Application device and method for the automated filling of a joint with an adhesive, as well as the use of the application device for the production of a composite part.

Abstract

Application device (1) for the automated filling of a joint (22-3) with an adhesive, wherein the joint (22-3) has a joint opening (22-6) bounded by joint edges (22-7, 22-8) and a joint base (22-5), comprising: • a control unit for controlling the application device (1) for automated filling of the joint (22-3), • Means for automated acquisition of control parameters and / or access to entered and / or stored control parameters for automated filling of the joint (22-3), • a handling unit (2) for the automated handling of an application head (20) with valve means (20-1) and a mixing unit (20-3) in which an interchangeable adhesive mixing tube (20-24) is arranged, wherein on a first side of the mixing unit (20-3) the valve means (20-1) are connected to the adhesive mixing tube (20-24) via an intermediate connecting body (20-2) and an application nozzle (20-17) for generating an adhesive filling jet for filling the joint (22-3) with adhesive, wherein the application nozzle (20-17) has an application channel, wherein the application channel has an inlet channel (20-20) and an outlet channel (20-19), wherein the inlet channel (20-20) to the outlet channel (20-19) includes an application angle (20-21) of less than 180°, wherein the adhesive mixing tube (20-24) is axially aligned with the inlet channel (20-20) of the application nozzle (20-17), wherein the application head (20) has a handling flange (20-5) for attaching the application head (20) to the handling unit (2) and position compensation means (20-11) are assigned to the application head (20), and wherein the control unit and the handling unit (2) for controlled and / or regulated filling of the joint (22-3) are designed and configured such that the adhesive filling jet can be automatically positioned relative to the joint opening (22-6) at an injection position and moved at a relative speed, • a supply unit for the automated provision of an application quantity of adhesive for the application nozzle (20-17) for generating and injecting the adhesive filling jet into the joint (22-3) and wherein the application nozzle (20-17) and the control unit are configured with respect to the application quantity such that the injection position and the relative velocity can be controlled by the control unit using the control parameters such that the joint (22-3) can be filled with adhesive to a defined joint filling volume from the joint bottom (22-5), wherein the application nozzle (20-17) has an application channel (20-19) with an application channel outlet opening for providing the adhesive filling jet such that the adhesive filling jet can be injected with a filling jet cross-section and filling jet velocity deep into the joint (22-3) such that the joint filling volume can be filled from the joint bottom (22-5), wherein the application nozzle (20-17) has an attachment element (20-18) with an attachment contact surface for joint edge compensation, which attachment contact surface is in contact with the in the injection position Joint edges (22-7,22-8) and wherein the application channel outlet opening is centrally located in the front contact surface such that the application channel outlet opening is located in the joint opening (22-6) at a distance from at least one of the joint edges (22-7, 22-8).

Description

[0001] The described and claimed herein relates to methods and devices for the automated filling of a joint with adhesive, in particular for the automated material-bonded formation of a joint edge bond to produce a joining component with at least a first and a second joining partner.

[0002] Filling joints with adhesive is a common practice, both in private homes and in industrial manufacturing. However, filling joints with adhesive should be distinguished from applying a bead of adhesive, which is often done automatically in industrial production.

[0003] The main difference lies in the fact that the goal of filling a joint with adhesive is usually to create a strong bond between the components, materials, or workpieces adjacent to and forming the joint. The adhesive essentially forms a bonding bridge between the workpieces, and the quality of this bridge depends significantly on the joint being completely filled with adhesive, for example, without any air pockets.

[0004] One specific application of this is structural glazing (SG), also known as structural sealant glazing (SSG). This is a type of glass facade construction in which the glass panes are held in place solely by adhesive bonding. This eliminates the need for pressure bars, for example, and the loads from wind, suction, and earthquakes are absorbed entirely by the adhesive.

[0005] The bonding is achieved via a joint that exists between the glass pane and a base support profile, whereby the joint is usually filled with a 2-component facade silicone as an adhesive.

[0006] The stability of such an adhesive bond, and therefore its resistance to cold and heat, depends significantly on the joint being filled with sufficient adhesive / silicone, and in particular, without any air bubbles. Furthermore, for facade elements, windows, doors, or similar components, it is also important for aesthetic reasons that the adhesive joint, being visible from the outside, has a uniform, undamaged appearance without any overfilling.

[0007] For grouting, so-called application guns with disposable mixers in the support tube are used, among other things. The disposable mixers serve to combine the two adhesive components, which are usually present, to form the silicone sealant before application.

[0008] The application guns are operated manually, usually by an experienced operator. This is due, firstly, to the aforementioned special requirements for the adhesive joint, particularly with regard to safety and durability, and secondly, to the fact that joint geometries vary considerably in size and extent, and the components to be sealed / bonded can also differ significantly in size and / or geometry.

[0009] One major reason for manual application or grouting is that the adhesive used for rheologically safe grouting, for example silicone, does not "flow" in application like water or oil, and thus does not distribute itself evenly in the joint, but rather tends to curl up in the joint due to its viscosity and adhesive properties.

[0010] This means that when the adhesive is applied to the joint using the currently common manual application method with the known application guns, the flow of material comes into contact with the vertically positioned component to be bonded shortly after the joint opening and then rolls up along the component in the joint to the end of the joint (joint bottom), from where the rolling up of the adhesive continues forward towards the joint opening.

[0011] This material behavior of the adhesive is not only the reason for manual application, but also leads to a constantly increasing counter-pressure during application due to friction. As a result, not the entire amount of applied adhesive / silicone is actually pressed into the joint, but rather some of it is pushed to the side, upwards and downwards, building up around the joint opening. This leads to so-called overfilling, i.e., a kind of adhesive bead that forms in front of the joint opening and has to be removed afterwards.

[0012] The latter is further exacerbated by the fact that the person applying the adhesive, in an effort to avoid, for example, air inclusions in the joint adhesive, always administers more adhesive material to push air inclusions out of the joint through the material flow than is technically / theoretically required or desired to fill the joint.

[0013] All of this not only leads to overfilling of the joint, resulting in losses of 25% to 40% of the applied adhesive, depending on the adhesive used, but also to an additional work step, since the overfilling must be removed with a spatula or knife to create a smooth outer edge in the joint area, whereby, due to the short setting time of the adhesive, the removed adhesive mass cannot be used for any further application.

[0014] For the state of the art, reference is also made to DE 10 2011 011 545 A1, DE 10 2015 118 288 A1, DE 10 2012 021 658 A1, DE 10 2008 060 159 B4, US 8 866 590 B2, WO 2010 / 111 174 A1.

[0015] Against this background, at least one object of an embodiment according to the present invention can therefore be seen as providing an application device for the automated filling of a joint, with which a process-reliable targeted filling of the joint is possible, which as a result also makes it possible to fill the joint with adhesive in a particularly faster, more reliable and with significantly less or no loss.

[0016] According to one aspect, such an embodiment of the invention relates, at least in a core concept, to an application device for the automated filling of a joint with an adhesive, wherein the joint has a joint opening limited by joint edges and joint connection areas, comprising a control unit for controlling the application device for the automated filling of the joint, means for the automated acquisition of control parameters and / or for accessing entered and / or stored control parameters for the automated filling of the joint, a handling unit for the automated handling of an application head with valve means and a mixing unit in which an interchangeable adhesive mixing tube is arranged, wherein on a first side of the mixing unit the valve means are connected to the adhesive mixing tube via an intermediate connecting body and wherein the application nozzle has an application channel.wherein the application channel has an inlet channel and an outlet channel, wherein the inlet channel to the outlet channel includes an application angle of less than 180°, wherein the adhesive mixing tube connects axially to the inlet channel of the application nozzle, wherein the application head has a handling flange for attaching the application head to the handling unit and position compensation means are assigned to the application head, and an application nozzle for generating an adhesive filling jet for filling the joint with adhesive, wherein the control unit and the handling unit for controlled and / or regulated filling of the joint are designed and configured such that the adhesive filling jet can be automatically positioned relative to the joint opening at an injection position and moved at a relative speed,A supply unit for providing an application quantity of adhesive to the application nozzle for generating and injecting the adhesive filling jet into the joint, wherein the application nozzle and the control unit are configured with respect to the application quantity such that the injection position and the relative velocity can be controlled with the control unit on the basis of the control parameters in such a way that the joint can be filled with adhesive to the extent of a defined joint filling volume from the joint bottom, wherein the application nozzle has an application channel with an application channel outlet opening for providing the adhesive filling jet such that the adhesive filling jet can be injected with a filling jet cross-section and filling jet velocity so deep into the joint that the joint filling volume can be filled from the joint bottom, wherein the application nozzle has an attachment element with an attachment contact surface for joint edge compensation.which pre-applied contact surface is in contact with the joint edges in the injection position and wherein the application channel outlet opening is centrally located in the pre-applied contact surface such that the application channel outlet opening is located in the joint opening at a distance from at least one of the joint edges.

