Method for changing workpiece carrier equipment, workpiece carrier equipment for coating substrates, and production plant

Abstract

This enables rapid and recyclable substrate changes in coating plants. [Solution] The method includes the steps of: transporting the workpiece carrier device 50 from the supply zone 20 to the processing zone 14 by a robot 16; and removably connecting the workpiece carrier device 50 to the production plant 10 via a coupling boundary portion 60 of the workpiece carrier device 50 by transporting the workpiece carrier device 50 by the robot 16, wherein the connecting arm 58 of the workpiece carrier device 50 is coupled to a mounting portion of the production plant 10 in order to removably connect the workpiece carrier device 50 to the production plant 10, so that the connecting arm 58 is fixed in a stationary position relative to the mounting portion; and the rotating shaft of the workpiece carrier device 50 is coupled to a drive shaft of the production plant 10 in order to removably connect the workpiece carrier device 50 to the production plant 10, so that the rotating shaft is rotatably connected to the drive shaft.

Description

Technical Field

[0001] The present invention relates to a method for automatically or fully automatically changing a workpiece carrier device in a production plant for coating a substrate, particularly for coating turbine blades, vanes, air baffles, etc. by means of an EB PVD process (EB PVD: Electron Beam Physical Vapor Deposition). Furthermore, the present invention relates to a corresponding workpiece carrier device and a corresponding production plant that enable full automation of the change of the workpiece carrier device. In the present invention, the workpiece carrier device for a production plant for coating a substrate can also be called a rake, a TBC rake or something similar thereto (TBC: Turbine Blade Coating).

Background Art

[0002] In a production plant known in practice for coating substrates such as turbine blades and air baffles, the workpiece carrier (so-called rake) is assembled and disassembled by plant operators in the loading chamber of the coating chamber. In this case, the coated substrate is removed individually from the workpiece carrier in the loading chamber. The newly coated substrate is also placed individually on the workpiece carrier in the loading chamber. Manually assembling and disassembling individual substrates makes the change process of these substrates time-consuming.

[0003] Since the substrate reaches up to 1000°C during coating, a specific cooling time must be expected before removing it. At a temperature around 600°C, the individual substrates are removed by hand by the operator using heat-resistant gloves.

[0004] Changing the substrate manually in this way is time-consuming, non-ergonomic, and often poses a safety risk. During assembly and disassembly, the respective loading and coating chambers of the production plant cannot be used for coating. Furthermore, handling errors occur during manual assembly and disassembly under the above-mentioned boundary conditions, which may result in a plant downtime. [Overview of the project] [Problems that the invention aims to solve]

[0005] Therefore, the object of the present invention is to provide a method, a workpiece carrier device, and a production plant that overcome the disadvantages of the prior art. In particular, the object of the present invention is to provide a solution that enables rapid and recyclable substrate changes in a coating plant.

[0006] This objective is achieved by the content of the independent claim. Furthermore, the development and embodiments of the method, workpiece carrier device and production plant are the content of the dependent claims and the following description. [Means for solving the problem]

[0007] One embodiment of the present invention relates to a method for changing a workpiece carrier in a production plant for coating a substrate, preferably by an EB PVD process (EB PVD: electron beam physical deposition), preferably a substrate such as a turbine blade, blade, or air baffle. In particular, the method may include changing the workpiece carrier automatically or completely automatically. In the present invention, the workpiece carrier for a production plant for coating a substrate may be called a workpiece carrier, rake, TBC rake, or similar (TBC: turbine blade coating).

[0008] The method involves displacing a workpiece carrier device from the supply zone of a production plant to the processing zone of a production plant using a robot. The displacement includes grasping the workpiece carrier device with the robot's robotic gripper, raising the workpiece carrier device, and rotating the workpiece carrier device. The robot may be, for example, an articulated arm robot, a gantry robot, a multi-axis handling system (handling device), or similar. The robotic gripper may be designed to grasp at least one, at least two, or more than two workpiece carrier devices.

[0009] The method involves releasably coupling the workpiece carrier to the production plant via coupling boundaries of the workpiece carrier in the processing zone and connection divisions of the production plant. The releasable coupling is achieved by further displacement of the workpiece carrier by a robot. In particular, the further displacement can be vertical displacement or, more precisely, downward displacement of the workpiece carrier. The further displacement is usually performed after the workpiece carrier has been displaced to a designated position in the processing zone, particularly within the mounting chamber.

[0010] For a releasable coupling of the workpiece carrier to the production plant, the connecting arm of the workpiece carrier is mechanically coupled to a coupling section of the production plant, thereby fixing or holding the connecting arm in a fixed position relative to the coupling section. Thus, the entire frame structure of the workpiece carrier is fixed or held in a fixed position relative to the coupling section, as the connecting arm is formed integrally with the frame structure, is part of the frame structure, or at least can be fixedly connected to the frame structure. Such a fixed mechanical coupling can be released, particularly by vertical displacement in the form of upward movement of the workpiece carrier by a robot.

[0011] Furthermore, in order to releasably connect the workpiece carrier device to the production plant, the rotating shaft of the workpiece carrier device is mechanically coupled to the drive shaft of the production plant, thereby connecting the rotating shaft to the drive shaft in a rotatable manner. This mechanical coupling is also releasable, particularly by vertical displacement in the form of upward movement of the workpiece carrier device by a robot.

[0012] The method according to the present invention thus allows for the simple modification of a workpiece carrier device, which includes a number of individual holders or substrate receivers on which substrates are arranged. The entire workpiece carrier device, including multiple substrates, can be automatically separated as a unit from other components of the production plant with the help of a robot and mechanical coupling boundaries installed on the workpiece carrier device, and moved to a supply zone or removal zone. From there, the workpiece carrier device can be further transported and assembled and disassembled in an assembly / disassembly zone. Meanwhile, a newly prepared workpiece carrier device with substrates to be coated can be moved by a robot from the supply zone to the processing zone and coupled to the production plant. Thus, unlike conventional production plants, assembly and disassembly within the plant are not performed individually and manually. Instead, a number of substrates are changed automatically and simultaneously. Thanks to the mechanical coupling and displacement of the robot operation, the changes can be performed reproducibly, quickly and reliably. At the same time, the workload of plant workers is reduced.

