Method for modifying a workpiece carrier device, workpiece carrier device for coating substrates and production plant - Patents.com

Abstract

The present invention relates to a method for modifying a workpiece carrier device 50 in a production plant 10 for coating a substrate 12. The method includes the steps of transferring the workpiece carrier device 50 from a supply zone 20 to a treatment zone 14 by a robot 16, and removably coupling the workpiece carrier device 50 to the production plant 10 via a coupling interface 60 of the workpiece carrier device 50 by further transferring the workpiece carrier device 50 by the robot 16, wherein a connecting arm 58 of the workpiece carrier device 50 is coupled to a mounting part 26 of the production plant 10 so that the connecting arm 58 is fixed in a stationary position relative to the mounting part 26, and a rotation shaft 56 of the workpiece carrier device 50 is coupled to a drive shaft 28 of the production plant 10 so that the rotation shaft 56 is rotatably connected to the drive shaft 28 so that the workpiece carrier device 50 is removably coupled to the production plant 10.

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 substrates, in particular for coating turbine blades, vanes, air baffles, etc. by 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, which allows a fully automated changing of the workpiece carrier device. In the context of the present invention, a workpiece carrier device for a production plant for coating substrates can also be called a rake, TBC rake or similar (TBC: Turbine Blade Coating). [Background technology]

[0002] In production plants known for their practice of coating substrates such as turbine blades, air baffles, and the like, workpiece carriers (so-called rakes) are assembled and disassembled by plant personnel in a loading room of a coating chamber. In this case, coated substrates are individually removed from the workpiece carrier in the loading room. New substrates to be coated are also individually placed on the workpiece carrier in the loading room. Manual assembly and disassembly of individual substrates makes the changeover process for these substrates time-consuming.

[0003] The substrates reach temperatures of up to 1000°C during coating and must be allowed a certain cooling time before they can be removed. At a temperature of around 600°C, the individual substrates are removed by hand by workers using heat-resistant gloves.

[0004] Such manual substrate changes are time-consuming, unergonomic, and often pose a safety hazard. During assembly and disassembly, the respective loading and coating chambers of the production plant are unavailable for coating. Furthermore, during manual assembly and disassembly under the boundary conditions described above, handling errors can occur, resulting in plant downtime. Summary of the Invention [Problem to be solved by the invention]

[0005] It is therefore an object of the present invention to provide a method, a workpiece carrier device and a production plant that overcome the disadvantages of the prior art, in particular to provide a solution that allows for fast and reproducible substrate changes in a coating plant.

[0006] This object is achieved by the subject matter of the independent claims. Further developments and embodiments of the method, the workpiece carrier device and the production plant are the subject matter of the dependent claims and the following description. [Means for solving the problem]

[0007] One aspect of the invention relates to a method for modifying a workpiece carrier apparatus in a production plant for coating substrates, preferably turbine blades, vanes, air baffles, etc., preferably by an EB PVD process (EB PVD: Electron Beam Physical Vapor Deposition). In particular, the method may comprise automatically or fully automatically modifying the workpiece carrier apparatus. In the context of the invention, a workpiece carrier apparatus for a production plant for coating substrates may be referred to as a workpiece carrier, rake, TBC rake, or similar (TBC: Turbine Blade Coating).

[0008] The method includes displacing a workpiece carrier device from a supply zone of a production plant to a processing zone of the production plant by a robot. The displacing includes gripping the workpiece carrier device with a robot gripper of the robot, lifting the workpiece carrier device, and rotating the workpiece carrier device. The robot can be, for example, an articulated arm robot, a gantry robot, a multi-axis handling system (handling device), or the like. The robot gripper can be designed to grip at least one, at least two, or more than two workpiece carrier devices.

[0009] The method comprises releasably coupling the workpiece carrier device to the production plant in the processing zone via a coupling boundary of the workpiece carrier device and a connecting section of the production plant. The releasable coupling is realized by a further displacement of the workpiece carrier device by the robot. In particular, the further displacement can be a vertical displacement or, more precisely, a lowering of the workpiece carrier device. The further displacement is usually performed after displacing the workpiece carrier device into a designated position in the processing zone, in particular into a loading chamber.