[0017] By providing, for the first time, an application device with which the joint can be filled with adhesive from the joint base, i.e., from the lower end of the joint, not only is a process-reliable and, in particular, filling without air inclusions made possible, in which overfill losses are minimized or comparatively negligible, but also, independently of this, the possibility is created that the injection process can be controlled and automated in a simple way, in particular by the injection position and the relative speed at which the adhesive filling jet is positioned and moved relative to the joint opening.

[0018] In particular, the injection method applied to the joint surface makes it possible to minimize the rolling effects described at the beginning when filling the joint with adhesive.

[0019] Controlling the injection quantity via the relative speed has the particular advantage that it allows for a much more flexible and faster response to deviations in, for example, the joint profile, the joint volume, or the joint profile volume. This ensures a very high joint filling quality with adhesive in the automated process, even with such variations, without requiring manual rework or interruptions in the automated filling process.

[0020] "From the bottom of the joint" does not mean that the adhesive injection jet must always land directly on the joint floor. Rather, depending on the flow behavior, density, and any other physical properties of the chosen adhesive, it is sufficient if the injection jet is directed close enough to the bottom of the joint that the inertia acting on the injected adhesive, as well as the injection impulse, result in no or only minimal upstream rolling effects on the injected adhesive until it reaches the bottom of the joint, allowing the adhesive to build up from there.

[0021] This combination also makes it possible to selectively influence the joint filling volume, thereby not only enabling precisely controlled filling of the joint, but also minimizing or avoiding filling losses, particularly if the joint is to be filled to its maximum extent, i.e., up to or beyond the joint edges. Control in this sense, and in the sense of the invention, also includes regulation based on the control parameters.

[0022] The application nozzle is provided with an application channel and a defined application channel outlet opening for supplying the adhesive filling jet, which provides or generates a filling jet cross-section and a filling jet velocity, so that the adhesive filling jet can be injected so deeply and, in particular, without interference into the joint that the joint filling volume can be filled from the bottom of the joint in accordance with the invention.

[0023] Criteria for the filling jet cross-section and / or the filling jet velocity are based in particular on the selected adhesive, but also on the performance of the supply unit used to provide the application quantity, as well as the geometry of the joint to be filled with regard to, in particular, its joint height to be measured between the joint edges and its joint depth to be measured between the joint edges and the joint base.

[0024] Within the scope of the invention, these physical quantities can either already be stored and kept in the control unit, or be entered into the control unit by the operating personnel and stored therein, or they are picked up or detected by the receiving means according to the invention and passed on to the control unit for control purposes, stored there and used to control the application device and in particular for positioning and moving the application nozzle according to the invention or for adjusting the adhesive filling jet.

[0025] Within the framework of the invention, it is therefore advantageously possible to independently determine the quantity of adhesive required to fill the joint by continuously measuring the joint with the means according to the invention for recording control parameters, in particular, for example, optically, and by passing on the information obtained to the supply unit according to the invention for providing an adequate application quantity for filling the joint.

[0026] In addition to the geometric design of the application channel for the optimized delivery of an adhesive filling jet, the application nozzle also includes an attachment element that allows the nozzle to be positioned between the edges of the joint in such a way that differences in the course of the edges forming the joint opening can be compensated for. For this purpose, the attachment element has a contact surface that, for example, allows for the compensation of differences in the distance between the joint edges.

[0027] The attachment element has a convex cross-sectional geometry, meaning that a convex contact surface with a defined radius exists between two attachment sides. The longitudinal axis of the attachment element, running between the two attachment sides, extends along the joint in the application of the nozzle. The radius of the surface is preferably selected with respect to the joint height such that certain differences in the profile between the joint edges can be compensated for by the surface curvature. As a result, the attachment element according to the invention enables distance compensation with respect to the joint through its convex geometry.

[0028] The application nozzle according to the invention is located in the application channel outlet opening in the attachment contact surface, preferably in a centrally centered position, which makes it possible to provide a simple targeted injection position for the adhesive filling jet.

[0029] According to the invention, the application nozzle is arranged in an application head according to the invention. The application head according to the invention includes, in addition to the application nozzle, valve means and a mixing unit in which an interchangeable adhesive mixing tube can be arranged, wherein the valve means are connected on a first side of the mixing unit via an intermediate connecting element.

[0030] An advantageous further development of the application head according to the invention consists in the connecting body being connected to the mixing unit by a first closing element that can be opened and closed without tools. This advantageously results in the connecting body, together with the valve elements, being easily detached from the mixing unit, allowing the adhesive mixing tube to be replaced without tools if necessary. This is particularly advantageous because, in this application, disposable adhesive mixing tubes with a limited service life can be replaced quickly and efficiently.Time is also an important factor in this respect, as the adhesives used often have a short processing time, and excessively long dwell times can lead to unwanted blockages in the application head, for example in the application nozzle, resulting in process disruptions.

[0031] In accordance with the invention, the tool-free opening capability can be further developed by designing the first locking element as a lever clamping closure, for example in the form of a toggle lever with a retaining claw.

[0032] Furthermore, it is advantageous according to the invention not only to provide a tool-free opening closure element on the first side of the mixing unit, but also on the second side. This allows for a simple and, in particular, easily detachable connection between the mixing unit and the application nozzle, so that the application nozzle can be easily separated from the mixing unit, for example, to be cleaned independently of the rest of the application head during servicing. As with the first closure element, a lever-lock mechanism can also advantageously be used for the second closure element.

[0033] A further development of the invention consists in coordinating the sealing elements, i.e., the first and the second sealing element, in the assembly such that a connecting pin element present on the connecting body subsequently and press-fits onto the adhesive mixing tube in the assembled state of the application head, and the adhesive mixing tube subsequently and press-fits onto the application nozzle. Both sealing elements engage the mixing unit and, in particular, the adhesive mixing tube therein in a sealing clamping fit.

[0034] The connecting pin element ensures, among other things, a fluid transition from the connecting body to the mixing unit, where the two initial components of the adhesive are typically mixed to form the adhesive that can be dispensed via the application nozzle. The connecting body ensures, among other things, that the initial components, supplied via the valve element through a suitable number and size of channels, are guided or transported into the mixing unit in the desired mixing ratio.

[0035] Furthermore, according to the invention, the application channel of the application nozzle is designed in two parts, in which an inlet channel and an outlet channel are provided, wherein the inlet channel to the outlet channel includes an application angle of less than 180°.

[0036] According to the invention, a major advantage lies in the fact that the inlet channel in the application head is arranged axially aligned with the adhesive mixing tube. This advantageously achieves that, particularly in the case of an orthogonally central alignment of the outlet channel and thus of the adhesive filling jet to the joint or joint opening, the application head does not need to be aligned along its entire length orthogonally centrally in front of the joint, but only the outlet channel of the application nozzle, whereas the remaining parts of the application head can be inclined from the horizontal towards the vertical, depending, of course, on the selected application angle.

[0037] The horizontal space required, or the horizontal extent of the application head, is thereby reduced or minimized. This is particularly advantageous when the application device according to the invention is used, for example, in a dosing and filling station, where, according to its surface dimensions, even large components, for example in joint edge bonding, are to be bonded using the application device according to the invention. With the application head according to the invention, the horizontal extent required for bonding can be reduced.

[0038] Further training has shown that an application angle of 135° can be advantageous. This angle strikes a good balance between the reduced horizontal extension of the application head when applied perpendicular to the joint and the increased flow resistance of the adhesive in the application nozzle caused by the angled application channel.

[0039] Furthermore, such a bend, or a similar one, can facilitate easier rotation of the application head in space, making it easier to align the outlet channel with, for example, an application device towards the joint. This is because a smaller volume of space is covered or required when aligning or tilting the application head / outlet channel.

[0040] Furthermore, the cranked shape and the fact that the application head with its mixing unit and valve elements is inclined towards the vertical also make it easier to couple supply connections to the application head.

[0041] Furthermore, according to the invention, a handling flange is provided on the application head for attaching the application head to the handling device.

