Coating apparatus and corresponding operating method - Patents.com

Abstract

The present invention relates to a coating apparatus for coating a component (2) with a coating agent. The coating apparatus according to the invention comprises a coating booth (1) and at least one separate maintenance cabin (13, 14, 15) for carrying out maintenance measures inside the maintenance cabin (13, 14, 15). The present invention provides special access protection for the maintenance cabin (13, 14, 15). The present invention further comprises a corresponding operating method.

Description

[Technical field]

[0001] The present invention relates to a coating apparatus for applying a coating agent (e.g., paint) to a part (e.g., an automotive body part). Furthermore, the present invention relates to a corresponding method of operation for such a coating apparatus. [Background technology]

[0002] In modern painting installations for painting automotive body parts, a rotary sprayer is usually used as the application device, which is guided by a painting robot over the surface of the part to be painted. The body part to be painted is usually transported by a linear conveyor through the painting booth, in which several painting robots and several handling robots (bonnet opener robot, door opener robot) are arranged on either side of the linear conveyor.

[0003] A further development of such a painting installation is known from DE 10 200 03 133 A1, in which several maintenance cabins ("cubicles") are arranged in the corners of the painting booth, which are isolated from the painting booth and make it possible to carry out maintenance or cleaning procedures on a robot inside each maintenance cabin.

[0004] For this purpose, the individual maintenance cubicles each have a maintenance window, and a robot arranged in the paint booth can insert its robot arm into the maintenance cubicle through the maintenance window of the maintenance cubicle. For example, an external charging ring for electrostatic external charging can be replaced in this way inside the maintenance cabin. Another example of a maintenance measure inside the maintenance cabin is that a rotary sprayer or a handling tool of a handling robot can be cleaned inside the maintenance cabin.

[0005] The maintenance or cleaning measures, respectively, in the maintenance cabin can be carried out by an operator, who can enter the maintenance cabin through an access door, where, however, the safety of the operations becomes an issue when the operator is inside the maintenance cabin.

[0006] Further, for the technical background of the present invention, reference is also made to US Pat. No. 5,399,633, US Pat. No. 5,499,623, and US Pat. No. 5,499,623. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] International Publication No. 2021 / 063444 [Patent Document 2] DE 10237747 A1 [Patent Document 3] European Patent Application Publication No. 3140043 [Patent Document 4] DE 112019002282 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention is therefore based on the task of appropriately improving the above-mentioned known coating device and specifying the associated method of operation. [Means for solving the problem]

[0009] This problem is solved by a coating device according to the main claim or by a corresponding operating method.

[0010] The coating device according to the invention is designed for coating parts, which may be, for example, auto body parts, although the invention is not limited to auto body parts with regard to the type of parts to be coated.

[0011] In this case, the part to be coated (e.g., an automobile body part) is coated with a coating agent, which can preferably be a paint, although with regard to the coating agent applied, the invention is not limited to paint, but can also be implemented in coating devices that apply other types of coating agents, such as adhesives, sealants, insulating materials, to name just a few.

[0012] In accordance with the known coating apparatus according to Patent Document 1 described at the beginning, the coating apparatus according to the invention also comprises a coating booth (e.g. a paint booth) in which the parts to be coated are accommodated during coating, the coating booth preferably having booth walls that are impermeable to the applied coating agent.

[0013] The parts to be coated are preferably transported through the coating booth by conveyors, as known from the prior art. However, within the scope of the present invention, automated transport systems (FTS) can also be used as conveyors, which are floor-bound conveyors with their own automatically controlled travel drive. Such conveyors are also called automated guided vehicles (FTF) or automated guided vehicles (AGV).

[0014] Furthermore, in accordance with the known coating apparatus described at the beginning, the coating apparatus according to the invention comprises at least one robot arranged in the coating booth.

[0015] For example, a coating robot (e.g., a paint robot) may be positioned within a coating booth to coat parts with a coating agent (e.g., paint), and the coating robot guides an applicator (e.g., a rotary sprayer, a print head) to apply the coating agent.

[0016] Further, a handling robot may be disposed in the coating booth, and the handling robot is used to handle the parts to be coated. For example, the handling robot may be a door opener robot that opens and closes the doors of the auto body parts to be coated. Another example of a handling robot is a bonnet opener robot that is used to open and close the bonnets (e.g., bonnets, trunk lids) of the auto body parts.

[0017] In a preferred embodiment of the present invention, there is not only a single robot disposed in the coating booth. Rather, there are preferably multiple coating robots in the coating booth, disposed on either side of the linear conveyor. In addition, there are preferably multiple handling robots (e.g., bonnet opener robots, door opener robots) in the coating booth, which may also be disposed on either side of the linear conveyor. For example, there may be two painting robots, two door opener robots, and two bonnet opener robots disposed on either side of the linear conveyor, for a total of 12 robots in the coating booth.

[0018] In accordance with the known coating apparatus according to the patent document 1 described at the beginning, the coating apparatus according to the present invention also has at least one maintenance cabin ("cubicle"), which is used for carrying out maintenance procedures on at least one robot, each maintenance procedure being capable of being carried out within the maintenance cabin.

[0019] The term maintenance measures as used in the context of the present invention should be understood in a general sense and also include cleaning steps such as cleaning of applicators (e.g. rotary sprayers, print heads), cleaning of handling tools of handling robots, etc. Furthermore, the concept of maintenance measures as used in the context of the present invention also includes the replacement or disposal of external charging rings, for example used for electrostatic external charging. For example, an external charging ring for external painting can be replaced by an external charging ring for internal painting, just to give one example.

[0020] In this case, the maintenance cabin has a closable maintenance window, and the robot can at least partially insert its robot arm into the maintenance cabin through the maintenance window, after which the maintenance procedure can be carried out in the maintenance cabin.

[0021] Furthermore, the maintenance cabin has an access door through which an operator can enter the maintenance cabin.

[0022] Furthermore, the coating apparatus according to the present invention also comprises a control system for controlling the operation of the coating apparatus. The term control system as used in the context of the present invention should also be understood in a general sense and is not limited to a single component. Rather, the control system in the coating apparatus according to the present invention may be distributed across various control components and may optionally be implemented as hardware or software.

[0023] The present invention features a special walk-in protection for the maintenance cabin in order to increase the safety of the operation, for example, when performing maintenance procedures in the maintenance cabin during operation, there is a risk of injury to the operator in the maintenance cabin.

[0024] In the coating apparatus according to the invention, the control system therefore allows the operator to access the maintenance cabin through the access door only if there is no danger to the operator, which is the case when the maintenance window of the maintenance cabin is closed and / or when all robots in the coating booth are powered off and in a safe operating state without any potential danger.

[0025] Furthermore, the control system preferably controls access by the robot to the maintenance cabin through the maintenance window, in which case the control system allows the robot to access the maintenance cabin through the maintenance window only if this does not pose a danger to the operator, this condition being met when the access door to the maintenance cabin is closed and preferably also locked.

[0026] In a preferred embodiment of the present invention, the maintenance cabin also has a door sensor which detects the open state of the access door, and the door sensor preferably notifies the control system of the open state of the access door.

[0027] Furthermore, the maintenance cabin may have a controllable door lock which in a locked state prevents the access door from being opened, such that the access door can only be opened in an unlocked state. The door lock is preferably controlled by a control system, which in this case queries the door sensor and controls the door lock to control access to the maintenance cabin.

[0028] It has been mentioned above that the maintenance cabin has a maintenance window and the robot can insert its robot arm at least partially into the maintenance cabin through the maintenance window. In a preferred embodiment of the invention, the maintenance window comprises an adjustable window closing device for selectively opening or fully or partially closing the maintenance window, the window closing device being preferably controlled by the control system.

[0029] For example, the window closure device may have a movable or pivotable closure plate which opens or fully or partially closes the maintenance window depending on the position of the closure plate.

[0030] The movable or pivotable closure plate may have a cutout that fits the cross section of the robot arm of the robot, so that the closure plate may close the maintenance window up to the robot arm when the robot arm protrudes through the maintenance window into the maintenance cabin. In this case, the cutout in the closure plate allows the maintenance window to be almost completely closed, even when the robot arm of the respective robot is guided through the maintenance window into the maintenance cabin. It is also possible for the cutout in the closure plate to taper from the end of the closure plate, in particular in a triangular or semicircular shape.

[0031] It is possible that the closing plate of the window closing device is transparent so that the operator can observe the process in the coating booth through the closing plate from the maintenance cabin. This also enables an observation mode, in which no maintenance measures are performed in the maintenance cabin. Rather, in this observation mode, there is an operator in the maintenance cabin, who can observe the coating operation in the coating booth through the transparent closing plate, which closes the maintenance window. It should be mentioned here that not only the closing plate itself can be transparent, but also the cabin wall of the maintenance cabin. Furthermore, it is also possible within the scope of the present invention that the cabin wall of the maintenance cabin is transparent, while the closing plate is opaque.

[0032] The window closing device described above is preferably adjustable between different positions, namely an open position, a closed position and a cleaning position.

[0033] In the open position, the window closing device substantially completely opens the maintenance window of the maintenance cabin, so that the robot to be maintained can move its robot arm unhindered through the maintenance window into the maintenance cabin, so that each maintenance procedure can then be carried out in the maintenance cabin.

[0034] Meanwhile, in the closed position, the window closing device substantially completely closes the maintenance window of the maintenance cabin, thereby allowing an operator to remain in the maintenance cabin while the parts are being coated in the coating booth.

[0035] On the other hand, in the cleaning position, the robot arm of each robot protrudes into the maintenance cabin through the maintenance window, and the window closing portion closes the maintenance window up to the contour of the robot arm.

[0036] It has already been mentioned above that the maintenance cabin has an access door through which the operator can enter and exit the maintenance cabin.

[0037] In one variant of the invention, an access door connects the maintenance cabin to the coating booth, i.e. the maintenance cabin is entered through the access door from inside the coating booth.