[0013] In further development of the process, the robot may be equipped with a displaceable clamping bolt. The displaceable clamping bolt can be inserted into a first through-hole formed in the connecting arm and simultaneously into a first rotational shaft hole formed in the rotating shaft before the workpiece carrier device is displaced to the processing zone. This prevents relative rotation between the rotating shaft and the connecting arm, particularly during the displacement and coupling of the workpiece carrier device. The displaceable clamping bolt can be removed or withdrawn from the first through-hole and the first rotational shaft hole after the workpiece carrier device is releasably coupled to the production plant. This allows for relative rotation between the rotating shaft and the connecting arm, which may be required, for example, during subsequent coating of the substrate, in order to move the substrate according to a planned program.

[0014] It is understood that the displaceable clamping bolt can be automatically displaced in and out of the first hole. The displaceable clamping bolt of the robot can be made displaceable pneumatically, hydraulically, and / or electromagnetically. By inserting and withdrawing the displaceable clamping bolt into and out of the associated first hole, the regenerative and therefore replaceability of the connection can be further improved, thus increasing safety. The clamping bolt can be made linearly displaceable, and in particular, vertically displaceable.

[0015] In a further development, the workpiece carrier device can be arranged in the supply zone on a centering tray or centering platform on which centering bolts are formed, such that the centering bolts engage with second through holes formed in the connecting arm and second rotational shaft holes formed in the rotational shaft. This prevents relative rotation between the rotational shaft and the connecting arm. The centering bolts can be fixed centering bolts in particular. The second holes can be spaced apart from the first holes in the circumferential direction of the connecting arm or rotational shaft (e.g., offset by 180 degrees). The second holes can preferably be arranged coaxially with the first holes. The centering bolts can be inserted into the associated first holes by precisely positioning the workpiece carrier device at a preset position on the centering tray using a robot. In particular, the centering bolts can be inserted into the associated second holes by lowering the workpiece carrier device using a robot.

[0016] The centering bolt can be fully inserted into the second hole before it is withdrawn from the first hole to which the displaceable clamping bolt is associated, and preferably before the robot releases the workpiece carrier device. Thus, the rotating shaft can be fixed to the connecting arm unless it is mechanically coupled to the drive shaft.

[0017] The centering tray can be displaced or made movable so that it can be moved together with the workpiece carrier device and the substrate positioned thereon from the supply zone to the assembly / disassembly zone away from the production plant.

[0018] In a further development of the method, the drive shaft of the production plant can be set to a preset rotational position relative to the rotating shaft by a controller before coupling the rotating shaft with the drive shaft. This simplifies the subsequent coupling or engagement of one section of the rotating shaft and one section of the drive shaft. The controller may be, for example, a memory-programmable logic controller or a PLC program.

[0019] Aligning the drive shaft to a predetermined rotational position relative to the drive shaft can be achieved by the alignment for separation of the workpiece carrier device prior to that, in which case the drive shaft remains in the rotational position aligned during the change.

[0020] The alignment of the drive shaft for prior separation includes the simultaneous alignment of the rotating shaft to which it is mechanically coupled. This places the rotating shaft to a predetermined rotational position relative to the connecting arm, thereby aligning the first rotating shaft hole with the first through hole of the connecting arm, and thereby aligning the second rotating shaft hole with the second through hole of the connecting arm.

[0021] In further developments of the method according to the present invention, substrates to be coated and / or coated substrates can be further automatically tracked to measure, for example, their position, coating condition, quality, etc. For example, the method may include monitoring the condition of the substrate. Condition monitoring can be achieved by image processing and / or measurement of the characteristics of the substrate. Measurement of the characteristics of the substrate may include, for example, measuring and comparing the weight of a workpiece carrier device including the substrate before and after coating. Further steps of these methods can help to make production plants and production processes safer and more efficient, as they can suppress unplanned malfunctions by tracking and monitoring, potentially leading to reduced plant downtime.

[0022] The method can be carried out, in particular, by the type of workpiece carrier device and / or production plant described below. Therefore, the features, advantages, functions, operating modes, embodiments, and further developments described in this regard can be applied to further developments of the method and vice versa.

[0023] The method may include simultaneously modifying multiple workpiece carrier devices, such as two, three, or more than three. In this case, the features, functions, and forms described above with respect to the workpiece carrier device are applied to the additional workpiece carrier device.

[0024] A further form of the present invention preferably relates to a workpiece carrier device for a production plant for coating preferably turbine blades, blades, air baffles and the like for coating a substrate by means of an EB PVD process (EB PVD: electron beam physical vapor deposition). The workpiece carrier device can be referred to herein as a workpiece carrier, a rake, a TBC rake or the like.

[0025] The workpiece carrier device includes a frame structure having a plurality of individual holders or substrate receivers formed thereon for holding a plurality of substrates. Each respective individual holder can be formed to hold a substrate.

[0026] The workpiece carrier device includes an elongated connecting arm that connects the frame structure and thus the plurality of individual holders to the connection section of the production plant. The connecting arm has a longitudinal axis along which the connecting arm extends. In particular, the connecting arm can be tubular. Preferably, the connecting arm has a circular cross-sectional area. The connecting arm and the frame structure can in particular be integrally formed. For example, the connecting arm can be part of the frame structure, a region or a section. For example, the connecting arm can be an end portion of the frame structure or the workpiece carrier device.

