular be an assembly, preferably an aircraft structural component and/or a motor vehicle part, in particular a body structural component.

Wie in der Fig. 1 zu sehen ist, weist die Verstreicheinheit 1 zur Applikation des viskosen Materials 3 auf dem Bauteil eine Düse 8 auf. Die Düse 8 ist bevorzugt in Relativbewegungsrichtung der Verstreicheinheit 1 zum Bauteil 4 vor dem Formgeber 2 angeordnet.Like in the 1 As can be seen, the spreading unit 1 has a nozzle 8 for applying the viscous material 3 to the component. The nozzle 8 is preferably arranged in front of the shaper 2 in the direction of movement of the spreading unit 1 relative to the component 4 .

Die Düse 8 ist in einem vordefinierten festen Abstand zu dem Formgeber 2 angeordnet. Hierdurch kann ein robuster Verstreichprozess gewährleistet werden, denn das viskose Material 3 kann auf dem Wegstück von der Düse 8 zum Formgeber 2 in vordefinierter Weise vorverfestigen und/oder teilaushärten. Im Falle von einem kompressiblen viskosen Material 3 kann sich hierdurch das viskose Material 3 vor dem Formgeben ausdehnen und/oder entspannen. Der Abstand zwischen der Düse 8 und dem Formgeber 2 beträgt vorzugsweise maximal 5 cm, weiter vorzugsweise maximal 3 cm, weiter vorzugsweise maximal 1 cm. Die Formgebungskonturen 5, 6 sind in einer Auftrags- bzw. Streichrichtung V unmittelbar hintereinander angeordnet. Die erste Formgebungskontur 5 liegt dabei in der Streichrichtung V hinter der zweiten Formgebungskontur 6 und ist in festem Abstand relativ zu der Düse 8 angeordnet.The nozzle 8 is arranged at a predefined, fixed distance from the shaper 2 . This can ensure a robust spreading process because the viscous material 3 can pre-solidify and/or partially harden in a predefined manner on the stretch from the nozzle 8 to the shaper 2 . In the case of a compressible viscous material 3, this allows the viscous material 3 to expand and/or relax prior to shaping. The distance between the nozzle 8 and the shaper 2 is preferably a maximum of 5 cm, more preferably a maximum of 3 cm, more preferably a maximum of 1 cm. The shaping contours 5, 6 are arranged directly one behind the other in an application or coating direction V. The first shaping contour 5 lies behind the second shaping contour 6 in the sweeping direction V and is arranged at a fixed distance relative to the nozzle 8 .

Die zweite Formgebungskontur 6 ist mittels eines Aktors 7 in Form eines Pneumatikzylinders oder Servomotors relativ zu der ersten Formgebungskontur 5 bewegbar. Die Bewegung erfolgt senkrecht zu der Streichrichtung V auf das Bauteil 4 zu oder von dem Bauteil 4 weg.The second shaping contour 6 can be moved relative to the first shaping contour 5 by means of an actuator 7 in the form of a pneumatic cylinder or servomotor. The movement is perpendicular to the strike direction V towards the component 4 or away from the component 4 .

Im Fall des ersten Ausführungsbeispiels umfasst die zweite Formgebungskontur 6 zudem zwei separat zueinander bewegbare Kontursegmente 6a, 6b, die quer zu der Streichrichtung V nebeneinander angeordnet sind. Dabei ist eines der Kontursegmente 6a unmittelbar mit dem Aktuator 7 verbunden, wobei das andere der Kontursegmente 6b separat bewegbar an dem ersten Kontursegment 6a geführt ist. Über eine Feder 6c ist das zweite Kontursegment 6b vorgespannt, so dass es jederzeit bis zu einem Anschlag an dem ersten Kontursegment 6a vorgeschoben ist, sofern es nicht an dem Bauteil 4 anliegt und hierdurch gegenüber dem ersten Kontursegment 6a aus der Anschlagposition bewegt wird.In the case of the first exemplary embodiment, the second shaping contour 6 also comprises two contour segments 6a, 6b that can be moved separately from one another and are arranged next to one another transversely to the sweeping direction V. In this case, one of the contour segments 6a is directly connected to the actuator 7, the other of the contour segments 6b being guided separately and movably on the first contour segment 6a. The second contour segment 6b is prestressed by a spring 6c, so that it is always advanced up to a stop on the first contour segment 6a, provided it is not in contact with the component 4 and is thereby moved out of the stop position relative to the first contour segment 6a.

