WO2019063425A1 - Applicateur pourvu d'un appareil de prise de vues intégré - Google Patents

Applicateur pourvu d'un appareil de prise de vues intégré Download PDF

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Publication number
WO2019063425A1
WO2019063425A1 PCT/EP2018/075564 EP2018075564W WO2019063425A1 WO 2019063425 A1 WO2019063425 A1 WO 2019063425A1 EP 2018075564 W EP2018075564 W EP 2018075564W WO 2019063425 A1 WO2019063425 A1 WO 2019063425A1
Authority
WO
WIPO (PCT)
Prior art keywords
applicator
camera
component
robot
coating
Prior art date
Application number
PCT/EP2018/075564
Other languages
German (de)
English (en)
Inventor
Lothar Rademacher
Frank Schnur
Original Assignee
Dürr 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 Dürr Systems Ag filed Critical Dürr Systems Ag
Priority to EP18779313.8A priority Critical patent/EP3687706A1/fr
Priority to CN201880062526.9A priority patent/CN111163868A/zh
Priority to MX2020003537A priority patent/MX2020003537A/es
Publication of WO2019063425A1 publication Critical patent/WO2019063425A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies

Definitions

  • the invention relates to an applicator for applying a coating agent (e.g., paint, adhesive, sealant, insulation) to a component surface of a component (e.g., automotive body component).
  • a coating agent e.g., paint, adhesive, sealant, insulation
  • a component surface of a component e.g., automotive body component
  • a coating agent e.g., paint, adhesive, sealant, insulation
  • the applicator is moved by a multi-axis coating robot along a predetermined application path, which runs, for example, along a flanged seam of a motor vehicle body component to be sealed. In this case, it is desirable for the positioning of the applicator to be as accurate as possible relative to the hemming seam.
  • robot-guided camera systems are known from the prior art, which monitor the positioning of the applicator relative to the hemming seam, which enables a position correction during operation.
  • industrial camera systems have been used so far that meet the requirements for robustness, image resolution and size of the image detail.
  • These camera systems are usually mounted on the outside of the applicator and move together with the applicator.
  • a disadvantage of this conventional technique is that the outer contour of the applicator is increased by the mounted camera systems. This makes it difficult, for example, to introduce the applicator with the attached camera systems through small component openings in a component.
  • Another disadvantage of this known technique is the relatively high weight of the industrial camera systems. This can mean that the available load of the coating robots used is no longer sufficient, so that a correspondingly larger robot must be used, which in turn is associated with higher costs.
  • the cable feed to the industrial camera systems in operation can cause problems when the coating robot moves highly dynamically.
  • the mounting of industrial camera systems to an applicator also places high demands on the mechanical fixation, in particular with respect to position, interchangeability and stability. After all, the installation of industrial camera systems is generally associated with high costs.
  • the technical background of the invention is also to be referred to DE 10 2009 027 743 AI, DE 100 48 749 AI, DE 10 2008 029 063 AI and DE 10 2012 021 658 AI.
  • the invention is therefore based on the object to provide a correspondingly improved applicator with a camera.
  • the invention is based on the newly gained technical knowledge that not only - as before - complex and complex industrial camera systems are suitable for operation with an application robot, but also so-called endoscope cameras that are miniaturized and have only a low weight and therefore for a structural integration in the applicator are suitable.
  • the invention does not provide that the camera is mounted on the outside of the applicator. Rather, the invention provides that the camera is structurally integrated within the applicator. This means that the camera is arranged completely inside the housing of the applicator, wherein only the lens of the camera can protrude slightly out of the applicator.
  • the camera is a stereo camera that records a stereoscopic camera image. This is advantageous because it allows three-dimensional determination of the shape, orientation and position of the component.
  • the camera is a normal camera which has only a single lens.
  • the compact dimensions of the camera allow the camera to be integrated into the tip of the applicator so that it is close to the component to be coated.
  • the application So kator has a distal end, on which the coating agent is applied through a nozzle.
  • the camera is preferably arranged at the distal end of the applicator.
  • the applicator may have a distal end face, in which both the nozzle for application of the coating agent and the camera is arranged.
  • the applicator according to the invention is preferably characterized by an internal cable guide, which can for example also run within a lance, which is guided by the application robot.
  • the cables running inside the applicator may be, for example, camera cables for powering the camera and / or for data connection with the camera.
  • the applicator according to the invention can have integrated illumination in order to illuminate the component surface in the recording field of the camera.
  • this lighting is an LED lighting.
  • the applicator according to the invention therefore preferably has a nozzle arrangement for blowing out air
  • the nozzle arrangement can blow out a so-called air curtain, which is known per se from the prior art and therefore need not be described in detail.
  • the applicator according to the invention may comprise a deflection mirror, which is arranged in the optical axis of the camera.