[0038] However, in another variant of the invention, the access door of the maintenance cabin connects it to an exterior space outside the coating booth, so that the maintenance cabin can be entered through the access door from outside the coating booth, which is advantageous since the maintenance cabin can be entered without first entering the coating booth.

[0039] In a preferred embodiment of the invention, the coating apparatus comprises a maintenance device for performing maintenance operations.

[0040] For example, this may be an applicator cleaning device used for cleaning applicators (e.g. rotary sprayers, printheads). For this purpose, the applicator cleaning device may have an insertion opening for inserting the applicator (e.g. sprayer) to be cleaned into the applicator cleaning device and then cleaning the applicator inside the applicator cleaning device. Such sprayer cleaning devices are known per se from the prior art and are described, for example, in DE 102014016364 A1, EP 1 671 706 A1 and EP 2 643 096 A1.

[0041] However, the maintenance device can also be a jet testing device for testing a jet of coating agent released by an applicator designed as a printhead. Such jet testing devices are known from the prior art and are described, for example, in DE 102019135360 A1, EP 3 689 474 A1 and EP 3 890 895 A1.

[0042] It is further possible that the maintenance device is a cleaning device used for cleaning the handling tools of a handling robot.

[0043] In this case, the maintenance device is preferably mounted in a pivot opening in the booth wall of the maintenance cabin and can be pivoted by a pivot mechanism between an operating position inside the coating booth and a maintenance position inside the maintenance cabin, the pivoting preferably taking place around a vertical or horizontal pivot axis. In the case of a sprayer cleaning device as a maintenance device, in order to clean the sprayer, the sprayer cleaning device is pivoted outwardly into the coating booth so that the rotary sprayer can be inserted into the sprayer cleaning device. In order to carry out maintenance measures on the sprayer cleaning device, the sprayer cleaning device is then pivoted inwardly into the maintenance cabin.

[0044] The pivot mechanism for the pivoting maintenance unit is preferably designed such that the pivot opening in the cabin wall of the maintenance cabin is closed by the pivot mechanism both in the operating position and in the maintenance position. For this purpose, the pivot mechanism may have two closing plates angled towards each other, one closing plate closing the pivot opening in the operating position and the other closing plate closing the pivot opening in the maintenance position. For this purpose, the two closing plates may be at an angle to each other and pivot together, the angle between the two closing plates being preferably substantially 90°.

[0045] Furthermore, a handle may be attached to the maintenance device so that the maintenance device can be pulled into the maintenance cabin from inside the maintenance cabin.

[0046] Additionally, the pivot mechanism may include a damper that dampens the pivoting movement of the maintenance device.

[0047] Furthermore, the maintenance cabin may include a door opener button for opening the access door. When an operator wishes to enter the maintenance cabin, he must press the door opener button, and the control system then opens the access door to the maintenance cabin, but only if the access protection according to the invention allows this.

[0048] Furthermore, the maintenance cabin may have a confirmation button for confirming that the operator has exited the maintenance cabin. In this case, the operator must press the confirmation button after exiting the maintenance cabin, so that the walk-through guard can allow the robot to access again through the maintenance window. Therefore, the door opener button and the confirmation button are preferably connected to the control system.

[0049] Furthermore, it should be mentioned that in a preferred embodiment of the present invention, the maintenance cabin can be operated in a number of different modes to ensure the safety of the operator during operation. An operation mode selection switch can be arranged in the maintenance cabin to select each operation mode of the maintenance cabin. In a preferred embodiment of the present invention, the maintenance cabin can be operated in at least one of the following operation modes, which will be described in detail below: Automatic mode, Coating robot cleaning operation for cleaning the coating robot, A handling robot cleaning operation for cleaning a handling robot, accessory cleaning operations for cleaning accessories, in particular applicator cleaning devices or external charging rings for sprayers for the electrostatic external charging of the applied coating agent, Observation movements to observe the process inside the coating booth.

[0050] In the automatic mode, a check is preferably made automatically to determine whether a maintenance measure needs to be performed. The control system checks whether there is a maintenance request for the coating robot or the handling robot. The maintenance request is triggered by the user or is generated automatically. If there is a maintenance request, the control system executes some or all of the following steps, in particular in the following order: - terminating the coating operation of the coating robot to be cleaned; discharging an electrostatic coating agent charging system on the coating robot to be cleaned, if one is provided; a step of opening the access door if it is not already locked and of locking the access door to the maintenance cabin in order to prevent entry into the maintenance cabin (it should be mentioned with respect to this step that the access door to the maintenance cabin can be permanently locked in automatic mode), -Opening the maintenance window of the maintenance cabin; Inserting the robot to be cleaned together with the robot arm of the robot into the maintenance cabin through the opened maintenance window; - closing the maintenance window of the maintenance cabin to a cleaning position; changing the operation mode of the maintenance cabin from the automatic mode to a cleaning mode to unlock an access door to the maintenance cabin and allow an operator to enter the maintenance cabin; performing a cleaning operation in the maintenance cabin; After the operator leaves the maintenance cabin and closes the access door, confirming, locking the access door to the maintenance cabin, and changing the operation mode of the maintenance cabin; after exiting the maintenance cabin, the maintenance staff checks that the access door to the maintenance cabin is locked; -Opening the maintenance window of the maintenance cabin; moving the robot out of the maintenance cabin through the opened maintenance window; and finally, -Step of closing the maintenance window in the maintenance cabin.

[0051] Concerning the above mentioned automatic operations, it must be mentioned that preferably no operator is needed. The robot preferably does everything itself (e.g. changing the external charge). The closing plate (disk) preferably remains open. No human can enter the maintenance cabin ("cubicle") during this process, because the robot is not safely switched off. In comparison, in the cleaning mode, an operator must enter the maintenance cabin ("cubicle"). Therefore, for safety reasons, the robot must be safely switched off and the windows must be closed.

[0052] Meanwhile, in the coating robot cleaning operation briefly described above, it is checked whether there is a cleaning request for the coating robot on the user side. For example, an operator may request a cleaning process if the operator detects contamination of the coating robot. If there is such a cleaning request from the user, the control system preferably controls the coating apparatus such that some or all of the following steps are performed, preferably in the following order: changing the operation mode of the maintenance cabin ("cubicle") from automatic mode to cleaning mode, requesting the corresponding robot, and terminating the coating operation of the coating robot to be cleaned; discharging an electrostatic coating agent charging system on the coating robot to be cleaned, if one is provided; locking the access door to the maintenance cabin to prevent the access door from being opened and entry into the maintenance cabin if the access door is not already locked (see above remarks regarding automatic operation), -Opening the maintenance window of the maintenance cabin; Inserting the coating robot to be cleaned into the maintenance cabin through the opened maintenance window; - closing the maintenance window of the maintenance cabin to a cleaning position; powering off the coating robot and placing the coating robot in a safe operating state where the coating robot poses no hazard; unlocking an access door to the maintenance cabin to allow an operator to enter the maintenance cabin; performing a cleaning operation in the maintenance cabin; After the operator leaves the maintenance cabin and closes the access door, confirming, locking the access door in the maintenance cabin, changing the operation mode of the cubicle to an automatic mode, and locking the access door in the maintenance cabin after the operator leaves the maintenance cabin and closes the access door; after leaving the maintenance cabin, the operator checks that the access door to the maintenance cabin is locked; -Opening the maintenance window of the maintenance cabin; moving the coating robot out of the maintenance cabin through the opened maintenance window; and finally, -Step of closing the maintenance window in the maintenance cabin.

[0053] In the handling robot cleaning mode briefly described above, a check is made to determine whether a user has requested cleaning of the handling robot. For example, an operator may request such cleaning if the operator detects contamination of the handling robot. In this case, the control system appropriately controls the coating device to clean the handling robot, whereby the above-mentioned steps for cleaning the coating robot are appropriately performed to clean the handling robot.

[0054] However, in the accessory cleaning mode described above, the pivotable maintenance equipment (e.g. sprayer cleaning equipment) is pivoted to a maintenance position inside the maintenance cabin to allow servicing of the maintenance equipment inside the maintenance cabin. Preferably, the door lock of the access door of the maintenance cabin is unlocked to allow an operator to enter the maintenance cabin and perform maintenance procedures on the maintenance equipment. In the current manual process, access is requested when all conditions are met, followed by unlocking, and then the cleaner is swung by the operator into the maintenance cabin ("cubicle"). In the automated operation, this is as described, first swiveling the cleaner, followed by access, except that if it is not safe to swivell, this is done in another way. Figure 12 shows this automated operation.

[0055] It has already been mentioned above that in the coating device according to the invention, several robots are arranged inside the coating booth, preferably different types of robots (coating robot, bonnet opener robot, door opener robot) are vertically distributed and arranged one above the other on different levels.

[0056] The bonnet opener robot is preferably arranged on an upper stage to open and close the bonnet (e.g., bonnet, trunk lid) of the automobile body, and the bonnet opener robot is preferably movable on an upper running rail. By arranging the bonnet opener robot on the upper stage, the bonnet opener robot can easily and almost unhinderedly access the bonnet of the automobile body to be opened.

[0057] On the other hand, the coating robot is preferably located in the middle of the coating booth and can be moved along a middle running rail. The central location of the coating robot also allows the coating robot to operate almost unhindered.

[0058] On the other hand, a door opener robot that opens and closes the door of the automobile body is preferably arranged at a lower level of the coating booth, and the door opener robot is preferably designed as a SCARA (Selective Compliance Assembly Robot Arm) robot and can be moved, for example, along a lower running rail. By arranging the door opener robot at the lower level in this manner, the door opener robot can access the door to be opened with almost no hindrance.

[0059] It should also be mentioned that the maintenance window of the maintenance cabin is preferably positioned at a height such that all types of robots (bonnet opener robot, coating robot, door opener robot), together with their robot arms, can all enter the maintenance cabin through the maintenance window.

