EP3554713B1 - Printing head with offset and/or rotation mechanism for at least a nozzle row - Google Patents

Description

The invention relates to an application device for applying an application agent to a component, preferably for applying a paint to a motor vehicle body component, with at least two rows of nozzles, the at least two rows of nozzles each having a plurality of nozzles for outputting application agent jets (e.g. contiguous application agent jets and / or several Drop jets comprising drops).

For the general state of the art, reference can first be made to DE 10 2014 006 991 A1 , the US 2005/0 243 112 A1 , the EP 1 764 226 A1 and the EP 1 852 733 A1 .

For the serial painting of motor vehicle body components, rotary atomizers are usually used as the application device, but they have the disadvantage of a limited application efficiency, so that only part of the applied paint is deposited on the components to be coated, while the rest of the applied paint has to be disposed of as so-called overspray.

The US 9,108,424 B2 discloses a drop-on-demand valve jet printer with several valve openings (nozzles), the operating principle of which is based on the use of electric valves. A magnetic piston is guided in a coil and lifted into the coil by the supply of current. This releases the valve openings so that ink is dispensed can be. The disadvantage of this is that such drop-on-demand valve jet printers are not suitable for covering the entire area. In particular, the high-quality components used in automated series painting, e.g. B. motor vehicle bodies, the required area performance can usually not be achieved by drop-on-demand printing techniques. The term printhead can also be replaced by the term nozzle applicator. Out Figure 17 the result is that, in particular, the distances between the nozzles are too large to be able to coat the entire surface, in particular to produce a coherent coating agent film. One possible solution for this seems to be to turn the print head. At the same time, however, this reduces the width of the coating material web produced by the valve jet printer and thus its area performance.

A major problem is that the individual nozzles in a row of nozzles cannot be manufactured mechanically as closely as desired, especially when individual valves are installed, such as. B. common with drop-on-demand valve-jet printers, because required distances between nozzles, coils, actuating levers, anchors, etc. lead to a minimum distance between the individual nozzles. The minimum distances can be so large that a row of nozzles alone does not lead to a closed film of coating agent. By rotating the print head, as already mentioned above, a closed coating agent film can under certain circumstances be achieved, but the rotation also significantly reduces the web width, which leads to a reduced surface conduction.

One measure to increase the area performance initially appears to be that several print heads are arranged one behind the other and offset from one another in the longitudinal direction of the rows of nozzles.

Figure 18 shows that the spacing of the nozzles in the rows of nozzles of the individual print heads can be reduced by using several print heads.

Example:

• 1 print head: 10mm valve opening distance;
• 2 such print heads one behind the other and offset in the longitudinal direction of the rows of nozzles: 5mm valve opening distance;
• 10 such print heads one behind the other and offset in the longitudinal direction of the nozzle rows: 1mm valve opening distance.

Such an arrangement would be particularly disadvantageous in the application robot-based painting of motor vehicle bodies because a z. B. Depending on the component geometry, required joint rotation of the print heads about a common central axis by the application robot leads to uneven nozzle spacings between the nozzles of the individual nozzle rows, which Figure 19 can be taken.

Figure 20 it can be seen that uneven nozzle spacings between the nozzles of the nozzle rows lead to an inhomogeneous, in extreme cases not even closed, coating agent film, which z. B. in automotive painting technology is mostly unacceptable.

One object of the invention is, in particular, to create an application device for the preferably serial application of an application agent to a component by means of at least two rows of nozzles which, despite the rows of nozzles being rotated by an application robot, have a sufficiently homogeneous Application agent film on the component and / or enables a sufficiently high surface coating performance.

This problem can be solved with the features of the main claim. Advantageous developments of the invention can be found in the dependent claims and the following description of preferred embodiments of the invention.

The invention relates to an application device for applying an application agent to a motor vehicle body component.

The application device comprises at least one print head for preferably serial application of the application agent and for mounting on an application robot which has at least five movable robot axes including a hand axis.

The at least one print head can e.g. B. comprise a first print head and at least one further print head.

The application device comprises at least two rows of nozzles which can be moved and rotated by the application robot.

The at least two rows of nozzles comprise a first row of nozzles with several nozzles for outputting application agent jets (e.g. contiguous application agent jets and / or drop jets comprising droplets) and at least one further nozzle row with several nozzles for outputting application agent jets (e.g. contiguous application agent jets and / or or streams of drops encompassing drops). The application device can thus in particular have at least two, at least three, at least four or even at least five rows of nozzles.

The application device is characterized in particular by the fact that at least one row of nozzles of the at least two rows of nozzles is movable relative to the at least one further row of nozzles in addition to the rotation by the application robot in order to adjust the position of the nozzles of the first row of nozzles and the nozzles of the at least one further row of nozzles to thereby achieve a to correct twisting of the at least two rows of nozzles caused by the application robot. The first row of nozzles and / or the at least one further row of nozzles is therefore movable. The application device can consequently comprise at least one, at least two, at least three or even at least five movable rows of nozzles for position adjustment.

The position adjustment serves to correct a rotation of the at least two rows of nozzles caused by the application robot, in particular its hand axis.

The rotation of the at least two rows of nozzles takes place, for. B. about an axis of rotation perpendicular to the component.

The invention creates an expedient technical / mechanical solution by means of which it can be ensured that several rows of nozzles can be used and the several rows of nozzles can in particular be rotated jointly by an application robot, with an incorrect position resulting from the rotation being correctable by the position adjustment in the context of the invention is.

The application device according to the invention comprises in particular embodiments in which a position adjustment of individual rows of nozzles (e.g. on a print head) and / or individual print heads to one another are made possible in order to correct the position of the at least two rows of nozzles in such a way that an essentially homogeneous application image is also preferably all nozzle distances, jet distances and / or Traces of drops can be preserved evenly. Essentially all the beam spacings can become narrower or wider as a result of the twisting caused by the application robot, but all the spacings preferably remain spaced apart essentially evenly as a result of the position adjustment (correction) of the nozzle rows.

The application robot-induced rotation of the at least two rows of nozzles is preferably carried out around an axis of rotation which is arranged essentially centrally relative to the at least two rows of nozzles and / or is oriented essentially parallel to the application agent jets of the at least two rows of nozzles. B. a rotation about the Z-axis (or another axis) is included with horizontal painting.

The at least one print head corresponds to an applicator for preferably serial application of the application agent and for mounting on an application robot. The term applicator as used herein can include one or more printheads.

• Gleichmäßige Veränderung der Düsenabstände,
• Anpassung, um ein homogenes Lackbild zu bekommen (im Wesentlichen alle Einzelreihen fügen/verlaufen zu einem homogenen Lackiersteifen/Lackfilm),
• Für verschiedene Lacksysteme geeignet,
• Für verschiedene Lacke geeignet,
• Für verschiedene Lack-Lieferanten geeignet,
• Für verschiedene Farbtöne geeignet,
• Für verschiedene Viskositäten geeignet,
• Zum Ausgleichen von Produktionsschwankungen und/oder Toleranzen der Bauteile,
• Zur Anpassung an eine Bauteilgeometrie,
• Breitenanpassung des Lackstrahls/Lackstreifens an die Geometrie des Bauteils,
• Verstellung der Strahlbreite des Applikators,
• Anpassung, um die Schichtdicke zu verändern,
• Anpassung, um die Applikationszeit(en) zu verändern,
• Anpassung, um den Verlauf des Lackes zu verbessern,
• Anpassung, um die Flächenleistung zu verändern,
• Hohe Flächenleistung,
• Möglichkeit, den Applikator um seine Mitten- oder Verdrehachse zu verdrehen, ohne dass die Homogenität des Lackfilms beeinträchtigt wird,
• Verdrehen/Verschieben zumindest einer Düsenreihe, um die Homogenität des Lackfilms anzupassen oder zu erhalten, z.B. für verschiedene Lackarten, Lacke, Viskositäten etc.,
• Verdrehen/Verschieben zumindest einer Düsenreihe, um Konturen des Bauteils zu folgen,
• Verdrehen/Verschieben zumindest einer Düsenreihe, um die Lackierstrahlbreite/Bahnbreite zu verändern,
• Ermöglichung größerer Ventile (einfacher herzustellen und/oder mit höherer Schließkraft) zur Steuerung der Applikationsmittelabgabe,
• Mehr-Reihigkeit sowie die Positionsanpassung (Korrekturmechanik) ermöglichen volle Einsatzmöglichkeit/Parametrierbarkeit des Applikators hinsichtlich Verdrehen und Flächenleistung.