  • the deflection mirror can have a deflection angle of 45 ° ⁇ 5 ° or 90 ° ⁇ 5 °.
  • the deflection mirror can be placed on the camera, for example by means of a screw connection or by means of a bayonet closure.
  • the deflection mirror is permanently installed and not removable.
  • the applicator on a rechargeable battery for powering the power consumers (eg camera, lighting) within the applicator, wherein the accumulator is also structurally integrated within the applicator.
  • an inductive charging interface for inductive charging of the accumulator located inside the applicator is preferably located in the applicator, wherein the inductive charging interface is likewise integrated structurally within the applicator.
  • the applicator is then moved by the coating robot into the vicinity of an inductive charging source, whereupon the integrated accumulator can then be charged from the inductive charging source via the inductive charging interface.
  • the applicator preferably also has a structurally integrated wireless data interface for data communication between the integrated camera on the one hand and an external evaluation unit (for example robot control) on the other hand.
  • the integrated camera can therefore send the recorded camera images via the wireless data interface to the external evaluation unit.
  • the wireless data interface may be a Bluetooth interface or a Wi-Fi interface, to name just a few examples.
  • the camera may be a conventional endoscope camera, as is commercially available.
  • the camera can be connected to the robot controller, which also controls the coating robot.
  • the robot controller which also controls the coating robot.
  • Such a "full integration" of the image processing into the robot control allows an optimization of bus run times and sampling rates, so that a path correction can be realized on the basis of an evaluation of the camera images in real time (on-line.)
  • the applicator has a nozzle with a specific application direction
  • the application direction of the nozzle is aligned parallel to the optical axis of the camera, but in the context of the invention it is alternatively also possible for the nozzle direction and optical axis of the camera to be angled relative to one another.
  • the camera may be, for example, a video graphics array camera that provides camera images in VGA format.
  • the camera has a lens angle (angle of view) of at least 30 °, 40 ° or 50 °, while the outer dimensions of the camera are preferably less than 30mm, 20mm, 10mm or even less than 7mm.
  • the already mentioned LED lighting can be integrated into this camera.
  • the applicator preferably belongs to a certain degree of protection in accordance with DIN EN 60529 in order to be able to work in the ambient conditions occurring during operation.
  • the applicator can be in the protection class IP67, IP68, IP69 or IP69K according to DIN EN 60529.
  • the applicator with the integrated camera With the applicator with the integrated camera also heated media can be applied.
  • the type of applicator of the present invention is preferably a nozzle applicator which applies the coating agent (e.g., adhesive, insulation, sealant) through a nozzle.
  • the invention is also feasible with other types of applicators such as rotary atomizers, air atomizers, ultrasonic atomizers, airless atomizers or airmix atomizers, to name just a few examples.
  • the invention not only claims protection for the applicator according to the invention as a single component. Rather, the invention also claims protection for a complete coating robot (application robot) with a plurality of movable robot axes and an applicator according to the invention, as described above.
  • Such a coating robot preferably has a serial robot kinematics, as is known per se from the prior art and therefore need not be described in detail.
  • the coating robot preferably has at least 5, 6 or 7 movable robot axes.
  • the operating method according to the invention initially provides that the applicator is moved by the coating robot along an application path over the component surface.
  • coating agent is applied to the component surface by the applicator.
  • the operating method according to the invention additionally provides that a camera image of the component surface is taken by the integrated camera.
  • the position, the orientation and / or the shape of the component are determined by an evaluation of the recorded camera image. This allows adaptation of the application path as a function of the recorded camera image, in particular as a function of the position, the orientation and / or the shape of the component.
  • geometry features e.g., lap joints, edges, columns of the component
  • the application path can then be adapted as a function of the detected geometric features, for example so that the applicator follows a flanged seam.
  • the coating agent jet is checked by evaluating the camera image when the camera is aligned in such a way that it detects at least part of the coating agent beam. In this way, for example, a clogging of the nozzle can be detected.
  • the recording of the camera image can also be used to perform a presence check. Thus, it can be determined by an evaluation of the camera image, if there is even a component in front of the applicator.
  • the quality of the applied coating is checked by an evaluation of the camera image. For example, by evaluating the camera image, defects (e.g., voids, air bubbles, etc.) in the applied coating can be detected.
  • defects e.g., voids, air bubbles, etc.
  • FIG. 1 shows an exemplary coating installation with a coating robot which carries an applicator according to the invention
  • FIG. 2 shows a perspective view of the applicator from FIG. 1
