EP4076770B1 - Device for applying viscous material to workpieces - Google Patents

Device for applying viscous material to workpieces Download PDF

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Publication number
EP4076770B1
EP4076770B1 EP21702674.9A EP21702674A EP4076770B1 EP 4076770 B1 EP4076770 B1 EP 4076770B1 EP 21702674 A EP21702674 A EP 21702674A EP 4076770 B1 EP4076770 B1 EP 4076770B1
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EP
European Patent Office
Prior art keywords
measuring element
piston
axis
valve
lance
Prior art date
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Active
Application number
EP21702674.9A
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German (de)
French (fr)
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EP4076770A1 (en
Inventor
Heiko Bitzel
Bastian Prinz
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Atlas Copco IAS GmbH
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Atlas Copco IAS GmbH
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Publication of EP4076770A1 publication Critical patent/EP4076770A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
    • B05B1/16—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets
    • B05B1/1609—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets with a selecting mechanism comprising a lift valve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0225—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work characterised by flow controlling means, e.g. valves, located proximate the outlet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0225—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work characterised by flow controlling means, e.g. valves, located proximate the outlet
    • B05C5/0237—Fluid actuated valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/30—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
    • B05B1/3033—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head
    • B05B1/304—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve
    • B05B1/3046—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve the valve element, e.g. a needle, co-operating with a valve seat located downstream of the valve element and its actuating means, generally in the proximity of the outlet orifice
    • B05B1/306—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages the control being effected by relative coaxial longitudinal movement of the controlling element and the spray head the controlling element being a lift valve the valve element, e.g. a needle, co-operating with a valve seat located downstream of the valve element and its actuating means, generally in the proximity of the outlet orifice the actuating means being a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0421—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with rotating spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/027—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated
    • B05C5/0275—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated flow controlled, e.g. by a valve
    • B05C5/0279—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated flow controlled, e.g. by a valve independently, e.g. individually, flow controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces

Definitions

  • the invention relates to a device for applying viscous material to workpieces according to the preamble of claim 1.
  • Such devices are used to apply viscous materials such as adhesives, sealants or paints to workpieces.
  • viscous materials such as adhesives, sealants or paints
  • nozzles of different geometries mounted on the rotary lance are used, each of which has a material outlet.
  • Each material outlet is assigned a needle valve, the valve needle of which closes or releases the relevant material outlet at a valve seat.
  • Cylinders are provided to actuate the valve needles, each valve needle being connected to the piston of a cylinder, which is moved by pressurization by a fluid, in particular compressed air.
  • the cylinders are arranged next to one another at the same distance from the valve seats, and the device is controlled in such a way that only one of the needle valves always opens for material application.
  • Such monitoring can be implemented in a simple manner in devices with only one needle valve in such a way that a magnet is moved with the single piston, the position of which is then detected by means of a magnetic sensor of the holding device.
  • a magnetic sensor of the holding device the rotary lance has several valves, such monitoring is almost impossible because the pistons are damaged by the constant twisting of the rotary lance with respect to the Holding device cannot have a defined position to the magnetic sensor.
  • the rotary lance only has a needle valve located off-center in it.
  • a device for applying viscous material to workpieces with only one valve needle is from the DE 89 04 972 U1 known.
  • the invention is based on the idea of allowing all pistons to act on a common measuring element using the plungers, the position of which can then be detected by the sensor.
  • the rotary lance it is also possible for the rotary lance to have only one needle valve with a cylinder, in particular arranged eccentrically with respect to a central longitudinal axis.
  • the measuring element can be designed to be rotationally symmetrical, at least with regard to its parts acting on the sensor, so that its interaction with the sensor of the holding device does not change or does not change significantly even when the rotating lance is rotated with respect to the holding device.
  • the axis of rotation is also expediently a central longitudinal axis of the rotating lance or the measuring element.
  • the at least one piston is preferably acted upon by compressed air and, as a fail-safe function, expediently also has a spring loading which pushes it into a position in which the valve needle sits sealingly on the associated valve seat.
  • the measuring element can be designed in different configurations. However, it is preferred that it has a permanent magnet while the sensor is a magnetic sensor. It is preferred that the permanent magnet has the shape of a circular ring that rotates around the axis of rotation, so that turning the rotating lance with respect to the holding device does not result in any change in the interaction of the permanent magnet with the magnetic sensor. In particular, the permanent magnet is axially poled so that its poles follow one another in the axial direction. In order to save expensive magnetic material, it is preferred that the radius of the circular ring is at least 5 times, preferably at least 8 times, as large as its thickness measured in the radial direction.
  • the measuring element expediently has a holding plate that can be acted upon by the plunger and to which the permanent magnet is attached.
  • the rotary lance preferably has a housing made of non-ferromagnetic material, in which the at least one cylinder and the measuring element are accommodated.
  • Aluminum is particularly suitable as a material for the housing, as it hardly hinders the detection of the permanent magnet by the magnetic sensor.
  • the measuring element is expediently displaceable against a restoring force in the direction away from at least one cylinder, so that the restoring force resets the measuring element back into a starting position after the action by one of the plungers has ceased, which corresponds to information detected by the sensor "all needle valves closed".
  • the restoring force is expediently applied by at least one compression spring, which is arranged between the measuring element and a housing ceiling that delimits the housing at the top.
  • the at least one compression spring can be designed as a coil spring.
  • the tappets act on the measuring element off-center.
  • a guide pin is arranged centrally so that the axis of rotation extends through it, while further guide pins can be arranged off-center.
  • at least one of the guide pins runs centrally through one of the compression springs.
  • the cylinders are arranged at equal distances from one another and at equal distances from the axis of rotation in order to achieve the greatest possible symmetry.
  • each plunger is connected eccentrically to the respective piston and is arranged closer to the axis of rotation than the longitudinal central axis of the piston, a moment exerted by the plunger on the measuring element is reduced, so that the risk of the measuring element tilting in the housing is further reduced.
  • each of the compression springs is assigned a further compression spring that counteracts it with a weaker restoring force and presses against the measuring element from below.
  • the further compression springs can also advantageously be designed as coil springs and arranged around the guide pins. The forces of the return springs and the other return springs then still result in a restoring force that pushes the measuring element into its starting position. However, the provision of additional return springs helps to prevent the measuring element from tilting in the housing.
  • the device 10 shown in the drawing is used to apply viscous material to workpieces, in the present exemplary embodiment to apply paint.
  • the application device 10 has a holding device 12, which is intended for mounting on a robot arm.
  • a rotary lance 14 is mounted in the holding device 12 and can be rotated relative to the holding device 12 about an axis of rotation extending in a longitudinal direction 16.
  • the rotary lance 14 has three material outlets 18 at its lower end, at which viscous material can emerge from a housing 20 of the rotary lance 14 made of aluminum for application to a workpiece and at which an application nozzle is usually mounted.
  • Each needle valve 22 is accommodated in the housing 20, each needle valve 22 being assigned to one of the material outlets 18.
  • the valve needles 24 of the needle valves 22 each close one of the material outlets 18 on a valve seat or release the material outlet 18 by lifting it from the valve seat.
  • Each of the needle valves is assigned a double-acting pneumatic cylinder 26, in the piston chamber 28 of which a piston 30 can be moved back and forth in the longitudinal direction 16, with which the relevant valve needle 24, which also extends in the longitudinal direction 16, is firmly connected.
  • a movement of the piston 30 by means of compressed air thus results in a movement of the valve needle 24 and in an opening or closing of the relevant material outlet 18 on the valve seat.
  • a closing spring 32 arranged in the piston chamber 28 and designed as a helical spring presses the respective piston 30 downwards and the valve needle 24 onto the associated valve seat, so that the material outlets 18 are always closed in the event of a compressed air failure.
  • the device 10 is controlled so that only one material outlet 18 is opened at any time.
  • the holding device 12 has a permanently mounted magnetic sensor 34. This detects the position of a measuring element 36 that is movable in the housing 20 of the rotary lance 14.
  • the measuring element 36 has a holding plate 38 that can be moved back and forth in the housing 20 in the longitudinal direction 16 and an annular permanent magnet 40 that is firmly connected to the holding plate 38.
  • the holding plate 38 is guided on a central guide pin 42 and on three outer guide pins 44, each of the guide pins 42, 44 passing through an opening in the holding plate 38 extends.
  • each of the guide pins 42, 44 there is a compression spring 48, 50 supported at the top on a housing cover 46 and at the bottom on the holding plate 38, which presses the measuring element 36 downwards.
  • a central compression spring 48 arranged around the central guide pin 42 and three outer compression springs 50 arranged around one of the outer guide pins 44.
  • a plunger 52 is firmly connected to each of the pistons 30, which is sealed and consists of a tappet facing away from the valve seats and the Measuring element 36 facing top of the relevant piston chamber 28 is led out and rests on the holding plate 38.
  • the plunger 52 connected to this piston 30 presses the measuring element 46 upwards, so that the magnetic sensor 34 can detect the movement of the permanent magnet 40.
  • the magnetic sensor 34 then generates a “valve open” signal. If the material outlet 18 is closed again by lowering the relevant piston 30, the compression springs 48, 50 cause the measuring element 36 to lower, which is detected by the magnetic sensor 34, which generates a “valves closed” signal.
  • the cylinders 26 are arranged next to one another in the sense that their cross sections made perpendicular to the longitudinal direction 16 do not overlap. Actuation of the measuring element 36 by means of the plungers 52 cannot therefore take place centrally, i.e. in the middle of the holding plate 38. In order to avoid tilting of the measuring element 36 in the housing 20, the plungers 52 are arranged off-center on the piston 30 and as far as possible in the direction offset to the center of the holding plate 38 or in the direction of the central longitudinal axis of the rotary lance 14. In addition, each of the compression springs 48, 50 is opposite a further, weaker compression spring 48', 50', which presses against the holding plate 38 from below.
  • the compression springs 48, 50 and the further compression springs 48', 50' are dimensioned such that each pair consisting of one of the compression springs 48, 50 and the opposite further compression spring 48', 50' exerts a total force on the holding plate 38 which is directed downwards, i.e. towards the cylinders 26.
  • the rotating lance 14 has three needle valves 22. It goes without saying that the rotary lance 14 can be equipped with one, two or more than three needle valves 22.
  • the invention relates to a device 10 for applying viscous material to workpieces with a rotating lance 14 which is rotatably arranged in a holding device 12 about an axis of rotation running in a longitudinal direction 16 and which has at least one material outlet 18, with each material outlet 18 being assigned a needle valve 22 by means of whose valve needle 24 extends in the longitudinal direction 16, the respective material outlet 18 can be closed on a valve seat, and each valve needle 24 is assigned a cylinder 26, in the piston chamber 28 of which a piston 30 is movable by pressurization by means of a fluid with which the valve needle 24 is firmly connected.
  • a plunger 52 is connected to each piston 30, which is led out of the relevant piston chamber 28 in a sealed manner on the upper side facing away from the at least one valve seat, so that the rotary lance 14 is a measuring element 36 which can be acted upon by the plunger 52 and is displaceable in the longitudinal direction 16 and that the holding device 12 has a sensor 34 for determining the position of the measuring element 36.