[0060] Furthermore, it should be mentioned generally that, as is basically known from the already mentioned patent application WO 2005 / 023311, the coating booth preferably has a rectangular floor plan and a maintenance cabin is arranged at each of the four corners of the coating booth. A maintenance cabin ("service cubicle") can also be arranged between two stations, in which the maintenance cabin can be accessed from both sides.

[0061] The coating robot and the handling robot may be fixedly mounted or movable along running rails.

[0062] It should further be mentioned that the applicator is preferably an atomizer, such as a rotary atomizer. However, within the scope of the present invention, there is also another possibility that the applicator is a so-called printhead, which applies the coating agent with little overspray (i.e. with almost 100% application efficiency) and does not use a spray jet of the coating agent, but a spatially narrowly confined jet of the coating agent. Such printheads have been developed recently and are described, for example, in EP 2953732, EP 2566627, EP 3112176, EP 3554714, WO 2018 / 108572, WO 2018 / 108568 and EP 3698881.

[0063] It should further be mentioned that the maintenance cabin may have an outside air purge system that purges the maintenance cabin with outside air to ensure breathable air in the maintenance cabin when the coating agent is being applied in the coating booth, which is particularly advantageous in an observation operation when an operator observes in the maintenance cabin while the coating agent is being applied in the coating booth.

[0064] In addition to the coating apparatus according to the invention described above, the invention also claims protection for a corresponding operating method, the individual process steps of which are already clear from the above description of the coating apparatus according to the invention, so that a separate description of the operating method according to the invention can be omitted.

[0065] Further advantageous developments of the invention are specified in the dependent claims or are explained in more detail below together with the description of preferred exemplary embodiments of the invention with reference to the drawings. [Brief description of the drawings]

[0066] [Figure 1] FIG. 1 shows a cutaway perspective view of a coating booth according to the present invention. [Diagram 2] FIG. 2 shows a top view of the coating booth of FIG. [Figure 3A] FIG. 3A shows a window closing device for closing a maintenance window in a maintenance cabin, the window closing device being in an open position. [Figure 3B] FIG. 3B shows the window closing device of FIG. 3A in a cleaning position when cleaning a paint robot. [Figure 3C] FIG. 3C shows the window closing device of FIG. 3A in a cleaning position for cleaning a door opener robot designed as a SCARA robot. [Figure 3D] FIG. 3D shows the window closing device of FIG. 3A in a closed position, in which the maintenance window of the maintenance cabin is closed. [Figure 4] FIG. 4 shows a perspective view of a maintenance cabin equipped with a pivotable sprayer cleaning device. [Diagram 5] FIG. 5 shows a simplified schematic diagram of a coating apparatus according to the present invention with a control system. [Figure 6] FIG. 6 shows a schematic diagram of the control panel in the coating booth. [Figure 7] FIG. 7 shows a flow chart for explaining the walk-in protection of the maintenance cabin according to the present invention. [Figure 8] FIG. 8 shows a flow chart for explaining the control of the robot's access to the maintenance cabin. [Figure 9] FIG. 9 shows a flow chart to illustrate the automated operation. [Figure 10] FIG. 10 is a flow chart for explaining the cleaning operation of the painting robot. [Figure 11] FIG. 11 shows a flowchart for explaining the cleaning operation of the handling robot. [Figure 12] FIG. 12 shows a flow chart for explaining the automatic cleaning operation of the sprayer cleaning device. [Figure 13] FIG. 13 is a flowchart illustrating the observation operation. [Figure 14A] FIG. 14A shows a modification of FIGS. 3A to 3D. [Figure 14B] FIG. 14B shows a modification of FIGS. 3A to 3D. [Figure 15] FIG. 15 shows a further modification of FIGS. 3A to 3D. [Figure 16] FIG. 16 shows a modification of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0067] In the following, an exemplary embodiment according to Figures 1 and 2 will first be described, which show a paint booth 1 according to the present invention, in which an automobile body 2 is painted, and the automobile body 2 to be painted is transported through the paint booth 1 in the direction of the arrow by a linear conveyor (not shown).

[0068] In the paint booth 1, two paint robots 3, 4 are located on either side of a linear conveyor, and each of the paint robots 3, 4 guides a rotary sprayer (not shown) as a coating device over the surface of the car body 2.

[0069] Furthermore, two door opener robots 5, 6 are arranged on either side of the linear conveyor in the painting booth 1, and these door opener robots 5, 6 are designed as SCARA robots and are responsible for opening and closing the doors of the automobile body 2 to be painted, so that the interior of the automobile body 2 can be painted.

[0070] In addition, two bonnet opener robots 7, 8 are arranged on either side of the linear conveyor within the painting booth 1, and these bonnet opener robots 7, 8 are responsible for opening the bonnet and trunk lid of the automobile body 2 so that the interior of the automobile body 2 can be painted.

[0071] The bonnet opener robots 7, 8 are arranged on an upper level within the paint booth 1 and can be moved along an upper running rail 9 that is parallel to the linear conveyor.

[0072] On the other hand, the painting robots 3 and 4 are arranged in the middle of the painting booth 1 and can be moved along a middle running rail 10 that is parallel to the linear conveyor.

[0073] On the other hand, the door opener robots 5 and 6 are arranged at a lower level within the paint booth 1 and can be moved along a lower running rail 11.

[0074] Distributing the different types of robots (paint robots 3, 4, door opener robots 5, 6 and bonnet opener robots 7, 8) across three tiers is advantageous as the different types of robots interfere with each other only minimally.

[0075] There are maintenance cabins 12, 13, 14, and 15 at each of the four corners of the paint booth 1, and the maintenance cabins 12 to 15 are isolated from other parts of the paint booth 1 by booth walls.

[0076] The maintenance cabins 12 to 15 can be accessed by an operator through access doors 16 to 19, respectively. The access doors 16 to 19 allow an operator to access the maintenance cabins 12 to 15 from outside without entering the paint booth 1.

[0077] Furthermore, the maintenance cabins 12-15 each have a maintenance window 20-22 which serves to ensure that different types of robots in the paint booth 1 can move their robot arms into each maintenance cabin through the maintenance windows 20-22 in order to perform maintenance or cleaning procedures in each maintenance cabin, as will be described in detail below.

[0078] For example, the maintenance measure may consist of the painting robot 3 depositing or replacing an external charging ring in the maintenance cabin 14. For this purpose, the painting robot 3 is moved along the running rail 10 in the direction of the maintenance cabin 14 and then inserted, together with the robot arm of the painting robot 3, through the maintenance window 21 into the maintenance cabin 14, so that the external charging ring in the maintenance cabin 14 can be replaced or changed.

[0079] Further, for example, the door opener robot 5 may also be introduced into the maintenance cabin 14 through the maintenance window 21 together with the robot arm of the door opener robot 5 so that the handling tools of the door opener robot 5 can be cleaned inside the maintenance cabin 14.

[0080] Furthermore, the maintenance cabins 12-15 enable an observation operation, in which an operator is in one of the maintenance cabins 12-15 and observes the painting operation in the painting booth 1 through the maintenance windows 20-22.

[0081] Next, Figures 3A to 3D will be described below, which show a window closing device for a maintenance window 23, which is arranged in the cabin wall 24 of the maintenance cabin, as described above with reference to Figures 1 to 2.

[0082] The window closing device essentially consists of a closing plate 25 which is displaceable in the direction of the arrow, the displacement of which can be driven by an electric motor controlled, for example, by the control system of the painting device, as will be described in more detail below.

[0083] At its lower end, the closure plate 25 has a notch 26 which fits the cross-section of a robot arm 27, the significance of which will be explained in more detail below.

[0084] 3A shows the window closing device in the open position, in which the closing plate 25 has been moved all the way up, thus fully exposing the maintenance window 23 in the cabin wall 24. This allows a robot to move its robot arm 27 into the maintenance cabin through the maintenance window 23 in order to carry out maintenance or cleaning procedures in the maintenance cabin.

[0085] 3B shows the window closing device in the cleaning position, in which the closing plate 25 has moved downwards and the robot arm 27 of the robot to be cleaned protrudes into the maintenance cabin through the cutout 26 in the closing plate 25. As the shape of the cutout 26 matches the outer contour of the robot arm 27, the closing plate 25 almost completely closes the maintenance window 23.

[0086] 3C shows a corresponding cleaning position for cleaning in a SCARA robot with a thinner robot arm 28. In this cleaning position too, the closure plate 25 closes the maintenance window 23 almost completely.

[0087] Finally, Fig. 3D shows the closed position of the window closing device, in which the closing plate 25 has been moved all the way down and completely closes the maintenance window 23. It should be mentioned here that the closing plate 25 is transparent. This offers the advantage that an operator in the maintenance cabin can observe the painting process in the paint booth 1 through the transparent closing plate 25, even when in the closed position according to Fig. 3D.

[0088] The perspective view according to FIG. 4 is now described below, which shows a maintenance cabin 29 with a maintenance window 30, the technical meaning of which has already been described above.

[0089] Below the maintenance window 30 there is a pivot opening in the cabin wall of the maintenance cabin 29, in which a sprayer cleaning device 31 ("cleaner") is pivotally mounted.

[0090] This figure shows the sprayer cleaning device 31 in an operating position, in which it is pivoted out of the maintenance cabin 29 and is therefore located within the surrounding paint booth. In this cleaning position, rotary sprayers can be inserted into the sprayer cleaning device 31 and can be cleaned inside the sprayer cleaning device 31.

[0091] However, the sprayer cleaning device 31 can also be pivoted inwardly into the maintenance cabin 29 in the direction of the double arrow by means of a pivot mechanism. In this internal maintenance position inside the maintenance cabin 29, for example, the sprayer cleaning device 31 can be serviced.

