EP3630375B1 - Dispositif d'application et procédé d'application - Google Patents

Dispositif d'application et procédé d'application Download PDF

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Publication number
EP3630375B1
EP3630375B1 EP18722962.0A EP18722962A EP3630375B1 EP 3630375 B1 EP3630375 B1 EP 3630375B1 EP 18722962 A EP18722962 A EP 18722962A EP 3630375 B1 EP3630375 B1 EP 3630375B1
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EP
European Patent Office
Prior art keywords
coating agent
nozzle
application
strip
keder strip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18722962.0A
Other languages
German (de)
English (en)
Other versions
EP3630375A1 (fr
Inventor
Taha KORAICH
Daniel Nissan
Lothar Rademacher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP3630375A1 publication Critical patent/EP3630375A1/fr
Application granted granted Critical
Publication of EP3630375B1 publication Critical patent/EP3630375B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/02—Apparatus for spreading or distributing liquids or other fluent materials already applied to a surface ; Controlling means therefor; Control of the thickness of a coating by spreading or distributing liquids or other fluent materials already applied to the coated surface
    • B05C11/06—Apparatus for spreading or distributing liquids or other fluent materials already applied to a surface ; Controlling means therefor; Control of the thickness of a coating by spreading or distributing liquids or other fluent materials already applied to the coated surface with a blast of gas or vapour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/04—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases
    • B05D3/0406—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases the gas being air
    • B05D3/042—Directing or stopping the fluid to be coated with air
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
    • B05C11/1034—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves specially designed for conducting intermittent application of small quantities, e.g. drops, of coating material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/002—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the work consisting of separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
    • B05D7/22—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to internal surfaces, e.g. of tubes