[0010] For the releasable coupling of the workpiece carrier device to the production plant, the connecting arms of the workpiece carrier device are mechanically coupled to a connecting section of the production plant, whereby the connecting arms are fixed or held in a fixed position relative to the connecting section. The entire frame structure of the workpiece carrier device is thereby fixed or held in a fixed position relative to the connecting section, since the connecting arms are formed integrally with the frame structure, are part of the frame structure, or can at least be fixedly connected to the frame structure. Such a fixed mechanical coupling can be released by vertical displacement, in particular in the form of an upward movement of the workpiece carrier device by a robot.

[0011] Furthermore, in order to releasably couple the workpiece carrier device to the production plant, the rotation axis of the workpiece carrier device is mechanically coupled to a drive shaft of the production plant, whereby the rotation axis is rotatably connected to the drive shaft, this mechanical coupling also being releasable by vertical displacement, in particular in the form of an upward movement of the workpiece carrier device by the robot.

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

[0013] In a further development of the process, the robot can be provided with a displaceable clamping bolt. The displaceable clamping bolt can be inserted into the first through-hole formed in the connecting arm and simultaneously into the first rotary shaft bore formed in the rotary shaft before the workpiece carrier device is displaced into the processing zone. This makes it possible to prevent relative rotation between the rotary shaft and the connecting arm, particularly during 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 rotary shaft bore after the workpiece carrier device is releasably coupled to the production plant. This makes it possible to enable relative rotation between the rotary shaft and the connecting arm, which is required, for example, during subsequent coating of the substrate, to move the substrate according to a predetermined program.

[0014] It will be seen that the displaceable clamping bolt can be automatically displaced into and out of the first hole. The robot's displaceable clamping bolt can be pneumatically, hydraulically and / or electromagnetically displaceable. By inserting and withdrawing the displaceable clamping bolt into and from the associated first hole, the reproducibility and therefore replacement of the connection can be further improved, thus further increasing safety. The clamping bolt can be linearly displaceable, in particular vertically displaceable.

[0015] According to a further development, the workpiece carrier device can be arranged in the feeding zone on a centering tray or centering platform on which the centering bolts are formed, so that the centering bolts engage in the second through-holes formed in the connecting arms and in the second rotation shaft holes formed in the rotation shaft. This prevents relative rotation between the rotation shaft and the connection arms. The centering bolts can in particular be fixed centering bolts. The second holes can be spaced apart from the first holes in the circumferential direction of the connecting arms or the rotation 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 accurately positioning the workpiece carrier device at a preset position on the centering tray by a robot. In particular, the centering bolts can be inserted into the associated second holes by lowering the workpiece carrier device by a robot.

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

[0017] The centering tray may be displaceable or movable so that it can be moved together with the workpiece carrier device and the substrates positioned thereon from the supply zone to an assembly and disassembly zone remote from the production plant.

[0018] In a further development of the method, the drive shaft of the production plant can be placed in a preset rotational position relative to the rotary shaft by the controller before coupling the rotary shaft with the drive shaft, thereby simplifying the subsequent coupling or engagement of a segment of the rotary shaft with a segment of the drive shaft. The controller can, for example, be a memory programmable logic controller or comprise a PLC program.

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

[0020] Aligning the drive shaft for prior separation includes simultaneously aligning the rotary shaft mechanically coupled thereto to its preset rotational position relative to the connecting arm, thereby aligning the first rotary shaft bore with the first through-hole of the connecting arm and thereby aligning the second rotary shaft bore with the second through-hole of the connecting arm.

[0021] In further developments of the method according to the invention, the substrates to be coated and / or the coated substrates can further be automatically tracked, e.g., to measure their position, coating status, quality, etc. For example, the method can include substrate condition monitoring. The condition monitoring can be achieved by image processing and / or measurement of properties of the substrate. The measurement of properties of the substrate can, for example, include measuring and comparing the weight of the workpiece carrier device containing the substrate before and after coating. These further method steps can make the production plant and production process safer and more efficient, since unplanned malfunctions can be suppressed by tracking and monitoring, potentially leading to reduced plant downtime.

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

[0023] The method may include simultaneously modifying multiple workpiece carrier devices, e.g., two, three, or more than three workpiece carrier devices, in which case the features, functions, and configurations described above with respect to the workpiece carrier devices apply to the additional workpiece carrier devices.