  • FIG. 3 shows a schematic representation of another embodiment of an applicator according to the invention
  • Figure 4 is a modification of Figure 3
  • Figure 5 is a schematic representation of an integrated camera with a nozzle assembly for generating an air curtain to prevent contamination of the camera lens
  • FIG. 6 shows a perspective view of a deflecting mirror for an applicator according to the invention.
  • FIGS. 1 and 2 The exemplary embodiment of an application system according to the invention shown in FIGS. 1 and 2 will now be explained, which is used to apply sealing means (for example PVC plastisol) to a motor vehicle body component.
  • sealing means for example PVC plastisol
  • Such an application system is described, for example, in DE 10 2013 018 554 A1, so that the content of this document is to be added to the present description to the full extent.
  • the application system has a multi-axis application robot 1 with a robot base 2, a rotatable robot part 3, a proximal robot arm 4 ("arm 1"), a distal robot arm 5 (“arm 2”), a robot hand axis 6, a lance 7 and an applicator 8, wherein the applicator 8 is shown in Figure 2.
  • the applicator 8 has a nozzle 9, from which a coating agent jet 10 of the sealing agent is dispensed.
  • the nozzle 9 is here in the distal end of the applicator 8.
  • the camera 11, which is designed as an endoscope camera is extremely light, so that the dynamics of the robot movement are not appreciably impaired, and the carrying capacity of the application robot 1 is not exceeded either.
  • FIG. 3 shows a schematic representation of another embodiment according to the invention of an applicator 8 according to the invention, this embodiment being partially identical to the embodiment described above, so that reference is made to the above description to avoid repetition, the same reference numerals being used for corresponding details.
  • a special feature of this embodiment is that the camera 11 is a stereo camera having two lenses 12, 13, so that the camera 11 can record stereoscopic camera images. This allows a three-dimensional detection of the component.
  • an integrated lighting 14 which is designed as LED lighting and illuminates the component surface in the recording of the camera images.
  • the camera 11, the nozzle 9 and the illumination 14 are all arranged in a distal end face 15 of the applicator 8. This offers the advantage that the camera 11 is located near the component.
  • the camera 11 and the illumination 14 are in this case powered by an integrated accumulator 16 with power.
  • the accumulator 16 is in turn connected to a likewise integrated inductive charging interface 17, which enables wireless inductive charging of the accumulator 16.
  • the applicator 8 is moved by the application robot 1 in the vicinity of an inductive charging source 18, so that the accumulator 16 can then be charged via the inductive charging interface 17 from the inductive charging source 18.
  • the applicator 8 also has a structurally integrated wireless data interface 19 (eg Bluetooth interface, Wi-Fi interface) in order to be connected to an evaluation unit (eg robot interface). Control) to communicate.
  • a structurally integrated wireless data interface 19 eg Bluetooth interface, Wi-Fi interface
  • an evaluation unit eg robot interface. Control
  • the camera images taken by the camera 11 can be sent to the robot controller via the wireless data interface 19, so that the robot controller can adapt the application path based on the captured camera images.
  • the nozzle 9 in the applicator 8 can be supplied with the material to be applied via a material feed 20 and a line arrangement 21.
  • the material supply 20 is shown here only schematically and may for example also contain valves.
  • the camera 11, the illumination 14, the accumulator 16, the inductive charging interface 17 and the wireless data interface 19 are connected via cables 22, 23, 24, 25 that extend completely within the applicator.
  • the outer contour of the applicator 8 is thus not disturbed by the cables 22-25, which is advantageous.
  • FIG. 4 shows a modified exemplary embodiment, which largely corresponds to the exemplary embodiment described above according to FIG. 3, so that reference is made to the above description to avoid repetition, the same reference numerals being used for corresponding details.
  • a special feature of this embodiment is that the power supply of the camera 11 and the illumination 14 does not take place from the accumulator 16, but via a cable 26, which also runs within the lance 7.
  • the data transmission from the camera 11 is not wireless, but via a cable 27, which also extends completely within the applicator 8 and within the lance 7.
  • FIG. 5 shows a development of the integrated camera 11 with an additional nozzle arrangement 28 which blows out an air curtain 29 in order to protect an objective 30 of the camera 11 from contamination by excess coating agent mist ("overspray").
  • FIG. 6 shows an attachable deflecting mirror 31, which can be detachably mounted on the objective 30 of the camera 11 by means of a screw connection 32.
  • the invention is not limited to the preferred embodiments described above. Rather, a variety of variants and modifications is possible, which also make use of the inventive idea and therefore fall within the scope.
  • the invention also claims protection for the subject matter and the features of the subclaims independently of the claims in each case referred to and in particular without the features of the main claim. The invention thus encompasses various aspects of the invention which enjoy protection independently of each other.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Photographic Developing Apparatuses (AREA)
  • Pens And Brushes (AREA)
  • Containers And Packaging Bodies Having A Special Means To Remove Contents (AREA)