Eine solche Anordnung ist insbesondere bei der im ersten Ausführungsbeispiel gezeigten Stufennaht des Bauteils vorteilhaft. Das zweite Kontursegment kann dabei auf der Oberkante der Stufe aufliegen und das viskose Material dort vollständig abstreifen, während das zweite Kontursegment gezielt verstellt wird.Such an arrangement is particularly advantageous in the step seam of the component shown in the first exemplary embodiment. The second contour segment can rest on the upper edge of the step and completely scrape off the viscous material there, while the second contour segment is adjusted in a targeted manner.

Fig. 2 zeigt die Verstreicheinheit 1 in drei verschiedenen Positionen der zweiten Formgebungskontur 6. In der linken Abbildung ist die zweite Formgebungskontur 6 vollständig zurückgezogen und die Querschnittsform des aufgetragenen viskosen Materials wird vollständig von der ersten Formgebungskontur 5 bestimmt. In der mittleren Abbildung ist die zweite Formgebungskontur 6 teilweise vorgeschoben, so dass der zweite Konturabschnitt 6b bereits auf der oberen Kante der Bauteilstufe aufliegt und dort den Materialauftrag verhindert. Der erste Konturabschnitt 6a lässt im unteren Bereich der Bauteilstufe noch einen in der Höhe reduzierten Materialauftrag zu. In der rechten Abbildung ist die zweite Formgebungskontur 6 maximal vorgeschoben und überdeckt die erste Formgebungskontur 5 vollständig. 2 shows the spreading unit 1 in three different positions of the second shaping contour 6 . In the middle figure, the second shaping contour 6 is partially pushed forward, so that the second contour section 6b is already lying on the upper edge of the component step and prevents the application of material there. The first contour section 6a still allows a material application that is reduced in height in the lower area of the component step. In the figure on the right, the second shaping contour 6 is pushed forward to the maximum and completely covers the first shaping contour 5 .

Des Weiteren weist die Verstreicheinheit 1 hier und vorzugsweise einen Sensor (nicht dargestellt) zur Erkennung des zu überstreichenden Bereichs, vorzugsweise einer Fuge des Bauteils 4 auf. Der Sensor ist hier und vorzugsweise in Relativbewegungsrichtung vor der Düse 8 und/oder dem Formgeber 2 angeordnet. Beim Verstreichen läuft er der Düse 8 und/oder dem Formgeber 2 hier und vorzugsweise voraus. Vorzugsweise ist der Sensor als optischer Sensor, insbesondere Linienlaser, ausgebildet. Mit einem Linienlaser wird eine sichere Detektion der betreffenden Fuge ermöglicht.Furthermore, the spreading unit 1 here and preferably has a sensor (not shown) for detecting the area to be painted over, preferably a joint of the component 4 . The sensor is arranged here and preferably in front of the nozzle 8 and/or the shaper 2 in the direction of relative movement. As it passes, it runs here and preferably ahead of the nozzle 8 and/or the shaper 2 . The sensor is preferably designed as an optical sensor, in particular a line laser. A line laser enables reliable detection of the joint in question.

Hier und vorzugsweise erfasst der Sensor einen zu überstreichenden Bereich des Bauteils 4. Eine Steuerung wertet die resultierenden Sensordaten aus. Vorzugsweise werden mittels der Steuerung die Formgebungskonturen des Formgebers 2 in Abhängigkeit von den Sensordaten gesteuert und/oder geregelt. Zusätzlich oder alternativ kann die Steuerung in Abhängigkeit von den Sensordaten die Relativbewegung zwischen dem Bauteil 4 und der Verstreicheinheit 1 steuern und/oder regeln. Durch eine Kombination der Steuerung der Relativbewegung und der Formgebungskonturen kann die Nahtqualität gesteigert werden. Beispielsweise können Bewegungsabweichungen eines die Verstreicheinheit tragenden Manipulators auf diese Weise durch eine Verstellung der Formgebungskontur kompensiert werden.Here, and preferably, the sensor detects an area of the component 4 that is to be scanned. A controller evaluates the resulting sensor data. The shaping contours of the shaper 2 are preferably controlled and/or regulated by means of the controller as a function of the sensor data. Additionally or alternatively, the controller can control and/or regulate the relative movement between the component 4 and the spreading unit 1 depending on the sensor data. The seam quality can be increased by a combination of controlling the relative movement and the shaping contours. For example, movement deviations of a manipulator carrying the spreading unit can be compensated for in this way by adjusting the shaping contour.

