End effector device for a robot for the automated application and smoothing of filler, and associated method

Abstract

The invention relates to an end effector device (1) for a robot (2a) for the automated application and simultaneous smoothing of joint compound in the context of the serial production of drywall partitions (3), comprising, among other things, an application nozzle (7) designed as a mixing nozzle for joint compound and a spatula (10) for smoothing the joint compound applied to a surface of a drywall partition (3). The invention also relates to an associated method for the automated application and simultaneous smoothing of joint compound in the context of the serial production of drywall partitions (3), using such an end effector device (1).

Description

[0001] The invention relates to an end effector device for a robot for the automated application and simultaneous smoothing of filler compound in the context of series production of drywalls. The invention also relates to a method for the automated application and simultaneous smoothing of filler compound in the context of series production of drywalls, using such an end effector device.

[0002] WO 2019 / 060 920 A1 describes an automated finishing system for applying a coating to a flexible substrate of a wall assembly, the automated finishing system comprising a base unit including a coating material reservoir configured to store coating material, a platform, and a carriage configured to be arranged on and move on the floor, and a lifting device arranged between the platform and the carriage, the lifting device being configured to selectively raise or lower the platform.The finishing system further includes a robotic arm extending between a base end and a distal end, the robotic arm coupled to the base unit on the platform at the base end of the robotic arm, with a coating end effector coupled to the distal end of the robotic arm, the coating end effector including a spray gun configured to produce a spray of coating material from a nozzle of the spray gun.

[0003] US 2020 0 324 446 A1 describes a control device and an injector device with which two-component foams can be mixed in controlled quantities and in a known ratio and injected into a wall so that they can fully react with each other within the wall cavity to form the desired amount of foam insulation therein.

[0004] DE 10 2007 053 073 A1 describes an application system for applying a high-viscosity coating material to vehicle bodies or other components. The system comprises a program-controlled, multi-axis motion machine, an applicator mounted on the motion machine, suitable for coating material with a viscosity of at least 300 mPas, which includes an arrangement with at least one application nozzle for the coating material, and a metering device for the demand-controlled metering of the coating material applied through the application nozzle. The metering device includes a continuously delivering metering pump, which is installed in or attached to the applicator or a movable arm of the motion machine.

[0005] DE 10 2021 120 274 ​​A1 describes a device for applying a viscous material containing at least two components to workpieces, comprising a dosing unit having a number of dosing valves corresponding to the number of components of the viscous material, a static mixer having a mixing tube for mixing the components as they pass from a material inlet at its first end to a material outlet at its second end, each dosing valve being assigned a material supply channel that can be blocked and opened by the respective dosing valve, and the material supply channels opening into the material inlet, and an application nozzle connected to the material outlet and having an application opening for dispensing the viscous material. The device comprises an outlet valve for blocking and opening a material outlet channel extending from the material outlet to the application opening.

[0006] US 2019 0 093 373 A1 describes a coating system for applying a coating to a substrate that may be part of a wall assembly. The system comprises a positioning table and an end effector coupled to a distal end of the positioning table, wherein the end effector is configured to apply a coating to a target surface. This prior art discloses an end effector device for a robot device for the automated application and simultaneous smoothing of filler compound in the context of mass production of drywall, comprising a connecting flange configured to fasten the end effector to a robot flange of a robot, a base support connected to the connecting flange, and an application nozzle with a first supply line.

[0007] The object of the invention is to provide an end effector device and an associated method, which enables automated application and simultaneous smoothing of filler in the context of series production of drywall walls.

[0008] The problem is solved by an end effector device for a robot device for the automated application and simultaneous smoothing of filler compound in the context of a series production of drywalls, comprising: - a connecting flange designed to attach the end effector to a robot flange of a robot, - a base support connected to the connecting flange, - at least one application nozzle arranged on the base support with a first supply line for a binder of a two-component filler and a second supply line for a hardener of the two-component filler, wherein the application nozzle is designed as a mixing nozzle, - at least one spatula arranged on the base support, which is arranged at a follow-up distance from the application nozzle.

[0009] The end effector device has at least one end effector that carries the application nozzle and the spatula. The end effector is designed to be attached to a robot flange of a robot. However, the end effector device can comprise further components in addition to the end effector. The further components of the end effector device can, for example, be lines via which, for example, a binder and a hardener of a two-component filler compound are fed in separate lines to the application nozzle of the end effector. In a broader sense, a binder reservoir, a hardener reservoir, and associated feed pumps can also be part of the end effector device, although only the end effector carrying the application nozzle and the spatula needs to be attached to the robot flange of the robot.

[0010] The robot device, i.e. the robot, is generally formed by robot kinematics and a robot controller. The robot device or robot kinematics can, for example, be a robot arm, in particular an articulated-arm robot. As an alternative to a robot arm, however, a gantry robot can also be used. In the case of a robot arm, this can, for example, also be mounted on a linearly adjustable travel axis. The travel axis has a fixed frame with rails on which a carriage is mounted in a linearly adjustable manner. In this case, the robot arm is attached to the carriage with its base frame and moves along with this carriage.The linearly adjustable travel axis can in particular be arranged extending parallel to a side edge of a horizontally or vertically arranged drywall, so that the robot arm adjustable on the travel axis can move automatically along the side edge of the drywall.