[0027] The workpiece carrier device includes a rotating shaft rotatably supported in the connecting arm, and the rotating shaft is mechanically coupled to the plurality of individual holders for driving or moving the plurality of substrates. Thus, the rotating shaft is arranged in the connecting arm and extends at least partially through the connecting arm along the longitudinal axis of the connecting arm or has a common longitudinal axis with the connecting arm. By moving the rotating shaft, the individual holders mechanically connected thereto and the substrates held thereby can be moved individually (this can be said particularly during coating).

[0028] The workpiece carrier device has a coupling boundary section via which the workpiece carrier device can be detachably coupled to the production plant by a robot. The coupling boundary section can be formed, in particular, at the end of a connecting arm facing away from a plurality of individual holders. By means of the coupling boundary section, the connecting arm can be mechanically coupled to the connection section of the production plant in order to hold the connecting arm and the frame structure (i.e., the workpiece carrier device). The frame structure is fixedly connected to the connecting arm in a fixed position or is integrally formed with it. Furthermore, by means of the coupling boundary section, the rotary shaft can be mechanically coupled to the drive shaft of the production plant in order to rotatably connect the rotary shaft to the drive shaft. The coupling boundary section thus realizes both a fixed stationary connection for holding and fixing the workpiece carrier device and a mechanical connection for transmitting dynamic movements (in particular rotational movements). It will be appreciated that the mechanical couplings described above are releasable connections.

[0029] In particular, the mechanical coupling can be released or established by the upward / downward movement of the workpiece carrier device, i.e., by the vertical displacement of the workpiece carrier device transverse to the longitudinal axis of the connecting arm. The upward / downward movement of the workpiece carrier device can be effected by displacing the workpiece carrier device by a robot.

[0030] The workpiece carrier device according to the invention can be automatically and / or fully automatically exchanged for the entire workpiece carrier device, including a frame structure having a plurality of single holders and a plurality of base materials arranged thereon, by means of a mechanical coupling boundary section formed thereon such a mechanical coupling boundary section can be used even at high temperatures and enables reliable and safe coupling and separation under the ambient conditions in the processing zone of a coating plant.

[0031] In one embodiment, the coupling boundary includes two engagement surfaces formed on the circumferential surface of the connecting arm for the robot gripper of the robot. The two engagement surfaces can be arranged substantially opposite each other. The two engagement surfaces can be, for example, milled recesses on the circumferential surface of the connecting arm, each having a substantially flat and rounded base surface so that a complementary robot gripper can optimally engage with its base surface.

[0032] In further development, the coupling boundary includes a first through-hole formed in the connecting arm for a robot clamping bolt. The coupling boundary may also include a first rotational shaft hole formed in the rotational shaft for a robot clamping bolt, wherein the first through-hole and the first rotational shaft hole are aligned with each other at a predetermined rotational position of the rotational shaft relative to the connecting arm. The alignment with each other means that the two holes are substantially coaxial with each other and spaced apart along their rotational axes so that a clamping bolt can be inserted through the first through-hole into the first rotational shaft hole, and that the clamping bolt engages with the first through-hole and the first rotational shaft hole simultaneously. Thus, the clamping bolt can prevent or block relative movement between the rotational shaft and the connecting arm, particularly rotational movement, while engaged. The clamping bolt may also be called a clamping pin, lock mandrel, or similar.

[0033] In a further development of the workpiece carrier device, the coupling boundary may include a second through-hole formed in the connecting arm for the centering bolt of the centering tray. The coupling boundary may also include a second rotational shaft hole formed in the rotational shaft for the centering bolt of the centering tray, and the second through-hole and the second rotational shaft hole are aligned with respect to the connecting arm at a predetermined rotational position of the rotational shaft. In particular, the predetermined rotational position can coincide with the predetermined rotational position described above with respect to the first hole. Alignment with respect to each other means that these two holes are arranged substantially coaxially with respect to each other and spaced apart along their rotational axes so that the centering bolt can be inserted through the second through-hole into the second rotational shaft hole, thereby enabling the centering bolt to engage with the second through-hole and the second rotational shaft hole simultaneously. Thus, the centering bolt can prevent or block relative movement between the rotational shaft and the connecting arm, particularly rotational movement, while engaged. The centering bolt may be called a centering pin, centering mandrel, or similar.

[0034] In one embodiment, the coupling boundary may include a sword-shaped portion formed on one end of the rotating shaft. In other words, the coupling boundary may include a key or projection formed on one end of the rotating shaft. The sword-shaped portion or projection / key may be formed on the end face of the end of the rotating shaft. The end of the rotating shaft described herein may be the free end of the rotating shaft in the unassembled state of the workpiece carrier device. The sword-shaped portion or projection / key is configured to engage with a complementary recess (e.g., groove or slot) on the drive shaft to ensure a secure connection between the drive shaft and the rotating shaft, enabling the transmission of rotational motion from at least the drive shaft to the rotating shaft. To enable the engagement of the sword-shaped portion or projection / key with the complementary recess, the rotating shaft and the drive shaft can be set to a preset rotational position and aligned with each other. In particular, the preset rotational position of the rotating shaft described herein may coincide with the preset rotational position described herein in relation to the first and / or second holes.

[0035] Further developments may include a collar formed at one end of the connecting arm, particularly at the free end of the connecting arm in the unassembled state of the workpiece carrier device. The collar may be in the form of an annular section extending axially beyond the end of the connecting arm. The annular section may have the same outer diameter as the adjacent circumferential surface of the connecting arm. The annular section may extend the circumferential surface beyond the end of the connecting arm and may be formed integrally with the circumferential surface. The collar may include a retaining projection formed on its inner surface that extends from the inner surface of the collar in the direction of the longitudinal axis. The retaining projection thus represents a kind of flange section. The retaining projection may be configured to engage with a portion or component of the connecting part, particularly the flange of the connecting part, when the workpiece carrier device is coupled.

[0036] Another embodiment of the present invention relates to a production plant for coating a substrate, preferably by an EB PVD process, particularly for coating turbine blades, vanes, air baffles, and the like.