Abstract

L'invention concerne un applicateur (8) pour l'application d'un agent de revêtement (par ex. peinture, adhésif, agent d'étanchéité, matériau isolant) sur une surface d'un composant (par ex. composant de carrosserie de véhicule automobile). Selon l'invention, un appareil de prise de vues (11) est intégré structurellement à l'intérieur de l'applicateur (8) et acquiert une image de la surface du composant.
PCT/EP2018/075564 2017-09-28 2018-09-21 Applicateur pourvu d'un appareil de prise de vues intégré WO2019063425A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP18779313.8A EP3687706A1 (fr) 2017-09-28 2018-09-21 Applicateur pourvu d'un appareil de prise de vues intégré
CN201880062526.9A CN111163868A (zh) 2017-09-28 2018-09-21 集成有摄像头的施涂器
MX2020003537A MX2020003537A (es) 2017-09-28 2018-09-21 Aplicador con una camara integrada.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017122545.5A DE102017122545A1 (de) 2017-09-28 2017-09-28 Applikator mit einer integrierten Kamera
DE102017122545.5 2017-09-28

Publications (1)

Publication Number Publication Date
WO2019063425A1 true WO2019063425A1 (fr) 2019-04-04

Family

ID=63708348

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/075564 WO2019063425A1 (fr) 2017-09-28 2018-09-21 Applicateur pourvu d'un appareil de prise de vues intégré