For an optimal application with one or more print heads with individual nozzles that are arranged in a row, the position adjustment of the nozzle rows for z. B. one of the following functions useful or even required. The application device thus comprises one or more of the following advantageous properties:

• Uniform change in nozzle spacing,
• Adjustment in order to get a homogeneous paint finish (essentially all individual rows join / run into a homogeneous paint strip / paint film),
• Suitable for various paint systems,
• Suitable for various paints,
• Suitable for various paint suppliers,
• Suitable for different colors,
• Suitable for different viscosities,
• To compensate for production fluctuations and / or tolerances of the components,
• To adapt to a component geometry,
• Adjustment of the width of the paint jet / paint strip to the geometry of the component,
• Adjustment of the jet width of the applicator,
• Adjustment to change the layer thickness,
• Adaptation to change the application time (s),
• Adjustment to improve the flow of the paint,
• Adjustment to change the area performance,
• High area performance,
• Possibility to turn the applicator around its central or twist axis without affecting the homogeneity of the paint film,
• Rotating / shifting at least one row of nozzles in order to adapt or maintain the homogeneity of the paint film, e.g. for different types of paint, paints, viscosities, etc.,
• Rotating / shifting at least one row of nozzles in order to follow the contours of the component,
• Rotating / shifting at least one row of nozzles in order to change the spray width / web width,
• Enabling larger valves (easier to manufacture and / or with a higher closing force) to control the application agent delivery,
• Multiple rows as well as position adjustment (correction mechanics) enable the applicator to be fully used / parameterised with regard to rotation and area coverage.

It is possible for the at least one movable row of nozzles to be movable in order to correct a rotation of the at least two rows of nozzles that can be generated by the application robot so that the nozzle spacing between the nozzles, and thus expediently the application agent jets, the first row of nozzles and the nozzles, and thus expediently, the application agent jets, of the at least one further row of nozzles, are substantially evenly spaced from one another.

As an alternative or in addition, it is possible that by a rotation of the at least two rows of nozzles that can be generated by the application robot, the expediently variable nozzle distances between the nozzles, and thus expediently the application agent jets, the first nozzle row, and the nozzles, and thus expediently the application agent jets, the at least one further row of nozzles become larger or smaller, but are essentially evenly spaced from one another by adjusting the position.

The position adjustment preferably enables a relative movement between the at least two rows of nozzles, e.g. B. in contrast to the in Figure 19 shown variant, in which the nozzle rows are all rotated around a single central axis without a relative movement function.

The rotation of the at least two rows of nozzles that can be generated by the application robot can e.g. B. take place around a common axis of rotation and preferably through a hand axis of the application robot.

Despite a rotation of the at least two rows of nozzles that can be generated by the application robot, the position adjustment can preferably be essentially uniform nozzle spacings between the nozzles of the first row of nozzles and the nozzles of the at least one further row of nozzles.

Alternatively or in addition, z. B. in spite of a rotation of the at least two rows of nozzles that can be generated by the application robot, the position adjustment enable a homogeneity maintenance of the application agent film on the component, which can be generated by the application agent, which is sufficient, in particular for motor vehicle painting.

The nozzle distances correspond to z. B. nozzle spacings perpendicular to the preferably translational direction of movement of the at least one print head.

The rotation of the at least two rows of nozzles is preferably carried out by an axis of the hand axis of the application robot.

It is important that the device for adjusting the position of the at least two rows of nozzles is supported at a point on the axis of rotation or the hand axis that is not influenced by the rotary movement.

It is possible for the at least one movable row of nozzles to be rotatable and to have an axis of rotation.

The axis of rotation can, for. B. be positioned essentially centrally to the at least one movable row of nozzles, in particular in the longitudinal and / or transverse direction, or off-center to be positioned at least one movable row of nozzles, in particular in their longitudinal and / or transverse direction.

It is possible that the axis of rotation z. B. is positioned on the longitudinal axis of the movable row of nozzles and / or outside or inside the at least one movable row of nozzles.

It is possible that several rows of nozzles are rotatable and each have their own axis of rotation,

The individual axes of rotation can, for. B. evenly spaced from each other and / or arranged in a preferably linear row.

The at least one movable row of nozzles can preferably be longitudinally displaceable along its longitudinal extension, namely as an alternative or in addition to a rotatability function.

It is possible for the application device to include a displacement and / or rotating mechanism for the practical direct or indirect movement of the at least one movable row of nozzles.

As mentioned above, it is possible for the first row of nozzles and / or the at least one further row of nozzles to be movable in order to adjust the position of the nozzles of the first row of nozzles and the nozzles of the at least one further row of nozzles.

It is possible that the application device for position adjustment comprises at least one motor, preferably an electric motor, for advantageously direct or indirect movement of the at least one movable row of nozzles.

The at least one motor can, for. B. comprise a sliding / linear motor, rotary motor and / or servomotor.

It is possible that one and the same motor is used for the practical direct or indirect joint movement of the first row of nozzles and the at least one further row of nozzles, so that the first row of nozzles and the at least one further row of nozzles are movable for position adjustment. One motor can be used to move at least two nozzle ranges.

It is also possible that a first motor is used to move the first row of nozzles and at least one further motor is used to move the at least one further row of nozzles, so that the first row of nozzles and the at least one further row of nozzles are movable for position adjustment. Here, individual motors can be used to move at least two rows of nozzles.

It is possible for the position adjustment the first row of nozzles and the at least one further row of nozzles to be connected to one another via at least one connection, preferably a master-slave connection and / or a mechanical coupling connection. This allows z. B. a synchronization of the movements of the first row of nozzles and the at least one further row of nozzles can be effected. Alternatively or additionally, a movement of the first row of nozzles can cause a corresponding movement of the at least one further row of nozzles or vice versa.

The first row of nozzles and the at least one further row of nozzles can also be activated individually for position adjustment.

The application device can have at least one of the following for position adjustment: at least one parallelogram mechanism (e.g. connection of the print heads and / or rows of nozzles with supported webs and the resulting displacement), at least one contour curve, at least one cam, at least one gear mechanism, preferably with axes, and / or at least one involute toothing (e.g. involute gear).

The application device can comprise at least one control device for calculating adjustment values for the position adjustment and preferably serve to control the movements of the at least one movable row of nozzles and / or to control the application robot. The motor of the handling device (robot) transfers the position data to software, which uses it to generate the correction commands for the correction motor (s).

It is possible for the at least one movable row of nozzles to be attached to a printhead as disclosed herein.

The at least one movable row of nozzles can be used for position adjustment z. B. be movable relative to their print head.

The at least one movable row of nozzles can also be used for position adjustment. B. be movable together with your print head, so that preferably the at least one movable row of nozzles is arranged stationary relative to your print head and / or the movement of the at least one movable row of nozzles is caused by a movement of your print head.

