APPLICATION UNIT

Description

[0001] The present invention relates to an application unit for applying viscous material to a component edge, particularly one that varies in width. Furthermore, the invention relates to an end effector having such an application unit and a manipulator having such an end effector and / or such an application unit.

[0002] Various application units for viscous materials are known from the prior art. For example, application units are described in EP 0 707 937 A1, US 2016 / 0325307 A1, and US 2016 / 0271629 A1. DE 10 2013 003 688 A1 describes an application unit with a combination nozzle, which is held in a defined position relative to the component edge by means of a guide roller during the application of the viscous material, even if the component edge has a varying width. A disadvantage of this design, however, is that space is required for both the nozzle and the guide roller in the area where the viscous material is applied, which means that viscous material cannot be applied to component edges in the area of ​​narrow cutouts using the application unit of DE 10 2013 003 688 A1.In addition, the nozzle of this application unit requires a continuous air flow to form the viscous material on the component edge, which leads to increased energy consumption and thus to increased operating costs.

[0003] This presents the task of providing an application unit that is cost-effective to operate and allows the application of viscous material to component edges even in confined spaces, particularly in the area of ​​narrow component cutouts.

[0004] This object is achieved by the application unit according to claim 1 in a particularly simple structural manner.

[0005] By providing an application unit with a nozzle for applying the material to the component edge with an outlet opening adjustable in width, a variable adaptation of the nozzle width to the width of the component edge and in particular also to a varying width of a component edge is possible.

[0006] If the application unit further comprises a first probe with a contact surface for contacting the component and a second probe with a contact surface for contacting the component, wherein the first probe and the second probe can be preloaded in opposite directions by a preload arrangement, a particularly simple, compact, and cost-effective guidance of the nozzle relative to the component edge is possible. "Preloadable in opposite directions" is to be understood here and preferably in such a way that the preload force vectors of the probes each have at least one component oriented in opposite directions.

[0007] In order to adapt the application to the width of the component edge, the proposal also provides for the width of the outlet opening to be adjustable depending on the distance between the contact surface of the first probe and the contact surface of the second probe. This allows for the creation of an application unit that is particularly compact and structurally simple in the area of ​​the nozzle's outlet opening, which also enables the application of viscous material to component edges in the area of ​​narrow component cutouts.

[0008] In a further development of the invention, according to claim 2, it is proposed that one of the buttons, in particular the first button, be fixedly mounted on the nozzle. It is also preferred if one of the buttons, in particular the first button, is formed integrally with the nozzle. This enables a particularly compact design of the nozzle in the region of its outlet opening.

[0009] In the further development according to claim 3, it is proposed that one of the probes, in particular the second probe, be mounted so that it can be moved relative to the nozzle, in particular so that it can be linearly displaced. Mounting it in or on the nozzle has proven particularly advantageous. This allows for a simple adjustment of the nozzle width to the width of the component edge.

[0010] A nozzle that is particularly compact in the area of ​​the outlet opening can be realized by the nozzle forming a nozzle unit with the first button and / or the second button (claim 4), wherein preferably the first button and / or the second button provides or provides a section of the outlet opening, and the width of the outlet opening can be adjusted by a relative movement of one button to the other button. In this case, the buttons can slide along the component on both sides of the component edge during the application of the viscous material and easily limit the application of the viscous material to the component edge.

[0011] Accordingly, according to the preferred embodiment according to claim 5, it is proposed that the application unit be designed such that the width of the outlet opening can be or is adapted, in particular continuously, to the width of the component edge. Here and preferably, the width of the outlet opening corresponds substantially, in particular exactly, to the width of the component edge.

[0012] According to claim 6, the nozzle outlet opening can preferably be closed by one of the buttons, in particular the second button, or by the buttons. Preferably, the nozzle outlet opening is closed by a relative movement of one of the buttons, in particular the second button, to the nozzle or by a relative movement of the buttons to the nozzle before and / or after the application of the viscous material. In this way, unwanted dripping of the viscous material from the outlet opening when the application unit is moved toward or away from the component edge can be prevented.