[0042] Complementing this, the handling unit is also equipped with a flange, namely a complementary counter flange to the handling flange of the application head. The handling unit is designed in such a way that it can move the counter flange freely in space and is also able, independently of this, to rotate and / or tilt the counter flange and with it the application head.

[0043] A further advantageous embodiment of the invention provides that the handling unit is designed such that the application nozzle and / or its contact surfaces can be held in contact with the joint edges and / or joint connection areas, so that the adhesive jet can be injected into the joint in an optimized manner according to the invention, even if, for example, irregularities or unevenness are present at the joint edges or joint connection areas, or in some other form, which should be compensated for in order to achieve optimized injection according to the invention. In this way, the handling unit according to the invention can, for example, ensure that injection into the joint is always orthogonally centered, which has proven advantageous for many applications.

[0044] Further training includes, among other things, providing an application direction compensation, particularly in the application direction, which allows for compensation of inequalities or unevenness and the like, for example in the application direction, within a certain range, for example in the range of -20 mm to 20 mm.

[0045] Furthermore, according to the invention, the application head is provided with a position compensation means, wherein the position compensation means can include a position sensor function with which position deviations of the application nozzle to the joint can be detected and compensated.

[0046] It can also be advantageous if the position compensation devices are attached to the application head with a holding structure in such a way that the mixing unit is additionally structurally stiffened, so that it has increased torsional and pressure resistance, which can increase the application and dosing accuracy.

[0047] An advantageous further development according to the invention can also be seen in the fact that the handling unit comprises a portal device with a portal base frame, which has a Y-axis strut running between two X-axis struts and movable along an X-axis, on which a Z-axis strut movable along the Y-axis strut and height-adjustable along a time axis is attached.

[0048] Such a portal device according to the invention can, for example, offer the advantage over a robot that it provides increased stability and safety during handling due to the frame structure and also requires less space, since the application process can take place within the portal device. The axis struts can be either roller- or slide-bearing mounted and can be servo-motor supported or designed to be movable.

[0049] In addition to and in accordance with what has already been described above regarding the handling unit, the Z-axis strut can have a controlled, rotatable counter flange for the application head's holding flange, either on its own or at a lower free end. Preferably, the application head or nozzle can be rotated by 90°, which, among other things, enables a vertically downward application of the adhesive. The counter flange can also be designed to tilt, thus providing maximum spatial flexibility for the application head handled by the gantry device.

[0050] Furthermore, further development also consists in assigning a dosing unit to the supply unit for the metered supply of an application quantity, wherein the dosing unit preferably has pump and storage units for supplying a two- or multi-component adhesive.

[0051] Furthermore, an aspect of the invention consists in the use of the application device for the automated material-bonded formation of a joint edge bond for the production of a joining component with at least a first and a second joining partner, wherein the joining partners are at least partially material-bonded to each other via the joint edge bond, wherein the joining partners have at least partially complementary edges and edge regions and at least partially complementary edge edge profiles, wherein a joint is formed for forming the joint edge bond, in which an adhesive spacer element is provided for pre-fixing the joining partners and for forming a joint base between the joining partners along the edge edge profiles, wherein, for forming the edge bond, the joint is at least partially filled with adhesive for material-bonded joining of the joining partners using an application device as described above.

[0052] The joining component could be, for example, a facade element, window or door.

[0053] Furthermore, an aspect of the invention also consists in providing a method for the automated filling of a joint with an adhesive, wherein the joint has a joint opening bounded by joint edges and wherein the method comprises the following process steps: Recording control parameters and / or accessing entered and / or stored control parameters to control the process steps for filling the joint with adhesive;

[0054] Handling an application nozzle for generating an adhesive filling jet for filling the joint, wherein the handling includes positioning the application nozzle into an injection position, wherein the handling includes moving the application nozzle and the adhesive filling jet at a relative velocity relative to the joint opening;

[0055] Providing an application quantity of adhesive for the application nozzle to generate and inject the adhesive filling jet into the joint; wherein the application nozzle and the control unit are set up with respect to the application quantity in such a way that the injection position and the relative speed can be controlled with the control unit on the basis of the control parameters in such a way that the joint is filled with adhesive to the extent of a defined joint filling volume from the joint bottom.

[0056] For the avoidance of doubt, it should be noted that although the process steps are listed individually above, in practice they may be carried out in parallel, i.e., side by side, depending on expediency. This applies in particular to recording control parameters and handling the application nozzle.

[0057] In the inventive method, geometric parameters such as the position, course and size of the joint edges, the joint connection areas, the joint opening and the joint filling volume can be used as control parameters.

[0058] An advantageous further development according to the invention also consists in the positioning process including moving the application nozzle into a starting position. Advantageously, the starting position is determined with respect to the joint using means according to the invention for recording control parameters, which may be sensors used to determine the starting position, and this information is then transmitted to a control unit for positioning.

[0059] Furthermore, the positioning according to the invention can include a specifically controlled approach of the application nozzle, wherein the approach preferably takes place in relation to the joint such that the adhesive filling jet can be injected orthogonally and centrally into the joint opening. Even if other positioning methods might also be possible, it has been found that the objectives of the invention can be readily achieved with such positioning of the adhesive filling jet for a large number of joints to be filled.

[0060] It can also be advantageous if the approach and positioning are carried out in such a way that the application nozzle is in sensing contact with the joint edges and / or joint connection areas. In such a positioning, it is easy to detect tolerance variations or manufacturing-related joint defects.

[0061] It can also be advantageous if the approach includes approaching a zero-contact scanning position, from which deviations in the relative movement of the application nozzle can be detected.

[0062] Within the framework of the inventive method, it can be ensured by a position compensation movement that the application nozzle remains in scanning contact with the joint edges.

[0063] The method according to the invention further advantageously provides for an axis- and direction-of-rotation-independent compensation in the position compensation movement.

[0064] Within the framework of the inventive method, it is further ensured that, on the one hand, a sufficient application quantity of adhesive is available within the framework of the technical design or application, and on the other hand, it is monitored that the provided application quantity is in accordance with the maximum and minimum application quantities that can be provided by the dosing system.

[0065] Another aspect of the invention is to provide a method for producing a composite part with at least a first and a second joining partner, wherein the joining partners are at least partially joined together by means of a joint edge bond, wherein the joining partners have at least partially complementary edges and edge regions and at least partially complementary edge edge profiles, wherein a joint is formed to create the joint edge bond by providing an adhesive spacer element for pre-fixing the joining partners and for forming a joint base between the joining partners along the edge edge profiles, and the joint is automatically filled using the method described above.

[0066] The process can be carried out in an application device, wherein the process includes transporting the pre-fixed joining partners to the application device and wherein the application device includes a predetermined coordinate system as well as a monitoring system with receiving means for transport monitoring.

[0067] Furthermore, according to the invention, a monitoring system can advantageously be provided which recognizes the pre-fixed joining partners during transport into the application device and when the pre-fixed joining partners are arranged in a defined manner in the coordinate system, and the monitoring system communicates a starting position for the application nozzle to a control unit for the start of the process.

[0068] It can also be provided that the joining element has at least one joining corner around which the joint runs in a corner loop, wherein, in the event that the joint filling is to start from the corner loop program or beyond, a control unit sets the starting position by a positional offset measured from the joining corner, which is determined by a joint depth measured from the joint edge to the joint base. Preferably, the positional offset has a value of 20 cm or more.

[0069] Furthermore, in the inventive method, the joining component can advantageously have at least one joining corner around which the joint runs in a corner loop, wherein the method includes a corner loop filling program, wherein the corner loop filling program includes a continuous reduction of the application quantity when exiting the corner loop and a continuous increase when entering the corner loop.

[0070] Advantageously, according to the invention, it can also be provided that in phases of the process in which no adhesive application takes place, i.e., in application holding phases after reaching or exceeding a pot life to be determined with respect to the adhesive, the mixing unit is automatically supplied with blank shots of adhesive to fill the mixing unit. The aim of this measure is, in particular, to prevent unintentional clogging of the application nozzle and / or application head due to the adhesive setting, especially in the case of excessively long holding times.

[0071] Preferably, the mixing unit is supplied with at least three adhesive blank shots, and after the adhesive blank shots, the mixing unit is further preferably supplied with at least one rinsing shot.

[0072] The rinsing shot can be carried out, for example, in a two-component adhesive with a base component and a catalyst component, by rinsing or a rinsing shot with the base component.

[0073] Furthermore, another aspect of the invention consists in providing a control unit for controlling the methods and devices according to the invention.

[0074] In addition, an aspect of the invention also consists of software for use in the control unit according to the invention and for controlling the methods and devices according to the invention.