Zusätzlich oder alternativ kann die Steuerung in Abhängigkeit von den Sensordaten die Relativbewegung zwischen dem Bauteil 4 und der Verstreicheinheit 1 steuern und/oder regeln. Die zum Verstreichen notwendige Relativbewegung zwischen Bauteil 4 und Formgeber 2 kann dabei auf unterschiedliche Arten erzeugt werden. Erfindungsgemäß ist die Verstreicheinheit 1 als Endeffektor z.B. eines Industrieroboters ausgebildet und kann relativ zum Bauteil 4 bewegt werden. Zusätzlich oder alternativ kann das Bauteil 4 relativ zum Formgeber 2 bewegt werden. Bspw. kann das Bauteil 4 in einer Bauteilaufnahme aufgenommen werden, die wiederum relativ zum Formgeber 2 bewegt werden kann.Additionally or alternatively, the controller can control and/or regulate the relative movement between the component 4 and the spreading unit 1 depending on the sensor data. The relative movement between the component 4 and the shaper 2 that is necessary for the elapse can be generated in different ways. According to the invention, the spreading unit 1 is designed as an end effector, e.g. of an industrial robot, and can be moved relative to the component 4. Additionally or alternatively, the component 4 can be moved relative to the shaper 2 . For example, the component 4 can be accommodated in a component holder, which in turn can be moved relative to the shaper 2 .

Gemäß einer weiteren Ausgestaltung kann vorgesehen sein, dass die Steuerung in Abhängigkeit von den Sensordaten den Volumenstrom und/oder Massenstrom von viskosem Material durch die Düse 8 auf den zu überstreichenden Bereich regelt und/oder steuert.According to a further embodiment, it can be provided that the controller regulates and/or controls the volume flow and/or mass flow of viscous material through the nozzle 8 to the area to be swept, depending on the sensor data.

Die Erfindung gemäß dem ersten Ausführungsbeispiel funktioniert nun wie folgt:
Gemäß den Darstellungen in Fig. 3 kann ein Anfangsbereich der Naht kontrolliert dadurch ausgeformt werden, dass zunächst die zweite Formgebungskontur 6 maximal vorgeschoben ist und die erste Formgebungskontur 5 vollständig überdeckt (Fig. 3a). Sodann wird mit einer Abgabe des viskosen Materials aus der Düse 8 begonnen und die Verstreicheinheit 1 in der Streichrichtung V bewegt. Die zweite Formgebungskontur 6 wird kann kontinuierlich nach oben gefahren, so dass zunehmend Material mit zunehmender Dicke in dem unteren Bereich der Bauteilstufe aufgetragen wird (Fig. 3b). Zuletzt ist gemäß Fig. 3c die zweite Formgebungskontur vollständig zurückgezogen, so dass nur die erste Formgebungskontur den Querschnitt des aufgetragenen Materials bestimmt. Dies ist ein quasistationärer Zustand, in dem ein beliebig langer Mittelbereich der Naht aufgebracht wird.The invention according to the first embodiment now works as follows:
According to the illustrations in 3 an initial area of the seam can be shaped in a controlled manner by first pushing the second shaping contour 6 forward to the maximum and completely covering the first shaping contour 5 ( Figure 3a ). Then, the viscous material is started to be discharged from the nozzle 8, and the squeegee unit 1 is moved in the smearing V direction. The second shaping contour 6 can be moved upwards continuously, so that material with increasing thickness is increasingly applied in the lower area of the component stage ( Figure 3b ). Last is according to 3c the second shaping contour is completely withdrawn, so that only the first shaping contour determines the cross-section of the deposited material. This is a quasi-steady state in which an arbitrarily long central region of the seam is applied.