[0092] The pivot mechanism for pivoting the sprayer cleaning device 31 has two closing plates 32, 33, which are arranged at a certain angular position relative to each other and pivot integrally with the sprayer cleaning device 31. In the cleaning position shown in the figure, the closing plate 32 closes the pivot opening in the cabin wall of the maintenance cabin 29. However, in the internal maintenance position, the other closing plate 33 closes the pivot opening in the cabin wall of the maintenance cabin 29. Thus, the pivot opening in the cabin wall of the maintenance cabin 29 is closed in both pivot positions of the sprayer cleaning device 31. This is advantageous in order to prevent paint mist (overspray) from entering the maintenance cabin 29 from the paint booth.

[0093] Next, the schematic diagram of the painting installation according to the present invention according to FIG. 5 will be described below.

[0094] The painting installation according to the invention comprises a control system 34, which controls the operation of the painting installation. It should be mentioned here that the control system 34 is illustrated as a single component, although in practice the functions of the control system 34 may be distributed across several components.

[0095] The control system 34 is connected to a robot controller 35, which controls the robots in the paint booth 1 according to Figures 1 and 2, i.e., one of the paint robots 3, 4, the door opener robots 5, 6, or one of the bonnet opener robots 7, 8.

[0096] Furthermore, the control system 34 is connected to a pivot mechanism 36, which controls the pivot movement of the sprayer cleaning device 31 in the exemplary embodiment according to FIG.

[0097] Furthermore, the control system 34 controls the window closing devices 37 in each of the individual maintenance cabins 12-15, the function of which has been described above with reference to Figures 3A-3D.

[0098] Additionally, the control system 34 controls the door locks 38, which lock each of the access doors 16-19 for the individual access doors 16-19 of the maintenance cabins 12-15 to prevent each of the access doors 16-19 from being opened.

[0099] Door sensors 39 are disposed at each of the access doors 16-19 to the maintenance cabins 12-15 to detect the open state of each access door 16-19 and notify the control system 34.

[0100] A control panel 40 is provided for user control of operation, which is shown diagrammatically in Figure 6 and will be described in more detail below. At this point it should be mentioned only briefly that the control panel 40 controls the operation of the paint booth 1.

[0101] Furthermore, a request button 41 is provided, which allows a user to request the opening of each of the access doors 16-19 to each of the maintenance cabins 12-15.

[0102] Further, a confirmation button 42 is provided which allows the operator, after exiting one of the maintenance cabins 12-15, to confirm that he has exited the maintenance cabin 12-15 and that he has closed the corresponding access door 16-19, so that access to each maintenance cabin 12-15 can be released for the robot.

[0103] The control panel 40 also includes an operating mode selection switch 43 for selecting a desired operating mode, as will be described in more detail below.

[0104] Additionally, a number of request buttons 44, 45, 46, 47 are provided for a user to request cleaning procedures for the various robots, as will be described in more detail below.

[0105] FIG. 6 shows a schematic diagram of a control panel 40 with an operating mode selection switch 43 and request buttons 44-47 for requesting different types of robots or cleaning devices for the cleaning process.

[0106] 6 further shows a request button 41 and a confirmation button 42, which are provided in each of the maintenance cabins 12-15.

[0107] With regard to FIG. 6, it should be mentioned that all the components shown in the figure are preferably provided in each maintenance cabin.

[0108] An operating mode selection switch 43 enables either an automatic operation A, an observation operation B, or a cleaning operation R. An automatic operation A is shown in Figure 9 and will be described in more detail below. A cleaning operation R is shown in Figures 10 and 11 and will also be described in more detail below. Finally, an observation operation is shown in Figure 13 and will also be described in more detail below.

[0109] FIG. 7 shows a simplified flow chart for explaining walk-in protection according to the present invention.

[0110] In a first step S1 it is checked whether the walk-in protection is switched off. This is the case, for example, when all robots in the paint booth are switched off and therefore in a safe state. If so, in step S4 access is allowed to each maintenance cabin through the access door.

[0111] If not, in step S2, it is checked whether the maintenance window of each maintenance cabin is closed. If so, in step S4, access to each maintenance cabin is also enabled.

[0112] If not, in step S3, access to the maintenance cabin through the access door is blocked and the access door remains locked.

[0113] This prevents the operator in the maintenance cabin from being exposed to danger.

[0114] FIG. 8 shows a flow chart for illustrating walk-in protection related to controlling robot access through maintenance windows.

[0115] In step S1, it is confirmed that the access door of each maintenance cabin is closed and locked, and that there is no operator inside the maintenance cabin.

[0116] If so, in step S2, access through the respective maintenance window is opened to the robot.

[0117] If not, in step S3, access to each maintenance cabin through the maintenance window is blocked for the robot by a window closing device that keeps each maintenance window closed.

[0118] Next, the flow chart according to FIG. 9 illustrating the automatic operation will be explained below.

[0119] In a first step S1, the access doors to each maintenance cabin are closed and locked, and there are no operators in the maintenance cabins.

[0120] In step S2, the maintenance window of each maintenance cabin is closed if it is not already closed.

[0121] In step S3, it is determined whether there is a maintenance request from one of the robots, for example to replace an external charging ring on a rotary atomizer.

[0122] If so, the painting operation is first terminated in step S4, and the electrostatic paint charging is turned off and discharged in step S5 to establish a safe operating condition.

[0123] In the next step S6, the maintenance windows of each maintenance cabin are opened.

[0124] In step S7, the robot to be serviced is moved into each maintenance cabin through the open maintenance window.

[0125] In a next step S8, maintenance is performed in the maintenance cabin, for example by changing the external charging ring.

[0126] In the next step S9, the robot is moved outside the maintenance cabin again.

[0127] Finally, in final step S10, the maintenance window in the maintenance cabin is closed again.

[0128] Figures 10 and 11 respectively show flow charts for cleaning a painting robot (Figure 10) and a handling robot (Figure 11), and as these processes correspond, the two flow charts are described together below. The flow chart according to Figure 10 for cleaning a painting robot differs from the flow chart according to Figure 11 for cleaning a handling robot only in that it includes an additional step of discharging the electrostatic paint charge, which of course plays no role in the handling robot.

[0129] In a first step S1, a user requests cleaning of a painting or handling robot. This is done by the user by pressing the corresponding request button 44, 45 or 46 on the control panel 40.

[0130] In the event of such a user request for a cleaning process, in step S2, the painting operation or the ongoing job of the handling robot is terminated.

[0131] Next, if the painting robot is supplied with an electrostatic painting charge, the electrostatic painting charge is optionally discharged in step S3.

[0132] In the next step S4, the maintenance window of the corresponding maintenance cabin is opened.

[0133] In the next step S5, in order to place the robot to be cleaned in a safe operating state free from potential hazards, the robot to be cleaned is moved into the maintenance cabin through the open maintenance window and powered off.

[0134] In the next step S6, the previously opened maintenance window is closed to a cleaning position in which the robot arm protrudes through the maintenance window into the maintenance cabin and the window closing device still almost completely closes the maintenance window.

[0135] In the next step S7, the access door to the maintenance cabin is opened, and in step S8, an operator can enter the maintenance cabin and clean the painting robot inside the maintenance cabin.

[0136] In the next step S9, the operator again exits the maintenance cabin.

[0137] In the next step S10, the access door to the maintenance cabin is closed and locked by the operator, who confirms his exit from the maintenance cabin by pressing the "Exit" button.

[0138] Next, in step S11, the maintenance window of the maintenance cabin may be opened again.

[0139] Next, in step S12, the painting robot moves out of the maintenance cabin again.

[0140] Finally, in step S13, the maintenance window in the maintenance cabin is closed.

[0141] Next, with reference to the description of FIG. 4, the flow chart according to FIG. 12 which illustrates the automatic washer cleaning operation will be described below.

[0142] In a first step S 1 , an operator may request cleaning of the sprayer cleaning device 31 by pressing a corresponding request button 47 on the control panel 40 .

[0143] Next, in step S2, the corresponding maintenance window 30 in the maintenance cabin 29 is closed.

[0144] In the next step S3, the sprayer cleaning device 31 is pivoted into the maintenance cabin 29.

[0145] Next, in step S4, the access door to the maintenance cabin 29 is opened.

[0146] In the next step S5, an operator may enter the maintenance cabin 29 and clean the sprayer cleaning device 31 in the maintenance cabin 29.

[0147] Next, in step S6, the operator exits the maintenance cabin 29 again.

[0148] After exiting the maintenance cabin 29, the operator presses the corresponding exit button 42, thereby notifying the control system 34 that the maintenance cabin 29 is empty.

[0149] In the next step S8, the sprayer cleaning device 31 is pivoted out of the maintenance cabin 29 again.

[0150] Finally, a flow chart according to FIG. 13 will be described, which illustrates a so-called observation operation, which can be selected on the control panel 40 by the operating mode selection switch 43 selecting the observation operation B.

[0151] In the first step S1, the maintenance window of the desired maintenance cabin is closed.

[0152] Next, in step S2, the access door to the maintenance cabin is opened.

[0153] In the next step S3, an operator enters the maintenance cabin and can observe the painting process in the painting booth from the maintenance cabin.

[0154] Next, in step S4, the operator again exits the maintenance cabin and in step S5 confirms that he has exited the maintenance cabin by pressing the confirmation button 42, whereupon the access door is locked.

[0155] Next, an exemplary embodiment according to Figures 14A and 14B will be described below, which generally corresponds to the exemplary embodiment shown in Figures 3A to 3D described above, so that to avoid repetition, reference is made to the above description and the same reference numbers are used for corresponding details.

[0156] FIG. 14A shows the closure plate 25 in an open state corresponding to the state of FIG. 3A, and FIG. 14B shows the closure plate 25 in a closed state corresponding to the state of FIG. 3B.