Definitions

  • the invention relates to an application device and a corresponding application method for applying a coating agent (e.g. primer) to a component surface of a piping strip.
  • a coating agent e.g. primer
  • the primer can also be sprayed on using a coating agent nozzle.
  • a needle nozzle is used as the coating agent nozzle, through which the primer is not atomized, since atomization, particularly in the case of so-called black primers, could lead to undesirable contamination by overspray next to the actual primer track and would also make extraction necessary.
  • the needle nozzle should allow the smallest possible volume flow in order to avoid overdosing the primer.
  • a prerequisite for spraying primers is the use of so-called clear primers that do not contain any solids (fillers), since such solids would quickly clog the needle nozzle.
  • the jet energy must be measured in such a way that on the one hand the primer does not spatter when it hits the component surface, and on the other hand the best possible flow of the primer is achieved in terms of a layer thickness that is as small and uniform as possible.
  • the primer application using a felt is well suited for applying a primer to essentially flat component surfaces, which also applies to applying the primer using a brush.
  • these types of primer application using a felt or brush reach their application limits when complex component contours are to be coated or when the component surface to be coated is not easily accessible for a felt or brush.
  • An example of such components are keder strips, such as those used in the automotive industry to cover and seal standing seams. It happens that the piping strip has to be coated with a primer on the inside of the piping strip before the adhesive is applied. However, this area inside the piping strip is only accessible via a small gap in the piping strip.
  • the invention initially provides that the coating agent (e.g. primer) is applied to the component surface of the welt strip by means of a coating agent nozzle.
  • the invention provides that the coating agent applied to the component surface is then blown on with a gas (e.g. compressed air) in order to distribute the coating agent on the component surface as evenly as possible.
  • a gas e.g. compressed air
  • the above-mentioned blowing of the coating agent onto the component surface according to the invention is carried out by a separate blowing nozzle which blows on the coating agent.
  • the coating agent nozzle on the one hand and the blowing nozzle on the other hand are therefore separate components of the application device according to the invention.
  • the coating agent nozzle and the blowing nozzle are separate components.
  • the coating agent nozzle and the blowing nozzle are mounted together on an applicator. This means that the coating agent nozzle and the blast nozzle have a predetermined and constant relative position and orientation. It should be mentioned here that the coating agent nozzle and the blowing nozzle are preferably aligned one behind the other in the application direction, with the coating agent nozzle and/or the blowing nozzle being designed as a needle nozzle. The needle nozzles of the coating agent nozzle and the blowing nozzle are aligned here with their longitudinal axes parallel to one another.
  • the applicator preferably has a coating agent connection in order to supply the coating agent to be applied, the coating agent connection in the applicator being connected to the coating agent nozzle, for example via a valve arrangement.
  • the applicator preferably has a compressed air connection in order to supply compressed air for blowing on the coating agent, the compressed air connection in the applicator being connected to the blowing nozzle, for example via a valve arrangement.
  • nitrogen can also be connected as a medium to the compressed air connection.
  • the applicator according to the invention preferably has a rinsing agent connection to supply rinsing agent, for example nitrogen, with the rinsing agent connection in the applicator being connected to the coating agent nozzle, for example via a controllable valve arrangement.
  • rinsing agent for example nitrogen
  • the invention also includes a corresponding application method, the essential steps of the application method according to the invention already resulting from the above description of the application device and therefore do not have to be described separately.
  • the invention is particularly suitable for the application of a primer to a piping strip.
  • piping strips usually have a longitudinal slot into which a standing seam to be sealed protrudes in the assembled state.
  • the coating agent nozzle can then be inserted together with the blowing nozzle through the longitudinal slit into the welt strip in order to apply the coating agent in the welt strip and blow it on with the blown air.
  • the welt strip has two lips that protrude from an inner wall of the welt strip and divide the welt strip into an inner chamber and an outer chamber.
  • the blowing nozzle and the coating agent nozzle are introduced one after the other into the inner chamber and the outer chamber in order to apply coating agent there and distribute it as evenly as possible by blowing it on.
  • the application of the coating agent and the blowing takes place during the movement of the coating agent nozzle and the blowing nozzle along the piping strip.
  • the outside of the outer lip of the piping strip can then also be coated in the same way.
  • the invention is not limited to primers with regard to the coating composition to be applied. Rather, the invention is also suitable for applying other types of coating materials, such as adhesives, insulating materials and sealants, to name just a few examples.
  • the drawings show an application device according to the invention for applying a primer to a piping strip 1, which can be used to seal standing seams in automobile construction.
  • a primer e.g. black primer
  • the application device according to the invention has a multi-axis application robot 2, which can be of largely conventional design and is therefore only briefly described below.
  • the application robot 2 initially has a robot base 3, which is optionally mounted in a stationary manner or can be moved along a travel rail.
  • the robot base 3 carries a rotatable robot member 4 which is rotatable relative to the robot base 3 about a vertical axis of rotation.
  • a robotic proximal arm 5 Pivotally attached to the rotatable robotic member 4 is a robotic proximal arm 5, the robotic proximal arm 5 also being referred to as "arm 1" in accordance with common terminology in the robotics art.
  • the proximal robot arm 5 can be pivoted about a horizontal pivot axis relative to the rotatable robot member 4 .
  • a distal robotic arm 6 is pivotally attached to the distal end of the proximal robotic arm 5, the distal robotic arm 6 also being referred to as "arm 2" in accordance with common terminology in the field of robotics.
  • the distal robot arm 6 is relative here pivotable to the proximal robot arm 5 about a horizontal pivot axis.
  • a multi-axis robot hand axis 7 is in turn attached to the distal end of the distal robot arm 6, the structure and the mode of operation of the robot hand axis 7 being known from the prior art.
  • the applicator 8 initially has a primer nozzle 9 and a blowing nozzle 10, both of which are designed as needle nozzles and are aligned parallel to one another.
  • the primer nozzle 9 is arranged ahead of the blowing nozzle 10 with respect to the application direction (direction of movement during application). This is important so that the blowing nozzle 10 can blow on the primer material that has already been applied to the component surface in order to distribute the primer material as evenly as possible on the component surface.
  • the primer is supplied via a primer connection 11, which is connected to a primer source via a corresponding line connection.
  • the applicator 8 has a compressed air connection 12 in order to supply compressed air for the operation of the blowing nozzle 10 .
  • the compressed air connection 12 of the applicator 8 is also connected to a suitable compressed air source via a corresponding line connection.
  • the applicator 8 also has a rinsing agent connection 13 in order to supply rinsing agent for rinsing the blowing nozzle 9 .
  • the rinsing agent connection 13 is also connected via a suitable line connection to a rinsing agent source, which can supply nitrogen, for example, as the rinsing agent.
  • the welt strip 1 has two lips 15, 16 which protrude from the inner wall of the welt strip 1 and separate an inner chamber 17 and an outer chamber 18 in the welt strip 1.
  • a first step S1 the applicator 8 with the primer nozzle 9 and the blowing nozzle 10 is first inserted through an insertion slot of the piping strip 1 into the inner chamber 17 of the piping strip 1.
  • the applicator 8 is already moved along the piping strip 1 in a step S3, so that drops are applied along the piping strip 1 and are evenly distributed by the blown air.
  • the applicator 8 is then partially pulled out of the piping strip 1 in a step S4, so that the primer nozzle 9 and the blowing nozzle 10 open into the outer chamber 18 of the piping strip 1.
  • the applicator 8 is then moved again along the piping strip 1 in a step S5, preferably in the opposite direction.
  • the applicator 8 again applies drops of primer into the outer chamber 18, which are evenly distributed by blowing on them.
  • the applicator 8 is then moved again along the piping strip 1, droplets of the primer being applied and evenly distributed by blowing.
  • step S8 the droplet application and the blown air are then switched off.