[0075] Further features, advantages, effects, and details will become apparent from the following description, in which, where appropriate, at least one embodiment is described in detail with reference to one or more drawings. The features described and / or illustrated, either individually or in any meaningful combination, constitute the subject matter, possibly also independently of the claims, and may, in particular, also be the subject matter of one or more separate applications. Identical, similar, and / or functionally equivalent parts are designated with the same reference numerals.

[0076] This schematically illustrates: Fig. 1a a perspective view of an application device according to the invention, with which the methods according to the invention can be carried out; Fig. 1b the application device according to Fig. 1a in top view; Fig. 2a a perspective view of an application head according to the invention; Fig. 2b the application head Fig. 2a in a side view; Fig. 2c the application head from Fig. 2a in side sectional view; Fig. 2d the application head with a detail of the attachment element of the application nozzle; Fig. 2e the application head with a detail of the attachment element of the application nozzle; Fig. 3a a joint structure, such as occurs in facade elements; Fig. 3b a joint structure, such as occurs in facade elements; Fig. 3c a joint structure, as occurs in facade elements; Fig. 4 A top view of a corner area of ​​a facade element.

[0077] The inventive method is described below by way of example, and thus purely by way of illustration, using an application device for bonding a facade element around its perimeter. Of course, instead of the facade element, a door, a window, or comparable composite components could also be manufactured using the inventive application device or method.

[0078] Out of Fig. 1a shows a dispensing device 1. The dispensing device 1 comprises a handling unit 2 in the form of a gantry device 3. The gantry device 3 comprises a gantry base frame 4. The gantry base frame 4 consists of a rectangular or square support frame 5. The support frame 5 has longitudinal and transverse struts 6 and 7. The longitudinal and transverse struts 6 and 7 form the X-axis struts 6 and 7 (first and second X-axis struts) of the handling unit 2. Along the X-axis struts 6, the Y-axis strut 8, which is perpendicular to the X-axis struts 6 and 7, is guided along an X-axis by a linear or servo motor drive. The Y-axis strut 8 runs at a variable distance, essentially parallel to the transverse struts 7 and a Y-axis. The Z-axis strut 9 is suspended perpendicularly from the Y-axis strut 8 to a plane spanned by the X- and Y-axes. Two dosing units 10A and 10B are arranged next to the Z-axis strut 9.

[0079] The metering units 10A and 10B, as part of the inventive supply unit for providing an application quantity of adhesive, are movable along the Y-axis support 8, for example, by means of a linear or servo motor, together with the Z-axis support 9. The metering units 10A and 10B include metering pumps. The two metering pumps can convey two adhesive components via lines 17 to the application head 20. In the application head 20, the two adhesive components are then mixed to form the adhesive and fed to the application nozzle 20-17 to generate the adhesive jet. Silicone is preferably used as the adhesive.

[0080] The Z-axis strut 9 is also designed to be vertically movable. At the free end of the Z-axis strut 9, i.e., on the side of the Z-axis strut 9 facing away from the Y-axis strut 8, there is a Fig. 1a A non-visible counter flange is provided, with which an application head 20 can be connected or attached to the handling unit 2 according to the invention for handling purposes. Likewise, Fig. 1a. Although not immediately apparent, a pivot axis 19, rotatable about its axis of symmetry, is provided at the free end of the Z-axis struts 9. The counter flange for attaching the application head 20 is symmetrically mounted to the pivot axis 19. In the mounted state, the application head 20 can therefore rotate with the counter flange about the axis of symmetry of the pivot axis 19. The counter flange can also be designed to be tiltable.

[0081] The portal base frame 4 rests on the station floor (not shown) with support struts 11. The support struts 11 carry the retaining frame 5. The support struts 11 are connected for stabilization by transverse connecting struts 12. A portal conveyor table 13 is arranged essentially within the portal device 3, i.e., below the retaining frame 5. The portal conveyor table 13 also partially incorporates the transverse connecting struts 12, on which the transport rails of the portal conveyor table 13 rest in a dual capacity. The facade element 22 is arranged on the portal conveyor table 13. Fig. In the process state shown in Figure 1a, the facade element 22 has already been conveyed via the infeed conveyor table 14 onto the portal conveyor table 13, where it is glued around its perimeter. The conveyor tables 14, 13, and 15 are driven by the conveyor drive motors 18. After completion of the gluing process, the facade element 22 can be conveyed or transported via the portal conveyor table 13 from the portal device 3 onto the outfeed conveyor table 15. Fig. Figure 1a further shows a collection container 16, which can be used, for example, to collect cleaning agents or silicone residues when the application head 20 is cleaned.

[0082] Out of Fig. 1b is the application device 1 according to Fig. 1a shows a top view. The conveyor table drive motors 18 and the supply lines 17 are among the components more clearly visible there. Furthermore, in Fig. 1b with reference numeral 19 indicates the axis of rotation 19, which runs centered through the counter flange and the handling flange 20-5 of the application head 20 and about which the application head 20 is suspended to rotate 360° clockwise or counterclockwise. Otherwise, the provisions of the above apply. Fig. 1a. Information provided.

[0083] Fig. Figure 2a shows a perspective view of an application head 20 according to the invention, which can be used in an application device 1 according to the invention.

[0084] The application head 20 in Fig. 2a comprises: valve means or valve connection means 20-1, a connecting body 20-2, which can also be referred to as a joining block 20-2, a mixing unit 20-3, a retaining structure 20-4 with which the handling flange 20-5 is attached to the application head 20, a first closing element 20-6 with which the mixing unit 20-3 is attached to the joining block 20-2 or the valve means 20-1, wherein the first closing element 20-6 has a first locking hook 20-7, a first locking clamping eye 20-8 and a first locking clamping lever 20-9, arranged in pairs opposite each other (see Fig. 2b), an electrical connection part 20-10 flanged to the application head 20 for electrical operation or control of the application head 20, a position compensation means 20-11 for controlled provision of a relative compensation with respect to the joining component 22. In addition, the merging block 20-2 is screwed to the valve means 20-1.

[0085] Fig. 2b shows the application head 20 from Fig. 2a in a side view, specifically in Fig. The perspective view shown in Figure 2a shows the side facing away from the front. This side view reveals that the first locking element 20-6 comprises a combination of two opposing arrangements or lever-action locking devices 20-6, each consisting of a first locking hook 20-7, a first locking tension eye 20-8, and a first locking tension lever 20-9. The locking hooks 20-7 are arranged or attached to the merging block 20-2. The locking tension levers 20-9, together with the locking tension eyes 20-7 and 20-8, are located on the mixing unit 20-3.

[0086] Out of Fig. 2a further results in a second locking element 20-12, which can also be configured as two second lever-action latches 20-12. Therefore, the second locking element 20-12 can each have a second locking hook 20-13, a second locking eyelet 20-14, and a second locking lever 20-15, each in the form of a second lever-action latch 20-12, positioned opposite each other. The opposing positioning of the second lever-action latches 20-12 is determined by Fig. 2b to recognize.

[0087] The second lever-operated clamping devices 20-12 connect the application nozzle 20-17 to the mixing unit 20-3 of the application head 20. A flange block 20-16 is provided for this purpose, which is screwed into the mixing unit 20-3. The second clamping levers 20-15 with the clamping lugs 20-14 attached to them are fastened to the flange block 20-16, and the clamping hooks 20-13 are fastened to the application nozzle 20-17.

[0088] Furthermore, it is from Fig. Figure 2b shows the retaining structure 20-4 even more clearly, by which the handling flange 20-5 or the position compensation element 20-11 is attached / screwed to the application head 20, in particular to the mixing unit 20-3, thereby reinforcing the stiffening. Improved stiffening of the mixing unit 20-3 can be advantageous because the transport of the adhesive or silicone through the mixing unit 20-3 exerts considerable torsional forces on it, which can lead to stiffening of the mixing unit 20-3 and thus negatively affect the desired mixing ratio and therefore the adhesive composition or quality, as well as the precision of the amount of adhesive dispensed.

[0089] Out of Fig. 2a and Fig. Furthermore, the prefix element 20-18 can be seen from 2b. In this context, In Fig. 2a The outlet opening of the outlet channel 20-19 of the application nozzle 20-17 can also be seen. The outlet opening is arranged centrally symmetrically on the attachment contact surface of the attachment element 20-18. The attachment contact surface is spherically curved differently depending on the application. In the embodiment according to Fig. 2a and Fig. 2b the attachment element 20-18 has a cylindrical segment shape with a corresponding curved attachment contact surface.