Gemäß den Darstellungen in Fig. 4 kann ein Endbereich der Naht kontrolliert dadurch ausgeformt werden, dass zunächst die zweite Formgebungskontur 6 maximal zurückgezogen ist und der vorstehend erwähnte Mittelbereich der Naht aufgetragen wird (Fig. 4a). Sodann wird die zweite Formgebungskontur 6 kontinuierlich nach unten gefahren, so dass der Querschnitt zunehmend begrenzt wird (Fig. 4b). Zuletzt ist gemäß der rechten Abbildung die zweite Formgebungskontur vollständig gegen das Bauteil 4 geschoben, so dass sämtliches Material abgestreift wird (Fig. 4c). Bei oder kurz vor Erreichen dieses Zustands wird zweckmäßig der Materialfluss aus der Düse 8 gestoppt.According to the illustrations in 4 For example, an end area of the seam can be shaped in a controlled manner by first withdrawing the second shaping contour 6 to the maximum extent and applying the above-mentioned central area of the seam ( Figure 4a ). The second shaping contour 6 is then continuously moved downwards so that the cross section is increasingly limited ( Figure 4b ). Finally, according to the figure on the right, the second shaping contour is pushed completely against component 4, so that all material is stripped off ( Figure 4c ). When or shortly before this state is reached, the flow of material from the nozzle 8 is expediently stopped.

Gemäß den Darstellungen in Fig. 5 wird ein Verfahren erläutert, bei dem das viskose Material 3 in zwei Schritten übereinander auf denselben Bereich des Bauteils 4 aufgetragen wird.According to the illustrations in figure 5 a method is explained in which the viscous material 3 is applied to the same area of the component 4 in two steps one above the other.

Dabei wird zunächst eine erste, kleinere Naht 9 mittels der zweiten Formgebungskontur aufgebracht, um das Ausfüllen einer Ecke der Bauteilstufe sicherzustellen (Fig. 5a). Dabei wird zweckmäßig die Form der ersten Naht in der zweiten Formgebungskontur 6, vorliegend an dem Kontursegment 6a, ausgeformt. Je nach Anforderungen kann die Form des Kontursegments 6a in diesem Bereich wie in den Verfahren in Fig. 3 bzw. Fig. 4 ausgebildet sein, oder es kann eine entsprechende Freilassung vorgesehen sein.First, a first, smaller seam 9 is applied using the second shaping contour in order to ensure that a corner of the component step is filled ( Figure 5a ). The shape of the first seam is expediently shaped in the second shaping contour 6, here on the contour segment 6a. Depending on the requirements, the shape of the contour segment 6a in this area can be changed as in the methods in 3 or. 4 be formed, or a corresponding release can be provided.

Nachfolgend wird dann die Verstreicheinheit in eine Startposition zurückgefahren und mittels der ersten Formgebungskontur 5 wird eine größere, zweite Naht 10 aufgebracht (Fig. 5b). Die zweite Naht 10 kann die erste Naht insbesondere vollständig überdecken. Zweckmäßig wird sie rechtzeitig vor einem Abbinden der ersten Naht aufgebracht.The spreading unit is then subsequently moved back into a starting position and a larger, second seam 10 is applied by means of the first shaping contour 5 ( Figure 5b ). The second seam 10 can, in particular, completely cover the first seam. It is expedient to apply it in good time before the first seam is tied off.

Auch bei einem solchen mehrstufigen Auftrag des Materials kann zudem eine kontrollierte Ausformung der Anfangs- und/oder Endbereiche durch die Relativbewegung der Formgebungskonturen 5, 6 vorgesehen sein. Entsprechend können die Verfahren nach Fig. 3 / Fig. 4 einerseits und der doppelte Auftrag nach Fig. 5 kombiniert erfolgen.With such a multi-stage application of the material, a controlled shaping of the beginning and/or end regions can also be provided by the relative movement of the shaping contours 5, 6. Accordingly, the procedures 3 / 4 on the one hand and the double order behind figure 5 done in combination.