[0011] The grouting of joints and recesses in the surface of drywall during series production of drywall in a factory. The drywall passes through the factory at a specified production rate. Therefore, a drywall wall currently ready for automatic grouting must be grouting within a single production rate using the end effector device. If a single end effector device and a single robot are not sufficient for the automatic grouting of a single drywall due to the required production rate, a second or additional end effector device and / or a second or additional robot can be used. In the case of a gantry robot, several end effector devices can also be mounted on the individual gantry robot so that they can move independently of one another.In a further embodiment, an end effector device can also have two or more application nozzles and two or more spatulas.

[0012] The connection flange of the end effector can, for example, comprise a flange plate which can have holes evenly distributed on a bolt circle. The hole pattern of the multiple holes corresponds to the hole pattern of the robot flange, which can have correspondingly matching internal threaded holes so that the end effector can be screwed to the robot flange via the connection flange. Alternatively, the connection flange of the end effector can also have an electrically, hydraulically or pneumatically lockable and / or unlockable coupling. A corresponding mating coupling can be arranged on the flange of the robot. By means of such a coupling and mating coupling, the end effector can, if necessary, be automatically coupled to a robot or automatically separated from a robot. This can be useful, for example, in order toto be able to clean the end effector device remotely from a drywall. Alternatively, a stationary cleaning station can be provided near the drywall, so that a robot carrying the end effector on its robot flange can move it directly and automatically to the cleaning station for cleaning. If necessary, the end effector can remain connected to the robot in the cleaning station during such a cleaning process.

[0013] The application nozzle and / or spatula can, if necessary, be detachably attached to the end effector using quick-release couplings. With such a detachable attachment using quick-release couplings, the application nozzles and / or spatulas can be quickly replaced as needed. For example, a dirty or damaged application nozzle can be replaced with a clean or properly functioning one, or a dirty or damaged spatula can be replaced with a clean or properly functioning one.

[0014] The base support can, for example, form an attachment plate on which one or more application nozzles and one or more spatulas can be optionally arranged. The one or more application nozzles and one or more spatulas can be arranged and, if necessary, adjusted with regard to their positions and / or orientation on the base support.

[0015] The filler is applied automatically via at least one application nozzle. The application nozzle is designed as a mixing nozzle in which a two-component filler consisting of a binder and a hardener is mixed and dispensed. The nozzle's outlet opening can be sized and shaped to suit the joint or recess in the drywall surface to be filled. The outlet plane at which the outlet opening is located can also be adjusted accordingly.

[0016] The spatula is positioned in a position following the application nozzle's end effector in the direction of movement. A scraper edge of the spatula can, for example, be positioned at a distance of approximately 50 millimeters from the application nozzle's outlet opening.

[0017] A fast-curing, two-component filler, for example, one that sets in five minutes, can be used as the filler. This two-component filler can, in particular, be a shrinkage-free or at least low-shrinkage filler. This has the advantage that a single application is sufficient to achieve a sufficiently smooth surface on the drywall.

[0018] In the series production of drywall walls, particularly in the series production of horizontally arranged drywall walls, the drywall walls are processed in several different production steps, in particular at different workstations. Once a specific work step or several specific work steps have been completed on the drywall wall to be created at one workstation, the partially completed drywall wall is automatically passed on to the next workstation. In addition to other work steps, it may be necessary, for example, to create a stud frame or a frame construction to which one or more drywall elements are then attached. The drywall elements form the outer structural finishing layer of the final, raw drywall wall before plastering. The drywall elements can, in particular, be building boards, such as plasterboard.

[0019] In a work station prior to the filling process, insulation materials can be inserted into the cavities between a front layer of drywall elements and a rear layer of drywall elements. In addition to insulation materials, other prefabricated house installations, such as fresh water supply lines, sewer lines, cable ducts, electrical wiring, sockets, and the like, can also be incorporated.

[0020] The automated filling process is described below using an example joint situation. This is intended to be merely representative of the many other possible joint situations that are possible in the production of drywall walls. Corresponding adaptations of the end effector device according to the invention to such other joint situations are, of course, within the scope of the disclosed invention.

[0021] A typical joint situation is the butt joint between two individual drywall elements that directly abut each other end-on, whose combined wall surface determines the complete wall surface of the finished drywall. Depending on the design of the individual drywall elements, the butt joint can have, for example, a semicircular edge, a semicircular flattened edge, a rectangular edge, or a chamfered edge. This joint edge extends uniformly across the entire height or width of the two adjacent drywall elements. The joint edge typically extends along a straight line.

[0022] To attach the two adjacent drywall elements, they are screwed to the prefabricated stud frame or frame construction using screws. To do this, the two adjacent drywall elements rest on a stud or a beam of the frame construction with their respective facing ends. The screws are screwed directly into the drywall elements, relatively close to the joint, so that the screws can find purchase in the frame construction and thus fix the drywall elements to the frame construction. The screws are then arranged at at least substantially equal distances from each other, to the left of the continuous joint edge and to the right of the continuous joint edge.