In the context of the invention, at least one movable row of nozzles relative to the printhead on which it is mounted can be movable for position adjustment. Alternatively or in addition, in the context of the invention, at least one movable row of nozzles can also be movable together with the print head on which it is mounted for position adjustment.

The first row of nozzles and the at least one further row of nozzles can, for. B. arranged on one and the same print head and and be movable relative to their print head.

The application device can have a first print head as disclosed herein and at least one further print head as disclosed herein.

The first print head can preferably comprise the first row of nozzles and the at least one further print head can comprise the at least one further row of nozzles.

It is possible for the first row of nozzles to be movable relative to the first print head. Alternatively, the first row of nozzles can be moved together with the first print head, so that, for. B. the first row of nozzles is arranged stationary relative to the first print head and / or the movement of the first row of nozzles is caused by a movement of the first print head.

It is possible for the at least one further row of nozzles to be arranged movably relative to the at least one further print head. Alternatively, the at least one further row of nozzles can be moved together with the at least one further print head so that, for. B. the at least one further row of nozzles is arranged stationary relative to the at least one further print head and / or the movement of the at least one further row of nozzles is caused by a movement of the at least one further print head.

The first print head and / or the at least one further print head can have at least one row of nozzles, but preferably at least two z. B. movable nozzle rows.

The first print head and the at least one further print head can e.g. B. be held by a holding device and in particular form a multiple print head unit.

The first print head and the at least one further print head are used in particular for mounting on one and the same application robot.

The mounting device can for position adjustment at least one z. B. enable translational and / or rotational degrees of freedom of movement for the first print head and / or for the at least one further print head.

It is possible that the first row of nozzles and the at least one further row of nozzles are arranged offset to one another in their longitudinal direction and / or the nozzles of the first row of nozzles and the nozzles of the at least one further row of nozzles do not overlap one another.

The first row of nozzles and the at least one further row of nozzles can, for. B. be arranged offset one behind the other essentially orthogonally to the longitudinal direction thereof and / or essentially orthogonally to the expedient translational direction of movement of the at least one print head.

It is possible for the first row of nozzles and the at least one further row of nozzles to remain aligned essentially parallel to one another despite position adjustment, that is to say in particular to be aligned parallel to one another before and after a position adjustment.

It is possible that the first row of nozzles is arranged in a first nozzle plate and the at least one further row of nozzles is arranged in a separate second nozzle plate, preferably spaced from the nozzle plate of the first row of nozzles.

It is possible that individual valves are provided to control the application agent delivery from the individual nozzles of the first row of nozzles and / or the individual nozzles of the at least one further row of nozzles, the individual valves each having a movable valve element (e.g. armature or valve needle) to to close the respective nozzle in a closed position and to release it in an open position, and each having a preferably electromechanical drive, preferably a coil reset element drive, for moving the valve element. The individual valves are expediently arranged in the at least one print head.

The valve drives preferably work electromechanically (e.g. electromagnetic or piezoelectric).

The valve drives each preferably include an electrical coil or a piezo actuator for actuating the valve element.

It is possible that the valve drives each include a preferably elastic return element for actuating the valve element.

The application agent jets of the first row of nozzles and / or of the at least one further row of nozzles can be contiguous application agent jets and / or (several e.g. Essentially round or elongated drops comprising) drop jets.

To generate a jet of drops z. B. the coil and the restoring element (z. B. a spring) ensure that the valve element is moved back and forth between the open position and the closed position. The jet of droplets is expediently between the at least one nozzle and the component.

To generate a coherent application medium jet z. B. hold the coil or the piezo actuator the valve element permanently in the open position. The restoring element can, for. B. move the valve element in the rest phase into the closed position, the valve element being expediently permanently held in the open position during the application of the application agent. The coherent application medium jet is expediently between the at least one nozzle and the component.

The application agent can, for. B. viscous, highly viscous or pseudoplastic, preferably with a viscosity of over 15mPas, over 30mPas, over 60mPas, over 100mPas or over 130mPas and / or preferably with a viscosity of less than 400mPas or less than 200mPas or less than 150mPas (measured at a shear rate of 1000s ^-1 ) and / or a varnish.

The at least one print head can expediently comprise the first print head and / or the at least one further print head.

• der zumindest eine Druckkopf ist zum im Wesentlichen zerstäubungs- oder sprühnebelfreien Applizieren des Applikationsmittels ausgeführt, und/oder
• der zumindest eine Druckkopf ist auf Dauerbetrieb ausgelegt und dient zur Flächenbeschichtung des Bauteils, und/oder
• der zumindest eine Druckkopf gibt einen eng begrenzten Applikationsmittelstrahl ab im Gegensatz zu einem (wie z. B. durch einen Zerstäuber erzeugten, zerstäuben) Sprühnebel, und/oder
• der zumindest eine Druckkopf gibt einen Tropfenstrahl ab, z. B. im Gegensatz zu einem in Strahllängsrichtung zusammen hängenden Applikationsmittelstrahl. Hierbei ist zu erwähnen, dass die Tropfen des Druckkopfs aus folgenden Gründen keinen Overspray erzeugen:
  1. 1) Sie sind zielgerichtet und treffen daher die Oberfläche.
  2. 2) Sie werden durch Lüfte nicht abgelenkt.
  3. 3) Sie werden durch Elektrostatik nicht abgelenkt, und/oder
• der zumindest eine Druckkopf gibt einen in Strahllängsrichtung zusammen hängenden Applikationsmittelstrahl ab, z. B. im Gegensatz zu einem Tropfenstrahl.
• der zumindest eine Druckkopf weist einen Auftragswirkungsgrad von mindestens 80%, 90%, 95% oder 99% auf, so dass vorzugsweise im Wesentlichen das gesamte applizierte Applikationsmittel vollständig auf dem Bauteil abgelagert wird, im Wesentlichen ohne Oversprayerzeugung, und/oder
• das vorstehende gilt bezogen auf die wunschgemäß zu lackierende Fläche. An kurzen Winkelübergängen (Kanten) kann es aber wunschgemäß dazu kommen, dass die senkrechten Anteile der gekanteten Bleche lackiert werden sollen. Das führt aber zu Bereichen beim Aus/Einschalten oder an Kanten, die teilweise lackiert sind, aber eigentlich nicht lackiert werden sollen. Dies senkt den "Wirkungsgrad". Dabei handelt es sich aber nicht um Overspray, sondern um ungewollt lackierte Teilflächen, um sicherzustellen, dass die Wunschflächen komplett mit Lack benetzt sind, und/oder
• der zumindest eine Druckkopf weist eine Flächenbeschichtungsleistung von mindestens 0,5 m²/min, 1m²/min, 2m²/min oder mindestens 3m²/min auf, und/oder
• der zumindest eine Druckkopf weist mindestens einen elektrisch ansteuerbaren Aktor aufweist, um das Applikationsmittel aus dem zumindest eine Druckkopf auszustoßen, insbesondere einen Magnetaktor oder einen Piezoaktor.