[0013] It is provided that the application unit has a receiving unit for receiving the nozzle and / or the nozzle unit. The nozzle and / or the nozzle unit can be detached from the receiving unit at an interface. Particularly preferably, the nozzle or the nozzle unit can be detached from the receiving unit without tools. This allows the nozzle or the nozzle unit to be designed as a disposable part. Time-consuming cleaning of the nozzle after application is unnecessary. It can be replaced easily and cost-effectively. The operating times of the application unit can be increased accordingly, since cleaning is no longer necessary due to disposal or can be carried out separately from the application unit.

[0014] The preloading arrangement comprises at least one preloading unit, in particular a first preloading unit, for preloading one of the pushbuttons in a first direction. Preferably, the preloading arrangement additionally comprises a second preloading unit for preloading the other pushbutton in an opposite direction.

[0015] According to claim 11, the nozzle can be at least partially, preferably predominantly, particularly preferably completely, made of plastic, in particular polyethylene, and / or the button can be at least partially, preferably predominantly, particularly preferably completely, made of plastic, in particular polyethylene, and / or the nozzle unit can be at least partially, preferably predominantly, particularly preferably completely, made of plastic, in particular polyethylene.

[0016] Further advantageous embodiments of the application unit can be found in the further claims.

[0017] Furthermore, the object mentioned above is achieved in an end effector by the features of claim 14. The same advantages result as described above with the application unit.

[0018] In a manipulator, the object described above is achieved by a manipulator having the features of claim 15. Here, too, the same advantages arise as described above in connection with the application unit.

[0019] Finally, the object described at the outset is achieved procedurally by the features of claim 16. Here, too, the same advantages arise as described above in connection with the application unit.

[0020] The invention will be explained in more detail below with reference to a drawing which merely represents an exemplary embodiment. Fig. 1 a proposed application unit with a proposed end effector on a proposed manipulator, Fig. 2 a) the proposed application unit when applying the viscous material to a component edge and b) the proposed application unit with a nozzle unit detached from the receiving unit, Fig. 3 the proposed application unit in a sectional view in longitudinal section according to III in Fig. 2 and Fig. 4 the nozzle in a sectional view in longitudinal section according to IV in Fig. 2 in a first embodiment with a first scraper element for scraping the viscous material on the component edge and Fig. 5a) the nozzle in a sectional view in cross section according to V in Fig. 2 in a design with a lip as a scraper element and b) the nozzle in a sectional view in cross section according to V in Fig. 2 in a version with a sponge-like pad as a scraping element.

[0021] In the Fig. 1 a proposed manipulator 1 with a proposed end effector 2 and a proposed application unit 3 is shown. The manipulator 1 can be, in particular, an industrial robot with at least three axes or four axes or a gantry robot with at least three axes or at least four axes. Fig. 1 Manipulator 1 shown has six axes.

[0022] The application unit 3 is used to apply a viscous material 4 to a component edge 5 of a component 6, which edge varies in particular in width BK and / or position. Such a component edge is in the Fig. 2a shown. The component edge 5 here is an end face of the component 6, in particular an end face of a plate-shaped section of the component 6. The width BK of the component edge 5 is the width transverse to the direction VB of the component edge 5.

[0023] Preferably, the component 5 is a structural component, in particular a motor vehicle structural component and / or an aircraft structural component, for example a stringer. The component 5 can in particular also be an assembly of various parts 6a, 6b, as shown in the Fig. 3 is shown. In particular, the component 5 can be a composite component, preferably a composite component made of carbon fiber reinforced plastic (CFRP) and / or a composite component made of glass fiber reinforced aluminum, so-called glare.

[0024] The viscous material 4 can, in particular, be an adhesive and / or a sealing material. Preferably, the viscous material is a two-component epoxy. This is preferably mixed before exiting the outlet opening 8. As is the case in the exemplary embodiment, it can be mixed before entering the application unit 3. Alternatively, however, it can also be mixed in the application unit, in particular in the nozzle 7, or upon entering the application unit 3, in particular in the nozzle 7.

