EP3548189A1

EP3548189A1 - Application unit

Info

Publication number: EP3548189A1
Application number: EP17788215.6A
Authority: EP
Inventors: Sergej Pidan
Original assignee: Broetje Automation GmbH
Current assignee: Broetje Automation GmbH
Priority date: 2016-12-05
Filing date: 2017-10-24
Publication date: 2019-10-09
Also published as: DE102016123416A1; WO2018103941A1; CN110191763B; CN110191763A; US20190299239A1; RU2019116744A; US11179743B2; RU2758420C2; RU2019116744A3

Abstract

The invention relates to an application unit for the application of viscous material (4) to a component edge (5) of a component (6), varying in particular in the width (Β_κ) and/or, wherein the application unit (3) has a nozzle (7) for applying the viscous material (4) to the component edge (4) having an outlet opening (8) that is adjustable in the width (B_A), and wherein the application unit (3) has a first caliper (9) having a contact face (9a) for contact with the component (6), and a second caliper (10) having a contact face (10a) for contact with the component (6), wherein the first caliper (9) and the second caliper (10) can be preloaded in opposite directions (R₁,R₂) by a preloading arrangement (11), and wherein the width (B_A) of the outlet opening (8) can be adapted, depending on the distance of the contact face (9a) of the first caliper (9) from the contact face (10a) of the second caliper (10).

Description

application unit

The present invention relates to an application unit for applying viscous material to a, in particular varying in width, component edge of a component. Furthermore, the invention relates to an end effector with such an application unit and a manipulator with such an end effector and / or such an application unit.

Various application units for viscous materials are known from the prior art. For example, in DE 10 2013 003 688 AI an application unit is described with a combination nozzle, which is held by a guide roller during the application of the viscous material in a defined position to the component edge, even if the component edge has a varying width. A disadvantage of this construction, however, is that in the area of the application of the viscous material space is required for both the nozzle and the guide roller, whereby viscous material on component edges in the range of narrow cutouts with the application unit of DE 10 2013 003 688 AI not applicable is. In addition, the nozzle of this application unit requires a continuous flow of air to form the viscous material on the component edge, resulting in increased energy requirements and thus increased operating costs.

This raises the task of providing a cost-effective in operation application unit, which allows the application of viscous material on component edges even in a small space, especially in the field of narrow component cutouts.

This object is achieved by the application unit according to claim 1 in a structurally particularly simple manner.

By providing an application unit with a nozzle for applying the material to the component edge with a width-adjustable outlet opening, a variable adaptation of the nozzle width to the width of the component edge and in particular also to a varying width of a component edge is possible. If the application unit now also has a first probe with a contact surface for abutment with the component and a second probe with a contact surface for abutment with the component, wherein the first probe and the second probe can be biased in opposite directions with a biasing arrangement, one is particularly simple, compact and cost-effective management of the nozzle relative to the component edge possible. "Can be biased in opposite directions" is here and preferably understood to mean that the vectors of the biasing force of the probe at least each have a component which is oriented in the opposite direction.

In order to be able to adapt the order to the width of the component edge, it is also proposed according to the proposal that the width of the outlet opening can be adapted to the contact surface of the second probe depending on the distance of the contact surface of the first button. Thus, a particularly compact and structurally simple application unit can be created in the region of the outlet opening of the nozzle, which also enables the application of viscous material to component edges in the region of narrow component cutouts.

In one embodiment of the invention, it is proposed according to claim 2 that one of the buttons, in particular the first button, is fixedly arranged on the nozzle. It is further preferred if one of the buttons, in particular the first button, is integrally formed (integrally) with the nozzle. As a result, a very particularly compact design of the nozzle in the region of its outlet opening is made possible.

In the development according to claim 3, it is proposed that one of the buttons, in particular the second button, is movable relative to the nozzle, in particular linearly displaceable. In particular, storage in or on the nozzle has proven to be advantageous. In this way, an adaptation of the nozzle width to the width of the component edge is made possible in a simple manner.