Description

Die Erfindung betrifft eine Vorrichtung zum Auftragen von viskosem Material auf Werkstücke gemäß Oberbegriff des Anspruchs 1.The invention relates to a device for applying viscous material to workpieces according to the preamble of claim 1.

Solche Vorrichtungen (vgl. z.B. DE 103 45 840 A1 oder US 2015/0174541 A1 ) werden dazu verwendet, viskose Materialien wie beispielsweise Klebstoffe, Dichtstoffe oder Lacke auf Werkstücke aufzutragen. Dabei kommen oft mehrere an der Drehlanze montierte Düsen unterschiedlicher Geometrie zum Einsatz, in die jeweils ein Materialauslass mündet. Jedem Materialauslass ist ein Nadelventil zugeordnet, dessen Ventilnadel den betreffenden Materialauslass an einem Ventilsitz verschließt oder freigibt. Zur Betätigung der Ventilnadeln sind Zylinder vorgesehen, wobei jede Ventilnadel mit dem Kolben eines Zylinders verbunden ist, welcher mittels Druckbeaufschlagung durch ein Fluid, insbesondere Druckluft, bewegt wird. Bei bekannten Vorrichtungen der eingangs genannten Art sind die Zylinder in gleichem Abstand zu den Ventilsitzen nebeneinander angeordnet, und die Vorrichtung wird so gesteuert, dass immer nur eines der Nadelventile zum Materialauftrag öffnet. Dabei besteht ein Bedarf, den Schaltzustand der Nadelventile zu überwachen, so dass stets erkannt wird, wenn eines der Ventile geöffnet ist. Eine solche Überwachung kann bei Vorrichtungen mit nur einem Nadelventil auf einfache Weise derart verwirklicht werden, dass mit dem einzigen Kolben ein Magnet mitbewegt wird, dessen Position dann mittels eines Magnetsensors der Halteeinrichtung detektiert wird. Sobald die Drehlanze aber mehrere Ventile aufweist, ist eine solche Überwachung nahezu unmöglich, da die Kolben durch das ständige Verdrehen der Drehlanze bezüglich der Halteeinrichtung keine definierte Position zum Magnetsensor haben können. Dasselbe ist der Fall, wenn die Drehlanze nur ein außermittig in ihr aufgenommenes Nadelventil aufweist. Eine Vorrichtung zum Auftragen von viskosem Material auf Werkstücke mit nur einer Ventilnadel ist aus der DE 89 04 972 U1 bekannt.Such devices (see e.g DE 103 45 840 A1 or US 2015/0174541 A1 ) are used to apply viscous materials such as adhesives, sealants or paints to workpieces. Often several nozzles of different geometries mounted on the rotary lance are used, each of which has a material outlet. Each material outlet is assigned a needle valve, the valve needle of which closes or releases the relevant material outlet at a valve seat. Cylinders are provided to actuate the valve needles, each valve needle being connected to the piston of a cylinder, which is moved by pressurization by a fluid, in particular compressed air. In known devices of the type mentioned at the beginning, the cylinders are arranged next to one another at the same distance from the valve seats, and the device is controlled in such a way that only one of the needle valves always opens for material application. There is a need to monitor the switching status of the needle valves so that it is always recognized when one of the valves is open. Such monitoring can be implemented in a simple manner in devices with only one needle valve in such a way that a magnet is moved with the single piston, the position of which is then detected by means of a magnetic sensor of the holding device. However, as soon as the rotary lance has several valves, such monitoring is almost impossible because the pistons are damaged by the constant twisting of the rotary lance with respect to the Holding device cannot have a defined position to the magnetic sensor. The same is the case if the rotary lance only has a needle valve located off-center in it. A device for applying viscous material to workpieces with only one valve needle is from the DE 89 04 972 U1 known.

Es ist daher Aufgabe der Erfindung, eine Vorrichtung der eingangs genannten Art derart weiterzubilden, dass sie besser überwacht werden kann.It is therefore the object of the invention to develop a device of the type mentioned in such a way that it can be better monitored.

Diese Aufgabe wird erfindungsgemäß durch eine Vorrichtung mit den Merkmalen des Anspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der abhängigen Ansprüche.This object is achieved according to the invention by a device with the features of claim 1. Advantageous developments of the invention are the subject of the dependent claims.