The at least one print head can preferably have at least one of the following features:

• the at least one print head is designed to apply the application agent essentially without atomization or spray mist, and / or
• the at least one print head is designed for continuous operation and is used for surface coating of the component, and / or
• the at least one print head emits a narrowly limited application medium jet in contrast to a spray mist (such as, for example, generated by an atomizer, atomize), and / or
• the at least one print head emits a jet of droplets, e.g. B. in contrast to a coherent application medium jet in the longitudinal direction of the jet. It should be mentioned here that the droplets of the printhead do not generate overspray for the following reasons:
  1. 1) They are targeted and therefore hit the surface.
  2. 2) You will not be distracted by the air.
  3. 3) You will not be distracted by electrostatics, and / or
• the at least one print head emits a coherent application medium beam in the longitudinal direction of the beam, e.g. B. in contrast to a jet of drops.
• the at least one print head has an application efficiency of at least 80%, 90%, 95% or 99%, so that preferably essentially all of the applied application agent is deposited completely on the component, essentially without overspray generation, and / or
• the above applies to the surface to be painted as required. At short angular transitions (edges), however, it may be the case that the vertical parts of the folded sheet metal should be painted. However, this leads to areas when switching off / on or on edges that are partially painted but actually should not be painted. This lowers the "efficiency". However, this is not about overspray, but rather unintentionally painted partial areas in order to ensure that the desired areas are completely covered with paint, and / or
• the at least one printhead has a surface coating capacity of at least 0.5 m ² / min, ¹ m ² / min, ² m ² / min or at least 3 m ² / min, and / or
• the at least one print head has at least one electrically controllable actuator in order to eject the application agent from the at least one print head, in particular a magnetic actuator or a piezo actuator.

It should be mentioned that the first row of nozzles and / or the at least one further row of nozzles can comprise a large number of nozzles (e.g. over 5, over 10 or even over 15 nozzles and optionally a corresponding number of associated individual valves).

It should also be mentioned that the term of the at least one "print head" used in the context of the invention is to be understood in general terms and only serves in particular to differentiate between atomizers (e.g. rotary atomizers, disc atomizers, airless atomizers, airmix atomizers and / or ultrasonic atomizers), which generate a spray of the application agent to be applied. In contrast to this, the print head according to the invention preferably generates at least one, in particular a large number of spatially narrowly limited application medium jets.

It should also be mentioned that the at least two rows of nozzles are preferably used to apply a paint (e.g. basecoat, clearcoat, water-based paint and / or solvent-based paint). However, as an alternative, they can also be designed for the application of other application means, in particular coating means, such as for example for the application of sealant, insulating material, adhesive, primer, etc., to name just a few examples.

The application distance between the nozzles and the component surface is preferably at least 4 mm, 10 mm, 20 mm or 40 mm and / or at most 200 mm or 100 mm.

The invention also includes an application robot, preferably a coating or painting robot, with at least one application device as disclosed herein.

The application robot is useful for guiding one or more print heads and thus the at least two rows of nozzles and can, for. B. have at least five or at least six movable robot axes.

The invention also comprises an application method, preferably carried out by an application device as disclosed herein. The disclosure relating to the application device therefore applies accordingly to the application method and is likewise claimed accordingly.

The application method is used to apply an application agent to a component, preferably to apply a paint to a motor vehicle body component, with at least one print head preferably applying the application agent in series and mounting it on an application robot, and at least two rows of nozzles by the application robot are moved, wherein the at least two rows of nozzles comprise a first row of nozzles with several nozzles for outputting application agent jets and at least one further nozzle row with several nozzles for outputting application agent jets.

The application method is primarily characterized in that at least one row of nozzles of the at least two rows of nozzles is moved to adjust the position of the nozzles of the first row of nozzles and the nozzles of the at least one further row of nozzles.

Figur 1

zeigt eine schematische Ansicht von drei Düsenreihen für eine Applikationsvorrichtung gemäß einer Ausführungsform der Erfindung,

Figur 2

zeigt eine schematische Ansicht der drei Düsenreihen der Figur 1 in positionsangepasster Stellung,

Figur 3

zeigt eine schematische Ansicht zur Darstellung des Wirkprinzips einer Applikationsvorrichtung gemäß einer Ausführungsform der Erfindung,

Figur 4

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer Ausführungsform der Erfindung,

Figur 5

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer anderen Ausführungsform der Erfindung,

Figur 6

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer wiederum anderen Ausführungsform der Erfindung,

Figur 7

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer noch anderen Ausführungsform der Erfindung,

Figur 8

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer Ausführungsform der Erfindung,

Figur 9

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer anderen Ausführungsform der Erfindung, und

Figur 10

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer wiederum anderen Ausführungsform der Erfindung,

Figur 11

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer noch anderen Ausführungsform der Erfindung,

Figur 12

zeigt eine schematische Ansicht von vier Düsenreihen für eine Applikationsvorrichtung gemäß einer noch anderen Ausführungsform der Erfindung,

Figur 13

zeigt eine schematische Ansicht einer Mechanik zur Kopplung/Führung von Düsenreihen für eine Applikationsvorrichtung gemäß einer Ausführungsform der Erfindung

Figur 14

zeigt eine schematische Ansicht der Düsenreihen der Figur 13 in positionsangepasster Stellung,

Figur 15

zeigt eine schematische Ansicht einer Mechanik zur Kopplung/Führung von Düsenreihen für eine Applikationsvorrichtung gemäß einer anderen Ausführungsform der Erfindung

Figur 16

zeigt eine schematische Ansicht der Düsenreihen der Figur 15 in positionsangepasster Stellung,

Figur 17

zeigt eine schematische Ansicht zur Veranschaulichung eines Problems, wenn Düsen eines Druckkopfs z. B. aufgrund baulicher Randbedingungen nicht eng genug zueinander positioniert werden können,

Figur 18

zeigt eine schematische Ansicht zur Veranschaulichung, wenn mehrere Druckköpfe zur Erhöhung der Flächenleistung und/oder zur Ermöglichung eines homogenen Applikationsmittelfils gemäß einer Ausführungsform der Erfindung hintereinander angeordnet sind,

Figuren 19 und 20

zeigen schematische Ansichten zur Veranschaulichung eines Problems, wenn mehrere hintereinander angeordnete Druckköpfe durch einen Applikationsroboter verdreht werden,

Figur 21

zeigt zwei Applikationsroboter gemäß einer Ausführungsform der Erfindung, und

Figur 22

zeigt einen Teils eines Druckkopfs gemäß einer Ausführungsform der Erfindung.

The preferred embodiments of the invention described above can be combined with one another. Other advantageous developments of the invention are disclosed in the subclaims or result from the following description of preferred embodiments of the invention in conjunction with the attached figures.

Figure 1

shows a schematic view of three rows of nozzles for an application device according to an embodiment of the invention,

Figure 2

FIG. 3 shows a schematic view of the three rows of nozzles in FIG Figure 1 in position-adjusted position,

Figure 3

shows a schematic view to illustrate the operating principle of an application device according to an embodiment of the invention,

Figure 4

shows a schematic view of four rows of nozzles for an application device according to an embodiment of the invention,

Figure 5

shows a schematic view of four rows of nozzles for an application device according to another embodiment of the invention,

Figure 6

shows a schematic view of four rows of nozzles for an application device according to yet another embodiment of the invention,

Figure 7

shows a schematic view of four rows of nozzles for an application device according to yet another embodiment of the invention,

Figure 8

shows a schematic view of four rows of nozzles for an application device according to an embodiment of the invention,

Figure 9

shows a schematic view of four rows of nozzles for an application device according to another embodiment of the invention, and

Figure 10

shows a schematic view of four rows of nozzles for an application device according to yet another embodiment of the invention,

Figure 11

shows a schematic view of four rows of nozzles for an application device according to yet another embodiment of the invention,

Figure 12

shows a schematic view of four rows of nozzles for an application device according to yet another embodiment of the invention,

Figure 13

shows a schematic view of a mechanism for coupling / guiding rows of nozzles for an application device according to one embodiment of the invention

Figure 14

FIG. 11 shows a schematic view of the nozzle rows in FIG Figure 13 in position-adjusted position,

Figure 15

shows a schematic view of a mechanism for coupling / guiding rows of nozzles for an application device according to another embodiment of the invention

Figure 16

FIG. 11 shows a schematic view of the nozzle rows in FIG Figure 15 in position-adjusted position,

Figure 17

Fig. 13 is a schematic view for illustrating a problem when nozzles of a print head e.g. B. cannot be positioned close enough to one another due to structural constraints,

Figure 18

shows a schematic view to illustrate when several print heads are arranged one behind the other to increase the area performance and / or to enable a homogeneous application agent file according to an embodiment of the invention,

Figures 19 and 20

show schematic views to illustrate a problem when several print heads arranged one behind the other are rotated by an application robot,

Figure 21

shows two application robots according to an embodiment of the invention, and

Figure 22

Figure 10 shows part of a printhead according to an embodiment of the invention.