[0023] Screwing the screws directly into the surface of the drywall elements creates indentations that must be subsequently filled with filler to achieve a largely uniformly flat surface for the finished drywall. Such indentations can arise, for example, if the screw is not screwed exactly flush into the drywall element, but rather is countersunk deeper, so that the respective screw head is completely immersed in the surface of the drywall element. This leaves a hollow space above the screw head that is at least approximately circular and cylindrical.Such depressions can also occur if the screw head does not fully penetrate the surface of the screw head, but an outer layer of a multi-layer drywall element, such as a cardboard layer of a plasterboard, is elastically deformed inward, creating a depression similar to a sink. This inserted area can have a diameter significantly larger than the diameter of the screw head, although the depth of such a sink is generally smaller.

[0024] In the mass production of drywall, such joint edges and recesses are currently filled manually. The end effector device according to the invention allows this filling process to be carried out automatically.

[0025] In order to create automatic filling within the usual cycle times of a series production of drywalls, it is therefore proposed to provide at least one application nozzle on an end effector, which is connected to a first supply line for a binder of a two-component filler and a second supply line for a hardener of the two-component filler, wherein the application nozzle is designed as a mixing nozzle, and to provide at least one spatula which is arranged at a follow-up distance from the application nozzle.

[0026] The end effector includes a connection flange that allows the end effector to be attached to a robot flange. This allows the end effector to automatically perform the filling process by moving the robot kinematics, controlled by a robot controller.

[0027] The at least one application nozzle can be adjustably mounted on the base support. In a basic first embodiment, the application nozzle can be attached to a holder, which in turn can be detachably or adjustably attached to the base support. In order to be able to change the relative position and / or orientation of the application nozzle with respect to the connecting flange, a screw connection from the holder to the base support can be loosened, for example, so that the holder can be adjusted relative to the base support with regard to its position and / or orientation. After adjustment, the screw connection can be tightened again so that the new relative position and / or orientation of the application nozzle with respect to the connecting flange can be fixed.

[0028] As an alternative or in addition to such a mechanical adjustment, in particular a corresponding manual adjustment, it may be possible to provide for such an adjustment to be carried out automatically by dedicated drive means integrated into the end effector. This not only eliminates manual adjustment, but even allows the application nozzle to be adjusted automatically during automatic movement of the end effector by a robot.

[0029] A third possibility for changing the position and / or location of the application nozzle, specifically with regard to a surface of a drywall to be filled, is to automatically adjust the entire end effector by automatically moving, in particular, the hand axes of a robot arm that automatically guides the end effector.

[0030] In addition to the respective adjustability of the at least one application nozzle relative to the connection flange of the end effector and / or relative to a surface of a drywall to be filled, adjustment of the relative positions and / or orientations of the at least one application nozzle relative to the spatula of the end effector can also be provided. The spatula can optionally be mounted in a floating manner so that, for example, unevenness in the drywall can be followed. Adjustment of the application nozzle and / or spatula relative to the drywall is also possible. The distance of the application nozzle and / or spatula relative to the drywall can accordingly be adjustable.

[0031] For example, the at least one spatula can also be adjustably mounted on the base support. In a basic first embodiment, the spatula can be attached to its own holder, which in turn can be releasably or adjustably attached to the base support. In order to be able to change the relative position and / or orientation of the spatula with respect to the connecting flange, a screw connection from holder to base support can be loosened, for example, so that the holder can be adjusted relative to the base support in terms of its position and / or orientation. After adjustment, the screw connection can be tightened again so that the new relative position and / or orientation of the spatula with respect to the connecting flange can be fixed.

[0032] As an alternative or in addition to such mechanical adjustment, in particular a corresponding manual adjustment, it may be possible to provide for such adjustment to be carried out automatically by dedicated drive means integrated into the end effector. This not only eliminates manual adjustment, but even allows the spatula to be adjusted automatically during automatic movement of the end effector by a robot.

[0033] A third possibility for changing the position and / or location of the spatula, specifically with regard to a surface of a drywall to be filled, is to automatically adjust the entire end effector by automatically moving, in particular, the hand axes of a robot arm that automatically guides the end effector.

[0034] In the case of two or more application nozzles, these can be mounted on the end effector either individually or in groups according to one of the described embodiments in an adjustable manner.

[0035] In the case of two or more spatulas, these can be mounted on the end effector either individually or in groups according to one of the described embodiments in an adjustable manner.

[0036] Accordingly, the application nozzle, or the first application nozzle, the second application nozzle and / or the third application nozzle described in more detail below, can be adjustably mounted on the base support.

[0037] A first application nozzle can be arranged on the base support, which is designed and configured to move the first application nozzle along a butt joint between a first drywall element of the drywall and a second drywall element of the drywall that is adjacent to the first drywall element of the drywall on a middle lane of the first application nozzle, and a second application nozzle can be arranged on the base support, which is designed and configured to move the second application nozzle at a distance parallel to the butt joint on a left-hand lane and / or a third application nozzle can be arranged on the base support, which is designed and configured to move the third application nozzle at a distance parallel to the butt joint on a right-hand lane.