[0037] The production plant comprises at least one workpiece carrier device of the type described above, the workpiece carrier device being releasably connected to or connectable to a connection section of the rake arm of the production plant. The production plant comprises a drive shaft rotatably mounted to the connection section and rotationally driven by a motor. The motor can be integrated into the production plant or arranged externally.

[0038] In one embodiment, a production plant may include a robot configured to connect a workpiece carrier to a connection point, to separate the workpiece carrier from the connection point, and to displace the workpiece carrier. For example, the robot may be an articulated arm robot, a gantry robot, a multi-axis handling system (handling device), or similar. In particular, the robot may be configured to connect or couple the workpiece carrier to the connection point of the rake arm by positioning and lowering it. In particular, the robot may be configured to separate or disconnect the workpiece carrier from the connection point of the rake arm by raising it. Thus, very simple coupling and uncoupling is possible by using the workpiece carrier and the robot.

[0039] The robot may include displaceable clamping bolts that can be inserted into and removed from a first through-hole and a first rotating shaft hole. The clamping bolts may be pneumatically, hydraulically, and / or electromagnetically displaceable, and the displacement of the clamping bolts may be automatically initiated by a control program. The clamping bolts may be linearly displaceable, and in particular, vertically displaceable.

[0040] The connection section may include an annular ring extending axially from the end face of a rake arm on which a flange is formed. The rake arm represents a frame section of a production plant for transporting or supporting a workpiece carrier device to which it can be attached. The flange extends from the outer circumferential surface of the annular ring, specifically generally upward in the assembled operating conditions of the production plant, away from the longitudinal axis of the annular ring. The annular ring and flange may include a common axial recess formed in the annular ring and flange. In particular, the axial recess may be formed in the upper region of the annular ring and flange in the assembled operating conditions of the production plant. Through the axial recess, a portion of the rotating shaft may be insertable into the connection section (into the annular ring and flange) for connecting the rotating shaft to the drive shaft. More specifically, a sword-shaped portion or projection / key of the rotating shaft may be insertable through the axial recess into a complementary recess (e.g., groove or slot) of the drive shaft when the drive shaft and rotating shaft are aligned with each other and with the axial recess according to a preset rotational position.

[0041] For this purpose, the drive shaft may have complementary recesses (e.g., grooves or slots) formed on the end face into which the sword-shaped section or projection / key of the rotating shaft can be inserted. The end face may be the end face of the drive shaft facing the rotating shaft.

[0042] In further development, the production plant may include a centering tray on which centering bolts are formed. The centering tray can be arranged or positioned in a predetermined location in the production plant, particularly in the supply zone. The workpiece carrier device can be positioned on the centering tray. The centering tray provides a platform for temporarily receiving the workpiece carrier device. The centering bolts can be fixing bolts, pins, or similar that can be inserted into two holes in the connecting arm and the rotating shaft to prevent relative rotation between the rotating shaft and the connecting arm. To pick up and hold the workpiece carrier device on the centering tray, the workpiece carrier device can be placed on the centering tray by a robot.

[0043] A production plant may include multiple workpiece carriers, for example, two, three, or more. In this case, the features, functions, and forms described above in relation to workpiece carriers are applied to additional workpiece carriers.

[0044] The method and workpiece carrier device can also be adapted to other applications and production plants where high temperatures are prevalent and mechanical operating boundaries are required.

[0045] While some features, advantages, functions, operating modes, embodiments, and further developments have been described above in relation only to methods, workpiece carriers, or production plants, these are also applicable to other methods, workpiece carriers, or production plants. [Brief explanation of the drawing]

[0046] Preferred embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0047] [Figure 1] Figure 1 is a schematic diagram of a production plant in a first state according to one embodiment of the present invention. [Figure 2] Figure 2 is a schematic diagram of the production plant in the second state as shown in Figure 1. [Figure 3] Figure 3 is a schematic top view of a production plant according to another embodiment of the present invention. [Figure 4] Figure 4 is a schematic side view of the robot in the production plant shown in Figure 3. [Figure 5] Figure 5 is another schematic detail view of the production plant in Figure 1, showing the uncoupled bond boundary area. [Figure 6] Figure 6 is another schematic detail view of the production plant in Figure 1, showing the bonded boundary area in an unbonded state. [Figure 7] Figure 7 is a schematic detail diagram of the production plant in Figure 1, showing the bonded boundary area in a bonded state. [Figure 8]Figure 8 is a schematic detail diagram of the production plant shown in Figure 1, illustrating one section of the workpiece carrier device positioned on the centering tray. [Figure 9] Figure 9 is a cross-sectional view of the detailed drawing shown in Figure 9. [Figure 10] Figure 10 shows a robot gripper with a displaceable clamping bolt. [Modes for carrying out the invention]

[0048] Figures 1 and 2 show a production plant 10 for coating multiple substrates 12, with only one of them indicated by a reference numeral for clarity. More precisely, in the embodiments shown in the figures, the production plant 10 is a coating plant for coating substrates 12 in the form of turbine blades. Alternatively, the coating plant can also be used to coat blades, air baffles, or other components by the EB PVD process.

[0049] The base material 12 is attached to or supported by a workpiece carrier device 50 of the production plant 10. A preferred embodiment shown in Figures 1 and 2 illustrates four workpiece carrier devices 50. Two workpiece carrier devices 50 each form a double rake array together. For clarity, only one subcomponent of a workpiece carrier device is individually referenced. Therefore, features described in relation to this workpiece carrier device 50 also apply to the other workpiece carrier devices 50.

[0050] Each workpiece carrier device 50 comprises a frame structure 52 on which a plurality of individual holders 54 or substrate receivers 54 are formed. Each substrate 12 is held by an associated individual holder 54, and the individual holders 54 are movable by a rotating shaft 56 (Figures 6 and 7-9) of the workpiece carrier device 50 to move the substrate 12 during coating according to a pre-set movement sequence.