[0025] The application unit 3 has, as proposed, a nozzle 7 for applying the material to the component edge 5 with an outlet opening 8 adjustable in width BA.

[0026] The outlet opening 8 is preferably formed at an angle to the longitudinal extension of the nozzle 7. Preferably, the outlet opening 8, as shown in the exemplary embodiment, is arranged in a direction orthogonal to the longitudinal extension L of the nozzle 7. This allows component edges 5 of narrow recesses to be flexibly sealed in a simple manner. However, according to an alternative exemplary embodiment, it is also conceivable for the outlet opening 8 to point in the direction of the longitudinal extension L of the nozzle 7.

[0027] The application unit 3 further comprises, as proposed, a first button 9 with a contact surface 9a for contact with the component 6, in particular with a first side of the component 6 adjacent to the component edge 5, and a second button 10 with a contact surface 10a for contact with the component 6, in particular with a second side adjacent to the component edge 5 and opposite the first side.

[0028] The first probe 9 and the second probe 10 can be preloaded onto the component 6 in opposite directions using a preloading arrangement 11. The width BA of the outlet opening 8 can then be adjusted depending on the distance between the contact surface 9a of the first probe 9 and the contact surface 10a of the second probe 10. This enables particularly simple, energy-saving application to the component edge 5. Furthermore, this also enables a particularly compact design of the nozzle 7 in the area of ​​the outlet opening 8, whereby the viscous material 4 can also be applied to the component edges 5 of narrow cutouts. Furthermore, a structurally simple and therefore cost-effective design is enabled.

[0029] "Preloadable in opposite directions" is understood here and preferably to mean that the vectors V 1 , V 2 of the preload force of the sensors 9, 10 each have at least one component oriented in opposite directions. Preferably, the vectors V 1 , V 2 of the preload force are arranged parallel to the width direction of the nozzle 7.

[0030] The contact surfaces 9a, 10a of the two buttons 9, 10 are located here as in the Fig. 2 shown opposite each other. Accordingly, the two buttons 9, 10 can be preloaded here and preferably also against each other.

[0031] As shown in the sectional view of the Fig. 3 As shown, one of the probes 9 can be fixedly mounted on the nozzle 7. Here, the probe 9 is formed integrally with the nozzle 7. It forms a sensing section of the nozzle 7. Alternatively, the probe 9 can also have a roller, which can facilitate the sliding of the probe 9 along the component 6 during the application of the viscous material 4.

[0032] The second button 10 is mounted so that it can move relative to the nozzle 7. Here, the second button 10 is mounted so that it can move linearly within the nozzle 7. An alternative preferred embodiment provides that the second button 10 is mounted so that it can move, in particular move linearly, on the nozzle 7.

[0033] Here, the second probe 10 is designed as a sliding block that can be moved translationally. Alternatively, the probe 10 can also have a roller, which facilitates the gliding of the probe 10 along the component 6 during the application of the viscous material 4.

[0034] In an alternative embodiment, both buttons 9, 10 can be mounted so that they can be moved relative to the nozzle 7, in particular so that they can be linearly displaced. Preferably, they are then mounted in or on the nozzle 7 and / or both are designed as previously described for the second button 10.

[0035] In the exemplary embodiment, the nozzle 7 forms a nozzle unit 12 with the first button 9 and / or the second button 10. Here and preferably, the first button 9 and the second button 10 each provide a section of the outlet opening 8. The width BA of the outlet opening 8 can thus be adjusted by a relative movement of one button 9, 10 to the other button 9, 10, as shown in the Fig. 3 shown in the enlargements.

[0036] Here, the nozzle unit 12 has a receiving area 13 for receiving the component edge 5 of the component 6 when applying the viscous material 4 to the component edge 5. This area is delimited here by the first probe 9 and the second probe 10 when applying the viscous material 4 to the component edge 8 in the width direction of the outlet opening 8.