A particularly compact nozzle in the region of the outlet opening can be realized in that the nozzle forms a nozzle unit with the first button and / or the second button (claim 4), preferably the first button and / or the second button providing a section of the outlet opening or provide and by a relative movement of a button to the other button, the width of the outlet opening is customizable. In this case, when the viscous material is applied, the probes can slide along the component edge on both sides of the component and delimit the application of the viscous material to the component edge in a simple manner.

Accordingly, it is proposed according to the preferred embodiment according to claim 5, that the application unit is designed such that the width of the outlet opening, in particular continuously, is adaptable to the width of the component edge or is adapted. Here, and preferably, the width of the outlet opening corresponds essentially, in particular exactly, to the width of the component edge.

The outlet opening of the nozzle can preferably be closed by one of the buttons, in particular the second button, or the button according to claim 6. The outlet opening of the nozzle is preferably closed by a relative movement of one of the buttons, in particular of the second button, to the nozzle or by a relative movement of the buttons to the nozzle before and / or after the application of the viscous material. In this way, an unwanted dripping of the viscous material out of the outlet opening during the process of the application unit to or from the edge of the component can be avoided.

In the preferred embodiment according to claim 7 it is provided that the application unit has a receiving unit for receiving the nozzle and / or the nozzle unit. Preferably, the nozzle and / or the nozzle unit is detachable from the receiving unit at an interface. Particularly preferably, the nozzle or the nozzle unit can be detached from the receiving unit without tools. As a result, the nozzle or the nozzle unit can be formed as a disposable part. A complex cleaning of the nozzle after the application is unnecessary. It can be easily and inexpensively replaced. The operating times of the application unit can be increased accordingly, since the cleaning by discarding is eliminated or can be done separately from the application unit. The biasing arrangement according to claim 8, at least one biasing unit, in particular a first biasing unit, for biasing having one of the buttons in a first direction. Preferably, the biasing assembly additionally includes a second biasing unit for biasing the other button in an opposite direction. According to claim 11, the nozzle may be at least partially, preferably predominantly, particularly preferably completely, of plastic, in particular polyethylene, and / or the probe at least partially, preferably predominantly, particularly preferably completely, of plastic, in particular polyethylene, and / or the nozzle unit at least partially, preferably predominantly, particularly preferably completely, be made of plastic, in particular polyethylene.

Further advantageous embodiments of the application unit can be found in the other claims. In addition, the object mentioned in an end effector by the features of claim 14 is achieved. This results in the same advantages as described above with the application unit.

In a manipulator, the object described above is achieved by a manipulator with the features of claim 15. Again, there are the same advantages as described above in connection with the application unit.

Finally, the object described above is procedurally achieved by the features of claim 16. Again, there are the same advantages as described above in connection with the application unit.

In the following the invention will be explained in more detail with reference to a drawing showing only one exemplary embodiment. In the drawing shows

1 shows a proposed application unit with a proposed end effector on a proposed manipulator, Fig. 2 a) the proposed application unit when applying the viscous material on a component edge and b) the Proposal application unit with a nozzle unit detached from the operating unit,

Fig. 3, the proposed application unit in one

Sectional view in longitudinal section according to III in Fig. 2 and

Fig. 4 shows the nozzle in a sectional view in longitudinal section according to IV in

Fig. 2 in a first embodiment with a first stripping element for stripping the viscous material on the component edge and

Fig. 5 a) the nozzle in a sectional view in cross section according to V in

Fig. 2 in an embodiment with a lip as a stripping element and b) the nozzle in a sectional view in cross section according to V in Fig. 2 in an embodiment with a sponge-like Päd as a stripping element.

1 shows a proposed manipulator 1 with a proposed end effector 2 and a proposed application unit 3. The manipulator 1 may in particular be an industrial robot with at least three axes or four at least axes or a gantry robot with at least three axes or at least four axes. The manipulator 1 shown in FIG. 1 has six axes.

The application unit 3 is used to apply a viscous material 4 to a, in particular in the width Βκ and / or position varying component edge 5 of a component 6. Such a component edge is shown in Fig. 2a. In this case, the component edge 5 is an end face of the component 6, in particular an end face of a plate-shaped section of the component 6. The width Βκ of the component edge 5 is the width transverse to the course direction VB of the component edge 5.