[0051] The workpiece carrier device 50 includes an elongated connecting arm 58. This elongated connecting arm 58 is adjacent to the frame structure 52 or is formed integrally with the frame structure 52, and is therefore part of the frame structure 52.

[0052] The connecting arm 58 is configured to connect the frame structure 52 to the L-shaped rake arm 24 of the production plant 10. For this purpose, the connecting arm 58 is provided with a special coupling boundary section 60 at one end. The rake arm 24 itself is coupled to the manipulator 25 of the production plant 10 and can be moved by the manipulator 25.

[0053] To coat the substrate 12, at least one (in this case, two) of the workpiece carrier devices 50 are positioned in the processing zone 14 of the production plant 10. In the illustrated example, the processing zone is the mounting chamber of the production plant 10, from which the workpiece carrier devices 50 can be moved into the coating chamber by the linear displacement of the manipulator 25. Unlike conventional coating plants, in the production plant 10 according to the present invention, the substrates 12 in the production plant 10 are not guided into the processing zone 14 individually, but rather multiple substrates 12 are guided into the processing zone 14 simultaneously by the displacement of the entire workpiece carrier device 50. Specifically, in the illustrated production plant 10, two workpiece carrier devices 50 are displaced into the processing zone 14 simultaneously.

[0054] For this purpose, the production plant 10 is equipped with a robot 16. In the illustrated embodiment, the robot 16 is an articulated arm robot. At the end of the robot arm, the robot 16 is equipped with two robot grippers 18, so that two separate workpiece carrier devices 50 can be grasped simultaneously in order to displace the workpiece carrier devices, i.e., to raise, rotate, and lower them. In another preferred embodiment, it can be seen that the robot 16 may be equipped with only one robot gripper 18 to grasp one workpiece carrier device 50, or with more than two robot grippers to grasp more than two separate workpiece carrier devices. Grasping, raising, rotating, and lowering can be performed, automated, and specified by a control program.

[0055] The robot 16 is configured and arranged to displace the workpiece carrier device 50 from the supply zone 20 to the processing zone 14. Thus, the workpiece carrier device 50 with the substrate 12 to be coated pre-assembled can be prepared in the supply zone 20. In particular, for this purpose, the workpiece carrier device 50 can be placed on the centering tray 80 in the supply zone 20 to ensure that the workpiece carrier device 50 is in a predetermined position, rotational position and orientation in the supply zone 20.

[0056] Furthermore, the robot 16 is configured and arranged to displace the workpiece carrier device 50 from the processing zone 14 to the removal zone 22 after processing. Thus, the workpiece carrier device 50 with the coated substrate 12 assembled can be transported from the removal zone 22. In the removal zone 22, the workpiece carrier device 50 can be placed back on the centering tray 82 to ensure that it is again in its pre-set position, rotational position, and orientation.

[0057] Specifically, in order to ensure that the workpiece carrier device 50 is in a predetermined position, rotational position and orientation, the centering trays 80, 82 each include at least one receiver 84 and at least one centering bolt (in the preferred embodiment shown, two receivers 84 and two centering bolts 86). The workpiece carrier device 50 can be positioned by the robot 16 on each associated receiver 84 such that the associated centering bolts 86 engage with holes in the workpiece carrier device 50 (Figures 8 and 9). The function of the centering bolts 86 will be described in more detail with reference to Figures 8 and 9.

[0058] By providing different supply and removal zones 20 and 22, the operating steps can be carried out in parallel. For example, one or more workpiece carrier devices 50 assembled with uncoated substrates 12 can be prepared in supply zone 20 when one or more workpiece carrier devices 50 assembled with newly coated substrates 12 are moved from processing zone 14 to removal zone 22.

[0059] The assembly of the substrate 12 to be coated onto the workpiece carrier device 50 can be performed in the supply zone 20 or in an assembly zone (not shown) located away from the supply zone 20. The coated substrate 12 can be removed in the removal zone 22 or in a disassembly zone (not shown) located away from the removal zone 22. The associated centering trays for transporting each workpiece carrier device 50 from the assembly zone to the supply zone 20 and / or from the removal zone 22 to the disassembly zone can be displaceable, for example, movable or sliding.

[0060] As can be seen from Figures 1 and 2, Figure 1 shows the production plant 10 with two workpiece carriers 50 positioned in the processing zone 14. Two more workpiece carriers 50 containing substrates to be coated are positioned in the supply zone 20. In the state shown in Figure 1, the robot 16 is not holding or transporting any workpiece carriers. In contrast, Figure 2 shows the state of the production plant 10 immediately after the two workpiece carriers 50 containing coated substrates 12 have been removed from the processing zone 14. The robot 16 holds or transports the two workpiece carriers 50 with two robotic grippers 18 in order to displace the two workpiece carriers into the removal zone 22 and position them there on the centering tray 82. The robot 16 then uses the two robotic grippers 18 to grasp the workpiece carriers 50 containing substrates to be coated, which were prepared in the supply zone 20 and positioned on the centering tray 80, in order to guide them into the processing zone 14.

[0061] Figures 3 and 4 show a production plant 100 according to a further preferred embodiment. Production plant 100 is essentially identical to production plant 10 in Figures 1 and 2, with only minor modifications to the arrangement of components. Therefore, the components of production plant 100 are given the same reference numerals as in Figures 1 and 2. The description of production plant 10 is therefore applied to production plant 100.

[0062] Figures 5, 6, and 7 show in more detail the region of the coupling boundary 60, specifically one section of the workpiece carrier device 50 and the end portion of the rake arm 24 of the production plant 10. Figures 5 and 6 show the coupling boundary 60 in an uncoupled state, i.e., immediately before or immediately after coupling with the rake arm 24 of the production plant 10. Figure 7 shows the coupling boundary 60 in a coupled state.