[0037] The application unit 3 is designed here such that the width BA of the outlet opening 8 can be adjusted, in particular continuously, to the width BK of the component edge 5 or can be adjusted during application. Here, and preferably, the adjustment takes place passively, i.e., without the targeted control of an actuator to adjust the change.

[0038] In addition to the nozzle unit 12, the application unit 3 has a receiving unit 13 for receiving the nozzle unit 12. As shown in the Fig. 2b As shown, the nozzle unit 12 can be detached from the receiving unit 13 at an interface 14. In the exemplary embodiment, the nozzle unit 12 can be detached from the receiving unit 13 without the use of tools. The interface 14 is designed here as a quick-release fastener and can be easily removed from a locking mechanism on the receiving unit 13 by moving a sleeve 15, in particular against a spring preload. It should be noted here that the nozzle 7, when locked and received by the receiving unit 13, is firmly connected to it.

[0039] To generate the preload, the preload arrangement 11 has at least one, in particular a first, preload unit 16 for preloading one of the buttons 9 in a first direction Ri.

[0040] The first pretensioning unit 16 is arranged here on the receiving unit 13. It acts between a fastening flange 13a for fastening the application unit 3 to the manipulator 1 and the nozzle 7. In the exemplary embodiment, it has a spiral spring element 16a as the spring element. Alternatively, however, the first pretensioning unit 16 can also have a pneumatic spring element and / or a leaf spring element. Furthermore, the first pretensioning unit 16 can have a further spring element, in particular a spring element designed as a spiral spring element 16b, which is pretensioned against the spring element 16a of the first pretensioning unit 16. This spring element 16b can simultaneously pretension the sleeve 15 into its locking position.

[0041] The preload of the first probe 9 is generated by means of the first preload unit 16. For this purpose, the component edge 5 is approached with the nozzle 7 and then the first probe 9 is preloaded against the component 6 by a manipulator movement in the direction of the second probe 10 tensioning the first preload unit 16 and preloading the first probe 9 onto the component 5.

[0042] In the exemplary embodiment, the preloading arrangement 16 further comprises a second preloading unit 17 for preloading the other probe 10 in the opposite direction R 2 . For the definition of the opposite directions, reference is made to the above explanations. Here, however, and preferably, the directions are arranged parallel to the width direction of the outlet opening 8.

[0043] The second pre-tensioning unit 17 is also arranged here and preferably on the receiving unit 13. It acts here between the fastening flange 13a and the second probe 10. Alternatively, the second pre-tensioning unit 17 can also be arranged on the nozzle 7. It also has a spring element to generate the pre-tensioning force. In the exemplary embodiment, this is a pneumatic spring element, here in the form of a pneumatic cylinder. By means of the pneumatic cylinder, the pre-tensioning of the second probe 10 can be activated or deactivated. By activating the pre-tensioning unit, the component edge 5 can be Fig. 3 shown between the two buttons 9, 10.

[0044] The preloading units 16, 17 serve both to compensate for tolerances of the component 6 along the component edge 5, i.e. the varying position of the component edge, and to compensate for changes in the width BK of the component edge 5.

[0045] The nozzle 7 and the buttons 9, 10 are preferably made of plastic, in particular polyethylene. Configuring the nozzle unit 12 from plastic enables particularly cost-effective production. This offers significant cost advantages, particularly when the nozzle unit 12 is designed as a replaceable and / or disposable part. This is particularly advantageous when the nozzle 7 is designed as a disposable part, as this enables cost-effective production.

[0046] As in the Fig. 5 As shown, the nozzle 7 can have a support element 7a that runs ahead of the outlet opening 8 during the application of the viscous material 4, here and preferably as a front boundary of the outlet opening 8. Via this support element, the nozzle 7 can be preloaded onto the component edge 5, in particular by the manipulator 1, in a direction orthogonal to the surface of the component edge 5.