[0024] A further aspect of the invention relates to a workpiece carrier apparatus for a production plant for coating substrates, preferably by an EB PVD process (EB PVD: Electron Beam Physical Vapour Deposition), preferably for coating turbine blades, vanes, air baffles etc. The workpiece carrier apparatus may be referred to herein as a workpiece carrier, rake, TBC rake or similar.

[0025] The workpiece carrier apparatus includes a frame structure having a plurality of individual holders or substrate receivers formed thereon for holding a plurality of substrates, each of which may be configured 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 a connecting section of the production plant. The connecting arm has a longitudinal axis along which it extends. In particular, the connecting arm can be tubular. Preferably, the connecting arm has a circular cross-section. The connecting arm and the frame structure can in particular be formed integrally. For example, the connecting arm can be a part, a region or a section of the frame structure. For example, the connecting arm can be an end section of the frame structure or the workpiece carrier device.

[0027] The workpiece carrier device includes a rotating shaft rotatably supported on a connecting arm, the rotating shaft being mechanically coupled to a plurality of individual holders for driving or moving a plurality of substrates. The rotating shaft is thus arranged in the connecting arm and extends at least partially through 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 independently (this is particularly true during coating).

[0028] The workpiece carrier device comprises a coupling interface, via which the workpiece carrier device can be removably coupled to the production plant by a robot. The coupling interface can be formed, in particular, at the end of the connecting arm facing away from the plurality of individual holders. By means of the coupling interface, the connecting arm can be mechanically coupled to a connecting section of the production plant for holding the connecting arm and the frame structure (i.e., the workpiece carrier device). The frame structure is fixedly connected in a fixed position relative to the connecting arm or is formed integrally therewith. Furthermore, by means of the coupling interface, the rotating shaft can be mechanically coupled to a drive shaft of the production plant for rotatably connecting the rotating shaft to the drive shaft. The coupling interface thus realizes both a fixed, static connection for holding and fixing the workpiece carrier device and a mechanical connection for transmitting dynamic movements (in particular rotational movements). It will be understood that the above-mentioned mechanical coupling is a releasable connection.

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

[0030] The workpiece carrier device according to the invention allows the automatic and / or fully automatic exchange of the entire workpiece carrier device, including the frame structure with the plurality of single holders and the plurality of substrates arranged thereon, by means of a mechanical coupling interface formed therein, which allows reliable and safe coupling and decoupling even at high temperatures and under the ambient conditions in the processing zone of a coating plant.

[0031] In one embodiment, the coupling interface includes two engagement surfaces formed on the peripheral surface of the connecting arm for the robot grippers of the robot. The two engagement surfaces can be arranged substantially opposite each other. The two engagement surfaces can be, for example, recesses milled into the peripheral surface of the connecting arm, each having a substantially flat, non-rounded base surface for optimal engagement with a complementary robot gripper.

[0032] According to a further development, the coupling interface comprises a first through-hole formed in the connecting arm for a clamping bolt of the robot. The coupling interface can comprise a first rotary shaft hole formed in the rotating shaft for a clamping bolt of the robot, the first through-hole and the first rotary shaft hole being aligned with each other in a preset rotational position of the rotating shaft relative to the connecting arm. Alignment with each other means that the two holes are substantially coaxially arranged with each other and spaced apart along the rotation axis such that the clamping bolt can be inserted through the first through-hole and into the first rotary shaft hole, and the clamping bolt simultaneously engages with the first through-hole and the first rotary shaft hole. Thus, the clamping bolt can inhibit or prevent relative movement, in particular rotational movement, between the rotating shaft and the connecting arm during engagement. The clamping bolt can also be called a clamping pin, a locking mandrel, or the like.

[0033] In a further development of the workpiece carrier device, the coupling interface can include a second through-hole formed in the connecting arm for the centering bolt of the centering tray. The coupling interface can have a second rotary shaft hole formed in the rotary shaft for the centering bolt of the centering tray, the second through-hole and the second rotary shaft hole being aligned with each other at a preset rotational position of the rotary shaft relative to the connecting arm. In particular, the preset rotational position can correspond to the preset rotational position described above with respect to the first hole. Alignment with each other means that these two holes are arranged substantially coaxially with each other and spaced apart from each other along the rotation axis so that the centering bolt can be inserted through the second through-hole and into the second rotary shaft hole, thereby simultaneously engaging with the second through-hole and the second rotary shaft hole. Thus, the centering bolt can inhibit or prevent relative movement, in particular rotational movement, between the rotary shaft and the connecting arm during engagement. The centering bolt can be called a centering pin, a centering mandrel, or the like.