[0063] The coupling boundary 60 is designed to allow the workpiece carrier device 50 to be removably coupled to the production plant 10, specifically to the rake arm 24 of the production plant 10, by the robot 16. Removable means that by coupling the workpiece carrier device 50 to the production plant 10 by the coupling boundary 60, a temporary fixed connection can be established between the workpiece carrier device 50 and the production plant 10. This fixed connection can be released again to change the workpiece carrier device 50 without damaging any components for this purpose.

[0064] The structural design of the workpiece carrier device 50 in the area of ​​this coupling boundary 60 allows for simple coupling and uncoupling to and from the rake arm 24 of the production plant 10, thus enabling, for the first time, the automatic modification of the entire workpiece carrier device 50 together with multiple substrates 12.

[0065] As can be seen from Figures 5-7, the connecting arm 58 can be statically connected to the connecting section 26 of the rake arm 24 of the production plant 10 by the connecting boundary section 60 in order to hold the connecting arm 58 in a fixed position relative to the connecting section 26 and therefore to the rake arm 24. In this way, the frame structure 52 or the entire workpiece carrier device 50 is held in a fixed position relative to the rake arm 24.

[0066] Furthermore, in order to rotatably connect the rotating shaft 56 to the drive shaft 28, the rotating shaft 56 can be mechanically coupled to the drive shaft 28 of the production plant 10 by the coupling boundary portion 60. The drive shaft 28 is rotatably mounted in the connection section 26 or the rake arm 24 and is rotationally driveable by a motor (not shown) of the production plant 10. The rotating shaft 56 is rotatably mounted in the connecting arm 58 and is mechanically coupled to a plurality of individual holders 54. Thus, when the rotating shaft 56 and the drive shaft 28 are coupled, the plurality of substrates 12 can be driven by the motor as desired.

[0067] To releasably connect the connecting arm 58 to the connection section 26 of the rake arm 24, in the illustrated embodiment, the connection boundary 60 includes a collar 62 that projects toward the rake arm 24 beyond the free end of the connecting arm 58. The collar 62 extends or lengthens a portion of the outer circumferential surface of the connecting arm 58 in the axial direction. In the illustrated embodiment, since the connecting arm 58 is tubular, the collar 62 itself is in the shape of an annular ring section. On its inner circumferential surface, the collar 62 includes a retaining projection 64 (Figures 6 and 7), which projects from the inner circumferential surface toward the longitudinal axis, i.e., downward in Figures 5-7. The retaining projection 64 is configured to engage behind the flange 30 of the connection section 26 when the workpiece carrier 60 is connected to the rake arm 24. The flange 30 is formed on the annular ring 32 of the connection section 26, which extends axially from the end face 34 of the rake arm 24 toward the connecting arm 58. In Figures 5-7, the flange 30 extends upward from the outer circumferential surface of the annular ring 32. The annular ring 32 and the flange 30 formed thereon are provided with a common axial recess 36. As can be seen from Figures 5-7, the release coupling can be easily achieved by lowering the workpiece carrier device 50 in the direction of the longitudinal axis of the rake arm 24. Disassembly can also be easily achieved by raising the workpiece carrier device 50.

[0068] Furthermore, the rotating shaft 56 is equipped with a sword-shaped end portion 66 for a releasable coupling to the drive shaft 28. That is, at one end of the rotating shaft 56, the end face has an elongated projection 66 or key 66 (sword-shaped end portion 66) projecting toward the drive shaft 28. The length of the projection 66 / key 66 in this case coincides with the diameter of the rotating shaft 56. The projection 66 / key 66 is designed to engage with a complementary recess 38 (or groove or slot) of the drive shaft 28 so that a form-fit connection can be achieved between the drive shaft 28 and the rotating shaft 56, thereby enabling the transmission of rotational motion from the drive shaft 28 to the rotating shaft 56. For this purpose, the projection 66 / key 66 is insertable through the axial recess 36 of the drive shaft into the groove 38 / slot 38. As can be seen from Figures 5-7, such engagement can be achieved by lowering the workpiece carrier device 50 in the direction of the longitudinal axis of the rake arm 24. It should be clear that the separation of shafts 28 and 56 can also be achieved by raising the workpiece carrier device 50.

[0069] In order to insert the projection 66 / key 66 into the groove 38 / slot 38, the rotating shaft 56 and the drive shaft 28 must first be positioned relative to each other in a predetermined rotational position. This alignment is shown in Figures 5-7.

[0070] For this purpose, the drive shaft 28 is positioned in the rotational position shown in the illustration before being coupled and / or uncoupled by the motor and the PLC program.

[0071] In the illustrated embodiment, the rotational position of the rotating shaft 56 is achieved by a centering / tightening bolt and an associated hole. For this purpose, the connecting arm 58 includes a first through hole 68 extending through the wall of the connecting arm 58. Furthermore, the rotating shaft 56 includes an associated first rotational shaft hole 70 (Figure 7). The first through hole 68 and the first rotational shaft hole 70 are spaced equidistant axially from the end face of the rotating shaft 56. Since the rotating shaft 56 is rotatable relative to the connecting arm 58, the first through hole 68 and the first rotational shaft hole 70 are coaxial with each other only at the predetermined relative rotational positions of the rotating shaft 56 and the connecting arm 58 of the frame structure 52.

[0072] The connecting arm 58 further includes a second through-hole 72 (Figures 5 and 9) that extends through the wall of the connecting arm 58. Furthermore, the rotating shaft 56 includes an associated second rotating shaft hole 74 (Figure 9). The second through-hole 72 and the second rotating shaft hole 74 are spaced equidistant from the end face of the rotating shaft 56 in the axial direction. Since the rotating shaft 56 is rotatable relative to the connecting arm 58, the second through-hole 72 and the second rotating shaft hole 74 are also coaxial with each other only at predetermined relative rotational positions of the rotating shaft 56 and the connecting arm 58. The predetermined relative rotational positions are shown in Figures 5 to 9.