The component 5 is preferably a structural component, in particular a motor vehicle structural component and / or an aircraft structural component, for example a stringer. The component 5 may in particular also be an assembly of different parts 6a, 6b, as shown in FIG. In particular, the component 5 may be a composite component, preferably a composite component made of carbon fiber reinforced plastic (CFRP) and / or a composite component of glass fiber reinforced aluminum, so-called glare be. The viscous material 4 may in particular be an adhesive and / or a sealing material. Preferably, the viscous material is a two-part epoxy. This is preferably mixed before leaving the outlet opening 8. In this case, as is the case in the exemplary embodiment, it can be mixed before it enters the application unit 3. Alternatively, however, it can also be mixed in the application unit, in particular in the nozzle 7, or on entry into the application unit 3, in particular into the nozzle 7.

According to the proposal, the application unit 3 has a nozzle 7 for applying the material to the component edge 5 with an outlet opening 8 which is adjustable in width B _A.

The outlet opening 8 is here and preferably formed at an angle to the longitudinal extent of the nozzle 7. Preferably, as shown in the exemplary embodiment, the outlet opening 8 is arranged in a direction orthogonal to the longitudinal extent L of the nozzle 7. As a result, component edges 5 of narrow recesses can be flexibly sealed in a simple manner. In principle, however, it is also conceivable according to an alternative exemplary embodiment that the outlet opening 8 points in the direction of the longitudinal extent L of the nozzle 7.

The application unit 3 further has, according to the proposal, a first pushbutton 9 with a contact surface 9a for abutment against the component 6, in particular on a first side of the component 6 adjoining the component edge 5, and a second pushbutton 10 with a contact surface 10a for abutment against the component 6 , in particular on a side adjacent to the component edge 5 second, the first side opposite side on.

The first button 9 and the second button 10 are biased with a biasing assembly 1 1 in opposite directions to the component 6. The width BA of the outlet opening 8 can now depend on the distance of the contact surface 9a of the first button 9 and the contact surface 10a of the second button 10 can be adjusted. As a result, a particularly simple energy-saving application to the component edge 5 is possible. In addition, this is also a particularly compact design of the nozzle 7 in the area of Austrittsöff 8 allows, which also on the component edges 5 of narrow cutouts, the viscous material 4 can be applied. In addition, a structurally simple and therefore cost-effective construction is possible.

By "preferably biased in opposite directions" is meant here and preferably that the vectors Vi, V2 of the biasing force of the probes 9, 10 have at least one component each oriented in the opposite direction Preferably, the vectors Vi, V2 are parallel to the biasing force The contact surfaces 9a, 10a of the two buttons 9, 10 are here opposite one another as shown in Fig. 2. Accordingly, the two buttons 9, 10 can be prestressed here and preferably also on one another.

As shown in the sectional view of FIG. 3, one of the buttons 9 can be fixedly arranged on the nozzle 7. Here, the button 9 is integrally formed with the nozzle 7. It forms a tactile section of the nozzle 7. Alternatively, the button 9 may also have a roller which can facilitate sliding of the button 9 along the component 6 during application of the viscous material 4. The second button 10 is mounted relative to the nozzle 7 movable. Here, the second button 10 is mounted linearly displaceable in the nozzle 7. An alternative preferred embodiment provides that the second button 10 is mounted on the nozzle 7 movable, in particular linearly displaceable, is mounted. Here, the second button 10 is designed as a sliding block, which is translationally movable. Alternatively, however, the stylus 10 may also have a roller which facilitates sliding of the stylus 10 along the component 6 during application of the viscous material 4. In an alternative exemplary embodiment, both buttons 9, 10 relative to the nozzle 7 movable, in particular linearly displaceable, be stored. Preferably these are then stored in or on the nozzle 7 and / or both formed as previously described for the second button 10.