Der Erfindung liegt der Gedanke zugrunde, alle Kolben mittels der Stößel auf ein gemeinsames Messelement einwirken zu lassen, dessen Position dann vom Sensor detektiert werden kann. Meist sind dabei mehrere Nadelventile vorhanden, deren Zylinder nebeneinander angeordnet sind, insbesondere in dem Sinne, dass sich ihre Querschnitte senkrecht zur Drehachse nicht überlappen, wobei beispielsweise die unteren und/oder die oberen Begrenzungsflächen der Kolbenkammern jeweils in einer Ebene angeordnet sind. Es ist jedoch auch möglich, dass die Drehlanze nur ein Nadelventil mit einem insbesondere außermittig bezüglich einer Mittellängsachse angeordneten Zylinder aufweist. Das Messelement kann zumindest betreffend seine auf den Sensor wirkenden Teile rotationssymmetrisch ausgestaltet sein, so dass sich seine Wechselwirkung mit dem Sensor der Halteeinrichtung auch bei einem Verdrehen der Drehlanze bezüglich der Halteeinrichtung nicht oder nicht nennenswert ändert. Die Drehachse ist zudem zweckmäßig eine Mittellängsachse der Drehlanze bzw. des Messelements. Der mindestens eine Kolben wird vorzugsweise mittels Druckluft beaufschlagt und weist als Fail-Safe-Funktion zudem zweckmäßig eine Federbeaufschlagung auf, die ihn in eine Position drängt, in der die Ventilnadel dichtend auf dem zugehörigen Ventilsitz aufsitzt.The invention is based on the idea of allowing all pistons to act on a common measuring element using the plungers, the position of which can then be detected by the sensor. There are usually several needle valves, the cylinders of which are arranged next to one another, in particular in the sense that their cross sections do not overlap perpendicular to the axis of rotation, for example the lower and / or the upper boundary surfaces of the piston chambers are each arranged in one plane. However, it is also possible for the rotary lance to have only one needle valve with a cylinder, in particular arranged eccentrically with respect to a central longitudinal axis. The measuring element can be designed to be rotationally symmetrical, at least with regard to its parts acting on the sensor, so that its interaction with the sensor of the holding device does not change or does not change significantly even when the rotating lance is rotated with respect to the holding device. The axis of rotation is also expediently a central longitudinal axis of the rotating lance or the measuring element. The at least one piston is preferably acted upon by compressed air and, as a fail-safe function, expediently also has a spring loading which pushes it into a position in which the valve needle sits sealingly on the associated valve seat.

Das Messelement kann in unterschiedlichen Ausgestaltungen ausgeführt werden. Es wird jedoch bevorzugt, dass es einen Permanentmagneten aufweist, während der Sensor ein Magnetsensor ist. Dabei wird bevorzugt, dass der Permanentmagnet die Form eines Kreisrings hat, der um die Drehachse umläuft, so dass ein Verdrehen der Drehlanze bezüglich der Halteeinrichtung keine Änderung der Wechselwirkung des Permanentmagneten mit dem Magnetsensor nach sich zieht. Insbesondere ist der Permanentmagnet axial gepolt, so dass seine Pole in axialer Richtung aufeinanderfolgen. Um teuren Magnetwerkstoff einzusparen wird bevorzugt, dass der Radius des Kreisrings mindestens 5 mal, vorzugsweise mindestens 8 mal so groß ist wie seine in radialer Richtung gemessene Dicke. Zweckmäßig weist das Messelement eine durch die Stößel beaufschlagbare Halteplatte auf, an der der Permanentmagnet befestigt ist.The measuring element can be designed in different configurations. However, it is preferred that it has a permanent magnet while the sensor is a magnetic sensor. It is preferred that the permanent magnet has the shape of a circular ring that rotates around the axis of rotation, so that turning the rotating lance with respect to the holding device does not result in any change in the interaction of the permanent magnet with the magnetic sensor. In particular, the permanent magnet is axially poled so that its poles follow one another in the axial direction. In order to save expensive magnetic material, it is preferred that the radius of the circular ring is at least 5 times, preferably at least 8 times, as large as its thickness measured in the radial direction. The measuring element expediently has a holding plate that can be acted upon by the plunger and to which the permanent magnet is attached.

Vorzugsweise weist die Drehlanze ein Gehäuse aus nicht ferromagnetischem Material auf, in dem der mindestens eine Zylinder und das Messelement aufgenommen sind. Als Material für das Gehäuse kommt insbesondere Aluminium in Frage, das die Detektion des Permanentmagneten mittels des Magnetsensors kaum behindert.The rotary lance preferably has a housing made of non-ferromagnetic material, in which the at least one cylinder and the measuring element are accommodated. Aluminum is particularly suitable as a material for the housing, as it hardly hinders the detection of the permanent magnet by the magnetic sensor.

Zweckmäßig ist das Messelement gegen eine Rückstellkraft in Richtung vom mindestens einen Zylinder weg verschieblich, so dass die Rückstellkraft das Messelement nach Wegfall der Beaufschlagung durch einen der Stößel wieder in eine Ausgangsposition zurücksetzt, die einer vom Sensor detektierten Information "alle Nadelventile geschlossen" entspricht. Die Rückstellkraft wird zweckmäßig durch mindestens eine Druckfeder aufgebracht, die zwischen dem Messelement und einer das Gehäuse nach oben begrenzenden Gehäusedecke angeordnet ist. Die mindestens eine Druckfeder kann als Schraubenfeder ausgebildet sein.The measuring element is expediently displaceable against a restoring force in the direction away from at least one cylinder, so that the restoring force resets the measuring element back into a starting position after the action by one of the plungers has ceased, which corresponds to information detected by the sensor "all needle valves closed". The restoring force is expediently applied by at least one compression spring, which is arranged between the measuring element and a housing ceiling that delimits the housing at the top. The at least one compression spring can be designed as a coil spring.