[0073] The second through-hole 72 and the second rotation shaft hole 74 are both spaced axially from the end face of the rotation shaft 56 by the same distance as the first through-hole 68 and the first rotation shaft hole 70. The second through-hole 72 and the second rotation shaft hole 74 are positioned opposite to the first through-hole 68 and the first rotation shaft hole 70 on the circumferential surface of the connecting arm 58 and the circumferential surface of the rotation shaft 56, respectively. Specifically, the second through-hole 72 is offset 180° circumferentially from the first through-hole 68, and the second rotation shaft hole 74 is offset 180° circumferentially from the first rotation shaft hole 70.

[0074] In the coupled state, the rotating shaft 56 can be moved to a rotational position indicated by the drive shaft 28 via the motor and PLC program. In this rotational position, the rotating shaft 56 is fixed by a tightening bolt 88 (Figure 10) of the robot 16, which passes through the first through hole 68 and engages with the first rotating shaft hole 70, thereby fixing the rotating shaft 56 to the connecting arm 28 and preventing relative rotation. The tightening bolt 88 can be automatically displaced into and from the first hole, for example, by pneumatic, hydraulic, and / or electromagnetic means.

[0075] To ensure that the rotating shaft 56 is always fixed in a predetermined rotational position, the tightening bolts 88 are inserted into the first holes 68, 70 before the workpiece carrier device 50 is raised and separated from the rake arm 24. Thus, the rotating shaft 56 is instantaneously fixed in its rotational position by the tightening bolts 88 and by coupling the rotating shaft 56 to the drive shaft 28.

[0076] Similarly, the fastening bolt 88 is not withdrawn from the first holes 68, 70 until the centering bolt 86 engages with the second through hole 72 and the second rotation shaft hole 74 to fix the rotation shaft 56 to the connecting arm 58. Insertion of the centering bolt 86 into the second holes 72, 74 can be achieved by lowering or placing the workpiece carrier device 50 onto the centering trays 80, 82, and in one embodiment, the centering bolt 86 can be fixedly formed on the centering trays 80, 82 (Figures 1, 2, 8 and 9). To insert the centering bolt 86 into the second holes 72, 74, the workpiece carrier device 50 is precisely positioned on the centering trays 80, 82 by the robot 16.

[0077] For the best possible gripping, holding, and displacement of the workpiece carrier device 50 by the robot 16, the connecting arm 58 is provided with two engaging surfaces 76 in the region of the coupling boundary 60. The engaging surfaces 76 are milled into the circumferential surface of the connecting arm 58 and formed facing each other (only one engaging surface is shown in Figures 5-7 and 8).

[0078] In particular, the displaceable clamping bolts 88 of the robot 16 are formed in the area of ​​the robot gripper 18, as shown in Figure 10 as an example. In the illustrated preferred embodiment, the clamping bolts 88 are arranged between the gripper arms or gripper jaws 90 on the base body 96 of the robot gripper 18 and are linearly displaceable relative to the base body 96 (in this case, vertically displaceable) as indicated by the double arrows. Furthermore, in the illustrated preferred embodiment, the gripper arms or gripper jaws 90 are displaceable toward and away from each other as indicated by the double arrows 94. The gripper arms or gripper jaws 90 are guided in or rotatably connected to the base body 96 of the robot gripper 18 so as to be linearly displaceable. [Explanation of symbols]

[0079] 10 Production Plants 12 Base material 14 processing zones 16 Robots 18 Robot Gripper 20 supply zones 22 Removal Zone 24 rake arms 25 Manipulators 26 Connection Category 28 Drive shaft 30 flange 32 annular rings 34 End face 36 Axial recess 38 Complementary recesses 50 Workpiece carrier device 52 Frame Structures 54 Individual holders / substrate holders 56 Rotation axis 58 connecting arms 60 Bond boundary 62 Colors 64 Retaining protrusion 66 Ken-shaped end division 68 First through hole 70 First rotation shaft hole 72 Second through hole 74 Second rotation shaft hole 76 Engagement surface 80 Centering Tray 82 Centering Tray 84 Receiver 86 Centering bolt 88 Tightening bolts 90 Gripper Arm or Gripper Jaw 92 Arrow (direction of movement) 94 Arrow (direction of movement) 96 Base Body 100 Production Plants

Claims

1. A method for changing a workpiece carrier device (50) in a production plant (10, 100) for coating a substrate (12), wherein the method is The steps include: displacing the workpiece carrier device (50) by a robot (16) from the supply zone (20) of the production plant (10, 100) to the processing zone (14) of the production plant (10, 100); The steps include: further displacing the workpiece carrier device (50) with the robot (16) to releasably connect the workpiece carrier device (50) to the production plant (10, 100) via the coupling boundary portion (60) of the workpiece carrier device (50); Includes, In order to releasably connect the workpiece carrier device (50) to the production plant (10, 100), the connecting arm (58) of the workpiece carrier device (50) is connected to the connection section (26) of the production plant (10, 100), thereby fixing the connecting arm (58) in a fixed position relative to the connection section (26). In order to releasably connect the workpiece carrier device (50) to the production plant (10, 100), the rotating shaft (56) of the workpiece carrier device (50), which is rotatably mounted on the connecting arm (58), is connected to the drive shaft (28) of the production plant (10, 100), thereby rotatably connecting the rotating shaft (56) to the drive shaft (28), and the method is as follows: Before displacing the workpiece carrier device (50) to the processing zone (14), the steps include simultaneously inserting a tightening bolt (88) into a first through hole (68) formed in the connecting arm (58) and a first rotation shaft hole (70) formed in the rotation shaft (56) in order to prevent relative rotation between the rotation shaft (56) and the connecting arm (58), After the workpiece carrier device (50) is releasably coupled to the production plant (10, 100), the tightening bolts (88) are removed from the first through hole (68) and the first rotating shaft hole (70) to allow relative rotation between the rotating shaft (56) and the connecting arm (58). Methods that further include the above.