The preferred embodiments of the invention described with reference to the figures are partially identical, similar or identical parts being provided with the same reference numerals, and for their explanation reference is made to the description of other embodiments or figures in order to avoid repetition.

For the sake of clarity, only one nozzle, only one associated application medium jet and only a few nozzle spacings are usually provided with reference symbols in the figures.

Figure 1 shows a schematic view of three rows of nozzles 1, 2 and 3 for an application device V according to an embodiment of the invention, wherein Figure 2 shows an associated schematic view of the three rows of nozzles 1, 2, 3 in a rotated position for position adjustment. The application device V is described below with common reference to Figures 1 and 2 described.

The application device V is used to apply an application agent to a component, preferably to apply a paint to a motor vehicle body component.

The application device V comprises a print head 100 for the serial and atomization-free and thus in particular essentially overspray-free application of the application agent. The print head 100 is used for mounting on an application robot.

The print head 100 comprises three rows of nozzles 1, 2, 3, which can be moved by the application robot.

A first row of nozzles 1 is incorporated into a first nozzle plate P1 and comprises five nozzles 1.1 for the output of application medium jets S1.

A second row of nozzles 2 is incorporated into a second nozzle plate P2 and comprises five nozzles 2.1 for the output of application medium jets S2.

A third row of nozzles 3 is incorporated into a third nozzle plate P3 and comprises five nozzles 3.1 for outputting jets of application medium S3.

Reference symbol M denotes the expedient translatory direction of movement of the print head 100 and thus the rows of nozzles 1, 2, 3.

The three rows of nozzles 1, 2, 3 are attached to one and the same pressure head 100.

During an application process it is usually necessary that the print head 100 and thus the rows of nozzles 1, 2, 3 z. B. component geometry-dependent must be rotated about a common axis of rotation, which is in the Figures 1 and 2 is indicated by the rotary arrow X. The rotation X usually takes place through a hand axis of the application robot and preferably around a rotation axis essentially perpendicular to the component, supported on the robot.

The "geometry" can also be generated by switching it on or off. Only then are "paragraphs" in the size of the nozzle spacing visible in the paint. If that's not acceptable or good enough for the optical solution for the painted part, then the only solution is twisting.

A rotation X of the print head 100 together with the nozzle rows 1, 2, 3, without the position adjustment explained later, would result in a nozzle row positioning similar to e.g. B. in Figure 19 shown on the right, which in turn leads to an inhomogeneous paint film similar to e.g. B. in Figure 20 shown below would result. An inhomogeneous paint finish is unacceptable, especially in the field of motor vehicle painting.

The at least three rows of nozzles 1, 2, 3 are therefore movable in order to enable the nozzles 1.1 of the first row of nozzles 1, the nozzles 2.1 of the second row of nozzles 2 and the nozzles 3.1 of the third row of nozzles 3 to be adjusted. The position adjustment allows, in contrast to the z. B. in Figure 19 embodiment shown, in particular a relative movement between the three rows of nozzles 1, 2, 3.

The mobility function of the three rows of nozzles 1, 2, 3 enables a rotation X of the three rows of nozzles 1, 2, 3 generated by the application robot to be corrected so that the variable nozzle spacings S between the nozzles 1.1 of the first nozzle row 1, the nozzles 2.1 the second row of nozzles 2 and the nozzles 3.1 of the third row of nozzles 3 are evenly spaced from one another.

The nozzle spacings S correspond to the nozzle spacings perpendicular to the translational direction of movement M of the print head 100.

From the rotation X it follows that the nozzle distances S between the nozzles 1.1, the nozzles 2.1 and the nozzles 3.1 can become larger or smaller. But you can by adjusting the position nevertheless be kept evenly spaced apart.

Despite a twist X generated by the application robot, the position adjustment enables uniform nozzle spacings S between the nozzles 1.1 of the first row of nozzles 1, the nozzles 2.1 of the second row of nozzles 2 and the nozzles 3.1 of the third row of nozzles 3.

Despite the rotation X, the position adjustment enables the homogeneity of the application agent film produced by the application agent on the component to be maintained.

The three nozzle plates P1, P2, P3 together with the associated nozzle rows 1, 2, 3 can be rotated for position adjustment.

The first row of nozzles 1 can thus be rotated about a first axis of rotation D1 arranged in the center of the first row of nozzles 1. The second row of nozzles 2 can be rotated about a second axis of rotation D2 arranged in the center of the second row of nozzles 2. The third row of nozzles 3 can be rotated about a third axis of rotation D3 arranged in the center of the third row of nozzles 3. The three axes of rotation D1, D2, D3 are evenly spaced from one another and are arranged in a row.

The three rows of nozzles 1, 2, 3 are connected to one another for position adjustment and / or as a guide mechanism via a parallelogram mechanism, which also ensures a synchronized and thus even movement of the nozzle plates P1, P2, P3 and thus the nozzle rows 1, 2, 3 cares.

A control, for example a robot control software, could calculate the paint impingement points on the surface depending on the angle of rotation and correct them accordingly so that the existing Web data are recalculated accordingly, ie a correction of the shift of the paint impingement points and a correction of the webs, since the web width changes. This leads to more or less paths that can be automatically corrected or even generated. This applies to any type of twist. Even with just one row of nozzles.

As mentioned above, the three rows of nozzles 1, 2, 3 can be attached to one and the same printhead 100. However, another embodiment is also possible, which is represented by the Figures 1 and 2 is shown in brackets reference numerals.

So z. B. the first row of nozzles 1 can be attached to a first pressure head 100. The second row of nozzles 2 can be attached to a second print head 101. The third row of nozzles 3 can be attached to a third print head 102.

To achieve the mobility function and / or position adjustment, the following variants are possible individually or in combination with one another:
The respective row of nozzles 1, 2, 3 is movable relative to its pressure head 100, 101, 102.

The respective row of nozzles 1, 2, 3 is movable together with its print head 100, 101, 102, so that the respective row of nozzles 1, 2, 3 is arranged stationary relative to its print head 100, 101, 102 and the movement of the respective row of nozzles 1, 2, 3 is caused by a movement of its print head 100, 101, 102.

It is consequently evident that in the context of the invention for position adjustment it is expedient to have at least one row of nozzles can be movable relative to its printhead and / or at least one row of nozzles can be movable together with its printhead.

Figure 3 shows a schematic view to illustrate the principle of operation of an application device V according to an embodiment of the invention. In this embodiment as well, the individual rows of nozzles 1, 2, 3 can be movable relative to their print head 100, 101, 102 or else can be moved together with their print head 100, 101, 102, which is shown in FIG Figure 3 should be clarified again by reference symbols without and with brackets.

A special feature of the in Figure 3 The embodiment shown is that the position adjustment is not carried out by rotating rows of nozzles, but by the first row of nozzles 1 / print head 100 and the third row of nozzles 3 / print head 102 being longitudinally displaceable, which is shown in FIG Figure 3 indicated above by the two double arrows. The second row of nozzles 2 / pressure head 101 can, but does not have to, have a mobility function for position adjustment.

Figure 3 shows that a uniform, homogeneous paint film is possible despite the twisting X.

Figure 4 shows a schematic view of four rotatable rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention.