[0038] Such an arrangement, with, for example, three application nozzles on three tracks, can be used particularly advantageously in the previously described situation of joints and indentations that have arisen due to the screwing of two adjacent drywall elements to a prefabricated stud or frame structure. Here, the fact that the indentations caused by the screws are located on the left and right sides of the butt joint in a row that runs parallel to the longitudinal extent of the butt joint can be advantageously utilized. This allows both rows of indentations to be automatically filled by a common end effector in a single feed movement along the butt joint.

[0039] In order to adapt to different installation situations, the lateral second application nozzle and / or the lateral third application nozzle can optionally also be adjustable transversely to the direction of movement of the application nozzles and of the at least one spatula, so that the track spacing of the second application nozzle and / or the third application nozzle can be adjusted with respect to the central track of the first application nozzle.

[0040] The first supply line of the at least one application nozzle arranged on the base support can be connected to a storage container of binder and comprise a first feed pump which is designed and configured to automatically feed a predetermined flow rate of binder to the application nozzle, depending on geometric properties of the joints and / or the recesses in the drywall to be filled and / or on the speed of movement of the end effector, which is moved automatically by a robot device, relative to the drywall to be filled.

[0041] The binder storage container and the first feed pump can preferably be arranged stationary. This means that the binder storage container and the first feed pump do not have to be moved together with the actual end effector, which is attached to the robot flange for automatic movement. Accordingly, a suitably large binder storage container can be provided, which can hold a sufficient amount of binder for filling a large number of drywall walls.

[0042] The first supply line can be routed via the robot kinematics to the end effector guided by the robot kinematics. For this purpose, the first supply line can be guided along the arm of the robot kinematics, for example, using hose guide elements, closely conforming to the contours of the robot kinematics. Alternatively, the first supply line can be routed separately to the end effector, for example, starting from a building ceiling above the drywall to be plastered or starting from a side building wall to the side of the drywall to be plastered, without the first supply line being routed via the robot kinematics. In this way, a first supply line can lead from a storage container positioned outside the processing station to the end effector. The storage container can also be designed to supply multiple processing stations.

[0043] The first feed pump can, for example, be an electrically driven first feed pump, wherein the electrically driven first feed pump can be connected to a control device designed and configured to control the first feed pump, such that the first feed pump can be selectively automatically switched on, automatically switched off, and adjusted with regard to its current feed rate depending on a movement of the end effector automatically guided by the robot. Thus, depending on the position and / or orientation of the at least one application nozzle and the position and / or orientation of the at least one spatula of the end effector relative to the drywall to be filled, the respective current discharge quantity of filler compound from the application nozzle can be variably and automatically specified and adjusted.If necessary, for example depending on the current processing temperature, the ratio of binder to hardener can also be automatically specified, changed and adjusted by the control device.

[0044] The second supply line of the at least one application nozzle arranged on the base support can be connected to a hardener storage container and can comprise a second feed pump which is designed and configured to automatically feed a predetermined flow rate of hardener to the application nozzle, specifically as a function of the flow rate of binder to the application nozzle. In addition, the temperature of the binder and / or hardener or of the mixture of binder and hardener can also be automatically controlled if necessary. For example, a heating device can be provided on the application nozzle, on a binder supply line and / or on the hardener supply line. A temperature sensor can be assigned to each heating device, which can automatically detect the respective temperature of the binder and / or the hardener or of the mixture of binder and hardener.Instead of a heating device or in addition to a heating device, a cooling device may also be provided if necessary.

[0045] The hardener reservoir and the second feed pump can also preferably be arranged stationary. This means that the hardener reservoir and the second feed pump do not have to be moved together with the actual end effector, which is attached to the robot flange for automatic movement. Accordingly, a suitably large hardener reservoir can be provided, which can hold a quantity of hardener sufficient for filling a large number of drywall walls.

[0046] The second supply line can be routed via the robot kinematics to the end effector guided by the robot kinematics. For this purpose, the second supply line can be guided along the arm of the robot kinematics, for example, using hose guide elements, closely conforming to the contours of the robot kinematics. Alternatively, the second supply line can be routed separately to the end effector, for example, starting from a building ceiling above the drywall to be plastered or starting from a side wall of a building to the side of the drywall to be plastered, without the second supply line being routed via the robot kinematics. In this way, the second supply line can also be routed from a storage container positioned outside the processing station to the end effector. The storage container can also be designed to supply multiple processing stations.

[0047] The second supply line and the first supply line can be laid together, in particular parallel to one another.

[0048] The second feed pump can, for example, be an electrically driven second feed pump, wherein the electrically driven second feed pump can also be connected to the control device, which is designed and configured to control the second feed pump, such that the second feed pump can be selectively automatically switched on, automatically switched off, and adjusted with regard to its current feed rate depending on a movement of the end effector automatically guided by the robot. Thus, depending on the position and / or orientation of the at least one application nozzle and the position and / or orientation of the at least one spatula of the end effector relative to the drywall to be filled, the respective current discharge quantity of filler from the application nozzle can be variably and automatically specified and adjusted.If necessary, for example depending on the current processing temperature, the ratio of binder to hardener can also be automatically specified, changed and adjusted by the control device.