Bei mehreren nebeneinander angeordneten Zylindern ist es unvermeidlich, dass die Stößel das Messelement jeweils außermittig beaufschlagen. Um ein Verkanten des Messelements im Gehäuse zu verhindern, wird dieses zweckmäßig mittels mindestens eines sich in Längsrichtung erstreckenden Führungszapfens geführt, wobei sich jeder Führungszapfen durch das Messelement erstreckt. Dabei wird bevorzugt, dass ein Führungszapfen mittig angeordnet ist, so dass sich die Drehachse durch ihn erstreckt, während weitere Führungszapfen außermittig angeordnet sein können. Zudem wird bevorzugt, dass mindestens einer der Führungszapfen mittig durch eine der Druckfedern verläuft. Weiter ist zweckmäßig vorgesehen, dass die Zylinder in gleichen Abständen zueinander und in gleichen Abständen zur Drehachse angeordnet sind, um eine größtmögliche Symmetrie zu erzielen. Wenn zudem jeder Stößel außermittig mit dem jeweiligen Kolben verbunden ist und näher an der Drehachse angeordnet ist als die Längsmittelachse des Kolbens, wird ein vom Stößel auf das Messelement ausgeübtes Moment reduziert, so dass die Gefahr eines Verkantens des Messelements im Gehäuse weiter verringert wird.If there are several cylinders arranged next to each other, it is inevitable that the tappets act on the measuring element off-center. In order to prevent the measuring element from tilting in the housing, it is expediently guided by means of at least one guide pin extending in the longitudinal direction, with each guide pin extending through the measuring element. It is preferred that a guide pin is arranged centrally so that the axis of rotation extends through it, while further guide pins can be arranged off-center. In addition, it is preferred that at least one of the guide pins runs centrally through one of the compression springs. Furthermore, it is expediently provided that the cylinders are arranged at equal distances from one another and at equal distances from the axis of rotation in order to achieve the greatest possible symmetry. If, in addition, each plunger is connected eccentrically to the respective piston and is arranged closer to the axis of rotation than the longitudinal central axis of the piston, a moment exerted by the plunger on the measuring element is reduced, so that the risk of the measuring element tilting in the housing is further reduced.

Gemäß einem bevorzugten Ausführungsbeispiel ist jeder der Druckfedern eine ihr mit einer schwächeren Rückstellkraft entgegenwirkende weitere Druckfeder zugeordnet, die von unten gegen das Messelement drückt. Auch die weiteren Druckfedern können vorteilhaft als Schraubenfedern ausgebildet und um die Führungszapfen angeordnet sein. Aus den Kräften der Rückstellfedern und der weiteren Rückstellfedern resultiert dann immer noch eine das Messelement in seine Ausgangsposition drängende Rückstellkraft. Das Vorsehen der weiteren Rückstellfedern hilft aber, ein Verkanten des Messelements im Gehäuse zu vermeiden.According to a preferred exemplary embodiment, each of the compression springs is assigned a further compression spring that counteracts it with a weaker restoring force and presses against the measuring element from below. The further compression springs can also advantageously be designed as coil springs and arranged around the guide pins. The forces of the return springs and the other return springs then still result in a restoring force that pushes the measuring element into its starting position. However, the provision of additional return springs helps to prevent the measuring element from tilting in the housing.

Im Folgenden wird die Erfindung anhand eines in der Zeichnung schematisch dargestellten Ausführungsbeispiels näher erläutert. Es zeigen

Figur 1
eine Vorrichtung zum Auftragen von viskosem Material in perspektivischer Ansicht und
Figur 2a, 2b
einen Teil der Vorrichtung gemäß Figur 1 im Schnitt in Seitenansicht und in perspektivischer Ansicht.
The invention is explained in more detail below using an exemplary embodiment shown schematically in the drawing. Show it
Figure 1
a device for applying viscous material in a perspective view and
Figures 2a, 2b
part of the device according to Figure 1 in section in side view and in perspective view.

Die in der Zeichnung dargestellte Vorrichtung 10 dient dem Auftragen von viskosem Material auf Werkstücke, im vorliegenden Ausführungsbeispiel dem Auftragen von Lack. Es sind jedoch auch andere Anwendungen denkbar, wie beispielsweise der Auftrag von Klebstoffen, Dichtstoffen, Dämmstoffen oder Wärmeleitpasten. Die Auftragsvorrichtung 10 weist eine Halteeinrichtung 12 auf, die zur Montage an einem Roboterarm bestimmt ist. In der Halteeinrichtung 12 ist eine Drehlanze 14 montiert, die um eine sich in einer Längsrichtung 16 erstreckende Drehachse bezüglich der Halteeinrichtung 12 drehbar ist. Die Drehlanze 14 weist an ihrem unteren Ende drei Materialauslässe 18 auf, an denen viskoses Material zum Auftrag auf ein Werkstück aus einem aus Aluminium gefertigten Gehäuse 20 der Drehlanze 14 austreten kann und an denen in der Regel jeweils eine Auftragsdüse montiert wird. Im Gehäuse 20 sind drei Nadelventile 22 aufgenommen, wobei jedes Nadelventil 22 einem der Materialauslässe 18 zugeordnet ist. Die Ventilnadeln 24 der Nadelventile 22 verschließen jeweils einen der Materialauslässe 18 an einem Ventilsitz bzw. geben den Materialauslass 18 durch Abheben vom Ventilsitz frei. Jedem der Nadelventile ist ein doppelt wirkender Pneumatikzylinder 26 zugeordnet, in dessen Kolbenkammer 28 ein Kolben 30 in der Längsrichtung 16 hin und her verschieblich ist, mit welchem die sich ebenfalls in Längsrichtung 16 erstreckende betreffende Ventilnadel 24 fest verbunden ist. Eine Bewegung des Kolbens 30 mittels Druckluftbeaufschlagung resultiert somit in einer Bewegung der Ventilnadel 24 und in einer Öffnung bzw. einem Schließen des betreffenden Materialauslasses 18 am Ventilsitz. Eine in der Kolbenkammer 28 angeordnete, als Schraubenfeder ausgebildete Schließfeder 32 drückt den jeweiligen Kolben 30 nach unten und die Ventilnadel 24 auf den zugehörigen Ventilsitz, so dass die Materialauslässe 18 bei Ausfall der Druckluft stets geschlossen sind.The device 10 shown in the drawing is used to apply viscous material to workpieces, in the present exemplary embodiment to apply paint. However, other applications are also conceivable, such as the application of adhesives, sealants, insulation materials or thermal pastes. The application device 10 has a holding device 12, which is intended for mounting on a robot arm. A rotary lance 14 is mounted in the holding device 12 and can be rotated relative to the holding device 12 about an axis of rotation extending in a longitudinal direction 16. The rotary lance 14 has three material outlets 18 at its lower end, at which viscous material can emerge from a housing 20 of the rotary lance 14 made of aluminum for application to a workpiece and at which an application nozzle is usually mounted. Three needle valves 22 are accommodated in the housing 20, each needle valve 22 being assigned to one of the material outlets 18. The valve needles 24 of the needle valves 22 each close one of the material outlets 18 on a valve seat or release the material outlet 18 by lifting it from the valve seat. Each of the needle valves is assigned a double-acting pneumatic cylinder 26, in the piston chamber 28 of which a piston 30 can be moved back and forth in the longitudinal direction 16, with which the relevant valve needle 24, which also extends in the longitudinal direction 16, is firmly connected. A movement of the piston 30 by means of compressed air thus results in a movement of the valve needle 24 and in an opening or closing of the relevant material outlet 18 on the valve seat. A closing spring 32 arranged in the piston chamber 28 and designed as a helical spring presses the respective piston 30 downwards and the valve needle 24 onto the associated valve seat, so that the material outlets 18 are always closed in the event of a compressed air failure.