In the embodiment, the nozzle 7 with the first button 9 and / or the second button 10 forms a nozzle unit 12. Here and preferably, it is such that the first button 9 and the second button 10 each provide a portion of the outlet opening 8. The width BA of the outlet opening 8 can be adjusted by a relative movement of a button 9, 10 to the other button 9, 10, as shown in Fig. 3 in the enlargements.

Here, the nozzle unit 12 has a receiving area 13 for receiving the component edge 5 of the component 6 when applying the viscous material 4 to the component edge 5. This is limited here by the first button 9 and the second button 10 when applying the viscous material 4 on the component edge 8 in the width direction of the outlet opening 8.

The application unit 3 is here designed such that the width BA of the outlet opening 8, in particular continuously, can be adapted to the width Β of the component edge 5 or can be adapted during application. Here and preferably, the adaptation is passive, ie without the targeted control of an actuator for setting the change.

In addition to the nozzle unit 12, the application unit 3 has a receiving unit 13 for receiving the nozzle unit 12. As shown in FIG. 2 b, the nozzle unit 12 is detachable from the receiving unit 13 at an interface 14. In Ausführungsbei game, the nozzle unit 12 can be solved without tools of the receiving unit 13. The interface 14 is designed here as a quick release and can be removed by moving a sleeve 15, in particular against a spring preload, simply from a lock on the receiving unit 13. It should be noted here that the nozzle 7, when it is received locked by the receiving unit 13, is firmly connected thereto.

To generate the bias voltage, the biasing arrangement 1 1 comprises at least one, in particular a first, biasing unit 16 for biasing one of the buttons 9 in a first direction Ri. The first biasing unit 16 is arranged here on the drive unit 13. It acts here between a mounting flange 13a for fastening the application unit 3 to the manipulator 1 and the nozzle 7. Alternatively, however, it can also be arranged on the nozzle 7. In the exemplary embodiment, it has a spiral spring element 16a as a spring element. Alternatively, however, the first biasing unit 16 may also include a pneumatic spring element and / or a leaf spring element. Furthermore, the first biasing unit 16 may comprise a further spring element, in particular a spring element designed as a spiral element 16 b spring element, which is biased against the spring element 16 a of the first biasing unit 16. This spring element 16b can simultaneously bias the sleeve 15 in its locking position.

The bias voltage of the first pushbutton 9 is produced by means of the first biasing unit 16. For this purpose, the component edge 5 is approached with the nozzle 7 and then the first pushbutton 9 is biased against the component 6, by the first biasing unit 16 by a manipulator movement in the direction of the second pushbutton 10 clamped and the first button 9 is biased to the component 5.

In the exemplary embodiment, the biasing assembly 16 further includes a second biasing unit 17 for biasing the other button 10 in the opposite direction R ₂ . For the definition of the opposite directions may be made to the above statements. Here and preferably, however, it is such that the directions are arranged parallel to the width direction of the outlet opening 8.

Also, the second biasing unit 17 is arranged here and preferably on the receiving unit 13. It acts here between the mounting flange 13 a and the second button 10. Alternatively, however, the second biasing unit 17 may also be arranged on the nozzle 7. It also has a spring element for generating the biasing force. This is in the embodiment, a pneumatic spring element, here in the form of a pneumatic cylinder. By means of the pneumatic cylinder, the bias of the second button 10 can be activated or deactivated. By activating leaves the component edge 5 as shown in FIG. 3 between the two buttons 9, 10 clamp.

The biasing units 16, 17 serve both to compensate for tolerances of the component 6 along the component edge 5, ie the varying position of the component edge, as well as to compensate for changes in the width Βκ the component edge. 5

The nozzle 7 and the buttons 9, 10 are here and preferably made of plastic, in particular polyethylene. An embodiment of the nozzle unit 12 made of plastic allows a particularly cost-effective production of the same. This offers, in particular if the nozzle unit 12 is designed as a replacement and / or disposable part, considerable cost advantages. This is particularly advantageous when the nozzle 7 is designed as a disposable part, since this allows a cost-effective production thereof.