[0049] A UV lamp or a heat lamp can optionally be arranged on the base support, which is designed to irradiate UV light or heat onto the drywall, with respect to the direction of movement of the end effector behind the spatula, in order to post-cure applied and smoothed UV-curable filler.

[0050] Using an optional UV lamp or heat lamp, the curing time of the filler can be shortened if necessary. This may also increase the processing speed.

[0051] The object is accordingly also achieved by a method for the automated application and simultaneous smoothing of filler compound in the context of series production of drywalls, with an end effector device according to one of the described embodiments, comprising the steps: - automatic movement of the end effector by means of a robot device, to whose robot flange the end effector is attached, along a joint to be filled, by automatically controlling the movement axes of the robot device by means of a control device, - automatically controlling a first feed pump of the end effector device for automatically dosing a binder to be fed to the application nozzle, synchronously with the automatically controlled movement axes of the robot device, by means of the control device, - automatic control of a second feed pump of the end effector device for automatically dosing a hardener to be fed to the application nozzle, synchronously with the automatically controlled movement axes of the robot device, by means of the control device.

[0052] By means of the robot device, the end effector can fill and simultaneously smooth one or more joints and / or recesses with the filler in one work step, in particular in a single stroke.

[0053] The control device designed and configured to carry out the method can be a robot controller of the robot used. Alternatively or additionally, the control device can be a separate control device from the robot controller, which can communicate with the robot controller in order to synchronize the control of the end effector or the first feed pump and the second feed pump with the movements of the robot device, i.e., the robot kinematics that move the end effector. The control device and the robot controller can either be combined in a common control housing or be located in separate control housings.

[0054] The first and second feed pumps can each be electrically driven feed pumps, which are connected to the control device, which is designed and configured to control the two feed pumps, so that the two feed pumps can be selectively automatically switched on, automatically switched off, and adjusted with regard to their current feed rate depending on a movement of the end effector automatically guided by the robot, in order to be able to control the respective feed rate of binder and hardener depending on the automatic movement of the robot-guided end effector. Thus, depending on the position and / or orientation of the at least one application nozzle and the position and / or orientation of the at least one spatula of the end effector relative to the drywall to be filled, the respective current discharge rate of filler compound from the application nozzle can be variably and automatically specified and adjusted.If necessary, for example depending on the current processing temperature, the ratio of binder to hardener can also be automatically specified, changed and adjusted by the control device.

[0055] In a further development of the method, an end effector can be attached to the robot flange of the robot device, on the base support of which end effector a first application nozzle is arranged, which is designed and configured to move the first application nozzle along a butt joint between a first drywall element of the drywall and a second drywall element of the drywall that is adjacent to the first drywall element of the drywall on a central lane of the first application nozzle, and a second application nozzle can be arranged on the base support, which is designed and configured to move the second application nozzle at a distance parallel to the butt joint on a left-hand lane and / or a third application nozzle can be arranged on the base support, which is designed and configured to move the third application nozzle at a distance parallel to the butt joint on a right-hand lane, wherein the control device is configuredDuring an automatic movement of the end effector between an initial position and an end position along the butt joint, to discharge a flow rate of filler through the first application nozzle continuously and to discharge a flow rate of filler through the second application nozzle and / or the third application nozzle intermittently.

[0056] Such a special process sequence, with, for example, three individually controlled application nozzles on three tracks, can be used particularly advantageously in the situation described above of joints and depressions that have arisen due to the screwing of two adjacent drywall elements to a prefabricated stud or frame structure. Here, the fact that the depressions caused by the screws are located on the left and right sides of the butt joint in a row that runs parallel to the longitudinal extent of the butt joint can be advantageously exploited. This allows both rows of depressions to be automatically filled by a common end effector in a single feed movement along the butt joint.

[0057] The robot device can be moved by the control device in a position-controlled or force / torque-controlled manner along its movement axes, such that an angle of attack of the spatula with respect to the surface of the drywall to be filled and / or a pressure force of the spatula on the surface of the drywall to be filled is set to a predetermined value or is controlled depending on the current position of the application nozzle and / or the spatula with respect to the surface of the drywall to be filled, or depending on a movement speed of the end effector relative to the surface of the drywall to be filled. Alternatively or in addition to a position-controlled or force / torque-controlled movement of the spatula, the spatula can optionally be mounted in a floating manner so that, for example, unevenness in the drywall can be followed.

[0058] The control device can automatically adjust the movement axes of the robot device in a position-controlled manner along a path to be followed by the end effector, depending on the position and / or location of a reference mark present on the drywall to be plastered.

[0059] The reference mark on the drywall to be plastered can define a reference coordinate system with respect to which start points, end points, directions of movement and / or movement vectors for the automatic movement of the end effector by the robot can be determined.

[0060] The reference mark can be automatically detected, for example, by a sensor on the end effector or on the robot arm supporting the end effector. This allows the precise position and / or orientation of the drywall currently being plastered relative to the end effector to be determined. The sensor can, for example, be a probe tip guided by the robot arm, which can be automatically moved to the reference mark by the robot controller to determine its position and orientation.