The first row of nozzles 1 comprises thirteen nozzles 1.1 for the output of thirteen application agent jets S1.

The second row of nozzles 2 comprises thirteen nozzles 2.1 for the output of thirteen application agent jets S2.

The third row of nozzles 3 comprises thirteen nozzles 3.1 for the output of thirteen application medium jets S3.

The fourth row of nozzles 4 comprises thirteen nozzles 4.1 for the output of thirteen application agent jets S4.

In Figure 4 the nozzle plates P1, P2, P3 and P4 are identical in construction, but are arranged offset in the longitudinal direction in the orientation shown. So there are individual offsets Z, Y, X for each nozzle plate P1, P2, P3, P4.

S indicates the nozzle spacing between the nozzles 1.1, the nozzles 2.1, the nozzles 3.1 and the nozzles 4.1.

B indicates the web width.

Figure 5 shows a schematic view of again four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention.

In Figure 5 the four rows of nozzles 1, 2, 3, 4 are connected by means of the associated nozzle plates P1, P2, P3, P4 via a (in Figure 5 upper and lower) mechanical coupling connection connected to one another, so that a movement of one of the rows of nozzles 1, 2, 3, 4 causes a corresponding movement of the other rows of nozzles 1, 2, 3, 4 or vice versa, whereby z. B. a master-slave connection between the nozzle rows 1, 2, 3, 4 can be made possible. The coupling connection also advantageously leads to synchronization of the individual movements of the rows of nozzles 1, 2, 3, 4.

However, the individual rows of nozzles 1, 2, 3, 4 can also be driven separately by individual drives for position adjustment. Here, too, the coupling connection can ensure a uniform, synchronized movement of the rows of nozzles 1, 2, 3, 4.

Figure 6 shows a schematic view of four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention.

A special feature of the in Figure 6 The embodiment shown is that the nozzle plates P1, P2, P3, P4 are not structurally identical, but the nozzle rows 1, 2, 3, 4 have an offset XYZ for each nozzle row 1, 2, 3, 4.

Figure 7 shows a schematic view of again four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention, but in a comparison to FIG Figures 4 to 6 twisted, position-adjusted position.

The distances between the points of impact of the application means and the web width become smaller, but the distances become the same over the entire web width. In particular, this results in an even layer thickness distribution and an optimal painting result.

D indicates the nozzle spacing between the nozzles 1.1, the nozzles 2.1, the nozzles 3.1 and the nozzles 4.1.

E indicates the web width.

• α = Drehwinkel zur Positionsanpassung
• D kleiner S
• E kleiner B

It applies with a view to that Figures 4 to 7 :

• α = angle of rotation for position adjustment
• D smaller S
• E smaller than B

Figure 8 FIG. 4 shows a schematic view of again four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention, but in a comparison to FIG Figures 7 more twisted, position-adapted position.

• β = Drehwinkel zur Positionsanpassung
• D kleiner S
• E kleiner B

It applies with a view to that Figures 4 to 8 :

• β = angle of rotation for position adjustment
• D smaller S
• E smaller than B

Figure 9 FIG. 4 shows a schematic view of again four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention, but in a comparison to FIG Figure 8 more twisted, position-adapted position.

• γ = Drehwinkel zur Positionsanpassung
• D kleiner S
• E kleiner B

It applies with a view to that Figures 4 to 9 :

• γ = angle of rotation for position adjustment
• D smaller S
• E smaller than B

Figure 10 shows a schematic view of again four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention.

The first row of nozzles 1 is rotatable about an eccentric first axis of rotation D1, which is arranged on the longitudinal axis of the first row of nozzles 1. The second row of nozzles 2 can be rotated about an eccentric second axis of rotation D2, which is arranged on the longitudinal axis of the second row of nozzles 2. The third row of nozzles 3 can be rotated about an eccentric third axis of rotation D3, which is arranged on the longitudinal axis of the third row of nozzles 3. The fourth row of nozzles 4 can be rotated about an eccentric fourth axis of rotation D4, which is arranged on the longitudinal axis of the fourth row of nozzles 4. The axes of rotation D1, D2, D3, D4 are arranged in a row.

In a special embodiment, the axes of rotation D1, D2, D3, D4 are on a line. This line can point parallel to the painting direction.

In Figure 10 A mechanical coupling connection for connecting the rows of nozzles 1, 2, 3, 4 can also be seen below.

Figure 11 shows a schematic view of again four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 in a position-adjusted position for an application device V according to an embodiment of the invention.

Figure 12 shows a schematic view of again four rows of nozzles 1, 2, 3, 4 in four nozzle plates P1, P2, P3, P4 for an application device V according to an embodiment of the invention.

The nozzle plates 1, 2, 3, 4 are identical in construction, but are arranged offset from one another in their longitudinal direction, so that individual There are uneven offsets XYZ per nozzle plate 1, 2, 3, 4.

Another special feature is that the axes of rotation D1, D2, D3, D4 are each arranged eccentrically to the respective row of nozzles 1, 2, 3, 4, but nevertheless on the longitudinal axis of the respective row of nozzles 1, 2, 3, 4 and in series with one another.

Figure 13 shows a schematic view of a mechanism for coupling, guiding and driving of rows of nozzles 1 and 2 (alternatively separate print heads 100, 101) for an application device V according to an embodiment of the invention, wherein Figure 14 shows the nozzle rows 1 and 2 in position-adjusted position.
The Figures 13 and 14 show in particular that a contour cam and / or cam disk mechanism can be used to adjust the position.

Figure 15 shows a schematic view of a mechanism for coupling, guiding and driving of rows of nozzles 1 and 2 (alternatively separate print heads 100, 101) for an application device V according to another embodiment of the invention, wherein Figure 16 shows the nozzle rows 1 and 2 in position-adjusted position.

In Figures 15 and 16 a rotary servomotor M can be used to move nozzle rows 1 and 2 for position adjustment.

Figure 17 illustrates the problem of a non-homogeneous or even non-closed paint film.

Figure 18 illustrates one possible solution for the in Figure 17 explained problem, namely the use of several in a row arranged print heads.

Figure 19 left shows rows of nozzles in an untwisted position.

Figure 19 right shows the rows of nozzles after a rotation X about a common rotation axis by an application robot.

Figure 19 on the right shows in particular the uneven nozzle spacing between the nozzles of the nozzle rows, which lead to an unacceptable, in particular inhomogeneous paint film.

Figure 20 illustrates the problem that, despite several print heads arranged one behind the other, a twist X of the print heads leads to a non-homogeneous or even non-closed paint film.

Figure 21 shows two application robots R, each with an application device V as disclosed herein, only the left application robot R being provided with reference symbols.

The application robot R preferably comprises at least five or at least six movable robot axes and is used to guide one or more print heads 100 and thus in particular also to guide at least two rows of nozzles 1, 2, as disclosed herein. The at least one print head 100 is used for serial, atomization-free application of the application agent to a component T in the form of a motor vehicle body. The at least one print head 100 is rotated X by the hand axis of the application robot with a support on the robot mechanics.

Figure 22 shows a principle / detailed view of a part of the print head 100.

Figure 22 shows a nozzle plate P1 and a nozzle 1.1 in the nozzle plate P1. A preferably magnetic valve element 20 (e.g. armature or valve needle) that is movable relative to the nozzle plate P1 is used to control the dispensing of the application agent through the nozzle 1.1, the movable valve element 20 closing the nozzle 1.1 in a closed position and releasing it in an open position. An electromechanical drive (expediently valve drive) 21 is used to move the valve element 20. The print head 100 has a plurality of such nozzles 1.1, each with an associated valve element 20 and an associated drive 21.