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

[0035] According to a further development, the connection interface can include a collar formed at one end of the connecting arm, in particular at the free end of the connecting arm in the unassembled state of the workpiece carrier device. The collar can be in the form of an annular section extending axially beyond the end of the connecting arm. The annular section can have the same outer diameter as the adjacent circumferential surface of the connecting arm. The annular section can extend the circumferential surface beyond the end of the connecting arm and can be formed integrally with the circumferential surface. The collar can include a retention protrusion formed on its inner circumferential surface extending from the inner circumferential surface of the collar in the direction of the longitudinal axis. The retention protrusion therefore represents a kind of flange section. The retention protrusion can be configured to engage behind a part or component of the connecting part, in particular a flange of the connecting part, when the workpiece carrier device is connected.

[0036] Another aspect of the invention relates to a production plant for coating substrates, preferably by an EB PVD process, in particular 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, which is releasably connected or connectable to a connection section of a rake arm of the production plant. The production plant comprises a drive shaft rotatably mounted on the connection section and rotatably drivable by a motor. The motor can be integrated into the production plant or arranged externally.

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

[0039] The robot may include a displaceable clamping bolt that is insertable into and removable from the first through hole and the first rotary shaft hole. The clamping bolt may be pneumatically, hydraulically, and / or electromagnetically displaceable, and the displacement of the clamping bolt may be automatically activated by a control program. The clamping bolt may be linearly displaceable, particularly vertically displaceable.

[0040] The connecting section may include an annular ring extending axially from the end face of the rake arm on which the flange is formed. The rake arm refers to a frame section of a production plant for transporting or supporting a workpiece carrier device that can be attached thereto. The flange extends from the outer peripheral surface of the annular ring in a direction away from the longitudinal axis of the annular ring, specifically generally upward in the assembled operating condition of the production plant. The annular ring and the flange may include a common axial recess formed therein. In particular, the axial recess may be formed in an upper region of the annular ring and the flange in the assembled operating condition of the production plant. Through the axial recess, a portion of the rotating shaft may be insertable into the connecting section (into the annular ring and the flange) to connect the rotating shaft to the drive shaft. More specifically, a sword-shaped portion or a protrusion / key of the rotating shaft may be insertable through the axial recess into a complementary recess (e.g., a groove or slot) of the drive shaft when the drive shaft and the 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 a complementary recess (e.g., groove or slot) formed in its end face into which the sword section or protrusion / key of the rotating shaft may be inserted. The end face may be the end face of the drive shaft facing the rotating shaft.

[0042] In a further development, the production plant can include a centering tray on which centering bolts are formed. The centering tray can be arrangeable or located in a preset position in the production plant, in particular in a feeding zone. The workpiece carrier device can be positionable 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 the like, insertable 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 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] The production plant may include a plurality of workpiece carrier devices, for example, two, three or more workpiece carrier devices, in which case the features, functions and configurations described above in relation to the workpiece carrier devices apply to the additional workpiece carrier devices.

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

[0045] Although some features, advantages, functions, modes of operation, embodiments and further developments have been described above only with respect to a method, a workpiece carrier device or a production plant, they are also applicable to the other methods, workpiece carrier devices or production plants, respectively. [Brief explanation of the drawings]

[0046] Preferred embodiments of the invention are described in more detail below with reference to the accompanying drawings.

[0047] [Figure 1] FIG. 1 is a schematic diagram of a production plant in a first state according to one embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram of the production plant of FIG. 1 in a second state. [Figure 3] FIG. 3 is a schematic top view of a production plant according to another embodiment of the present invention. [Figure 4] FIG. 4 is a schematic side view of the robot of the production plant of FIG. [Figure 5] FIG. 5 is another schematic detail view of the production plant of FIG. 1 in the unbonded bond boundary area. [Figure 6] FIG. 6 is another schematic detail view of the production plant of FIG. 1 in the bonded boundary area in an unbonded state. [Figure 7] FIG. 7 is a schematic detail view of the production plant of FIG. 1 in the bonded interface area in a bonded state. [Figure 8]FIG. 8 is a schematic detail view of the production plant of FIG. 1 showing a section of the workpiece carrier device positioned on a centering tray. [Figure 9] FIG. 9 is a cross-sectional view of the detail shown in FIG. [Figure 10] FIG. 10 shows a robot gripper with a displaceable clamping bolt. DETAILED DESCRIPTION OF THE INVENTION

[0048] 1 and 2 show a production plant 10 for coating a plurality of substrates 12, only one of which is labeled with a reference number for clarity. More precisely, in the embodiment 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 for coating blades, air baffles or other components by an EB PVD process.