Die Vorrichtung 10 wird so gesteuert, dass stets nur ein Materialauslass 18 geöffnet wird. Um zu überwachen, ob einer der Materialauslässe 18 geöffnet ist oder ob alle Materialauslässe 18 geschlossen sind, weist die Halteeinrichtung 12 einen fest montierten Magnetsensor 34 auf. Dieser detektiert die Position eines im Gehäuse 20 der Drehlanze 14 beweglichen Messelements 36. Das Messelement 36 weist eine im Gehäuse 20 in der Längsrichtung 16 hin und her verschiebliche Halteplatte 38 und einen fest mit der Halteplatte 38 verbundenen ringförmigen Permanentmagneten 40 auf. Die Halteplatte 38 ist auf einem zentralen Führungszapfen 42 sowie auf drei äußeren Führungszapfen 44 geführt, wobei sich jeder der Führungszapfen 42, 44 durch eine Öffnung in der Halteplatte 38 erstreckt. Um jeden der Führungszapfen 42, 44 ist eine oben an einer Gehäusedecke 46 und unten an der Halteplatte 38 abgestützte Druckfeder 48, 50 angeordnet, die das Messelement 36 nach unten drückt. Dabei handelt es sich um eine um den zentralen Führungszapfen 42 angeordnete zentrale Druckfeder 48 und drei um jeweils einen der äußeren Führungszapfen 44 angeordnete äußere Druckfedern 50. Mit jedem der Kolben 30 ist ein Stößel 52 fest verbunden, der abgedichtet aus einer den Ventilsitzen abgewandten und dem Messelement 36 zugewandten Oberseite der betreffenden Kolbenkammer 28 herausgeführt ist und an der Halteplatte 38 anliegt. Wird einer der Materialauslässe 18 durch Anheben des betreffenden Kolbens 30 geöffnet, so drückt der mit diesem Kolben 30 verbundene Stößel 52 das Messelement 46 nach oben, so dass der Magnetsensor 34 die Bewegung des Permanentmagnets 40 detektieren kann. Der Magnetsensor 34 erzeugt dann ein Signal "Ventil offen". Wird der Materialauslass 18 durch Absenken des betreffenden Kolbens 30 wieder geschlossen, so bewirken die Druckfedern 48, 50 ein Absenken des Messelements 36, das vom Magnetsensor 34 detektiert wird, welcher ein Signal "Ventile geschlossen" erzeugt.The device 10 is controlled so that only one material outlet 18 is opened at any time. In order to monitor whether one of the material outlets 18 is open or whether all material outlets 18 are closed, the holding device 12 has a permanently mounted magnetic sensor 34. This detects the position of a measuring element 36 that is movable in the housing 20 of the rotary lance 14. The measuring element 36 has a holding plate 38 that can be moved back and forth in the housing 20 in the longitudinal direction 16 and an annular permanent magnet 40 that is firmly connected to the holding plate 38. The holding plate 38 is guided on a central guide pin 42 and on three outer guide pins 44, each of the guide pins 42, 44 passing through an opening in the holding plate 38 extends. Around each of the guide pins 42, 44 there is a compression spring 48, 50 supported at the top on a housing cover 46 and at the bottom on the holding plate 38, which presses the measuring element 36 downwards. These are a central compression spring 48 arranged around the central guide pin 42 and three outer compression springs 50 arranged around one of the outer guide pins 44. A plunger 52 is firmly connected to each of the pistons 30, which is sealed and consists of a tappet facing away from the valve seats and the Measuring element 36 facing top of the relevant piston chamber 28 is led out and rests on the holding plate 38. If one of the material outlets 18 is opened by lifting the relevant piston 30, the plunger 52 connected to this piston 30 presses the measuring element 46 upwards, so that the magnetic sensor 34 can detect the movement of the permanent magnet 40. The magnetic sensor 34 then generates a “valve open” signal. If the material outlet 18 is closed again by lowering the relevant piston 30, the compression springs 48, 50 cause the measuring element 36 to lower, which is detected by the magnetic sensor 34, which generates a “valves closed” signal.