The drive 21 comprises an electrical coil 22 for actuating the valve element 20 as a function of the energization of the coil 22, in particular for actuating the valve element 20 in the open position. The drive 21 further comprises an elastic return element 23, for. B. a coil spring for actuating the valve element 20 in the closed position.

The application agent to be applied is fed to the nozzles 1.1 via an application agent feed 24 in the print head 100. The application agent supply 24 is (in Figure 22 below) through the nozzle plate P1 and (in Figure 22 above) limited by another plate 25, wherein the nozzle plate 1 and the plate 25 can be separate components or part of a z. B. a one-piece integral (e.g. round or rectangular) tubular application agent feed 24.

The plate 25 has an opening coaxially to the nozzle 1.1, onto which a coil tube 26 is placed coaxially, the coil tube 26 being wound with the coil 22.

In the coil tube 26 there is a magnetic coil core 27 which is attached to the in Figure 3 upper end of the coil tube 26 can be sealed by a seal 28 with respect to the coil tube 26.

In addition, the coil tube 26 contains sections of the valve element 20, which can be displaced in the direction of the double arrow, the movement of the valve element 20, as already mentioned, being dependent on the energization of the coil 22.

Figure 22 shows the valve element 20 here in a closed position in order to close the nozzle 1.1. For an application of the application agent, on the other hand, the coil 22 is energized so that the valve element 20 in Figure 22 is pulled up to release the nozzle 1.1.

The return spring 23 presses the valve element 20 into the closed position when the coil 22 is de-energized.

In a first operating mode, the coil 22 can hold the valve element 20 permanently in the open position in order to generate a coherent application medium jet. The restoring element 10 is expediently used to move the valve element 20 into the closed position in rest phases.

In a second operating mode, the coil 22 and the restoring element 23 can ensure that the valve element 20 is moved back and forth between the open position and the closed position at a high frequency, in order to generate a jet of several drops.

In general, it should also be mentioned that the points of impact of the application medium jets resulting during the application process, which in the context of the invention are considered to be coherent Application agent jets and / or droplet jets comprising drops can be realized, preferably having the same center-to-center distance from one another, so that a homogeneous application agent film can arise when the application agent runs (spreading out) on the component.

The invention is not restricted to the preferred exemplary embodiments described above, but rather is defined by the appended claims.

List of reference symbols:

1

Row of nozzles

1.1

Nozzles

P1

Nozzle plate

S1

Application medium jets, e.g. B. contiguous application medium jets or drop jets

D1

Axis of rotation

2

Row of nozzles

2.1

Nozzles

P2

Nozzle plate

S2

Application medium jets, e.g. B. contiguous application medium jets or drop jets

D2

Axis of rotation

3

Row of nozzles

3.1

Nozzles

P3

Nozzle plate

S3

Application medium jets, e.g. B. contiguous application medium jets or drop jets

D3

Axis of rotation

4th

Row of nozzles

4.1

Nozzles

P4

Nozzle plate

S4

Application medium jets, e.g. B. contiguous application medium jets or drop jets

D4

Axis of rotation

S, D

Nozzle spacings, preferably perpendicular to the expedient translational direction of movement of the at least one print head

B, E

Web width

X

Twisting, preferably caused by the application robot

V

Application device

100

Printhead

101

Printhead

102

Printhead

M.

Print head movement direction, preferably translational

R.

Application robot

T

Component, preferably a motor vehicle body

20th

Valve element, preferably armature and / or valve needle

21st

A drive, especially valve drive

22nd

Kitchen sink

23

Reset element

24

Application medium supply

25th

plate

26th

Coil tube

27

Coil core

28

Seal between coil core and coil tube

Claims (26)

1. Application device (V) for the application of an application medium, preferably a paint, onto a motor vehicle body component (T), comprising:

   - at least one print head (100, 101) for application of the application medium preferably in series and for mounting on an application robot (R) which comprises at least five movable axes including a hand axis, and

   - at least two nozzle rows (1, 2) which can be moved by the application robot (R), which includes a rotation, wherein the at least two nozzle rows (1, 2) comprise a first nozzle row (1) with several nozzles (1.1) for the output of application medium jets (S1) and at least one further nozzle row (2) with several nozzles (2.1) for the output of application medium jets (S2),
   characterised in that

   - at least one nozzle row (1, 2) of the at least two nozzle rows (1, 2) is, in addition to the rotation by the application robot (R), movable relative to the at least one further nozzle row (2) for the purpose of position adjustment of the nozzles (1.1) of the first nozzle row (1) and the nozzles (2.1) of the at least one further nozzle row (2), in order to thereby correct a rotation of the at least two nozzle rows caused by the application robot (R).
2. Application device (V) according to Claim 1, characterised in that

   - the at least one movable nozzle row (1, 2) is movable in order to correct a rotation (X), which can be generated by the application robot (R), of the at least two nozzle rows (1, 2) so that the nozzle distances (S, D) between the nozzles (1.1) of the first nozzle row (1) and the nozzles (2.1) of the at least one further nozzle row (2) are evenly spaced apart from one another, and/or

   - as a result of a rotation (X), which can be generated by the application robot (R), of the at least two nozzle rows (1, 2), the nozzle distances (S, D) between the nozzles (1.1) of the first nozzle row (1) and the nozzles (2.1) of the at least one further nozzle row (2) become larger or smaller, but are evenly spaced apart from one another by the position adjustment, and/or

   - the position adjustment enables a relative movement between the at least two nozzle rows (1, 2), and/or

   - the rotation (X) of the at least two nozzle rows (1, 2) is performed about a common rotational axis and preferably by a wrist axis of the application robot (R), and/or

   - despite a rotation (X), which can be generated by the application robot (R), of the at least two nozzle rows (1, 2), the position adjustment enables uniform nozzle distances (S, E) between the nozzles (1.1) of the first nozzle row (1) and the nozzles (2.1) of the at least one further nozzle row (2), and/or

   - despite a rotation (X), which can be generated by the application robot (R), of the at least two nozzle rows (1, 2), the position adjustment enables maintenance of homogeneity of the application medium film, which can be generated by the application medium, on the component (T).
3. Application device (V) according to any one of the preceding claims, characterised in that the at least one movable nozzle row (1, 2) is rotatable and has an axis of rotation (D1, D2), which

   - is positioned centrally or eccentrically with respect to the at least one movable nozzle row (1, 2), or
   wherein particularly

   a) the axis of rotation (D1, D2)

   a1) is positioned on the longitudinal axis of the at least one movable nozzle row (1, 2), and/or

   a2) is positioned outside or inside the at least one movable nozzle row (1, 2), and/or

   b) all the pivot points lie on one line or in the case of doubled pivot points for each nozzle row two lines, and/or

   c) the two lines are parallel, and/or

   d) a line of the pivot points lies in the direction of travel, and/or

   e) the robot ensures that the axes of rotation are moved in the painting direction.
4. Application device (V) according to any one of Claims 1 to 3, characterised in that several nozzle rows (D1, D2) are rotatable and have in each case their own axis of rotation (D1, D2), wherein the individual axes of rotation (D1, D2) are preferably evenly spaced apart from one another and/or are arranged in a row.
5. Application device (V) according to any one of the preceding claims, characterised in that the at least one movable nozzle row (1, 2) is longitudinally displaceable.
6. Application device (V) according to any one of the preceding claims, characterised in that the application device (V) comprises a displacing and/or rotating mechanism for movement of the at least one movable nozzle row (1, 2).
7. Application device (V) according to any one of the preceding claims, characterised in that the first nozzle row (1) and/or the at least one further nozzle row (2.1) is/are movable for the purpose of position adjustment of the nozzles (1.1) of the first nozzle row (1) and the nozzles (2.1) of the at least one further nozzle row (2).
8. Application device (V) according to any one of the preceding claims, characterised in that the application device (V) comprises, for the purpose of position adjustment, at least one motor, preferably electric motor, for movement of the at least one movable nozzle row (1, 2), wherein
   the at least one motor particularly comprises a sliding or rotational motor and/or servo motor.
9. Application device (V) according to any one of the preceding claims, characterised in that
   one and the same motor serves the purpose of joint movement of the first nozzle row (1) and the at least one further nozzle row (2) so that, for the purpose of position adjustment, the first nozzle row (1) and the at least one further nozzle row (2) are movable, or
   a first motor serves to move the first nozzle row (1) and at least one further motor serves to move the at least one further nozzle row (2) so that, for the purpose of position adjustment, the first nozzle row (1) and the at least one further nozzle row (2) are movable.
10. Application device (V) according to any one of the preceding claims, characterised in that