[0049] The substrates 12 are mounted on or supported by workpiece carrier apparatuses 50 of the production plant 10. Four workpiece carrier apparatuses 50 are shown in the preferred embodiment of Figures 1 and 2. Two workpiece carrier apparatuses 50 each together form a double rake arrangement. For clarity, only one subcomponent of a workpiece carrier apparatus is individually referenced. Therefore, features, etc. described with respect to this workpiece carrier apparatus 50 also apply to the other workpiece carrier apparatuses 50.

[0050] Each of the workpiece carrier devices 50 includes a frame structure 52 on which are formed a plurality of individual holders 54 or substrate receptacles 54. One substrate 12 is held by an associated individual holder 54, and the individual holders 54 are movable by a rotation axis 56 (FIGS. 6 and 7-9) of the workpiece carrier device 50 to move the substrate 12 during coating according to a preset movement sequence.

[0051] The workpiece carrier device 50 comprises an elongated connecting arm 58. The elongated connecting arm 58 is adjacent to the frame structure 52 or is integrally formed therewith 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 at one end with a special coupling interface 60. The rake arm 24 is itself coupled to the manipulator 25 of the production plant 10 and can be moved by the manipulator 25.

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

[0054] To this end, the production plant 10 comprises a robot 16. In the embodiment shown, the robot 16 is an articulated arm robot. At the end of the robot arm, the robot 16 comprises two robot grippers 18, by means of which 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. It should be understood that in alternative preferred embodiments, the robot 16 can comprise only one robot gripper 18 for grasping one workpiece carrier device 50, or more than two robot grippers for grasping more than two separate workpiece carrier devices. The grasping, lifting, 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 can be provided in the supply zone 20 with the substrate 12 to be coated pre-assembled thereon. In particular, for this purpose, the workpiece carrier device 50 can be placed on a centering tray 80 in the supply zone 20 to ensure that the workpiece carrier device 50 is in a preset position, rotational position and orientation in the supply zone 20.

[0056] Furthermore, the robot 16 is constructed and arranged to displace the workpiece carrier device 50 from the processing zone 14 to the unloading zone 22 after processing. Thus, the workpiece carrier device 50 assembled with the coated substrate 12 can be transferred from the unloading zone 22. Also in the unloading zone 22, the workpiece carrier device 50 can be placed again on the centering tray 82 to ensure that the workpiece carrier device 50 is again in the preset position, rotational position and orientation.

[0057] Specifically, to ensure that the workpiece carrier apparatus 50 is in a preset position, rotational position, and orientation, the centering trays 80, 82 each include at least one receptacle 84 and at least one centering bolt (two receptacles 84 and two centering bolts 86 in the preferred embodiment shown). The workpiece carrier apparatus 50 can be positioned by the robot 16 into each associated receptacle 84 such that the associated centering bolts 86 engage holes in the workpiece carrier apparatus 50 (FIGS. 8 and 9). The function of the centering bolts 86 will be described in more detail in connection with FIGS. 8 and 9.

[0058] By providing different supply and unloading zones 20, 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 already be ready in the supply zone 20 when one or more workpiece carrier devices 50 assembled with substrates 12 that have just finished being coated are displaced from the processing zone 14 to the unloading zone 22.

[0059] Assembly of the substrates 12 to be coated onto the workpiece carrier devices 50 can occur in the supply zone 20 or in an assembly zone (not shown) separate from the supply zone 20. Removal of the coated substrates 12 can occur in the removal zone 22 or in a disassembly zone (not shown) separate from the removal zone 22. To transport the respective workpiece carrier devices 50 from the assembly zone to the supply zone 20 and / or from the removal zone 22 to the disassembly zone, the associated centering tray can be displaceable, e.g., movable, slidable, etc.