2. The method according to claim 1, wherein the robot (16) is equipped with the tightening bolt (88).

3. The method according to claim 1 or 2, wherein the workpiece carrier device (50) is positioned in the supply zone (20) on a centering tray (80) having the centering bolt (86) on top of it, which is formed so as to engage with a second through hole (72) formed in the connecting arm (58) and a second rotation shaft hole (74) formed in the rotating shaft (56) in order to prevent relative rotation between the rotating shaft (56) and the connecting arm (58).

4. Before coupling the rotating shaft (56) to the drive shaft (28), the drive shaft (28) of the production plant (10, 100) is set to a preset rotational position relative to the rotating shaft (56) by the controller. The method according to any one of claims 1 to 3.

5. The method according to any one of claims 1 to 4, wherein the workpiece carrier device (50) comprises a plurality of individual holders (54) for holding a plurality of substrates.

6. The method according to claim 5, wherein the rotating shaft (56) is mechanically coupled to the plurality of individual holders (54) and can be rotatably coupled to the drive shaft (28).

7. The method according to claim 6, wherein the rotating shaft (56) is connectable to the drive shaft (28) to drive each of the individual holders (54) relative to the connecting arm (58).

8. A workpiece carrier device (50) for a production plant (10, 100) for coating a substrate (12), wherein the workpiece carrier device (50) is A frame structure (52) having multiple individual holders (54) for holding multiple substrates (12), A long, slender connecting arm (58) for connecting the frame structure (52) to the connection section (26) of the production plant (10, 100), wherein the connecting arm (58) has a longitudinal axis, A rotating shaft (56) is rotatably attached to the connecting arm (58) and mechanically coupled to the plurality of individual holders (54) in order to drive the plurality of substrates (12), A coupling boundary (60) through which the workpiece carrier device (50) can be removably coupled to the production plant (10, 100) by a robot (16), the coupling boundary (60) can connect the connecting arm (58) to the connection section (26) of the production plant (10, 100) to hold the connecting arm (58) in a fixed position relative to the connection section (26), and the coupling boundary (60) can connect the rotating shaft (56) to the drive shaft (28) of the production plant (10, 100) to rotatably drive the rotating shaft (56) to the drive shaft (28), A tightening bolt (88) is configured to be simultaneously inserted into a first through hole (68) formed in the connecting arm (58) and a first rotation shaft hole (70) formed in the rotating shaft (56) in order to prevent relative rotation between the rotating shaft (56) and the connecting arm (58) before the workpiece carrier device (50) is displaced to the processing zone (14), and Equipped with, The tightening bolt (88) is removable from the first through hole (68) and the first rotating shaft hole (70) to allow relative rotation between the rotating shaft (56) and the connecting arm (58) after the workpiece carrier device (50) is removably coupled to the production plant (10, 100). Workpiece carrier device (50).

9. The workpiece carrier device (50) according to claim 8, wherein the coupling boundary portion (60) comprises two engagement surfaces (76) for a robot gripper (18) formed on the circumferential surface of the connecting arm (58).

10. The workpiece carrier device (50) according to claim 8 or 9, wherein the coupling boundary portion (60) comprises a first through hole (68) formed in the connecting arm (58) for the robot's tightening bolt (88) and a first rotation shaft hole (70) formed in the rotating shaft (56), and the first through hole (68) and the first rotation shaft hole (70) are aligned with each other at a preset rotation position of the rotating shaft (56).

11. The workpiece carrier device (50) according to any one of claims 8 to 10, wherein the connecting boundary portion (60) is provided with a second through hole (72) formed in the connecting arm (58) for the centering bolt (86) of the centering tray (80, 82) and a second rotation shaft hole (74) formed in the rotation shaft (56), and the second through hole (72) and the second rotation shaft hole (74) are aligned with each other at a preset rotation position of the rotation shaft (56).

12. The workpiece carrier device (50) according to any one of claims 8 to 11, wherein the coupling boundary portion (60) comprises a sword-shaped portion (66) formed at one end of the rotating shaft (56).

13. The workpiece carrier device (50) according to any one of claims 8 to 12, wherein the connecting boundary portion (60) comprises a collar (62) formed at one end of the connecting arm (58) and extending in the form of an annular section in the axial direction beyond the end of the connecting arm (58), and the collar (62) comprises a holding projection (64) formed on its inner circumferential surface and extending from the inner circumferential surface in the direction of the longitudinal axis.

14. A production plant (10, 100) for coating a substrate (12), At least one workpiece carrier device (50) according to any one of claims 8 to 13, which is releasably connected to or connectable to a connection section (26) of the production plant (10, 100), wherein the drive shaft (28) is rotatably mounted in the connection section (26) and is rotationally driveable by a motor. A production plant (10, 100) equipped with these features.

15. A robot (16) configured to connect the workpiece carrier device (50) to the connection section (26), to separate the workpiece carrier device (50) from the connection section (26), and to displace the workpiece carrier device (50), The production plant (10, 100) according to claim 14, comprising the above.

16. The production plant (10, 100) according to claim 14 or 15, wherein the robot (26) is equipped with the tightening bolt (88).

17. The production plant (10, 100) according to any one of claims 14 to 16, wherein the connection section (26) comprises an annular ring (32) extending axially from the end face (34) of the frame section and having a flange (30) formed on top thereof, the annular ring (32) and the flange (30) are provided with an axial recess (36), and one section of the rotating shaft (56) can be inserted into the connection section (26) via the axial recess in order to connect the rotating shaft (56) to the drive shaft (28).

18. The production plant (10, 100) according to any one of claims 14 to 17, wherein the production plant (10, 100) comprises centering trays (80, 82) on which centering bolts (86) that can be arranged at predetermined positions of the production plant are formed, and the workpiece carrier device (50) can be positioned on the centering trays (80, 82).

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