Country Status (5)

Country Link
EP (1) EP3687706A1 (fr)
CN (1) CN111163868A (fr)
DE (1) DE102017122545A1 (fr)
MX (1) MX2020003537A (fr)
WO (1) WO2019063425A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022128727A1 (fr) 2020-12-18 2022-06-23 Dürr Systems Ag Dispositif d'application d'un agent d'application comportant un système de nettoyage destiné à délivrer un fluide de nettoyage

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DE10048749A1 (de) 2000-09-29 2002-04-11 Josef Schucker Anordnung zum Aufbringen von Klebstoff auf ein Werkstück
US20060283981A1 (en) * 2005-06-16 2006-12-21 Mead William T Spray coating nozzle assembly for coating remote areas
US20080048388A1 (en) * 2006-08-25 2008-02-28 Achim Gauss Device For Patterning Workpieces
DE102008029063A1 (de) 2008-06-18 2009-12-31 Audi Ag Verfahren und Vorrichtung zum Aufbringen einer Applikationsstruktur auf ein Werkstück sowie zum Überwachen der Applikationsstruktur
DE102009027743A1 (de) 2009-07-15 2011-01-27 Robert Bosch Gmbh Farbauftragsvorrichtung mit Beschleunigungssensor
DE102012021658A1 (de) 2012-05-03 2013-11-07 Dürr Systems GmbH Rotorblattherstellvorrichtung und zugehöriges Verfahren
DE102013000731A1 (de) * 2013-01-17 2014-03-13 Daimler Ag Vorrichtung für eine geführte Applikation entlang einer Applikationsbahn auf einem Gegenstand und Verfahren
DE102013018554A1 (de) 2013-11-06 2015-05-07 Dürr Systems GmbH Applikationsanlage zur Applikation eines Beschichtungsmittels

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Publication number Priority date Publication date Assignee Title
DE10048749A1 (de) 2000-09-29 2002-04-11 Josef Schucker Anordnung zum Aufbringen von Klebstoff auf ein Werkstück
US20060283981A1 (en) * 2005-06-16 2006-12-21 Mead William T Spray coating nozzle assembly for coating remote areas
US20080048388A1 (en) * 2006-08-25 2008-02-28 Achim Gauss Device For Patterning Workpieces
DE102008029063A1 (de) 2008-06-18 2009-12-31 Audi Ag Verfahren und Vorrichtung zum Aufbringen einer Applikationsstruktur auf ein Werkstück sowie zum Überwachen der Applikationsstruktur
DE102009027743A1 (de) 2009-07-15 2011-01-27 Robert Bosch Gmbh Farbauftragsvorrichtung mit Beschleunigungssensor
DE102012021658A1 (de) 2012-05-03 2013-11-07 Dürr Systems GmbH Rotorblattherstellvorrichtung und zugehöriges Verfahren
DE102013000731A1 (de) * 2013-01-17 2014-03-13 Daimler Ag Vorrichtung für eine geführte Applikation entlang einer Applikationsbahn auf einem Gegenstand und Verfahren
DE102013018554A1 (de) 2013-11-06 2015-05-07 Dürr Systems GmbH Applikationsanlage zur Applikation eines Beschichtungsmittels

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022128727A1 (fr) 2020-12-18 2022-06-23 Dürr Systems Ag Dispositif d'application d'un agent d'application comportant un système de nettoyage destiné à délivrer un fluide de nettoyage
DE102020134146A1 (de) 2020-12-18 2022-06-23 Dürr Systems Ag Vorrichtung zum Applizieren eines Applikationsmittels und mit Reinigungsanordnung zum Ausgeben eines Reinigungsfluids

Also Published As

Publication number Publication date
EP3687706A1 (fr) 2020-08-05
DE102017122545A1 (de) 2019-03-28
CN111163868A (zh) 2020-05-15
MX2020003537A (es) 2020-07-29

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