Landscapes

  • Coating Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Claims (11)

  1. Dispositif d'application pour l'application d'un produit de revêtement, plus particulièrement d'un apprêt pour la préparation d'un processus de collage ultérieur, sur la surface de composant d'un rail de fixation (1), avec
    a) une buse de produit de revêtement (9) pour l'application du produit de revêtement sur la surface de composant du rail de fixation (1),
    caractérisé en ce que
    b) le dispositif d'application, après l'application du produit de revêtement, souffle un gaz, plus particulièrement de l'air comprimé, sur la surface de composant revêtue, afin de répartir le produit de revêtement sur la surface du composant et
    c) le dispositif d'application comprend, en plus de la buse de produit de revêtement (9), une buse de soufflage (10), afin de souffler le gaz sur le produit de revêtement sur la surface du composant, de façon à ce que le produit de revêtement soit réparti sur la surface du composant et
    d) la buse de produit de revêtement (9) et la buse de soufflage (10) sont montées ensemble sur un applicateur (8) et
    e) la buse de produit de revêtement (9) et la buse de soufflage (10) sont parallèles entre elles et
    f) la buse de produit de revêtement (9) et la buse de soufflage (10) sont conçues comme des buses à aiguilles.
  2. Dispositif d'application selon la revendication 1, caractérisé en ce que
    a) les buses à aiguilles (9, 10) présentent une épaisseur de paroi et une section transversale externe qui sont suffisamment grandes pour empêcher, lors du fonctionnement, une flexion ou une rupture des buses à aiguilles (9, 10) du fait du contact avec le rail de fixation (1) à revêtir et/ou
    b) l'épaisseur de paroi des buses à aiguilles (9, 10) est supérieure à 0,5 mm, 0,75 mm, 1 mm ou 2 mm et/ou
    c) la section transversale externe des buses à aiguilles (9, 10) est supérieure à 1 mm2, 2 mm2, 5 mm2, 7 mm2, 10 mm2, 20 mm2 et/ou
    d) la buse de produit de revêtement (9) présente une section transversale interne qui est telle que le produit de revêtement est distribué dans les faibles quantités nécessaire et/ou
    e) la buse de produit de revêtement (9) présente une section transversale interne qui est telle que le produit de revêtement n'est pas distribué sous la forme d'un jet de produit de revêtement continu, mais seulement de manière intermittente sous la forme de gouttes et/ou
    f) la buse de produit de revêtement (9) présente une section transversale interne qui est telle que le produit de revêtement appliqué peut également être un apprêt noir avec des charges et/ou
    g) la section transversale interne de la buse de produit de revêtement est supérieure à 1 mm2, 2 mm2, 5 mm2 ou 7 mm2.
  3. Dispositif d'application selon l'une des revendications précédentes, caractérisé par un robot d'application multiaxial (2), plus particulièrement avec une cinématique de robot en série, plus particulièrement avec cinq, six, sept axes mobiles ou plus, dans lequel le robot d'application (2) guide l'applicateur (8) dans une direction d'application déterminée au-dessus de la surface du composant à revêtir.
  4. Dispositif d'application selon l'une des revendications précédentes, caractérisé en ce que
    a) l'applicateur (8) comprend un raccord de produit de revêtement (11) pour l'introduction du produit de revêtement à appliquer, dans lequel le raccord de produit de revêtement (11) est relié avec la buse de produit de revêtement (9) et peut être raccordé à une source de produit de revêtement et/ou
    b) l'applicateur (8) comprend un raccord d'air comprimé (12) pour l'introduction d'air comprimé, dans lequel le raccord d'air comprimé (12) est relié avec la buse de soufflage (10) et à une source d'air comprimé et/ou
    c) l'applicateur (8) comprend un raccord de produit de rinçage (13) pour le rinçage de la buse de produit de revêtement (9) avec un produit de rinçage, plus particulièrement avec de l'azote, dans lequel le raccord de produit de rinçage (13) est relié avec la buse de produit de revêtement (9) et à une source de produit de rinçage.
  5. Dispositif d'application selon l'une des revendications précédentes, caractérisé en ce que la buse de produit de revêtement (9) ne distribue pas le produit de revêtement sous la forme d'un jet de produit de revêtement continu, mais de manière intermittente sous la forme de gouttes.
  6. Procédé d'application pour l'application d'un produit de revêtement, plus particulièrement d'un apprêt, sur la surface de composant d'un rail de fixation (1), plus particulièrement au moyen d'un dispositif d'application selon l'une des revendications précédentes, avec les étapes suivantes :