[0047] Following the outlet opening 18, a stripping element 18 is provided here and preferably for spreading the material 4 applied to the component edge 5, as shown in the Fig. 5 und 5 is shown. The stripping element 18 forms a further boundary of the outlet opening 8. The stripping element 18 can be connected in one piece with the nozzle 7, or it can be detachably attached to the nozzle 7, so that it can also be exchanged for a different type of stripping element 18. This is shown in Fig. 4 The shape and / or thickness of the applied seam can be influenced by different stripping elements 18. This is possible both by the design of the shape of a stripping contour of the stripping element 18 and by the design of the stripping element 18 itself.

[0048] The stripping element 18 can be designed as a particularly flexible lip 18a, as shown in Fig. 5a This can have sliding contours 18b and / or bristles on its wiping edge. Alternatively, the wiping element 18 can be designed as a pad 18c, in particular a sponge-like pad, as shown in the Fig. 5b is shown. A sponge-like pad 18c slides, preferably flatly, on the component edge 5 or the viscous material 4 applied thereto during application of the viscous material 4.

[0049] In a particularly preferred embodiment, the stripping element 18 has sliding contours 18b, which, during stripping, create grooves in the seam made of viscous material 4, which then run again before the viscous material 4 hardens. Different seam shapes can be produced using the different stripping elements 18.

[0050] The end effector 2 can also be Fig. 1 shown have a cartridge receptacle 20 for receiving a cartridge 21 with the viscous material 4. Preferably, the cartridge receptacle 20 receives a cartridge 21 with a cartridge nozzle 21a. The cartridge nozzle 21a opens here and preferably into the nozzle 7 of the application unit 3, as in the Fig. 3 shown.

[0051] In addition, a controller 19 can be provided for controlling the end effector 2. Preferably, the controller 19 of the end effector 3 is integrated into the controller of the manipulator 1. The controller 19 controls the manipulator 1 with the end effector 2 and the proposed application unit 3 during the process for applying the viscous material 4.

[0052] To apply the viscous material 4 to the component edge 5, the nozzle 7 is moved towards it. The nozzle 7 is pre-tensioned here and preferably onto the component edge 5, here in the outlet direction of the viscous material 4. The probes 9, 10 are then pre-tensioned onto the component 6. Here, the first probe 9 is moved transversely to the component edge 5 and is thus pre-tensioned against the component 6, in the width direction of the outlet opening 8. The second probe 10 is pre-tensioned against the component 6 by activating the second pre-tensioning unit 17. The pneumatic spring element presses the second probe 10 against the component 6. The viscous material 4 is applied by guiding the nozzle 7 along the component edge 5. If the component edge 5 changes its width BK, the width BA of the outlet opening 8 of the nozzle 7 is adjusted to the width BK of the component edge 5 by means of the buttons 9, 10.

Claims

1. Application unit for applying a viscous material (4) to a component edge (5), which varies in particular in terms of the width (BK) and / or position, of a component (6), wherein the application unit (3) has a nozzle (7) for applying the viscous material (4) to the component edge (5) by way of an outlet opening (8) which is adjustable in terms of the width (BA), wherein the application unit (3) has a receptacle unit (13) for receiving the nozzle (7) and / or a nozzle unit (12), wherein the application unit (3) has a first sensing device (9) with a contact face (9a) for contacting the component (6), and a second sensing device (10) with a contact face (10a) for contacting the component (6), wherein the first sensing device (9) and the second sensing device (10) are able to be preloaded by way of a preloading assembly (11) in opposite directions (R1, R2), and wherein the width (BA) of the outlet opening (8) is adaptable as a function of the spacing of the contact face (9a) of the first sensing device (9) from the contact face (10a) of the second sensing device (10), wherein the preloading assembly (11) has at least one, in particular one first, preloading unit (16) for preloading one of the sensing devices (9, 10) in a first direction (R1), characterized in that the nozzle (7) and / or the nozzle unit (12) are / is releasable from the receptacle unit (13) at an interface (14), and in that the first preloading unit (16) is a constituent part of the receptacle unit (13).

2. Application unit according to Claim 1, characterized in that one of the sensing devices (9, 10), in particular the first sensing device (9), is fixedly disposed on the nozzle (7), preferably in that one of the sensing devices (9, 10), in particular the first sensing device (10), is designed to be integral to the nozzle (7).