Fig. 6 zeigt eine vereinfachte Ausführungsform der Erfindung, bei der die zweite Formgebungskontur 6 einteilig ausgebildet ist bzw. nicht in Kontursegmente aufgeteilt ist. Die zweite Formgebungskontur 6 ist über eine Führung 11 mit der ersten Formgebungskontur verbunden und relativ zu dieser mittels eines (nicht dargestellten) Aktors bewegbar. Auch mit einer solchen vereinfachten Anordnung lassen sich sämtliche der vorstehend beschriebenen Auftragsverfahren, nämlich die Ausbildung von Anfangs- und Endbereichen bzw. der zweischichtige Auftrag einer Naht analog durchführen. Lediglich die vorzeitige Anlage des einen Kontursegments an der Bauteilstufe steht nicht zur Verfügung, 6 shows a simplified embodiment of the invention, in which the second shaping contour 6 is formed in one piece or is not divided into contour segments. The second shaping contour 6 is connected to the first shaping contour via a guide 11 and can be moved relative thereto by means of an actuator (not shown). Even with such a simplified arrangement, all of the application methods described above, namely the formation of start and end areas or the two-layer application of a seam, can be carried out analogously. The only thing that is not available is the premature attachment of one contour segment to the component step,

Fig. 7 zeigt eine weitere Ausführungsform der Erfindung, bei der die Formgebungskonturen 5, 6 zum Auftrag einer Kehlnaht optimiert sind. Entsprechend hat die zweite Formgebungskontur eine spitzwinkelige Form, die im vorgeschobenen Zustand in die Kehlnaht vollständig in eine Kehle des Bauteils 4 eingreifen kann. 7 shows a further embodiment of the invention, in which the shaping contours 5, 6 are optimized for application of a fillet weld. Correspondingly, the second shaping contour has an acute-angled shape, which can fully engage in a groove of the component 4 in the advanced state in the fillet weld.

Analog zu den vorstehenden Beschreibungen ist in den Abbildungen von Fig. 7a die Ausbildung eines Anfangsbereiches der Naht dargestellt, während in den Abbildungen von Fig. 7b die Ausbildung eines Endbereiches der Naht dargestellt ist.Analogously to the above descriptions, in the illustrations of Figure 7a the formation of an initial portion of the seam is shown, while in the figures from Figure 7b the formation of an end region of the seam is shown.

Es darf noch darauf hingewiesen werden, dass hier und vorzugsweise die erste Formgebungskontur 5 und die zweite Formgebungskontur 6 formstabil, hier und vorzugsweise starr, ausgestaltet sind, soweit die jeweiligen mit dem viskosen Material in formenden Eingriff kommenden Abschnitte betroffen sind. Diese Abschnitte können jeweils beispielsweise aus mindestens einem Blechelement oder mindestens einem elastischen, jedoch formstabilen Formgebungselement, insbesondere Wandelement, gebildet sein.It should also be pointed out that here and preferably the first shaping contour 5 and the second shaping contour 6 are dimensionally stable, here and preferably rigid, designed as far as the respective with the viscous Material coming into forming engagement sections are affected. These sections can each be formed, for example, from at least one sheet metal element or at least one elastic but dimensionally stable shaping element, in particular wall element.

Claims (15)