[0090] In Fig. Figure 2c shows the application head 20 in a side sectional view. The reference symbols used therein correspond, insofar as corresponding visible parts are shown, to those according to Fig. 2a and Fig. 2b. In addition to the Fig. 2a and Fig. 2b is shown in the section view according to Fig. Figure 2c shows the inlet channel 20-20, which, together with the outlet channel 20-19, forms the application channel of the application nozzle 20-17. There is a bend at the transition between the inlet channel 20-20 and the outlet channel 20-19. This means that the inlet channel 20-20 and the outlet channel 20-19 form an application angle 20-21 of 180° - 45° = 135°. The inlet channel 20-20 and the outlet channel 20-19 are designed as through-holes in the application nozzle 20-17, which intersect centrally in the application nozzle 20-17. Both the inlet channel 20-20 and the outlet channel 20-19 are closed at one end by screws / grub screws 20-22 and 20-23. The application channel consisting of the inlet channel 20-20 and 20-19 is fed with adhesive, preferably silicone, from the adhesive mixing tube 20-24.The inlet channel 20-20 is axially aligned with the adhesive mixing tube 20-24, which is arranged in the mixing unit 20-3 in a mixer support tube 20-25 made of stainless steel.

[0091] A fluid-tight connection between the adhesive mixing tube 20-24 and the inlet channel 20-20 is achieved in particular by a conical press fit formed between them. This press fit is created by the clamping fit of the connecting body 20-2 on the adhesive mixing tube 20-24, which is effected by the lever clamps 20-6. When closed, these clamps press the connecting body 20-2 onto the adhesive mixing tube 20-24, thereby also creating a fluid-tight conical press fit between the connecting body or merging block 20-2. The press fit is further enhanced by the counter-pressure exerted by the second lever clamps 20-12 between the application nozzle 20-17 and the mixing unit 20-3.

[0092] The adhesive mixing tube 20-24 can be a disposable mixer that must be replaced once it is worn out. According to the invention, replacement can be carried out simply by releasing the merging block 20-2 from the mixing unit 20-3 without tools using the lever-operated locking devices 20-6, pulling it out of the mixing unit 20-3 or the mixer support tube 20-25, and replacing it with a new one. In its installed state, the disposable mixer sits in the mixer support tube 20-25 in the previously described press fit between the application nozzle 20-17 and the merging block 20-2. The tapered adhesive mixing tube 20-24 rests against the inlet channel 20-20. The same applies to the merging block 20-2, which sits in a complementary press fit on the adhesive mixing tube 20-24 with the connecting pin element 20-26 or is pressed by the lever clamping fasteners 20-6.

[0093] Fig. 2c also shows, unlike Fig. 2a and Fig. 2b, how the application nozzle 20-17 can be positioned in relation to a joint 22-3 during the application or bonding process. From Fig. Figure 2c shows a preferred installation position for the application nozzle 20-17 or the attachment element 20-18, according to which the outlet channel 20-19 is positioned horizontally centered to the joint 22-3 in order to inject the adhesive filling jet into the joint 22-3 from there.

[0094] The joint 22-3 is formed by a first joining partner 22-1, which in the case of a facade element 22 can be an aluminum profile frame 22-1, and a second joining partner 22-2, which in the case of a facade element 22 can consist of a glass pane or laminated glass pane. In the case of bonding to form a facade element 22, a so-called spacer tape 22-4 often forms the joint base 22-5 and holds the two joining partners 22-1 and 22-2 at the desired distance or height between the first joining partner, i.e., the profile 22-1, and the second joining partner, i.e., the laminated glass pane 22-2, in the form of a spacer element 22-4. The spacer tape 22-4 can be designed to be self-adhesive for pre-fixation between the profile or profile frame 22-1 and the glass pane 22-2.

[0095] Out of Fig. 2d specifies in particular the attachment element 20-18 and especially its function in detail, with reference to the case where the joint edges 22-7 and 22-8, unlike in the case according to Fig. 2c do not, at least not over the entire perimeter, align in complementary ways, but rather, as in the example according to Fig. 2b, the lower joint edge 22-8 projects differently from the upper joint edge 22-7. In the illustrated case, the lower nozzle installation area 20-28 abuts the lower joint connection area 20-10 over its entire surface. The lower joint edge 22-8 is located in the corner or transition area between the nozzle installation area 20-28 and the segmentally cylindrically curved cover element 20-18. In contrast, the upper joint edge 22-7 abuts the top surface of the cover element 20-18. In this constellation, the surface curvature and the seating of the front element 20-18 result in the joint 22-3 being filled with adhesive / silicone in such a way that the joint filling volume, with its maximum filling volume, can be cleanly filled with adhesive up to the joint edges 22-7 and 22-8 with a concave curvature directed into the joint 22-3.

[0096] Fig. 2e shows a similar constellation to Fig. 2d, with the difference that it is not the lower joint edge 22-8 that protrudes, but the upper joint edge 22-7. In the configuration shown, the upper nozzle mounting area 20-27 rests against the upper joint connection area 22-9, and the upper joint edge 22-7 is located in the corner or transition area between the mounting area 20-27 and the segmentally cylindrically bulging cover element 20-18. The lower joint edge 22-8, on the other hand, abuts directly against the top surface of the cover element 20-18.

[0097] The two scenarios according to Fig. 2d and Fig. 2e represent two possible compensation positions, between which further compensation or attachment positions must, of course, be compensated for, for example, in the case of less offset between the joint edges 22-7 and 22-8. The possible tolerance compensation is determined in particular by the radius of the segmented cylindrical curvature of the attachment element 20-18. It should be ensured that, in the case of maximum compensation, the outlet channel 20-19 and thus the adhesive filling jet ejected from it do not touch the joining partners 22-1, 22-2 during injection.

[0098] From the characters Fig. 3a, Fig. 3b and Fig. 3c provides examples of joint configurations which, particularly in the case of a facade element 22, can be considered and / or implemented according to the invention.

[0099] In the Fig. 3a and Fig. Figure 3b shows joint structures where injection or filling is carried out horizontally. The injection direction can be identified by the arrow shown in the figures.

[0100] At Fig. 3a is a lateral adhesive joint 22-3, in which the laminated glass pane 22-2 is provided as the second joining partner 22-2 at the top. The laminated glass pane 22-2 rests on the profile frame (first joining partner 22-1) by means of the spacer element 22-4.

[0101] In contrast, according to the embodiment according to Fig. 3b The profile frame is placed as the second joining partner 22-2 on the laminated glass pane 22-2. The injection process takes place horizontally along the laminated glass pane 22-2 (see injection direction arrow) into the joint 22-3.

[0102] In the case of the joining composite part or facade element 22 according to Fig. 3c The adhesive filler jet is injected vertically downwards into the joint 22-3, in the direction of the first joining partner 22-1 or profile frame 22-1. The profile base frame 22-1 has an L-leg 22-1', which, together with the glass pane as the second joining partner 22-2 and the spacer element 22-4, forms the adhesive joint 22-3.

[0103] If, according to the invention, the perimeter bonding of, for example, a facade element 22 is carried out, for example, in accordance with the invention, the bonding is carried out in the circumferential manner. Fig. 3a, but also in the other cases, a glass pane, usually the laminated glass pane 22-2, is first pre-fixed manually or automatically to the profile base frame 22-1. A spacer element 22-4 is applied to the profile base frame 22-1. The spacer element or spacer tape 22-4 can be a double-sided adhesive tape with a thickness between 6 mm and 20 mm. The tape is applied around the entire perimeter of the profile base frame 22-1. The laminated glass pane 22-2 is then placed onto the spacer tape 22-4, and a protective film separating the adhesive surface of the tape from the laminated glass pane 22-2 is removed. In this way, the glass pane is bonded to the tape, thus pre-fixing the connection between the profile base frame 22-1 and the laminated glass pane 22-2.

[0104] The pre-fixed joining component or facade element 22 can then be conveyed to the adhesive cell or to the application device 1, for example via a roller table / feed table 14, without any displacement occurring between the glass pane 22-2 and the profile base frame 22-1.

[0105] Depending on the thermal conditions and to provide an optimal processing temperature for the adhesive silicone to be used, the application device or adhesive cell 1 can have an air-conditioned cell, for example a foil tent, in which the adhesive process takes place with the application device 1.