[0061] Alternatively or in addition to a reference mark, automated production can also include the drywall automatically moving into a processing station and running against a stop stop. The drywall can be secured to this stop stop in the station using an alignment unit. This allows a predefined corner of the drywall relative to the stop stop to be defined as the zero point for a coordinate system, based on which the movement path for the end effector is planned and controlled.

[0062] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may represent general features of the invention, even when considered individually or in further combinations.

[0063] They show: Fig. 1 a schematic representation of an exemplary end effector device from the side with an application nozzle and a spatula, Fig. 2 a schematic representation of a modified end effector device from above with, for example, three separate application nozzles and a spatula, Fig. 3 a schematic representation from above of an exemplary workstation for the series production of horizontally arranged drywalls with a robot arm as robot kinematics, which is mounted on a linearly adjustable travel axis, Fig. 4 a schematic representation from above of a modified workstation for the series production of horizontally arranged drywalls with a gantry robot as robot kinematics, which has a support flange for the end effector, which is mounted so as to be linearly adjustable in a first direction and in a second direction orthogonal to the first direction, and Fig. 5 a schematic representation of the basic steps in the method according to the invention.

[0064] In the Fig. 1 schematically shows an exemplary end effector device 1. The end effector device 1 is controlled by a robot device 2 ( Fig. 3, Fig. 4) and is used for the automated application and simultaneous smoothing of filler in the context of series production of, for example, horizontally arranged drywalls 3.

[0065] The end effector device 1 initially has a connecting flange 4, which is designed to fasten the end effector 1a to a robot flange 5 of the robot 2a ( Fig. 3). The connecting flange 4 of the end effector 1a can, for example, comprise a flange plate that can have holes 9 evenly distributed on a bolt circle. The hole pattern of the multiple holes 9 corresponds to the hole pattern of the robot flange 5, which can have correspondingly matching internally threaded holes, so that the end effector 1a can be screwed to the robot flange 5 via the connecting flange 4 using screws.

[0066] The end effector device 1 has a base support 6 connected to the connecting flange 4.

[0067] The end effector device 1 comprises at least one application nozzle 7 arranged on the base support 6 with a first supply line 8.1 for a binder of a two-component filler and a second supply line 8.2 for a hardener of the two-component filler, wherein the application nozzle 7 is designed as a mixing nozzle.

[0068] The end effector device 1 also comprises at least one spatula 10 arranged on the base support 6, which is arranged at a follow-up distance A from the application nozzle 7.

[0069] The at least one application nozzle 7 can be adjustably mounted on the base support 6 via a first joint 11. Likewise, the spatula 10 can optionally be adjustably mounted on the base support 6 via a second joint 12.

[0070] In the case of the present exemplary embodiment, the first supply line 8.1 of the at least one application nozzle 7 arranged on the base support 6 is connected to a stationary storage container 13 for binder, and the end effector device 1 comprises a first feed pump 14.1, which is designed and configured to automatically feed a predetermined flow rate of binder to the application nozzle 7, specifically as a function of geometric properties of the joints and / or the recesses in the drywall 3 to be filled and / or the speed of movement of the end effector 1a, which is automatically moved by a robot 2a, relative to the drywall 3 to be filled.

[0071] The second supply line 8.2 of the at least one application nozzle 7 arranged on the base support 6 is connected to a storage container 15 for hardener, and the end effector device 1 comprises a second feed pump 14.2, which is designed and configured to automatically feed a predetermined flow rate of hardener to the application nozzle 7, depending on the flow rate of binder to the application nozzle 7.

[0072] In the Fig. 2, a modified embodiment of an end effector 1a is shown schematically from above.

[0073] In this case, a first application nozzle 7.1 is arranged on the base support 6, which is designed and configured to move the first application nozzle 7.1 along a butt joint between a first drywall element 3.1 of the drywall wall 3 and a second drywall element 3.2 of the drywall wall 3 that rests against the first drywall element 3.1 of the drywall wall 3, on a central lane of the first application nozzle 7.1. In addition, a second application nozzle 7.2 is arranged on the base support 6, which is designed and configured to move the second application nozzle 7.2 at a distance parallel to the butt joint on a left-hand lane. In addition, a third application nozzle 7.2 is arranged on the base support 6, which is designed and configured to move the third application nozzle 7.3 at a distance parallel to the butt joint on a right-hand lane.

[0074] The first application nozzle 7.1, the second application nozzle 7.2 and / or the third application nozzle 7.3 can be adjustably mounted on the base support 6.

[0075] In the case of Fig. In the exemplary embodiment schematically illustrated in Figure 2 with three application nozzles 7.1, 7.2, 7.3, a single, common spatula 10 is assigned to each of them. In other variants, however, two or three spatulas can also be provided; in particular, each individual application nozzle 7.1, 7.2, 7.3 can be assigned its own spatula 10.

[0076] On the base support 6, as shown Fig. 2 is indicated by way of example, a UV lamp 16 may be arranged which is designed to irradiate UV light onto the drywall 3, with respect to the direction of movement B of the end effector 1a behind the spatula 10, in order to post-cure applied and smoothed UV-curable filler compound.