  1. Spreading unit, which is designed as an end effector for a manipulator, having a nozzle (8) for application of a viscous material, in particular a sealing material, to a component (4), and having a shaper (2) for spreading the viscous material (3), in particular sealing material, on the component (4), wherein the shaper (2) has a first shaping contour (5) for shaping the viscous material (3) during spreading in a spreading direction (V), wherein at least a second shaping contour (6) of the shaper (2) for shaping the viscous material (3) is, by means of an actuator (7), able to be brought into overlap with the first shaping contour (5) in the spreading direction (V), so that a shape of the shaper (2) is adjustable during an application process, and wherein the nozzle (8) and the shaper (2) have a fixed spacing.
  2. Spreading unit according to Claim 1, characterized in that the second shaping contour (6) has a profile which corresponds substantially to a cross section of the component (4) in the region of the spreading.
  3. Spreading unit according to either of the preceding claims, characterized in that the second shaping contour (6) comprises at least two contour segments (6a, 6b) which are movable separately from one another, wherein the contour segments (6a, 6b) are arranged next to one another, in particular transversely to the spreading direction (V).
  4. Spreading unit according to Claim 3, characterized in that one of the separately movable contour segments (6b) is movable in relation to the other one of the contour segments (6a) in a resiliently elastic manner.
  5. Spreading unit according to one of the preceding claims, characterized in that the component (4) is a structural component of an aircraft, in particular comprising one or more materials from the group aluminium alloy, composite fibre material and/or titanium.
  6. Spreading unit according to one of the preceding claims, characterized in the spreading unit (1) is designed in such a way that the viscous material (3) is applied to a connecting seam of the component (4), wherein the connecting seam is in particular in the form of a step seam or a fillet seam.
  7. Spreading unit according to one of the preceding claims, characterized in the spreading unit (1) is designed in such a way that the second shaping contour (6) at least partially overlaps the first shaping contour (5) at least at the beginning of a material application, wherein the second shaping contour (6) is moved back during the application of a start region.
  8. Spreading unit according to one of the preceding claims, characterized in the second shaping contour (6) at least predominantly exposes the first shaping contour (5) during a continuous material application, wherein the second shaping contour (6) is brought into overlap with the first shaping contour (5) during the application of an end region.
  9. Spreading unit according to one of the preceding claims, characterized in that the spreading unit has a sensor, in particular a line laser, for detecting that region of the component which is to be coated.
  10. Spreading unit according to Claim 9, characterized in that, with the aid of the sensor, it is possible to detect a joint which is to be coated with viscous material, and it is possible to determine a volume flow and/or mass flow that are/is required for filling the joint.
  11. System for spreading viscous material on a component, wherein the system has a component receptacle for receiving a component,
    characterized
    in that the system has a spreading unit (1) according to one of the preceding claims.
  12. System according to Claim 12, characterized in that the system has a manipulator with the spreading unit (1) as an end effector.
  13. Method for spreading a viscous material on a component by means of a spreading unit (1) according to one of Claims 1 to 11, comprising the steps of:
    a. applying the viscous material (3) to the component (4) in a first position of the shaping contours (5, 6) relative to one another;
    b. applying the viscous material to the component in a second position of the shaping contours (5, 6) relative to one another.
  14. Method according to Claim 13, characterized in that, in step a or in step b, a start region or an end region of the viscous material (3) is applied in each case.
  15. Method according to Claim 13, characterized in that, in step a and in step b, the viscous material is applied to the same region of the component (4) with one amount of applied material over the other.
EP17746450.0A 2016-10-02 2017-07-27 Spreading unit Active EP3519105B1 (en)

Applications Claiming Priority (2)

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DE102016118693.7A DE102016118693A1 (en) 2016-10-02 2016-10-02 Verstreicheinheit
PCT/EP2017/068981 WO2018059792A1 (en) 2016-10-02 2017-07-27 Spreading unit

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EP3519105B1 true EP3519105B1 (en) 2023-06-28

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US (2) US20210283644A1 (en)
EP (1) EP3519105B1 (en)
CN (1) CN109890515B (en)
DE (1) DE102016118693A1 (en)
RU (1) RU2745220C2 (en)
WO (1) WO2018059792A1 (en)

Citations (1)

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US5273704A (en) * 1990-10-04 1993-12-28 Saint-Gobain Vitrage International Process for extruding a polymer onto a glazing

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JPH03109673U (en) * 1990-02-23 1991-11-11
JP3484740B2 (en) * 1993-12-24 2004-01-06 石川島播磨重工業株式会社 Method and apparatus for adjusting profile in initial stage of coating of coating machine
JP2002248406A (en) * 2000-12-21 2002-09-03 Dainippon Printing Co Ltd Coating apparatus
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JP5290852B2 (en) * 2009-04-23 2013-09-18 日置電機株式会社 Flux coating apparatus and flux coating method
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JP2016107190A (en) * 2014-12-04 2016-06-20 三菱重工業株式会社 Sealant application nozzle, and sealant application method
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US20210283644A1 (en) 2021-09-16
CN109890515A (en) 2019-06-14
RU2019109148A (en) 2020-11-06
WO2018059792A1 (en) 2018-04-05
US20230173531A1 (en) 2023-06-08
RU2019109148A3 (en) 2020-11-06
DE102016118693A1 (en) 2018-04-05
RU2745220C2 (en) 2021-03-22
EP3519105A1 (en) 2019-08-07
CN109890515B (en) 2022-01-11

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