3. Application unit according to Claim 1 or 2, characterized in that one of the sensing devices (9, 10), in particular the second sensing device (10), is mounted so as to be movable, in particular linearly displaceable, relative to the nozzle (7), preferably in that one of the sensing devices (9, 10), in particular the second sensing device (10), is mounted in or on the nozzle (7) so as to be movable, in particular linearly displaceable, relative to the latter.

4. Application unit according to one of the preceding claims, characterized in that the nozzle (7) conjointly with the first sensing device (9) and / or the second sensing device (10) forms the nozzle unit (12), preferably in that the first sensing device (9) and / or the second sensing device (10) provides or provide a portion of the outlet opening (8), and the width (BA) of the outlet opening (8) is adaptable by way of a relative movement of one sensing device (9, 10) in relation to the other sensing device (9, 10) .

5. Application unit according to one of the preceding claims, characterized in that the application unit (3) is designed in such a manner that the width (BA) of the outlet opening (8) is adaptable, or is adapted, in particular continuously, to the width (BK) of the component edge (5).

6. Application unit according to one of the preceding claims, characterized in that the outlet opening of the nozzle (7) is able to be closed by one of the sensing devices (9, 10), in particular the second sensing device (10), or the sensing devices (9, 10), preferably in that the outlet opening of the nozzle (7) is closed by a relative movement of one of the sensing devices (9, 10), in particular of the second sensing device (10), or of the sensing devices (9, 10), in relation to the nozzle (7) before and / or after the application of the viscous material (4).

7. Application unit according to one of the preceding claims, characterized in that the nozzle (7) and / or the nozzle unit (12) are / is releasable from the receptacle unit (13) without tools.

8. Application unit according to one of the preceding claims, characterized in that the preloading assembly (11) has a second preloading unit (17) for preloading the other sensing device (9, 10) in an opposite direction (R2).

9. Application unit according to one of the preceding claims, characterized in that the second preloading unit (17) is a constituent part of the receptacle unit (13) and / or is disposed on the nozzle (7).

10. Application unit according to one of the preceding claims, characterized in that the first preloading unit (16) for generating the preloading force has a spring element (16a), in particular a pneumatic spring element and / or a spiral spring element and / or a leaf spring element, and / or in that the second preloading unit (17) for generating the preloading force has a spring element, in particular a pneumatic spring element and / or a spiral spring element and / or a leaf spring element.

11. Application unit according to one of the preceding claims, characterized in that the nozzle (7) is at least partially, preferably predominantly, particularly preferably completely, made of plastics material, in particular polyethylene, and / or in that the second sensing device (10) is at least partially, preferably predominantly, particularly preferably completely, made of plastics material, in particular polyethylene, and / or in that the nozzle unit (12) is at least partially, preferably predominantly, particularly preferably completely, made of plastics material, in particular polyethylene.

12. Application unit according to one of the preceding claims, characterized in that the nozzle (7) has a wiping element (18), which is in particular integrally connected to the nozzle (7), for spreading the material (4) applied to the component edge (5).

13. Application unit according to one of the preceding claims, characterized in that the outlet opening (8) points so as to be angled in relation to the longitudinal extent (L) of the nozzle (7), preferably in that the outlet opening (8) points in a direction orthogonal to the longitudinal extent (L) of the nozzle (7).

14. End effector having an application unit (3) according to one of the preceding claims.

15. Manipulator having an end effector (2) and / or an application unit (3) according to one of the preceding claims.

16. Method for applying a viscous material (4) to a component edge (5), which varies in particular in terms of the width (BK) and / or position, of a component (6), by way of an application unit (3) according to one of Claims 1 to 12, wherein during the application of the viscous material (4) by means of a nozzle (7) a sensing device (9, 10) is preloaded towards the component (6), and the width (BA) of an outlet opening (8) of the nozzle (7) is adapted to the width (BK) of the component edge (5) by means of the sensing device (9, 10).