As shown in FIG. 5, the nozzle 7 can have a support element 7a which projects into the outlet opening 8 when the viscous material 4 is applied, here and preferably as a front boundary of the outlet opening 8. By way of this, the nozzle 7, in particular of the manipulator 1, can be prestressed in a direction orthogonal to the surface of the component edge 5.

The discharge opening 18 trailing here and preferably a stripping element 18 is provided for spreading the applied to the component edge 5 material 4, as shown in Figs. 5 and 5. The wiping element 18 here forms a further delimitation of the outlet opening 8. The wiping element 18 may be integrally connected to the nozzle 7, or it may be detachably fastened to the nozzle 7 so that it can also be exchanged for a different type of wiping element 18. This is shown in Fig. 4. By different stripping elements 18, the shape and / or thickness of the applied seam can be influenced. This is possible both by the configuration of the shape of a wiping contour of the wiping element 18 and by the configuration of the wiping element 18 itself. The stripping element 18 can be designed as a, in particular flexible, lip 18a, as shown in FIG. 5a. This can have sliding contours 18b and / or bristles at its wiping edge. Alternatively, the stripping element 18 can be designed as a, in particular sponge-like, pad 18c, as shown in FIG. 5b. When applying the viscous material 4, a sponge-like pad 18c preferably glides flat on the component edge 5 or the viscous material 4 applied thereto.

In a particularly preferred embodiment, the stripping element 18 on sliding contours 18b, which generate when stripping lanes in the seam of viscous material 4, which are 4 again before curing of the viscous material. With the different stripping elements 18, different seam shapes can be produced.

The end effector 2 may further comprise, as shown in FIG. 1, a cartridge compartment 20 for receiving a cartridge 21 with the viscous material 4. Preferably, the cartridge compartment 20 accommodates a cartridge 21 with a Kaituschendüse 21 a. The cartridge nozzle 21a opens here and preferably in the nozzle 7 of the application unit 3, as shown in FIG.

In addition, a controller 19 may be provided for controlling the end effector 2. Preferably, the controller 19 of the end effector 3 is integrated into the control of the manipulator 1. By means of the controller 19, the manipulator 1 is controlled with the end effector 2 with the proposed application unit 3 during the process for applying the viscous material 4.

For applying the viscous material 4 on the component edge 5, this is approached with the nozzle 7. Here, the nozzle 7 is biased here and preferably on the component edge 5, here in the exit direction of the viscous material 4. Then the buttons 9, 10 are biased to the component 6. Here, the first button 9 is moved transversely to the component edge 5 and thus biased against the component 6, in the width direction of the outlet opening 8. The second button 10 is biased by activating the second biasing unit 17 against the component 6. The pneumatic spring element presses the second button 10 against the component 6. The viscous material 4 is applied by guiding the nozzle 7 along the component edge 5. If the component edge 5 changes its width Βκ, the width BA of the outlet opening 8 of the nozzle 7 is adjusted by means of the buttons 9, 10 to the width Βκ of the component edge 5.

Claims

claims

1. Application unit for applying a viscous material (4) to a, in particular in the width (Β) and / or position varying, component edge (5) of a component (6),

wherein the application unit (3) has a nozzle (7) for applying the viscous material (4) to the component edge (5) with an outlet opening (8) which can be adjusted in width (BA), and wherein the application unit (3) has a first probe ( 9) with a contact surface (9a) for engagement with the component (6) and a second feeler (10) with a contact surface (10a) for abutment with the component (6), the first stylus (9) and the second stylus (10) with a biasing arrangement (1 1) in opposite directions (Ri, R.2) are prestressed and wherein the width (BA) of the outlet opening (8) depends on the distance of the contact surface (9a) of the first button (9) to the Contact surface (10a) of the second button (10) is adjustable.

2. Application unit according to claim 1, characterized in that one of the buttons (9, 10), in particular the first button (9), fixed to the nozzle (7) is arranged, preferably, one of the buttons (9, 10), in particular, the first button (10) is integrally formed with the nozzle (7).