[0106] If the application device 1 does not yet contain a joining component / facade element 22, which can be determined by the receiving means or monitoring system provided on or near the application device 1 and communicated to the control unit, then the pre-fixed joining component 22 can be transported into the application device 1 via the feed table 14. The monitoring system / receiving means can, for example, include a light barrier, which can be provided, for example, between two support struts 11.

[0107] The receiving means can also include additional sensors which, in particular, can monitor the insertion of the facade element 22 into the application device 1 and, in particular, indicate when the facade element 22 is appropriately aligned for bonding with the coordinate system of the portal device 3 or its portal base frame 4. This can be the case, for example, when the facade element 22 is centered or located in the middle within the portal base frame 4. At or in this bonding position, the sensors send a feedback signal to the control unit, which can also be programmed for this purpose. The control unit stops the transport of the facade element 22 when the facade element 22 has reached the bonding position.The sensors can be, for example, optical sensors that, directed vertically upwards and / or downwards, detect the correct positioning of the facade element 22 within the portal base frame 4.

[0108] In this position, the application head 20 can be moved to the starting position with the Z-axis strut 9. This is done motor-driven by moving the Z-axis strut 9 via the X-axis struts 6 and the Y-axis strut 8 based on software-controlled signals from the control unit. If the facade element 22 has corners, the starting position is preferably placed outside a corner area 23. "Outside" preferably means a distance of at least 20 cm from a corner 26 (see Fig. 4) The application nozzle 20-17 is then moved to this starting position before the application nozzle 20-17, or rather the application head 20, is brought along the Z-axis link 9 on the Y-axis link 8 in the Z-direction to the height of the joint 22-3. Here, the application nozzle 20-17, with its outlet channel 20-19, is positioned as centrally as possible between the joint edges 22-7 and 22-8 and perpendicular to the joint 22-3 to enable the most precise possible application of the adhesive filler jet into the adhesive joint 22-3. The adhesive filler jet can thus be injected at a 90° angle centrally and, depending on the joint configuration, horizontally, vertically, or otherwise into the joint opening 22-6 parallel to the joining partners 22-1, 22-2, and perpendicular to the joint 22-3.

[0109] To reach the final starting position, the application nozzle 20-17 is slowly moved towards the facade element 22 until the application nozzle 20-17 is in contact with the facade element 22, or in particular with the joint edges 22-7, 22-8, in the zero contact position with slight pressure.

[0110] To carry out this approach process to the starting position, the receiving means on the application head 20 have a sensor head moving with it, on which a horizontally oriented sensor is provided that measures the joint entrance, as well as the joint depth and joint height, and furthermore a vertical sensor is provided that determines the edges, the beginning and the end of each side of the facade element 22 and whereby control parameters are determined based on values ​​entered into or available in the control unit for the thickness of the laminated glass and the height of the spacer tape 22-4, on the basis of which the control unit can precisely locate the joint opening 22-6, after which the approach process can be controlled by the control unit.

[0111] The suspension with which the application head 20 is attached to the rotary axis 19 of the Z-axis strut 9 allows movement of the application head 20 or the application nozzle 20-17 from 0 to 20 mm forward and from 0 to -20 mm backward, in each case relative to the zero-contact scanning position. A pneumatic mechanism preferably continuously strives to keep the application nozzle 20-17 or its application position as close as possible to the zero-contact scanning position. These position compensation means 20-11 also include a sensor that measures the horizontal position of the application head 20 or the application nozzle 20-17 and, as a result, adjusts the Z-axis strut 9 in the x-direction if the travel path of the application head 20 is pushed too far in the negative or positive direction from the zero-contact scanning position. The force exerted by the suspension orPosition compensation means 20-11 possible deviation from the scanning zero contact position is advantageous, especially within the scope of the manufacturing tolerance of the joining component or the facade element 22, since in particular an ideal joint edge alignment is often not specified in the manufacturing process.

[0112] Furthermore, the application head 20 can still follow the joint edges 22-7, 22-8 of a facade element 22 even if the latter is arranged slightly diagonally in the application device 1 for bonding.

[0113] Furthermore, the information about the joint edges 22-7, 22-8 obtained by the downward-facing (or, where technically desirable, upward-facing) sensor can also be used to rotate the entire application head 20 or its application nozzle 20-17 or the output channel 20-19 by a few degrees and thus to make adjustments, so that it is ensured that the output channel 20-19 is at a 90° angle to the facade element 22 and that the adhesive filling jet injects the adhesive accordingly into the joint 22-3.

[0114] The control parameters provided by the vertically downward-facing sensor can also ensure that the outlet opening of the output channel 20-19 always remains centered in front of the joint opening 22-6, even if the facade element 22 is not, as might be desired, 100% horizontal on the portal conveyor table 13.

[0115] Furthermore, the downward-facing sensor can use its own joint edge detection to recognize when, for example, the end of one side of a square facade element 22 is reached or is about to be reached, and then transmits the position information of the "corner" to the control unit.

[0116] The control unit can then, for example, use a corner filling program to ensure that the joint 22-3 is completely filled without air inclusions in the corner areas of the facade element 22, whereby the application head 20 is rotated by the control unit around the axis of rotation 19, for example by 90°, in order to then move back towards the facade element 22.

[0117] The receiving device also features a sensor horizontally aligned with the joint 22-3 for recording additional control parameters. This horizontally oriented sensor is mounted on the sensor and moves with it. It can determine the depth of the joint 22-3 and transmits this information to the control unit. The control unit uses the spacer tape height and the joint depth to determine the ideal required application rate of adhesive / silicone and transmits this information to the control unit or to the adhesive dosing system as part of the supply unit.

[0118] Based on the control software, the control unit calculates that the required output quantity of the adhesive dosage is within the minimum and maximum quantity that the dosing system can deliver and adjusts the relative speed of the application nozzle 20-17 in order to be able to introduce the required ideal quantity of adhesive into the joint 22-3.

[0119] First, an initial amount of adhesive for the adhesive filling jet is determined based on predefined control parameters at a defined relative speed of the application nozzle 20-17 or of the adhesive filling jet relative to the joint 22-3.

[0120] The horizontally oriented sensor then regularly measures the joint depth during the filling process in order to detect any inaccuracies in the application of the spacer tape 22-4, which can have a direct influence on the application quantity due to a changing joint filling volume and thus on the ideal amount of adhesive for the desired filling of the joint 22-3.

[0121] Since controlling the dispensing quantity at the adhesive dosing system is possible, but too slow for application, and therefore unpredictable delays due to flow resistance and the compressibility of the adhesive would occur due to the distance between the dosing pumps of the adhesive components and the application requirement, the invention preferably compensates for any changes / deviations from the ideal quantity that are detected during the application process and may require adjustments by adjusting the relative speed of the application nozzle 20-17 with respect to the joint 22-3. Since, as already explained, the application head 20 can be driven by a linear or servo motor, the speed or relative speed of the application nozzle 20-17 or the adhesive filling jet can be precisely controlled via the control unit.

[0122] This type of adhesive quantity control, as well as the fact that, as in connection with the Fig. As already shown in Figures 2c to 2e, the application channel of the application nozzle 20-17, with its inlet channel 20-20 and outlet channel 20-19, has a significantly reduced cross-section compared to the outlet opening of the adhesive mixing tube 20-24, which may contain a disposable mixer 20-24. The resulting pressure build-up from the outlet opening can generate an adhesive filling jet similar to that of a spray gun. Depending on the application, this jet can inject the adhesive into the joint 22-3 at least as far as the joint base 22-5, thus achieving a filling of the joint 22-3 from the joint base 22-5 upwards. Depending on the application and / or the adhesive used, this can also mean injection into the joint base 22-5 to or even beyond half the joint depth.

[0123] In this process, a coordination can be achieved between the joint depth and the adhesive filling jet to be generated in order to achieve the objective, in particular with regard to the injection quantity and injection depth.

[0124] It can also be advantageous if the outlet opening of the application nozzle 20-17 or the outlet channel 20-19 is held centrally and perpendicular to the joint opening 22-6.

[0125] The device units and the method according to the invention can thus ensure a targeted, essentially overfill-free filling of the joint 22-3, whereby, in addition, differences in, for example, the facade glass profile geometry can be compensated for with the spherically curved attachment element 20-18 on the application nozzle 20-17, if, for example, the glass unit protrudes from the profile frame by, for example, 1 mm to 2 mm or vice versa, whereby, among other things, a clean, for example concave, finish of the adhesive joint 22-3 can be provided even in such situations.

[0126] The inventive method can also be controlled so precisely at the start / stop points and in a corner circulation filling program that, if any, only minor rework (scraping or cutting off excess adhesive) is required there as well.