    a) application du produit de revêtement sur la surface du composant à revêtir du rail de fixation (1) au moyen d'une buse de produit de revêtement (9),
    caractérisé par l'étape suivante :
    b) soufflage du produit de revêtement sur la surface du composant avec un jet de gaz, plus particulièrement un jet d'air, à partir d'une buse de soufflage (10), pour la répartition du produit de revêtement à appliquer sur la surface de composant du rail de fixation (1),
    c) dans lequel la buse de produit de revêtement (9) et la buse de soufflage (10) sont montées ensemble sur un applicateur (8) de manière parallèle et sont conçues comme des buses à aiguilles et sont déplacés, conjointement avec l'applicateur (8), dans une direction d'application déterminée au-dessus de la surface de composant à revêtir du rail de fixation (1), plus particulièrement au moyen d'un robot d'application multiaxial (2) avec une cinématique de robot en série.
  7. Procédé d'application selon la revendication 6, caractérisé en ce que la buse de produit de revêtement (9) est montée sur l'applicateur (8) en avance par rapport à la direction d'application, tandis que la buse de soufflage (10) est montée sur l'applicateur (8) en retard par rapport à la direction d'application.
  8. Procédé d'application selon la revendication 6 ou 7, caractérisé en ce que
    a) la buse de produit de revêtement (9) ne distribue pas le produit de revêtement sous la forme d'un jet de produit de revêtement, mais de manière intermittente sous la forme de gouttes et/ou
    b) la buse de produit de revêtement (9) est conçue de façon à ce que le produit de revêtement ne soit pas pulvérisé, de façon à ce qu'il n'existe aucun risque d'encrassement par un excès de pulvérisation du matériau pulvérisé et de façon à ce qu'une aspiration ne soit pas nécessaire.
  9. Procédé d'application selon l'une des revendications 6 à 8, caractérisé par l'étape suivante après un processus d'application :
    rinçage de la buse de produit de revêtement (9) avec un produit de rinçage, plus particulièrement avec de l'azote, afin d'éviter un ajout de la buse de produit de revêtement (9).
  10. Procédé d'application selon l'une des revendications 6 à 9, caractérisé en ce que
    a) le rail de fixation (1) comprend une fente longitudinale,
    b) la buse de produit de revêtement (9) est insérée à travers la fente longitudinale dans le rail de fixation (1), afin d'appliquer le produit de revêtement sur la surface à revêtir du rail de fixation (1) et
    c) la buse de soufflage (10) est insérée à travers la fente longitudinale dans le rail de fixation (1), afin de souffler le produit de revêtement appliqué sur la surface du rail de fixation (1) et ainsi de le répartir.
  11. Procédé d'application selon la revendication 10, caractérisé en ce que
    a) le rail de fixation (1) comprend deux lèvres (15, 16) qui s'écartent d'une paroi interne du rail de fixation (1) et qui divisent le rail de fixation (1) en une chambre interne (17) et une chambre externe (18),
    b) la buse de produit de revêtement (9) et la buse de soufflage (10) sont insérées dans la chambre interne (17) du rail de fixation (1),
    c) la buse de produit de revêtement (9) et la buse de soufflage (10) sont déplacées le long du rail de fixation (1) et appliquent et soufflent ainsi le produit de revêtement dans la chambre interne (17) du rail de fixation (1),
    d) la buse de produit de revêtement (9) et la buse de soufflage (10) sont positionnées dans la chambre externe (18) du rail de fixation (1),
    e) la buse de produit de revêtement (9) et la buse de soufflage (10) sont déplacées le long du rail de fixation (1) et appliquent et soufflent ainsi le produit de revêtement dans la chambre (18) du rail de fixation (1),
    f) la buse de produit de revêtement (9) et la buse de soufflage (10) sont positionnées à l'extérieur de la chambre externe (18) du rail de fixation (1) sur la lèvre externe (15) du rail de fixation (1),
    g) la buse de produit de revêtement (9) et la buse de soufflage (10) sont déplacées le long du rail de fixation (1) et appliquent et soufflent ainsi le produit de revêtement sur la lèvre externe (15) du rail de fixation (1).
EP18722962.0A 2017-05-30 2018-05-03 Dispositif d'application et procédé d'application Active EP3630375B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017111701.6A DE102017111701A1 (de) 2017-05-30 2017-05-30 Applikationseinrichtung und Applikationsverfahren
PCT/EP2018/061390 WO2018219588A1 (fr) 2017-05-30 2018-05-03 Dispositif d'application et procédé d'application