[0077] In the Fig. 3 shows an example workstation for the series production of horizontally arranged drywalls 3 from above. The workstation according to Fig. 3 comprises, as a robot kinematics, a robot arm 2a mounted on a linearly adjustable travel axis 17. The travel axis 17 can have rails 18 fixed to a floor of the workstation, on which a carriage 19 can be moved.

[0078] The travel axis 17 has a fixed frame with rails 18, on which the carriage 19 is mounted so as to be automatically linearly adjustable. In this case, the robot arm 23 is attached to the carriage 19 with its base frame and moves with this carriage 19. The linearly adjustable travel axis 17 can, as shown, be arranged extending parallel to a side edge of a horizontally arranged drywall 3, so that the robot arm 23, which is adjustable on the travel axis 17, can move automatically along the side edge of the drywall 3.

[0079] In the Fig. 4 shows a modified workstation for the series production of horizontally arranged drywalls 3. The workstation according to Fig. 4 comprises a gantry robot 20 as a robot kinematics instead of a robot arm 23 and travel axis 17. The gantry robot 20 has a support flange for the end effector 1a, which is mounted so as to be linearly adjustable in a first direction and in a second direction orthogonal to the first direction.

[0080] In the Fig. 5 schematically shows the method for the automated application and simultaneous smoothing of filler compound in the context of a series production of horizontally arranged drywalls 3 with an end effector device 1 according to one of the described embodiments.

[0081] In a first step S1 of the method, the end effector 1a is automatically moved by means of a robot device 2, to whose robot flange 5 the end effector 1a is fastened, along a joint to be filled, by automatically controlling the movement axes of the robot device 2 by means of a control device 21.

[0082] In a second step S2 of the method, a first feed pump 14.1 of the end effector device 1 is automatically controlled by means of the control device 21 for automatically dosing a binder to be fed to the application nozzle 7, synchronously with the automatically controlled movement axes of the robot device 2.

[0083] In a third step S3 of the method, a second feed pump 14.2 of the end effector device 1 is automatically controlled by means of the control device 21 for automatically dosing a hardener to be delivered to the application nozzle 7, synchronously with the automatically controlled movement axes of the robot device 2. The second step S2 and the third step S3 can be carried out simultaneously in order to be able to automatically set and / or dynamically regulate the desired mixing ratio of binder to hardener at the application nozzle 7 designed as a mixing nozzle.

[0084] An end effector device 1 with three application nozzles 7 is shown as an example in Fig. 2 shown.

[0085] Accordingly, an end effector 1a can be attached to the robot flange 5 of the robot device 2, on the base support 6 of which end effector a first application nozzle 7.1 is arranged, which is designed and configured to move the first application nozzle 7.1 along a butt joint between a first drywall element 3.1 of the drywall 3 and a second drywall element 3.2 of the drywall 3 that rests against the first drywall element 3.1 of the drywall 3 on a central lane of the first application nozzle 7.1, and a second application nozzle 7.2 is arranged on the base support 6, which is designed and configured to move the second application nozzle 7.2 at a distance parallel to the butt joint on a left-hand lane, and a third application nozzle 7.3 is arranged on the base support 6, which is designed and configured to move the third application nozzle 7.3 at a distance parallel to the butt joint on a right-hand lane.

[0086] The control device 21 is configured to discharge a flow rate of filler through the first application nozzle 7.1 continuously during an automatic movement of the end effector 1a between an initial position and an end position along the butt joint and to discharge a flow rate of filler through the second application nozzle 7.2 and the third application nozzle 7.3 intermittently.

[0087] The robot device 2 according to Fig. 3 or Fig.4 can be moved by the control device 21 in a position-controlled or force / torque-controlled manner along its movement axes, such that an angle of attack of the spatula 10 with respect to the surface of the drywall 3 to be filled and / or a pressure force of the spatula 10 on the surface of the drywall 3 to be filled is set to a predetermined value or is controlled depending on the current position of the application nozzle 7.1, 7.2, 7.3 and / or the spatula 10 with respect to the surface of the drywall 3 to be filled, or depending on a movement speed of the end effector 1a relative to the surface of the drywall 3 to be filled. Alternatively or in addition to a position-controlled or force / torque-controlled movement of the spatula 10, the spatula 10 can optionally be mounted in a floating manner, so that, for example, unevenness in the drywall can be followed.

[0088] The control device 21 can automatically adjust the movement axes of the robot device 2 in a position-controlled manner along a path to be followed by the end effector 1a, depending on the position and / or location of a reference mark 22 present on the drywall 3 to be plastered.