[0127] The situation in a corner area 23 of, for example, a facade element 22 can be schematically represented. Fig. 4 can be taken. Fig. Figure 4 shows a top view of a corner area 23 of a facade element 22 in a state that is already partially bonded at the edge. Fig. In Figure 4, the upper laminated glass pane 22-2 is not visible as a completely transparent joining partner 22-2. Visible are a first adhesive area 24 and a second adhesive area 24', a spacer tape / spacer element 22-4 running diagonally across an aluminum profile 22-1. In the adhesive areas 24 and 24', the aluminum profile 22-1 is covered by silicone adhesive 24, 24', i.e., in this area the joint 22-3 between the aluminum profile base frame 22-1 and the non-visible laminated glass pane 22-2 is already completely filled. The in Fig. 4 schematically depicted house-shaped application nozzles 20-17 are shown in Fig.Figure 4 shows the components in different positions, once aligned along an X-axis and once along a Y-axis in an application device 1. Arrows 20-19 indicate the 90° alignment of the outlet channel 20-19, or of the adhesive filling jet, as close as possible to the center of the joint opening 22-6, as described above. In the width ranges of the diagonal 25 to the X-axis and Y-axis, the adhesive filling jet cannot intersect a spacer element 22-4, unlike outside the corner areas 23. This means that in these width ranges, no adhesive can build up in the joint 22-3 from the joint base 22-5 if and while the adhesive filling jet travels to or from the corner apex 26 of the corner area 23 in these width ranges. For facade elements 22, these width ranges can, for example, be in the range of 20 to 30 mm.

[0128] To achieve clean bonding even in the corner areas 23, the method according to the invention performs a corner circulation filling program in the corner areas 23, in which, shortly before the adhesive filling jet reaches the corner tip 26, the control unit switches off the material metering and reduces its speed based on sensors, whereby the reduction after switching off can be achieved, for example, with the still expanding material. This creates a kind of sloping ramp 25 at the end of the first adhesive area 24, for example, initially along the X-axis.

[0129] Subsequently, the application head 20 or the application nozzle 20-17 is realigned in the manner already described with respect to the joint 20-3 to be filled all around, and rotated 90° around the Z-axis relative to the Y-axis. Starting from the corner tip 26, the material metering is then switched on again and the adhesive supply is increased. This creates a ramp 25 with adhesive at the beginning of the second adhesive area 24' that is complementary to the sloping ramp 25, lies against the sloping adhesive ramp 25 and fills the corner area 23 with adhesive.

[0130] In this way, the entire facade element 22 can be traversed until the application head 20 returns to the starting position or starting corner area 23. Shortly before this corner area 23, the dosing is switched off again so that the last 20 to 30 mm are filled with an adhesive ramp that faces the adhesive ramp 25 from the beginning of the application.

[0131] The application head 20 is then moved slightly backward and upward, with the aim of using the glass edge of the laminated glass 22-2 as a wiper for the application nozzle 20-17 to prevent excessive stringing of the silicone adhesive.

[0132] It is understood that the above detailed description and the drawings, while representing certain exemplary embodiments of the invention, are intended for illustrative purposes only and should not be interpreted as limiting the scope of the invention. Various modifications of the described embodiments are possible without departing from the scope of the following claims and their equivalence range. In particular, this description and the figures also reveal features of the exemplary embodiments that are not mentioned in the claims. Such features can also occur in combinations other than those specifically disclosed here.The fact that several such features are mentioned together in the same sentence or in another type of textual context does not justify the conclusion that they can only occur in the specifically disclosed combination; instead, it should generally be assumed that individual features of several such features can be omitted or modified, provided that this does not call into question the functionality of the invention.

[0133] Throughout the entire description and the claims, the term "a" is used as an indefinite article and does not limit the number of parts to a single one. Should "a" mean "only one," this will be clear to a person skilled in the art from the context or will be unambiguously disclosed by the use of suitable expressions such as "a single one." Reference symbol list 1 application device, 2 handling units 3 Portal device 4 Portal base frames 5 mounting frames 6 longitudinal struts, first X-axis struts 7 Cross brace, second X-axis brace 8 Y-axis strut 9 Z-axis strut 9' Z-axis 10 A, 10 B dosing units 11 support struts 12 connecting struts 13 Portal conveyor table 14 Import conveyor table 15 Export conveyor table 16 Collection container 17 lines, supply lines 18 conveyor table drive motors 19 axis of rotation 20 application head 20-1 Valve fluid 20-2 Connecting body, joining head 20-3 Mixing Unit 20-4 Holding structure (application head) 20-5 Handling flange application head 20-6 first locking element, first lever clamp lock 20-7 first locking hook 20-8 first locking eyelet 20-9 first locking lever 20-10 electrical connection part 20-11 Position Compensation Device 20-12 second locking element, second lever clamp lock 20-13 second locking hook 20-14 second locking eyelet 20-15 second locking lever 20-16 flange block 20-17 Application nozzle 20-18 front element 20-19 Output channel of the application channel, arrows 20-20 Input channel of the application channel 20-21 application angle 20-22 Grub screw of the outlet channel 20-23 Grub screw of the inlet channel 20-24 adhesive mixing tube, disposable mixer 20-25 mixer support tube 20-26 Connection pin element 20-27 upper nozzle system area 20-28 lower nozzle system area 22 Joining composite part, facade element 22-1 first joining partner, profile, profile frame, profile base frame 22-1' L-leg 22-2 Second joining partner; laminated glass pane 22-3 joint 22-4 spacer element, spacer tape 22-5 Joint floor 22-6 Joint opening 22-7 upper joint edge 22-8 lower joint edge 22-9 upper joint connection area 22-10 lower joint connection area 23 Corner area, joining corner 24 First adhesive area, adhesives, silicone adhesives 24' second adhesive area, adhesives, silicone adhesive 25 diagonal, adhesive ramp 26 Corner point