[0157] A special feature of this exemplary embodiment is the shape of the cutout 26 in the closure plate 25. The cutout 26 is not rectangular, as in the exemplary embodiment according to Figs. 3A-3D. Instead, the cutout 26 tapers in a triangular shape towards the upper end of the cutout 26. This addresses the problem that the maintenance window 23 must be suitable for different robots (types). On the one hand, the maintenance window 23 must be able to be opened widely so that the maintenance window 23 is large enough for each robot, regardless of the size of the robot. On the other hand, the maintenance window 23 should not be unnecessarily large, since due to safety regulations the free cross section must be small enough that the hand cannot pass through it. The triangular shape of the cutout 26 in the movable closure plate 25 allows the maintenance window 23 to be closed in a way that the hand cannot pass through, depending on the size of the robot. It must be mentioned here that the robot arm 27 protruding through the cutout 26 in the closure plate 25 may instead have a circular cross section.

[0158] FIG. 15 shows a further variant of the exemplary embodiment according to FIG. 14, so that to avoid repetition, reference is again made to the above description and the same reference numbers are used for corresponding details.

[0159] A special feature of this exemplary embodiment is that the cutout 26 in the closing plate 25 tapers in a semicircular shape towards the top of the cutout 26. This has the same technical meaning as the triangular shaped taper in the exemplary embodiment according to Fig. 14, so reference is made to the above technical explanation regarding Fig. 14.

[0160] FIG. 16 shows a variant of the exemplary embodiment according to FIG. 4, so that to avoid repetition, reference is again made to the above description and the same reference numbers are used for corresponding details.

[0161] A special feature of this exemplary embodiment is that the sprayer cleaning device 31 cannot be pivoted about a vertical pivot axis, but can be pivoted about a horizontal pivot axis 48 below the sprayer cleaning device 31. Thus, the sprayer cleaning device 31 can be pivoted into or out of the maintenance cabin 29 about the pivot axis 48 in the direction of the double arrow.

[0162] In comparison, the embodiment shown in FIG. 4 has the disadvantage that while the sprayer cleaning device 31 is pivoted outwardly or inwardly, a large free space is created on the side of the sprayer cleaning device 31, which allows the hand to pass through, violating safety regulations. On the other hand, if the sprayer cleaning device 31 is tilted about the horizontal pivot axis 48, i.e. moved from a vertical position to a position facing diagonally inside the maintenance cabin 29, a free space is created above the sprayer cleaning device 31 that is small enough to meet safety regulations. The same is true for the reverse movement. When the sprayer cleaning device 31 is fully folded into the maintenance cabin 29 (maintenance position), the outer upper end of the sprayer cleaning device 31 forms a closure (which does not have to be airtight). To fold the sprayer cleaning device 31, the holding plate of the sprayer cleaning device 31 is equipped with a handle facing into the maintenance cabin 29. The tilting mechanism may be equipped with a damper (similar to a motion damper on a house door). Another advantage of the inclined variant is that it requires slightly less space on the outer wall of the maintenance cabin 29.

[0163] The present invention is not limited to the preferred embodiment described above. Rather, the present invention claims numerous modifications and further developments that also utilize the inventive concept and therefore fall within the scope of protection. In particular, the present invention also claims protection for the subject matter and features of the dependent claims, independently of the claims referred to in each case, even if not specifically with the features of the main claims. The present invention therefore encompasses various aspects of the invention, which enjoy protection independently of each other. One aspect of the present invention that deserves protection relates, for example, to the structural design and function of the window closing device for closing the maintenance window of the maintenance cabin. Another aspect of the present invention that deserves protection relates, for example, to the pivot mechanism for pivoting the spray cleaning device into or out of the maintenance cabin.

[0164] (Additional Note) (Appendix 1) A coating device for coating a part (2), in particular an automotive body part (2), with a coating agent, in particular a paint, an adhesive, a sealant or an insulating material, comprising: a) a coating booth (1) for housing the part (2) to be coated during coating; b) at least one robot (3-8) arranged in the coating booth (1), in particular b1) at least one application robot (3, 4) for applying a coating agent to the component (2), said application robot (3, 4) guiding an applicator, in particular a rotary sprayer or a printhead, and / or b2) at least one handling robot (5, 6, 7, 8) for handling said parts (2) to be coated, in particular i) as a door opener robot (5, 6) for opening and closing the doors of a motor vehicle body (2), or ii) as a bonnet opener robot (7, 8) for opening and closing the bonnet of the automobile body (2); Handling robots (5, 6, 7, 8), c) at least one maintenance cabin (12-15; 29) for carrying out maintenance procedures inside said maintenance cabin (12-15; 29), said maintenance cabin (12-15; 29) comprising: c1) located inside the coating booth (1) and isolated from other parts of said coating booth (1); c2) access doors (16-19) through which an operator can enter the maintenance cabin (12-15; 29); c3) having a maintenance window (20-22; 23; 30) so that the robot (3-8) can at least partially introduce the robot arm (27, 28) (27, 28) of the robot (3-8) into the maintenance cabin (12-15; 29) through the maintenance window (20-22; 23; 30); The maintenance cabin (12-15; 29), d) a control system (34) for controlling the operation of said coating apparatus; Equipped with e) the control system (34) e1) the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) are closed; e2) the robots (3-8) in the coating booth (1) have been powered off; and / or, f) said control system (34) allows said robot (3-8) to access said maintenance cabin (12-15; 29) through said maintenance window (20-22; 23; 30) only if said access door (16-19) to said maintenance cabin (12-15; 29) is closed and preferably also locked; Characterized by: Coating equipment.

[0165] (Appendix 2) a) the maintenance cabin (12-15; 29) is provided with a door sensor (39) for detecting the open state of the access doors (16-19); and / or b) the maintenance cabin (12-15; 29) is provided with a controllable door lock (38) which in a locked state prevents the access doors (16-19) from being opened, whereby the access doors (16-19) can only be opened in an unlocked state; c) the control system (34) preferably queries the door sensor (39) and controls the door lock (38) to control access to the maintenance cabin (12-15; 29); Characterized by: 2. A coating apparatus according to claim 1.

[0166] (Appendix 3) a) the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) are provided with adjustable window closing devices (37) for opening or completely or partially closing the maintenance windows (20-22; 23; 30); and / or b) the window closing device (37) optionally comprises a movable or pivotable closing plate (25) which, depending on the position of the closing plate (25), opens or completely or partially closes the maintenance window (20-22; 23; 30); and / or c) the movable or pivotable closing plate (25) has a cutout (26) which fits into the cross section of the robot arm (27, 28) of the coating robot (3, 4) or the handling robot (5, 6, 7, 8), so that the closing plate (25) can close the maintenance window (20-22; 23; 30) up to the robot arm (27, 28) when the robot arm (27, 28) protrudes through the maintenance window (20-22; 23; 30) into the maintenance cabin (12-15; 29); and / or d) the closure plate (25) is optionally transparent so that an operator can observe the process in the coating booth (1) through the closure plate (25) from the maintenance cabin (12-15; 29); and / or e) the closing plate (25) is vertically movable; and / or f) the control system (34) controls the window closing device (37); and / or g) the cutout (26) in the closure plate (25) tapers, starting from the end of the closure plate (25), in particular in a triangular or semicircular shape; Characterized by: 3. The coating apparatus according to claim 1 or 2.

[0167] (Appendix 4) a) the window closing device (37), in the open position, substantially completely opens the maintenance window (20-22; 23; 30) of the maintenance cabin (12-15; 29), so that the coating robot (3, 4) and / or the handling robot (5, 6, 7, 8) with its robot arm (27, 28) can enter the maintenance cabin (12-15) through the maintenance window (20-22; 23; 30) unhindered; and b) the window closing device (37), in a closed position, substantially completely closes the maintenance window (20-22; 23; 30) of the maintenance cabin (12-15; 29), thereby allowing the operator to be in the maintenance cabin (12-15; 29) while the part (2) is being coated in the coating booth (1); and c) the window closing device (37), in the cleaning position, covers the maintenance window (20-22; 23; 30) of the maintenance cabin (12-15; 29) up to the contour of the robot arm (27, 28) of the coating robot (3, 4) or the handling robot (5, 6, 7, 8), so that the robot arm (27, 28) can protrude into the maintenance cabin (12-15; 29); Characterized by: 4. A coating apparatus according to claim 3.

[0168] (Appendix 5) a) the access doors (16-19) of the maintenance cabins (12-15; 29) connect the maintenance cabins (12-15; 29) to other parts of the coating booth (1), whereby the maintenance cabins (12-15; 29) are accessible from inside the coating booth (1) through the access doors (16-19), or b) the access doors (16-19) of the maintenance cabins (12-15;29) connect the maintenance cabins (12-15;29) to the external space outside the coating booth (1), so that the maintenance cabins (12-15;29) can be accessed from outside the coating booth (1) through the access doors (16-19); Characterized by: 5. A coating apparatus according to any one of claims 1 to 4.

[0169] (Appendix 6) a) A maintenance device (31) is provided, in particular a1) an applicator cleaning device (31) for cleaning the applicator, in particular a sprayer cleaning device (31) having an insertion opening for inserting the sprayer to be cleaned into the sprayer cleaning device (31) and cleaning the sprayer inside the sprayer cleaning device (31), or a2) a jet testing device for testing the jets of coating agent emitted by the applicator designed as a printhead, or a3) a cleaning device for cleaning the handling tools of said handling robots (5, 6, 7, 8) The following matters have been established: b) the maintenance device (31) is pivotally attached to a pivot opening in a cabin wall (24) of the maintenance cabin (12-15; 29) by a pivot mechanism; c) the maintenance device (31) can be pivoted by the pivot mechanism (36) between an operating position inside the coating booth (1) and a maintenance position inside the maintenance cabin (12-15; 29), in particular about a vertical pivot axis or about a horizontal pivot axis (48); d) the pivot mechanism (36) optionally closes the pivot opening in both the operating position and the maintenance position; e) the pivot mechanism (36) optionally has a first closing plate (32) for closing the pivot opening when the maintenance device (31) is pivoted to the operating position within the coating booth (1); f) the pivot mechanism (36) optionally has a second closing plate (33) for closing the pivot opening when the maintenance device (31) is pivoted to the maintenance position inside the maintenance cabin (12-15; 29); g) the two closing plates (32, 33) of the pivot mechanism (36) are optionally angled relative to each other and pivot together, said angle being preferably substantially 90°; h) optionally, a handle is attached to the maintenance device (31) so that the maintenance device (31) can be pulled into the maintenance cabin (2) from inside the maintenance cabin (29); i) the pivot mechanism (36) optionally includes a damper for damping the pivoting movement of the maintenance device (31); Characterized by: 6. A coating apparatus according to any one of claims 1 to 5.