Claims

[1] End effector device for a robot device (2) for the automated application and simultaneous smoothing of filler in the context of a series production of drywall walls (3), comprising: - a connecting flange (4) which is designed to fasten the end effector (1a) to a robot flange (5) of a robot (2a), - a base support (6) connected to the connecting flange (4), - at least one application nozzle (7) arranged on the base support (6) with a first supply line (8.1) for a binder of a two-component filler and a second supply line (8.2) for a hardener of the two-component filler, wherein the application nozzle (7) is designed as a mixing nozzle, - at least one spatula (10) arranged on the base support (6) and arranged at a follow-up distance from the application nozzle (7). [2] End effector device according to claim 1, characterized bythat the first application nozzle (7.1) arranged on the base support (6) is designed and configured to move the first application nozzle (7.1) along a butt joint between a first drywall element (3.1) of the drywall (3) and a second drywall element (3.2) of the drywall (3) lying against the first drywall element (3.1) of the drywall (3) on a middle lane of the first application nozzle (7.1), and a second application nozzle (7.2) is arranged on the base support (6), which second application nozzle is designed and configured to move the second application nozzle (7.2) at a distance parallel to the butt joint on a left-hand lane, and / or a third application nozzle (7.3) is arranged on the base support (6), which third application nozzle is designed and configured to move the third application nozzle (7.3) at a distance parallel to the butt joint on a right-hand lane. [3] End effector device according to claim 1 or 2, characterized bythat the first application nozzle (7.1), the second application nozzle (7.2) and / or the third application nozzle (7.3) are adjustably mounted on the base support (6). [4] End effector device according to one of claims 1 to 3, characterized by in that the first supply line (8.1) of the at least one application nozzle (7) arranged on the base support (6) is connected to a storage container (13) for binder and comprises a first feed pump (14.1) which is designed and configured to automatically feed a predetermined flow rate of binder to the application nozzle (7), specifically as a function of geometric properties of the joints and / or the depressions in the drywall (3) to be filled and / or as a function of the speed of movement of the end effector (1a), which is moved automatically by a robot device (2), relative to the drywall (3) to be filled. [5] End effector device according to one of claims 1 to 4, characterized byin that the second supply line (8.2) of the at least one application nozzle (7) arranged on the base support (6) is connected to a storage container (15) of hardener and comprises a second feed pump (14.2) which is designed and configured to automatically feed a predetermined flow rate of hardener to the application nozzle (7), specifically as a function of the flow rate of binder to the application nozzle (7). [6] End effector device according to one of claims 1 to 5, characterized by that a UV lamp (16) or a heat lamp is arranged on the base support (6), which is designed to irradiate UV light or heat onto the drywall (3), with respect to the direction of movement of the end effector (1a) behind the spatula (10), in order to post-cure applied and smoothed UV-curable filler compound. [7] Method for the automated application and simultaneous smoothing of filler compound in the context of series production of drywalls (3), with an end effector device (1) according to one of claims 1 to 6, comprising the steps: - automatic movement of the end effector (1a) by means of a robot device (2), to whose robot flange (5) the end effector (1a) is fastened, along a joint to be filled, by automatically controlling the movement axes of the robot device (2) by means of a control device (21), - automatically controlling a first feed pump (14.1) of the end effector device (1a) for automatically dosing a binder to be fed to the application nozzle (7), synchronously with the automatically controlled movement axes of the robot device (2), by means of the control device (21), - automatically controlling a second feed pump (14.2) of the end effector device (1) for automatically dosing a hardener to be fed to the application nozzle (7), synchronously with the automatically controlled movement axes of the robot device (2), by means of the control device (21). [8] Method according to claim 7, characterized bythat an end effector (1a) is fastened to the robot flange (5) of the robot device (2), on the base support (6) of which end effector a first application nozzle (7.1) is arranged, which is designed and configured to move the first application nozzle (7.1) along a butt joint between a first drywall element (3.1) of the drywall (3) and a second drywall element (3.2) of the drywall (3) that rests against the first drywall element (3.1) of the drywall (3) on a central lane of the first application nozzle (7.1), and a second application nozzle (7.2) is arranged on the base support (6), which is designed and configured to move the second application nozzle (7.2) at a distance parallel to the butt joint on a left-hand lane and / or a third application nozzle (7.3) is arranged on the base support (6), which is designed and configured to move the third application nozzle (7.3) at a distance parallel to the butt joint on a right-hand lane, wherein the control device (21) is configured to continuously discharge a flow rate of filler through the first application nozzle (7.1) during an automatic movement of the end effector (1a) between an initial position and an end position along the butt joint and to intermittently discharge a flow rate of filler through the second application nozzle (7.2) and / or the third application nozzle (7.3). [9] Method according to claim 7 or 8, characterized bythat the robot device (2) is moved in its movement axes by the control device (21) in a position-controlled or force / torque-controlled manner, such that an angle of attack of the spatula (10) with respect to the surface of the drywall (3) to be filled and / or a pressure force of the spatula (10) on the surface of the drywall (3) to be filled is set to a predetermined value or is regulated as a function of the current position of the application nozzle (7) and / or of the spatula (10) with respect to the surface of the drywall (3) to be filled, or as a function of a movement speed of the end effector (1a) relative to the surface of the drywall (3) to be filled. [10] Method according to one of claims 7 to 9, characterized bythat the control device (21) automatically adjusts the movement axes of the robot device (2) in a position-controlled manner along a path to be followed by the end effector (1a), depending on the position and / or location of a reference mark (22) present on the drywall (3) to be plastered.

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