Claims

Application device (1) for the automated filling of a joint (22-3) with an adhesive, wherein the joint (22-3) has a joint opening (22-6) bounded by joint edges (22-7, 22-8) and a joint base (22-5), comprising: • a control unit for controlling the application device (1) for the automated filling of the joint (22-3), • means for the automated acquisition of control parameters and / or for accessing entered and / or stored control parameters for the automated filling of the joint (22-3), • a handling unit (2) for the automated handling of an application head (20) with valve means (20-1) and a mixing unit (20-3) in which an interchangeable adhesive mixing tube (20-24) is arranged,wherein on a first side of the mixing unit (20-3) the valve means (20-1) are connected via an intermediate connecting body (20-2) to the adhesive mixing tube (20-24) and to an application nozzle (20-17) for generating an adhesive filling jet for filling the joint (22-3) with adhesive, wherein the application nozzle (20-17) has an application channel, wherein the application channel has an inlet channel (20-20) and an outlet channel (20-19), wherein the inlet channel (20-20) to the outlet channel (20-19) includes an application angle (20-21) of less than 180°, wherein the adhesive mixing tube (20-24) connects axially to the inlet channel (20-20) of the application nozzle (20-17), wherein the application head (20) has a handling flange (20-5) for Attaching the application head (20) to the handling unit (2) and positioning compensating means (20-11) are assigned to the application head (20),and wherein the control unit and the handling unit (2) for controlled and / or regulated filling of the joint (22-3) are designed and configured such that the adhesive filling jet can be automatically positioned relative to the joint opening (22-6) at an injection position and moved at a relative speed, a supply unit for automatically supplying an application quantity of adhesive to the application nozzle (20-17) for generating and injecting the adhesive filling jet into the joint (22-3) and wherein the application nozzle (20-17) and the control unit are configured with respect to the application quantity such that the injection position and the relative speed can be controlled by the control unit on the basis of the control parameters such that the joint (22-3) can be filled with adhesive to the extent of a defined joint filling volume from the joint base (22-5),wherein the application nozzle (20-17) has an application channel (20-19) with an application channel outlet opening for providing the adhesive filling jet such that the adhesive filling jet can be injected with a filling jet cross-section and filling jet velocity so deep into the joint (22-3) that the joint filling volume can be filled from the joint bottom (22-5), wherein the application nozzle (20-17) has an attachment element (20-18) with an attachment contact surface for joint edge compensation, which attachment contact surface is in contact with the joint edges (22-7, 22-8) in the injection position, and wherein the application channel outlet opening is arranged centrally in the attachment contact surface such that the application channel outlet opening is located in the joint opening (22-6) at a distance from at least one of the joint edges (22-7, 22-8). Application device (1) according to claim 1, wherein the control parameters include parameters and / or physical quantities relating to the joint geometry. Application device (1) according to claim 1, wherein the attachment element (20-18) has a contact surface which is convex between two attachment sides. Application device (1) according to claim 1, wherein the connecting body (20-2) is connected to the mixing unit (20-3) with a first closing element (20-6) that can be opened and closed without tools. Application device (1) according to claim 4, wherein the first closing element (20-6) includes a lever clamp closure (20-6). Application device (1) according to one or more of claims 1 to 5, wherein the application nozzle (20-17) is arranged on a second side of the mixing unit (20-3) and the application nozzle (20-17) is connected to the mixing unit (20-3) by means of a second closing element (20-12) that can be opened and closed without tools. Application device (1) according to claim 6, wherein the second closing element (20-12) includes a lever clamp closure (20-12). Application device (1) according to one or more of claims 1 to 7, wherein the connecting body (20-2) has a connecting pin element (20-26) and, in the assembled and ready-to-use state of the application head (20), the connecting pin element (20-26) is subsequently and press-sealably placed on the adhesive mixing tube (20-24) and the adhesive mixing tube (20-24) is subsequently press-sealably placed on the application nozzle (20-17). Application device (1) according to claim 1, wherein the application angle (20-21) is a value of 135°. Application device (1) according to claim 1, wherein the handling unit (2) has a counter flange complementary to the handling flange (20-5) of the application head (20) and is designed to allow the counter flange to move freely in space and the counter flange on the handling unit (2) is designed to be freely tiltable and rotatable. Application device (1) according to one or more of the preceding claims, wherein the handling unit (2) is configured to hold the application nozzle (20-17) and / or its contact surfaces in pressure contact with the joint edges (22-7, 22-8) and / or with joint connection areas (22-9, 22-10). Application device (1) according to claim 11, wherein the pressure contact includes an application direction compensation. Application device (1) according to claim 1, wherein the position compensation means (20-11) includes a position sensor function. Application device (1) according to claim 1 or 13, wherein the position compensation means (20-11) can be attached to the application head (20) with a retaining structure (20-4) which exerts a stiffening function on the mixing unit (20-3) along the mixing unit (20-3). Application device (1) according to one or more of the preceding claims, wherein the application device (1) comprises as a handling unit (2) a portal device (3) with a portal base frame (4), which portal base frame (4) has a Y-axis strut (8) extending between two X-axis struts (6, 7) and movable along an X-axis, to which a Z-axis strut (9) is attached that is movable along the Y-axis strut (8) along a Y-axis and height-adjustable along a Z-axis (9'). Application device (1) according to claim 15, wherein a counter flange rotatable and / or tiltable about the Z-axis (9') is provided at the lower free end of the Z-axis strut (9). Application device (1) according to one or more of the preceding claims, wherein the dispensing unit comprises a metering unit (10A) for metered dispensing of an application quantity. Application device (1) according to claim 17, wherein the metering unit (10A) for providing a two- or multi-component adhesive comprises pump and storage units. Use of the application device according to one or more of the preceding claims for the automated material-bonded formation of a joint edge bond for the production of a joining component (22) with at least a first and a second joining partner (22-1, 22-2), wherein the joining partners (22-1, 22-2) are at least partially material-bonded to one another via the joint edge bond, wherein the joining partners (22-1, 22-2) have at least partially complementary edges and edge regions and at least partially complementary edge edge profiles, wherein a joint (22-3) is formed for forming the joint edge bond, in which an adhesive spacer element (22-4) is arranged along the edge edge profiles for pre-fixing the joining partners (22-1, 22-2) and for forming a joint base (22-5) between the joining partners (22-1, 22-2). is,wherein, to form the edge bond, the joint (22-3) is at least partially filled with adhesive for material-bonding the joining partners (22-1, 22-2) using an application device (1) according to one or more of claims 1 to 18. Use according to claim 19, wherein the joining component (22) comprises a facade element (22), window or door. A method for automatically filling a joint (22-3) with an adhesive using an application device according to one or more of claims 1 to 18, wherein the joint (22-3) has a joint opening (22-6) bounded by joint edges (22-7, 22-8) comprising the following method steps: receiving control parameters and / or accessing input and / or stored control parameters to control the method steps for filling the joint (22-3) with adhesive; handling an application nozzle (20-17) for generating an adhesive filling jet for filling the joint (22-3), wherein the handling includes positioning the application nozzle (20-17) into an injection position, and wherein the handling includes moving the application nozzle (20-17) and the adhesive filling jet at a relative velocity relative to the joint opening (22-6);Providing an application quantity of adhesive for the application nozzle (20-17) to generate and inject the adhesive filling jet into the joint (22-3); wherein the application nozzle (20-17) and the control unit are set up with respect to the application quantity such that the injection position and the relative velocity with the control unit are controlled by means of the control parameters such that the joint (22-3) is filled with adhesive to the extent of a defined joint filling volume from the joint bottom (22-5). Method according to claim 21, wherein the control parameters include geometric parameters according to the position, course and size of the joint (22-3), the joint edges (22-7, 22-8), the joint connection areas (22-9, 22-10), the joint opening (22-6) and the joint filling volume. Method according to claim 21 or 22, wherein the positioning includes moving the application nozzle (20-17) into a starting position. Method according to one or more of claims 21 to 23, wherein the positioning includes moving the application nozzle (20-17) to inject the adhesive filling jet orthogonally and centrally into the joint opening (22-6). Method according to one or more of claims 21 to 24, wherein the positioning includes moving the application nozzle (20-17) into a scanning contact with the joint edges (22-7, 22-8) and / or joint connection areas (22-9, 22-10). Method according to claim 25, wherein the approach includes approaching a zero-contact scanning position. Method according to one or more of claims 21 to 26, wherein the positioning includes a position compensation movement to maintain the scanning contact. Method according to claim 27, wherein the position compensation movement enables compensation independent of axis and direction of rotation. Method according to one or more of claims 21 to 28, wherein the provision includes monitoring the application quantity according to the maximum and minimum application quantities that can be provided by the dosing system. Method for producing a composite part (22) with at least one first and one second joining partner (221, 22-2), wherein the joining partners (22-1, 22-2) are at least partially joined together by means of a joint edge bond, wherein the joining partners (22-1, 22-2) have at least partially complementary edges and edge regions and at least partially complementary edge edge profiles, wherein a joint is formed to create the joint edge bond by arranging an adhesive spacer element (22-4) for pre-fixing the joining partners (22-1, 22-2) and for forming a joint base (22-5) between the joining partners (22-1, 22-2) along the edge edge profiles and the joint (22-3) is automatically filled using the method according to one or more of claims 25 to 29. Method according to claim 30, wherein the method includes transporting the pre-fixed joining partners (22-1, 22-2) to the application device (1), wherein the application device (1) comprises a predetermined coordinate system and a monitoring system with receiving means for transport monitoring. Method according to claim 31, wherein the monitoring system detects the pre-fixed joining partners (22-1, 22-2) during transport into the application device (1) and the pre-fixed joining partners (22-1, 22-2) are arranged in a defined manner in the coordinate system and the monitoring system communicates a starting position for the application nozzle (20-17) to a control unit for starting the method. Method according to one or more of claims 30 to 32, wherein the joining composite part (22) has at least one joining composite corner (23) around which the joint (22-3) runs in a corner loop, wherein, in the event that a start of filling the joint (22-3) is provided from the corner loop, the starting position is determined by a control unit by a spatial offset measured from the joining composite corner (23). Method according to one or more of claims 30 to 33, wherein the joining composite part (22) has at least one joining composite corner (23) around which the joint (22-3) runs in a corner loop, wherein the method comprises a corner loop filling program, wherein the corner loop filling program comprises a continuous reduction of the application quantity when moving out of the corner loop and a continuous increase when moving into the corner loop. Method according to one or more of claims 30 to 34, wherein the method includes application holding phases, and insofar as a pot life to be determined with respect to the adhesive is reached or exceeded in the application holding phases, the mixing unit (20-3) is automatically supplied with adhesive blank shots for filling the mixing unit (20-3). Method according to claim 35, wherein the mixing unit (20-3) is subjected to at least three adhesive blind shots. Method according to claim 35 or 36, wherein after the adhesive blind shots the mixing unit (20-3) is supplied with at least one rinsing shot. Method according to claims 35 to 37, wherein the adhesive comprises a two-component adhesive with a base component and a catalyst component, and the rinsing shot is performed with the base component.

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