3. Application unit according to claim 1 or 2, characterized in that one of the buttons (9, 10), in particular the second button (10), relative to the nozzle (7) movable, in particular linearly displaceable, is mounted, preferably, that one of Button (9, 10), in particular the second button (10), in or on the nozzle

(7) relative to this movable, in particular linearly displaceable, is stored.

4. Application unit according to one of the preceding claims, characterized in that the nozzle (7) with the first button (9) and / or the second button (10) forms a nozzle unit (12), preferably that the first button (9) and / or the second button (10) has a portion of the outlet opening

(8) provides or provide and by a relative movement of a button (9, 10) to the other button (9, 10), the width (BA) of the outlet opening (8) is adaptable.

5. Application unit according to one of the preceding claims, characterized in that the application unit (3) is designed such that the width (BA) of the outlet opening (8), in particular continuously, to the width (Βκ) of the component edge (5) is adjustable or is adjusted.

6. Application unit according to one of the preceding claims, characterized in that the outlet opening of the nozzle (7) by one of the buttons (9, 10), in particular the second button (10), or the button (9, 10) is closable, preferably in that the outlet opening of the nozzle (7) is moved relative to the nozzle (7) by a relative movement of one of the buttons (9, 10), in particular of the second button (10), or of the buttons (9, 10) before and / or after the application of the viscous material (4) is closed.

7. Application unit according to one of the preceding claims, characterized in that the application unit (3) has a Aufnahmeeiniieit (13) for

Receiving the nozzle (7) and / or the nozzle unit (12), preferably, that the nozzle (7) and / or the nozzle unit (12) at an interface (14) of the receiving unit (12) is releasably, preferably that the nozzle (7) and / or the nozzle unit (12) can be detached from the receiving unit (13) without tools.

8. Application unit according to one of the preceding claims, characterized in that the Vorsparmanordnung (II) at least one, in particular a first, biasing unit (16) for biasing one of the buttons (9, 10) in a first direction (Ri), preferably, in that the biasing arrangement (1 1) has a second biasing unit (17) for biasing the other button (9, 10) in an opposite direction (R ₂ ).

9. Application unit according to one of the preceding claims, characterized in that the first biasing unit (16) is part of the receiving unit (13) and / or is arranged on the nozzle (7),

and or,

that the second biasing unit (17) is part of the receiving unit (13) and / or arranged on the nozzle (7). 10. Application unit according to one of the preceding claims, characterized in that the first biasing unit (16) for generating the

Biasing force comprises a spring element (16a), in particular a pneumatic spring element and / or a spiral spring element and / or a leaf spring element,

and or,

in that the second biasing unit (17) for generating the biasing force comprises a spring element, in particular a pneumatic spring element and / or a spiral spring element and / or a leaf spring element.

I L application unit according to one of the preceding claims, characterized in that the nozzle (7) is at least partially, preferably predominantly, particularly preferably completely, made of plastic, in particular polyethylene, and / or

the second button (10) is at least partially, preferably predominantly, particularly preferably completely, made of plastic, in particular polyethylene, and / or

the nozzle unit (12) is at least partially, preferably predominantly, particularly preferably completely, made of plastic, in particular polyethylene.

12. Application unit according to one of the preceding claims, characterized in that the nozzle (7), in particular with the nozzle (7) integrally connected, stripping element (18) for spreading of the component edge (5) applied material (4).

13. Application unit according to one of the preceding claims, characterized in that the outlet opening (8) at an angle to the longitudinal extent (L) of the nozzle (7), preferably that the outlet opening (8) in a direction orthogonal to the longitudinal extent (L) of the nozzle (7) points.

14. End effector with an application unit (3) according to one of the preceding claims.

15. Manipulator with an end effector (2) and / or an application unit (3) according to one of the preceding claims.

16. Method for applying a viscous material (4) to a component edge (5) of a component (6), in particular varying in width (κκ) and / or position, in particular with an application unit (3) according to any one of claims 1 to 12, wherein during the application of the viscous material (4) by means of a nozzle (7) a button (9, 10) is biased on the component (6) and by means of the button (9, 10) the width (BA) of an outlet opening (8) of the nozzle (7) is adapted to the width (Βκ) of the component edge (5).