Publications (2)

Publication Number Publication Date
EP3630375A1 EP3630375A1 (fr) 2020-04-08
EP3630375B1 true EP3630375B1 (fr) 2022-03-30

Family

ID=62116865

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18722962.0A Active EP3630375B1 (fr) 2017-05-30 2018-05-03 Dispositif d'application et procédé d'application

Country Status (4)

Country Link
EP (1) EP3630375B1 (fr)
DE (1) DE102017111701A1 (fr)
ES (1) ES2913219T3 (fr)
WO (1) WO2018219588A1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3703870A1 (de) * 1987-02-07 1988-08-18 Merck Patent Gmbh Vorrichtung zur spruehbeschichtung von gefaessmuendungen
DE3902293A1 (de) * 1989-01-26 1990-08-02 Gunther M Voss Neues verfahren zur presskammerbeschichtung mittels schmiermittelringbildung an der matrizenwand von tablettenpressen
JP4185084B2 (ja) * 2005-09-26 2008-11-19 本田技研工業株式会社 水性塗料の塗布方法及び同塗布ノズル
TW201127498A (en) * 2010-02-08 2011-08-16 Hon Hai Prec Ind Co Ltd Nozzle apparatus and coater system
CN103817045B (zh) * 2014-02-21 2016-03-16 奇瑞汽车股份有限公司 一种涂胶机器人的胶枪自动清胶装置及清胶方法

Also Published As

Publication number Publication date
EP3630375A1 (fr) 2020-04-08
DE102017111701A1 (de) 2018-12-06
ES2913219T3 (es) 2022-06-01
WO2018219588A1 (fr) 2018-12-06

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