    - the first nozzle row (1) and the at least one further nozzle row (2) are connected to one another via at least one connection, preferably a master/slave connection and/or a mechanical coupling connection, in order to bring about a synchronisation of the movements of the first nozzle row (1) and the at least one further nozzle row (2), and/or so that a movement of the first nozzle row (2) brings about a corresponding movement of the at least one further nozzle row (1) or vice versa, and/or

    - the first nozzle row (1) and the at least one further nozzle row (2) are actuated individually for the purpose of position adjustment.
11. Application device (V) according to any one of the preceding claims, characterised in that the application device (V) has, for the purpose of position adjustment, at least one of the following:

    - at least one parallelogram mechanism,

    - at least one contour curve,

    - at least one cam disc,

    - at least one transmission apparatus, preferably with axles,

    - at least one involute toothing.
12. Application device (V) according to any one of the preceding claims, characterised in that the application device (V) comprises at least one control apparatus for calculating adjustment values for the position adjustment and preferably for control of the at least one movable nozzle row (1, 2) and/or the application robot (R).
13. Application device (V) according to any one of the preceding claims, characterised in that the at least one movable nozzle row (1, 2) is fitted on a print head (100) and

    - for the purpose of position adjustment, the at least one movable nozzle row (1, 2) is movable relative to its print head (100), or

    - for the purpose of position adjustment, the at least one movable nozzle row (1, 2) is movable jointly with its print head (100) so that the at least one movable nozzle row (1, 2) is preferably arranged in a stationary manner relative to its print head (100) and/or the movement of the at least one movable nozzle row (1, 2) is caused by a movement of its print head (100), and/or

    - the first nozzle row (1) and the at least one further nozzle row (2) are arranged on one and the same print head (100) and are movable relative to their print head (100) .
14. Application device (V) according to any one of the preceding claims, characterised in that the application device (V) has a first print head (100) and at least one further print head (101).
15. Application device (V) according to Claim 14, characterised in that the first print head (100) comprises the first nozzle row (1) and the at least one further print head (101) comprises the at least one further nozzle row (2).
16. Application device (V) according to Claim 14 or 15, characterised in that, for the purpose of position adjustment, the first nozzle row (1)

    - is movable relative to the first print head (100), or

    - is jointly movable with the first print head (100) so that the first nozzle row (1) is preferably arranged in a stationary manner relative to the first print head (100) and/or the movement of the first nozzle row (1, 2) is caused by a movement of the first print head (100).
17. Application device (V) according to any one of Claims 14 to 16, characterised in that, for the purpose of position adjustment, the at least one further nozzle row (2)

    - is movable relative to the at least one further print head (101), or

    - is jointly movable with the at least one further print head (101) so that the at least one further nozzle row (2) is preferably arranged in a stationary manner relative to the at least one further print head (101) and/or the movement of the at least one further nozzle row (2) is caused by a movement of the at least one further nozzle print head (101).
18. Application device (V) according to any one of Claims 14 to 17, characterised in that the first print head (100) and/or the at least one further print head (101) comprises at least two nozzle rows (1, 2), preferably at least two movable nozzle rows (1, 2).
19. Application device (V) according to any one of Claims 14 to 18, characterised in that the first print head (100) and the at least one further print head (101) are held by a holder apparatus and/or are embodied for mounting on one and the same application robot (R).
20. Application device (V) according to any one of the preceding claims, characterised in
    that the first nozzle row (1) and the at least one further nozzle row (2) are offset with respect to one another in their longitudinal direction, but the nozzles (1.1) of the first nozzle row (1) and the nozzles (2.1) of the at least one further nozzle row (2) preferably do not overlap, and/or that the first nozzle row (1) and the at least one further nozzle row (2) are arranged behind one another orthogonally with respect to their longitudinal direction.
21. Application device (V) according to any one of the preceding claims, characterised in that the first nozzle row (1) and the at least one further nozzle row (2) are oriented parallel to one another before and after a position adjustment.
22. Application device (V) according to any one of the preceding claims, characterised in that the first nozzle row (1) is arranged in a nozzle plate (P1) and the at least one further nozzle row (2) is arranged in a separate nozzle plate (P2).
23. Application device (V) according to any one of the preceding claims, characterised in that single valves for control of the application medium output from the individual nozzles (1.1) of the first nozzle row (1) and/or the individual nozzles (2.1) of the at least one further nozzle row (2) are provided, wherein the single valves have in each case a movable valve element (20) in order to close the respective nozzle (1.1, 2.1) in a closing position and release it in an opening position, and have in each case an electromechanical drive (21), preferably a coil/restoring element drive (21), for movement of the valve element (20).
24. Application device (V) according to any one of the preceding claims, characterised in that the at least one print head (100, 101) has at least one of the following features:

    - the at least one print head (100, 101) is embodied for atomisation- or spray mist-free application of the application medium,

    - the at least one print head (100, 101) is configured for long-term operation and serves to surface area-coat the component,

    - the at least one print head (100, 101) outputs a narrowly restricted application medium jet (T1, T2) in contrast to a spray mist,

    - the at least one print head (100, 101) outputs a droplet jet (T1) in contrast to an application medium jet (T2) which is continuous in the longitudinal direction of the jet,

    - the at least one print head (100, 101) outputs an application medium jet (T2) which is continuous in the longitudinal direction of the jet in contrast to a droplet jet (T1),

    - the at least one print head (100, 101) has an application efficiency of at least 80%, 90%, 95% or 99% so that substantially the entire applied application medium is fully deposited on the component,

    - the at least one print head (100, 101) has a surface coating output of at least 0.5 m²/min, 1m²/min, 2m²/min or at least 3m²/min,

    - the at least one print head (100, 101) has at least one electrically actuable actuator in order to output the application medium from the at least one print head (100, 101), preferably a magnetic actuator or a piezo-actuator.
25. Application robot (R), preferably coating or painting robot, with at least one application device (V) according to any one of the preceding claims, wherein the application robot (R) serves to guide the at least one print head (100, 101) and the at least two nozzle rows (1, 2) and has at least five or at least six movable robot axes.
26. Application method, embodied by an application device (V) according to any one of Claims 1 to 33, for application of an application medium onto a component (T), preferably for application of a paint onto a motor vehicle body component (T), wherein:

    - at least one print head (100, 101) is mounted on an application robot (R) and applies the application medium preferably in series, and

    - at least two nozzle rows (1, 2) are moved by the application robot (R), wherein the at least two nozzle rows (1, 2) comprise a first nozzle row (1) with several nozzles (1.1) for the output of application medium jets (S1) and at least one further nozzle row (2) with several nozzles (2.1) for the output of application medium jets (S2),
    characterised in that

    - at least one nozzle row (1, 2) of the at least two nozzle rows (1, 2) is moved so that a position adjustment of the nozzles (1.1) of the first nozzle row (1) and the nozzles (2.1) of the at least one further nozzle row (2) is carried out.

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