Die Zylinder 26 sind nebeneinander angeordnet in dem Sinne, dass ihre senkrecht zur Längsrichtung 16 angefertigten Querschnitte sich nicht überlappen. Eine Beaufschlagung des Messelements 36 mittels der Stößel 52 kann somit nicht zentral erfolgen, also mittig an der Halteplatte 38. Um ein Verkanten des Messelements 36 im Gehäuse 20 zu vermeiden, sind die Stößel 52 außermittig an den Kolben 30 angeordnet und soweit wie möglich in Richtung zur Mitte der Halteplatte 38 bzw. in Richtung zur Mittellängsachse der Drehlanze 14 versetzt. Zudem liegt jeder der Druckfedern 48, 50 eine weitere, schwächere Druckfeder 48`, 50' gegenüber, die von unten gegen die Halteplatte 38 drückt. Die Druckfedern 48, 50 und die weiteren Druckfedern 48', 50' sind dabei so dimensioniert, dass jedes Paar bestehend aus einer der Druckfedern 48, 50 und der gegenüberliegenden weiteren Druckfeder 48', 50' in der Summe eine Kraft auf die Halteplatte 38 ausübt, die nach unten, also in Richtung auf die Zylinder 26 zu, gerichtet ist.The cylinders 26 are arranged next to one another in the sense that their cross sections made perpendicular to the longitudinal direction 16 do not overlap. Actuation of the measuring element 36 by means of the plungers 52 cannot therefore take place centrally, i.e. in the middle of the holding plate 38. In order to avoid tilting of the measuring element 36 in the housing 20, the plungers 52 are arranged off-center on the piston 30 and as far as possible in the direction offset to the center of the holding plate 38 or in the direction of the central longitudinal axis of the rotary lance 14. In addition, each of the compression springs 48, 50 is opposite a further, weaker compression spring 48', 50', which presses against the holding plate 38 from below. The compression springs 48, 50 and the further compression springs 48', 50' are dimensioned such that each pair consisting of one of the compression springs 48, 50 and the opposite further compression spring 48', 50' exerts a total force on the holding plate 38 which is directed downwards, i.e. towards the cylinders 26.

Im gezeigten Ausführungsbeispiel weist die Drehlanze 14 drei Nadelventile 22 auf. Es versteht sich von selbst, dass die Drehlanze 14 mit einem, zwei oder mehr als drei Nadelventilen 22 ausgestattet sein kann.In the exemplary embodiment shown, the rotating lance 14 has three needle valves 22. It goes without saying that the rotary lance 14 can be equipped with one, two or more than three needle valves 22.

Zusammenfassend ist folgendes festzuhalten:
Die Erfindung betrifft eine Vorrichtung 10 zum Auftragen von viskosem Material auf Werkstücke mit einer in einer Halteeinrichtung 12 um eine in einer Längsrichtung 16 verlaufende Drehachse drehbar angeordneten Drehlanze 14, die mindestens einen Materialauslass 18 aufweist, wobei jedem Materialauslass 18 ein Nadelventil 22 zugeordnet ist, mittels dessen sich in der Längsrichtung 16 erstreckender Ventilnadel 24 der jeweilige Materialauslass 18 an einem Ventilsitz verschließbar ist, und wobei jeder Ventilnadel 24 ein Zylinder 26 zugeordnet ist, in dessen Kolbenkammer 28 ein Kolben 30 durch Druckbeaufschlagung mittels eines Fluids beweglich ist, mit dem die Ventilnadel 24 fest verbunden ist.In summary, the following should be noted:
The invention relates to a device 10 for applying viscous material to workpieces with a rotating lance 14 which is rotatably arranged in a holding device 12 about an axis of rotation running in a longitudinal direction 16 and which has at least one material outlet 18, with each material outlet 18 being assigned a needle valve 22 by means of whose valve needle 24 extends in the longitudinal direction 16, the respective material outlet 18 can be closed on a valve seat, and each valve needle 24 is assigned a cylinder 26, in the piston chamber 28 of which a piston 30 is movable by pressurization by means of a fluid with which the valve needle 24 is firmly connected.

Erfindungsgemäß ist vorgesehen, dass mit jedem Kolben 30 ein Stößel 52 verbunden ist, der auf der dem mindestens einen Ventilsitz abgewandten Oberseite abgedichtet aus der betreffenden Kolbenkammer 28 herausgeführt ist, dass die Drehlanze 14 ein mittels der Stößel 52 beaufschlagbares, in Längsrichtung 16 verschiebliches Messelement 36 aufweist und dass die Halteeinrichtung 12 einen Sensor 34 zur Bestimmung der Position des Messelements 36 aufweist.According to the invention, it is provided that a plunger 52 is connected to each piston 30, which is led out of the relevant piston chamber 28 in a sealed manner on the upper side facing away from the at least one valve seat, so that the rotary lance 14 is a measuring element 36 which can be acted upon by the plunger 52 and is displaceable in the longitudinal direction 16 and that the holding device 12 has a sensor 34 for determining the position of the measuring element 36.