[0170] (Appendix 7) a) the maintenance cabin (12-15; 29) has a door opener button (41) for opening the access door (16-19); and b) the maintenance cabin (12-15; 29) has a confirmation button (42) for confirming that the operator has left the maintenance cabin (12-15; 29); and c) the door opener button (41) and the confirmation button (42) are connected to the control system (34); Characterized by: 7. A coating apparatus according to any one of claims 1 to 6.

[0171] (Appendix 8) a) the maintenance cabin (12-15; 29) can be operated in a number of different operating modes to ensure the safety of the operator during operation; and b) an operation mode selection switch (43) is arranged in the maintenance cabin (12-15; 29) to select an operation mode of the maintenance cabin (12-15; 29); Characterized by: 8. A coating apparatus according to any one of claims 1 to 7.

[0172] (Appendix 9) The maintenance cabin (12-15; 29) a) Automatic operation; b) a coating robot cleaning operation for cleaning said coating robots (3, 4); c) a handling robot cleaning operation for cleaning said handling robots (5, 6, 7, 8); d) an accessory cleaning operation for cleaning the accessories, in particular the applicator cleaning device (31) or the external charging ring for a sprayer for the external electrostatic charging of the applied coating agent; e) Observation operation for observing the process in the coating booth (1) characterized in that it can be operated in at least one of the following operating modes: 9. The coating apparatus of claim 8.

[0173] (Appendix 10) In the automatic operation, the control system (34) checks whether there is a maintenance request for the coating robot (3, 4) or the handling robot (5, 6, 7, 8), and if a maintenance request is made, a) terminating the coating operation of the coating robot (3, 4) to be cleaned; b) discharging the electrostatic coating agent charging system on said coating robot (3, 4) to be cleaned; c) locking the access doors (16-19) to the maintenance cabin (12-15; 29) to prevent the access doors (16-19) from being opened and to prevent entry into the maintenance cabin (12-15; 29); d) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); e) introducing the coating robot (3, 4) or the handling robot (5, 6, 7, 8) into the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); f) closing the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29) to the cleaning position; g) unlocking the access doors (16-19) to the maintenance cabin (12-15; 29) to allow the operator to enter the maintenance cabin (12-15; 29); h) performing cleaning procedures in the maintenance cabin (12-15; 29); i) locking the access doors (16-19) to the maintenance cabin (12-15; 29) after the operator has left the maintenance cabin (12-15; 29) and closed the access doors (16-19); j) confirmation by the operator after leaving the maintenance cabin (12-15; 29) that the access doors (16-19) to the maintenance cabin (12-15; 29) are locked; k) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); l) moving the coating robot (3, 4) or the handling robot (5, 6, 7, 8) out of the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); m) closing the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29). 3. The method according to claim 1, further comprising the steps of: 10. The coating apparatus of claim 9.

[0174] (Appendix 11) In the coating robot cleaning operation, the control system (34) checks whether there is a cleaning request for the coating robot (3, 4) on the user side, and if there is a cleaning request, a) terminating the coating operation of the coating robot (3, 4) to be cleaned; b) discharging the electrostatic coating agent charging system on said coating robot (3, 4) to be cleaned; c) opening the access doors (16-19) if they are not already locked and locking the access doors (16-19) to the maintenance cabins (12-15; 29) to prevent entry into the maintenance cabins (12-15; 29); d) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); e) introducing the coating robot (3, 4) to be cleaned into the maintenance cabin (12-15, 29) through the opened maintenance window (20-22; 23; 30); f) closing the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29) to the cleaning position; g) powering off said coating robots (3, 4); h) unlocking the access doors (16-19) to the maintenance cabin (12-15; 29) to allow the operator to enter the maintenance cabin (12-15; 29); i) carrying out cleaning procedures in the maintenance cabin (12-15; 29), j) locking the access doors (16-19) to the maintenance cabin (12-15; 29) after the operator has left the maintenance cabin (12-15; 29) and closed the access doors (16-19); k) confirmation by the operator after leaving the maintenance cabin (12-15; 29) that the access doors (16-19) to the maintenance cabin (12-15; 29) are locked; l) opening the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29); m) moving the coating robot (3, 4) out of the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); n) closing the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29); 3. The method according to claim 1, further comprising the steps of: 11. The coating apparatus according to claim 9 or 10.

[0175] (Appendix 12) In the handling robot cleaning operation, the control system (34) checks whether there is a cleaning request for the handling robot (5, 6, 7, 8) from the user side, and if there is a cleaning request, a) finishing the current job of said handling robots (5, 6, 7, 8), b) opening the access doors (16-19) if they are not already locked and locking the access doors (16-19) to the maintenance cabins (12-15; 29) to prevent entry into the maintenance cabins (12-15; 29), c) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); d) introducing the handling robot (5, 6, 7, 8) to be cleaned into the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); e) powering off said handling robots (5, 6, 7, 8); f) closing the maintenance windows (20-22, 23, 30) of the maintenance cabin (12-15; 29) to the cleaning position; g) unlocking the access doors (16-19) to the maintenance cabin (12-15; 29) to allow the operator to enter the maintenance cabin (12-15; 29); h) performing cleaning procedures in the maintenance cabin (12-15; 29); i) locking the access doors (16-19) to the maintenance cabin (12-15; 29) after the operator has left the maintenance cabin (12-15; 29) and closed the access doors (16-19); j) confirmation by the operator after leaving the maintenance cabin (12-15; 29) that the access doors (16-19) to the maintenance cabin (12-15; 29) are locked; k) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); l) moving the handling robot (5, 6, 7, 8) to the outside of the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); m) closing the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29). 3. The method according to claim 1, further comprising the steps of: 12. A coating apparatus according to any one of claims 9 to 11.

[0176] (Appendix 13) When performing a maintenance procedure in the maintenance cabin (12-15; 29), the control system (34) a) cleaning the applicator or the robot arm (27, 28) using a cleaning device in the maintenance cabin (12-15; 29), and / or b) installing and / or replacing the external charging ring of the atomizer in said maintenance cabin (12-15; 29); The method is characterized in that 13. A coating apparatus according to any one of claims 10 to 12.

[0177] (Appendix 14) In the accessory cleaning operation, a) the control system (34) pivots the sprayer cleaning device to the maintenance position in the maintenance cabin (12-15; 29); b) the control system (34) optionally unlocks the door locks of the access doors (16-19) of the maintenance cabins (12-15; 29) to allow the operator to access the maintenance cabins (12-15; 29). The present invention is characterized in that it is defined as follows: 14. The coating apparatus of any one of claims 9 to 13.

[0178] (Appendix 15) In the observation operation, a) the control system (34) controls the window closing device (37) of the maintenance window (20-22; 23; 30) of the maintenance cabin (12-15; 29) so that the window closing device (37) is in the closed position and the maintenance window (20-22; 23; 30) is completely closed; b) the control system (34) unlocks the door locks of the access doors (16-19) of the maintenance cabins (12-15; 29) to allow the operator to access the maintenance cabins (12-15; 29). The present invention is characterized in that it is defined as follows: 15. A coating apparatus according to any one of claims 9 to 14.

[0179] (Appendix 16) a) at least one bonnet opener robot (7, 8) is optionally arranged on an upper stage of the coating booth (1), in particular movably on an upper running rail (9), for opening and closing the bonnet of the motor vehicle body (2); b) at least one coating robot (3, 4) is arranged in the middle of the coating booth (1), in particular on a middle running rail (10), so that it can move; c) at least one door opener robot (5, 6) is optionally arranged at a lower stage of the coating booth (1), in particular movably on a lower running rail (11), for opening and closing the doors of the vehicle body; Characterized in that 16. A coating apparatus according to any one of claims 1 to 15.

[0180] (Appendix 17) the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29) are disposed at such a height that the bonnet opener robot (7, 8), the coating robot (3, 4), and the door opener robot (5, 6) can move together with their robot arms (27, 28) through the maintenance windows (20-22; 23; 30) into the interior of the maintenance cabin (12-15; 29). 17. The coating apparatus of claim 16.

[0181] (Appendix 18) a) the coating booth (1) has a rectangular plan view with four corners, and the maintenance cabins (12-15; 29) are arranged at each of the four corners of the coating booth (1); and / or b) the coating robots (3, 4) are movable or fixedly mounted within the coating booth (1) along a running rail (10); and / or c) the handling robots (5, 6, 7, 8) are movable or fixedly mounted along running rails (9, 11) in the coating booth (1), and / or d) a conveyor is provided for transporting the parts (2) to be coated through the coating booth (1), in particular with an unmanned transport system, and / or e) the applicator is a sprayer, in particular a rotary sprayer, or a printhead; and / or f) an outside air purge system is provided to purge the maintenance cabin (12-15; 29) with outside air when the coating agent is applied in the coating booth (1) in order to ensure breathable air in the maintenance cabin (12-15; 29); and / or g) the cabin wall (24) of the maintenance cabin (12-15; 29) is impermeable to the coating agent, and / or h) one of the handling robots (5, 6) is a SCARA robot designed to open and close the doors of the motor vehicle body (2); and / or i) one of the handling robots (7, 8) is an articulated robot designed to open and close the hood of the automobile body (2); Characterized by: 18. A coating apparatus according to any one of claims 1 to 17.