Claims (13)

  1. Apparatus for applying viscous material to workpieces, having a rotary lance (14) arranged to rotate about an axis of rotation that runs in a longitudinal direction (16), in a holding device (12), which lance has at least one material outlet (18), wherein a needle valve (22) is assigned to each material outlet (18), by means of the valve needle (24) of which, extending in the longitudinal direction (16), the corresponding material outlet (18) can be closed off at a valve seat, and wherein a cylinder (26) is assigned to each valve needle (24), in the piston chamber (28) of which cylinder a piston (30) can be moved by means of a fluid, by applying pressure, with which piston the valve needle (24) is firmly connected,
    characterized in that a tappet (52) is connected with each piston (30), which tappet is passed out of the piston chamber (28) in question, in a sealed-off manner, on the top that faces away from the at least one valve seat, that the rotary lance (14) has a measuring element (36) that can be impacted by means of the tappets (52) and displaced in the longitudinal direction (16), and that the holding device (12) has a sensor (34) for determining the position of the measuring element (36).
  2. Apparatus according to claim 1, characterized in that the rotary lance (14) has at least two material outlets (18).
  3. Apparatus according to claim 1 or 2, characterized in that the measuring element (36) has a permanent magnet (40) and that the sensor (34) is a magnetic sensor.
  4. Apparatus according to claim 3, characterized in that the permanent magnet (40) has the form of a preferably axially poled circular ring that encircles the axis of rotation, and the radius of which is preferably at least 5 times, preferably at least 8 times as great as its thickness, measured in the radial direction.
  5. Apparatus according to claim 3 or 4, characterized in that the measuring element (36) has a holding plate (38) that can be impacted by the tappets (52), on which plate the permanent magnet (40) is fastened.
  6. Apparatus according to one of the preceding claims,
    characterized in that the rotary lance (14) has a housing (20) composed of non-ferromagnetic material, in which the at least one cylinder (26) and the measuring element (36) are accommodated.
  7. Apparatus according to one of the preceding claims,
    characterized in that the measuring element (36) can be moved counter to a reset force in the direction away from the at least one cylinder (26).
  8. Apparatus according to claim 6 and according to claim 7,
    characterized in that the reset force is applied by means of at least one pressure spring (48, 50) that is arranged between the measuring element (36) and a housing ceiling (46) that delimits the housing (20) toward the top.
  9. Apparatus according to claim 8, characterized in that each of the pressure springs (48, 50) has a further pressure spring (48', 50') assigned to it that counteracts it with a weaker reset force and presses against the measuring element (36) from the bottom.
  10. Apparatus according to one of the preceding claims,
    characterized in that the measuring element (36) is guided by means of at least one guiding pin (42, 44) that extends in the longitudinal direction, wherein each guiding pin (42, 44) extends through the measuring element (36).
  11. Apparatus according to claim 8 or 9 and according to claim 10, characterized in that at least one of the guiding pins (42, 44) is arranged centered, through one of the pressure springs (48, 50), and, if applicable, through one of the further pressure springs (48', 50'), wherein the related pressure spring (48, 50) or further pressure spring (48', 50') is configured as a helical spring.
  12. Apparatus according to one of claims 2 to 11, characterized in that the cylinders (26) are arranged at equal distances from one another and at equal distances from the axis of rotation.
  13. Apparatus according to one of the preceding claims,
    characterized in that each tappet (52) is connected offcenter with the corresponding piston (30) and is arranged closer to the axis of rotation than the longitudinal center axis of the piston (30).
EP21702674.9A 2020-02-05 2021-02-01 Device for applying viscous material to workpieces Active EP4076770B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020102871.7A DE102020102871A1 (en) 2020-02-05 2020-02-05 Device for applying viscous material to workpieces
PCT/EP2021/052329 WO2021156210A1 (en) 2020-02-05 2021-02-01 Device for applying viscous material to workpieces

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EP4076770A1 EP4076770A1 (en) 2022-10-26
EP4076770B1 true EP4076770B1 (en) 2024-01-03

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US (1) US20230026219A1 (en)
EP (1) EP4076770B1 (en)
KR (1) KR20220129017A (en)
CN (1) CN115038526A (en)
DE (1) DE102020102871A1 (en)
WO (1) WO2021156210A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4842162A (en) 1987-03-27 1989-06-27 Nordson Corporation Apparatus and method for dispensing fluid materials using position-dependent velocity feedback
DE8904972U1 (en) * 1988-04-20 1990-01-11 Lenhardt Maschinenbau Gmbh, 7531 Neuhausen, De
US4944243A (en) 1989-06-21 1990-07-31 Taise Corporation Apparatus for automatically painting external wall of building
DE10345840A1 (en) * 2003-09-30 2005-04-14 Sca Schucker Gmbh & Co. Kg Device for applying a fluid to the surface of a workpiece used in vehicle construction and in furniture manufacture comprises a feed channel which communicates with a return channel via a distribution path arranged within a shaft
DE102012012360A1 (en) 2012-06-22 2013-12-24 Sca Schucker Gmbh & Co. Kg Device for applying a pasty mass
DE102018104835A1 (en) * 2018-03-02 2019-09-05 Atlas Copco Ias Gmbh Device for applying a viscous material to workpieces

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EP4076770A1 (en) 2022-10-26
KR20220129017A (en) 2022-09-22
WO2021156210A1 (en) 2021-08-12
DE102020102871A1 (en) 2021-08-05
US20230026219A1 (en) 2023-01-26

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