[0182] (Appendix 19) a) the control system (34) a1) the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) are closed; a2) the coating robots (3, 4) and the handling robots (5, 6, 7, 8) in the coating booth (1) have all been switched off; and / or a3) the coating robot (3, 4) or the handling robot (5, 6, 7, 8) is introduced into the maintenance cabin (12-15; 29); a4) the position of the coating robot (3, 4) or the handling robot (5, 6, 7, 8) and / or the closing plate is safely monitored; a5) the power supply units of the coating robots (3, 4) or the handling robots (5, 6, 7, 8) have been safely switched off; a6) the window closing device (37) closes the maintenance window (20-22; 23; 30) of the maintenance cabin (12-15; 29); a7) the robot arm (27, 28) of the coating robot (3, 4) or the handling robot (5, 6, 7, 8) closes the notch (26) of the closing plate (25) of the window closing device; and / or, b) said control system (34) allows said coating robots (3, 4) and said handling robots (5, 6, 7, 8) to access said maintenance cabins (12-15; 29) through said maintenance windows (20-22; 23; 30) which are monitored and which are only opened when said access doors (16-19) to said maintenance cabins (12-15; 29) are closed and preferably also locked; Characterized by: 19. A method for operating a coating apparatus according to any one of claims 1 to 18. [Explanation of symbols]

[0183] 1. Paint Booth 2 Automobile bodies 3, 4 Painting robot 5, 6 Door opener robot (SCARA robot) 7, 8 Bonnet opener robot 9 Upper running rail for bonnet opener robot 10 Center running rail for painting robot 11 Lower running rail for door opener robot (SCARA robot) 12~15 Maintenance Cabin ("Cubicle") 16~19 Access door to maintenance cabin 20~22 Maintenance window in the maintenance cabin 23 Maintenance window in the maintenance cabin 24 Cabin wall of the maintenance cabin 25 Closing plate for closing the maintenance window of the maintenance cabin 26 Notch in Closure Plate 27 Robot arm of painting robot 28 Door opener robot (Scara robot) robot arm 29 Maintenance Cabin 30 Maintenance Window in the Maintenance Cabin 31 Sprayer cleaning equipment ("cleaning machine") 32 Closing plate for closing the pivot opening when the sprayer cleaning device is pivoted outward 33 Closing plate for closing the pivot opening when the spray cleaning device is pivoted inward 34 Control System 35 Robot Controller 36 Pivot mechanism for sprayer cleaning device 37 Maintenance Cabin maintenance Window window closing device 38 Maintenance cabin access door lock 39 Door sensor for maintenance cabin access door 40 Control Panel 41 Request button to request the opening of the maintenance cabin access door 42 Confirm button to confirm closure of maintenance cabin access door 43 Maintenance cabin operation mode selection switch 44 Request button to request a bonnet opener robot 45 Request button to request a painting robot 46 Request button for requesting a door opener robot (Scara robot) 47 Request button for requesting a sprayer cleaning device 48 Pivot shaft for pivoting the sprayer cleaning device ("cleaner")

Claims

1. A coating device for coating a part (2), in particular an automotive body part (2), with a coating agent, in particular a paint, an adhesive, a sealant or an insulating material, comprising: a) a coating booth (1) for accommodating the part (2) to be coated during coating; b) at least one robot (3-8) arranged in said coating booth (1), in particular b1) at least one application robot (3, 4) for applying a coating material to the component (2), said application robot (3, 4) guiding an applicator, in particular a rotary sprayer or a printhead, and / or b2) at least one handling robot (5, 6, 7, 8) for handling the component (2) to be coated, in particular i) as a door opener robot (5, 6) for opening and closing the doors of a motor vehicle body (2), or ii) as a bonnet opener robot (7, 8) for opening and closing the bonnet of the automobile body (2); Handling robots (5, 6, 7, 8), c) at least one maintenance cabin (12-15; 29) for carrying out maintenance procedures inside said maintenance cabin (12-15; 29), said maintenance cabin (12-15; 29) comprising: c1) located inside the coating booth (1) and isolated from other parts of said coating booth (1); c2) access doors (16-19) through which an operator can enter the maintenance cabin (12-15; 29); c3) having a maintenance window (20-22; 23; 30) by means of which the robots (3-8) can at least partially introduce their robot arms (27, 28) (27, 28) into the maintenance cabin (12-15; 29) through the maintenance window (20-22; 23; 30); the maintenance cabin (12-15; 29); d) a control system (34) for controlling the operation of said coating apparatus; Equipped with e) said control system (34) e1) the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) are closed; e2) the robots (3-8) in the coating booth (1) are powered off; and / or - allowing the operator to access the maintenance cabin (12-15; 29) through the access doors (16-19) only if at least one of the following conditions is met: f) the control system (34) allows the robot (3-8) to access the maintenance cabin (12-15; 29) through the maintenance window (20-22; 23; 30) only when the access door (16-19) to the maintenance cabin (12-15; 29) is closed and preferably also locked; characterized by: Coating equipment.

2. a) the maintenance cabins (12-15; 29) are equipped with door sensors (39) for detecting the open state of the access doors (16-19), and / or b) the maintenance cabins (12-15; 29) are equipped with controllable door locks (38) which, in a locked state, prevent the access doors (16-19) from being opened, so that only in an unlocked state can the access doors (16-19) be opened; c) the control system (34) preferably interrogates the door sensor (39) and controls the door lock (38) to control access to the maintenance cabin (12-15; 29); characterized by:

10. The coating apparatus of claim 1.

3. a) the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) are equipped with adjustable window closing devices (37) for opening or completely or partially closing the maintenance windows (20-22; 23; 30); and / or b) the window closing device (37) optionally comprises a movable or pivotable closing plate (25) which, depending on the position of the closing plate (25), opens or completely or partially closes the maintenance window (20-22; 23; 30); and / or c) the movable or pivotable closing plate (25) has a notch (26) that fits the cross section of the robot arm (27, 28) of the coating robot (3, 4) or the handling robot (5, 6, 7, 8), so that the closing plate (25) can close the maintenance window (20-22; 23; 30) up to the robot arm (27, 28) when the robot arm (27, 28) protrudes through the maintenance window (20-22; 23; 30) into the maintenance cabin (12-15; 29); and / or d) the closure plate (25) is optionally transparent so that an operator can observe the process in the coating booth (1) through the closure plate (25) from the maintenance cabin (12-15; 29); and / or e) the closing plate (25) is vertically movable; and / or f) the control system (34) controls the window closing device (37); and / or g) the notches (26) in the closure plate (25) taper, starting from the edge of the closure plate (25), in particular in the form of a triangle or a semicircle; characterized by:

3. The coating apparatus according to claim 1 or 2.

4. a) in the open position, the window closing device (37) substantially completely opens the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29), so that the coating robots (3, 4) and / or the handling robots (5, 6, 7, 8) with their robot arms (27, 28) can enter the maintenance cabins (12-15) through the maintenance windows (20-22; 23; 30) without hindrance; and b) the window closing device (37), in the closed position, substantially completely closes the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29), thereby allowing the operator to be in the maintenance cabin (12-15; 29) while the part (2) is being coated in the coating booth (1); and c) the window closing device (37), in the cleaning position, covers the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29) up to the contour of the robot arms (27, 28) of the coating robot (3, 4) or the handling robot (5, 6, 7, 8), so that the robot arms (27, 28) can protrude into the maintenance cabin (12-15; 29); characterized by:

4. The coating apparatus of claim 3.

5. a) the access doors (16-19) of the maintenance cabins (12-15; 29) connect the maintenance cabins (12-15; 29) to other parts of the coating booth (1), so that the maintenance cabins (12-15; 29) can be accessed from inside the coating booth (1) through the access doors (16-19), or b) the access doors (16-19) of the maintenance cabins (12-15; 29) connect the maintenance cabins (12-15; 29) to the external space outside the coating booth (1), so that the maintenance cabins (12-15; 29) can be accessed from outside the coating booth (1) through the access doors (16-19); characterized by:

3. The coating apparatus according to claim 1 or 2.

6. a) a maintenance device (31) is provided, in particular a1) an applicator cleaning device (31) for cleaning the applicator, in particular a sprayer cleaning device (31) having an insertion opening for inserting the sprayer to be cleaned into the sprayer cleaning device (31) and cleaning the sprayer inside the sprayer cleaning device (31), or a2) a jet testing device for testing the jets of coating agent emitted by the applicator designed as a printhead, or a3) a cleaning device for cleaning the handling tools of said handling robots (5, 6, 7, 8); It is established as b) the maintenance device (31) is pivotally mounted in a pivot opening in the cabin wall (24) of the maintenance cabin (12-15; 29) by a pivot mechanism; c) the maintenance device (31) can be pivoted by the pivot mechanism (36) between an operating position inside the coating booth (1) and a maintenance position inside the maintenance cabin (12-15; 29), in particular about a vertical pivot axis or about a horizontal pivot axis (48); d) the pivot mechanism (36) optionally closes the pivot opening in both the operating position and the maintenance position; e) the pivot mechanism (36) optionally has a first closing plate (32) for closing the pivot opening when the maintenance device (31) is pivoted to the operating position inside the coating booth (1); f) the pivot mechanism (36) optionally has a second closing plate (33) for closing the pivot opening when the maintenance device (31) is pivoted to the maintenance position inside the maintenance cabin (12-15; 29); g) the two closing plates (32, 33) of the pivot mechanism (36) optionally pivot together at an angle to each other, said angle preferably being substantially 90°; h) optionally, a handle is attached to the maintenance device (31) so that the maintenance device (31) can be pulled into the maintenance cabin (2) from inside the maintenance cabin (29); i) the pivoting mechanism (36) optionally has a damper for damping the pivoting movement of the maintenance device (31); characterized by:

3. The coating apparatus according to claim 1 or 2.

7. a) the maintenance cabins (12-15; 29) have door opener buttons (41) for opening the access doors (16-19); and b) the maintenance cabin (12-15; 29) has a confirmation button (42) for confirming that the operator has left the maintenance cabin (12-15; 29); and c) the door opener button (41) and the confirmation button (42) are connected to the control system (34); characterized by:

3. The coating apparatus according to claim 1 or 2.

8. a) the maintenance cabin (12-15; 29) can be operated in several different operating modes to ensure the safety of the operator during operation; and b) an operating mode selection switch (43) is arranged in the maintenance cabin (12-15; 29) for selecting the operating mode of the maintenance cabin (12-15; 29); characterized by:

3. The coating apparatus according to claim 1 or 2.

9. The maintenance cabin (12-15; 29) a) Automatic operation, b) a coating robot cleaning operation for cleaning said coating robots (3, 4); c) a handling robot cleaning operation for cleaning said handling robots (5, 6, 7, 8); d) accessory cleaning operations for cleaning the accessories, in particular the applicator cleaning device (31) or the external charging ring for the sprayer for the external electrostatic charging of the applied coating agent; e) Observation operation to observe the process inside the coating booth (1). and wherein the device can be operated in at least one of the following modes of operation:

9. The coating apparatus of claim 8.

10. In the automatic operation, the control system (34) checks whether there is a maintenance request for the coating robot (3, 4) or the handling robot (5, 6, 7, 8), and when a maintenance request is made, a) terminating the coating operation of the coating robot (3, 4) to be cleaned; b) discharging the electrostatic coating agent charging system on the coating robot (3, 4) to be cleaned; c) locking the access doors (16-19) to the maintenance cabins (12-15; 29) to prevent the access doors (16-19) from being opened and entry into the maintenance cabins (12-15; 29); d) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); e) introducing the coating robot (3, 4) or the handling robot (5, 6, 7, 8) into the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); f) closing the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29) to the cleaning position; g) unlocking the access doors (16-19) to the maintenance cabins (12-15; 29) to allow the operator to enter the maintenance cabins (12-15; 29); h) carrying out cleaning measures in said maintenance cabin (12-15; 29), i) locking the access doors (16-19) to the maintenance cabins (12-15; 29) after the operator has left the maintenance cabins (12-15; 29) and closed the access doors (16-19); j) confirmation by the operator after leaving the maintenance cabin (12-15; 29) that the access doors (16-19) to the maintenance cabin (12-15; 29) are locked; k) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); l) moving the coating robot (3, 4) or the handling robot (5, 6, 7, 8) out of the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); m) closing the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29).

3. A method for manufacturing a computer-readable medium comprising the steps of:

10. The coating apparatus of claim 9.

11. In the coating robot cleaning operation, the control system (34) checks whether there is a cleaning request for the coating robot (3, 4) on the user side, and if there is a cleaning request, a) terminating the coating operation of the coating robot (3, 4) to be cleaned; b) discharging the electrostatic coating agent charging system on the coating robot (3, 4) to be cleaned; c) opening the access doors (16-19) if they are not already locked and locking the access doors (16-19) to the maintenance cabins (12-15; 29) to prevent entry into the maintenance cabins (12-15; 29); d) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); e) introducing the coating robot (3, 4) to be cleaned into the maintenance cabin (12-15, 29) through the opened maintenance windows (20-22; 23; 30); f) closing the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29) to the cleaning position; g) powering off the coating robots (3, 4); h) unlocking the access doors (16-19) to the maintenance cabins (12-15; 29) to allow the operator to enter the maintenance cabins (12-15; 29); i) carrying out cleaning measures in said maintenance cabin (12-15; 29), j) locking the access doors (16-19) to the maintenance cabins (12-15; 29) after the operator has left the maintenance cabins (12-15; 29) and closed the access doors (16-19); k) confirmation by the operator after leaving the maintenance cabin (12-15; 29) that the access doors (16-19) to the maintenance cabin (12-15; 29) are locked; l) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); m) moving the coating robot (3, 4) out of the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); n) closing the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29).

3. A method for manufacturing a computer-readable medium comprising the steps of:

10. The coating apparatus of claim 9.

12. In the handling robot cleaning operation, the control system (34) checks whether there is a cleaning request for the handling robot (5, 6, 7, 8) on the user side, and if there is a cleaning request, a) finishing the current job of said handling robot (5, 6, 7, 8); b) opening the access doors (16-19) if they are not already locked and locking the access doors (16-19) to the maintenance cabins (12-15; 29) to prevent entry into the maintenance cabins (12-15; 29); c) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); d) introducing the handling robot (5, 6, 7, 8) to be cleaned into the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); e) powering off the handling robots (5, 6, 7, 8); f) closing the maintenance windows (20-22, 23, 30) of the maintenance cabin (12-15; 29) to the cleaning position; g) unlocking the access doors (16-19) to the maintenance cabins (12-15; 29) to allow the operator to enter the maintenance cabins (12-15; 29); h) carrying out cleaning measures in said maintenance cabin (12-15; 29), i) locking the access doors (16-19) to the maintenance cabins (12-15; 29) after the operator has left the maintenance cabins (12-15; 29) and closed the access doors (16-19); j) confirmation by the operator after leaving the maintenance cabin (12-15; 29) that the access doors (16-19) to the maintenance cabin (12-15; 29) are locked; k) opening the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29); l) moving the handling robot (5, 6, 7, 8) out of the maintenance cabin (12-15; 29) through the opened maintenance window (20-22; 23; 30); m) closing the maintenance windows (20-22; 23; 30) of the maintenance cabin (12-15; 29).

3. A method for manufacturing a computer-readable medium comprising the steps of:

10. The coating apparatus of claim 9.

13. The control system (34) when performing a maintenance procedure in the maintenance cabin (12-15; 29) a) cleaning the applicator or the robot arm (27, 28) using a cleaning device in the maintenance cabin (12-15; 29), and / or b) installing and / or replacing the external charging ring of the atomizer in said maintenance cabin (12-15; 29); Executing the following steps: The coating apparatus of claim 10.

14. In the accessory cleaning operation, a) the control system (34) pivots the sprayer cleaning device to the maintenance position in the maintenance cabin (12-15; 29); b) the control system (34) optionally unlocks the door locks of the access doors (16-19) of the maintenance cabins (12-15; 29) to allow the operator to access the maintenance cabins (12-15; 29). characterized in that it is defined as follows:

10. The coating apparatus of claim 9.

15. In the observation operation, a) the control system (34) controls the window closing devices (37) of the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) so that the window closing devices (37) are in the closed position and the maintenance windows (20-22; 23; 30) are completely closed; b) the control system (34) unlocks the door locks of the access doors (16-19) of the maintenance cabins (12-15; 29) to allow the operator to access the maintenance cabins (12-15; 29). characterized in that it is defined as follows:

10. The coating apparatus of claim 9.

16. a) at least one hood opener robot (7, 8) is optionally arranged on an upper stage of the coating booth (1), in particular movably on an upper running rail (9), for opening and closing the hood of the motor vehicle body (2); b) at least one coating robot (3, 4) is arranged in the middle of the coating booth (1), in particular movably on a middle running rail (10); c) at least one door opener robot (5, 6) is optionally arranged at the lower level of the coating booth (1), in particular movably on a lower running rail (11), for opening and closing the doors of the motor vehicle body; characterized in that 3. The coating apparatus according to claim 1 or 2.

17. the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) are arranged at a height such that the hood opener robots (7, 8), the coating robots (3, 4), and the door opener robots (5, 6) can move into the maintenance cabins (12-15; 29) together with their robot arms (27, 28) through the maintenance windows (20-22; 23; 30).

17. The coating apparatus of claim 16.

18. a) the coating booth (1) has a rectangular plan view with four corners, and the maintenance cabins (12-15; 29) are arranged at each of the four corners of the coating booth (1), and / or b) the coating robots (3, 4) are movable or fixedly mounted along running rails (10) within the coating booth (1), and / or c) the handling robots (5, 6, 7, 8) are movable or fixedly mounted along running rails (9, 11) within the coating booth (1), and / or d) a conveyor is provided for transporting the parts (2) to be coated through the coating booth (1), in particular with an unmanned transport system; and / or e) the applicator is a sprayer, in particular a rotary sprayer, or a printhead; and / or f) an outside air purge system is provided to purge the maintenance cabin (12-15; 29) with outside air when the coating agent is applied in the coating booth (1) in order to ensure breathable air in the maintenance cabin (12-15; 29); and / or g) the cabin walls (24) of the maintenance cabins (12-15; 29) are impermeable to the coating agent, and / or h) one of the handling robots (5, 6) is a SCARA robot designed to open and close the doors of the motor vehicle body (2), and / or i) One of the handling robots (7, 8) is an articulated robot designed to open and close the hood of the automobile body (2). characterized by:

3. The coating apparatus according to claim 1 or 2.

19. a) the control system (34) a1) the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29) are closed; a2) the coating robots (3, 4) and the handling robots (5, 6, 7, 8) in the coating booth (1) have all been switched off; and / or a3) the coating robot (3, 4) or the handling robot (5, 6, 7, 8) is introduced into the maintenance cabin (12-15; 29); a4) the position of the coating robot (3, 4) or the handling robot (5, 6, 7, 8) and / or the closing plate is safely monitored; a5) the power supply units of the coating robots (3, 4) or the handling robots (5, 6, 7, 8) have been safely switched off; a6) the window closing device (37) has closed the maintenance windows (20-22; 23; 30) of the maintenance cabins (12-15; 29); a7) the robot arm (27, 28) of the coating robot (3, 4) or the handling robot (5, 6, 7, 8) closes the notch (26) of the closing plate (25) of the window closing device; allowing the operator to access the maintenance cabin (12-15; 29) through the access doors (16-19) only if at least one of the following conditions is met: b) the control system (34) allows the coating robots (3, 4) and the handling robots (5, 6, 7, 8) to access the maintenance cabins (12-15; 29) through the maintenance windows (20-22; 23; 30) which are monitored and which are only opened when the access doors (16-19) to the maintenance cabins (12-15; 29) are closed and preferably also locked; characterized by:

3. A method for operating a coating apparatus according to claim 1 or 2.

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