[0060] As can be seen from FIGS. 1 and 2 , FIG. 1 shows the production plant 10 with two workpiece carrier devices 50 disposed in the processing zone 14. Two more workpiece carrier devices 50 containing substrates to be coated are positioned in the supply zone 20. The robot 16 is not holding or carrying any of the workpiece carrier devices in the state shown in FIG. 1 . In contrast, FIG. 2 shows the state of the production plant 10 immediately after the two workpiece carrier devices 50 containing the coated substrates 12 have been removed from the processing zone 14. The robot 16 holds or carries the two workpiece carrier devices 50 with the two robot grippers 18 in order to displace the two workpiece carrier devices into the unloading zone 22 and position them on the centering tray 82 there. The robot 16 then uses the two robot grippers 18 to grasp the workpiece carrier devices 50 containing the substrates to be coated that were prepared in the supply zone 20 and positioned on the centering tray 80, for guiding them into the processing zone 14.

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

[0062] A section of the workpiece carrier device 50 in the region of the joining interface 60 and the end portion of the rake arm 24 of the production plant 10 are shown in more detail in Figures 5, 6 and 7. Figures 5 and 6 show the joining interface 60 in an unjoined state, i.e. just before or just after joining with the rake arm 24 of the production plant 10. Figure 7 shows the joining interface 60 in a joined state.

[0063] The coupling interface 60 is designed so that the workpiece carrier apparatus 50 can be releasably coupled to the production plant 10 by the robot 16, in particular to the rake arm 24 of the production plant 10. Releasable means that by coupling the workpiece carrier apparatus 50 to the production plant 10 by means of the coupling interface 60, a fixed connection can be temporarily established between the workpiece carrier apparatus 50 and the production plant 10. This fixed connection can be released again in order to change the workpiece carrier apparatus 50 without damaging any components for this purpose.

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

[0065] 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 a connecting interface 60 in order to hold the connecting arm 58 in a fixed position relative to the connecting section 26 and therefore relative 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, the rotating shaft 56 can be mechanically coupled to the drive shaft 28 of the production plant 10 by a coupling interface 60 to rotatably connect the rotating shaft 56 to the drive shaft 28. The drive shaft 28 is rotatably mounted at the connecting section 26 or the rake arm 24 and can be rotationally driven by a motor (not shown) of the production plant 10. The rotating shaft 56 is rotatably mounted in the connecting arm 58 and mechanically coupled to the 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 couple the connecting arm 58 to the connecting section 26 of the rake arm 24, in the illustrated embodiment, the coupling interface 60 includes a collar 62 that projects beyond the free end of the connecting arm 58 toward the rake arm 24. 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, the connecting arm 58 is tubular, so the collar 62 is itself in the shape of an annular ring section. On its inner circumferential surface, the collar 62 is provided with a retaining protrusion 64 (FIGS. 6 and 7), which protrudes from the inner circumferential surface in the direction of the longitudinal axis, i.e., downward in FIGS. 5-7. The retaining protrusion 64 is configured to engage behind the flange 30 of the connecting section 26 when the workpiece carrier device 60 is coupled to the rake arm 24. The flange 30 is formed on the annular ring 32 of the connecting section 26, which extends axially from the end face 34 of the rake arm 24 toward the connecting arm 58. The flange 30 extends upwardly from the outer peripheral surface of the annular ring 32 in Figures 5-7. The annular ring 32 and the flange 30 formed thereon have a common axial recess 36. As can be seen from Figures 5-7, the releasable coupling can be simply achieved by lowering the workpiece carrier device 50 in the direction of the longitudinal axis of the rake arm 24. It should be seen that disassembly can also be simply achieved by raising the workpiece carrier device 50.

[0068] Furthermore, the rotating shaft 56 is provided with a sword-shaped end portion 66 for 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) that projects toward the drive shaft 28. The length of the projection 66 / key 66 in this case corresponds to 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) in the drive shaft 28, thereby achieving a form-fit connection 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 can be inserted through the axial recess 38 of the drive shaft and into the groove 38 / slot 38. As can be seen from FIGS. 5 to 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 appreciated that separation of the axes 28, 56 can likewise be achieved by raising the workpiece carrier device 50.

[0069] To insert the protrusion 66 / key 66 into the groove 38 / slot 38, the rotary shaft 56 and drive shaft 28 must first be in a preset rotational position relative to one another. This alignment is shown in Figures 5-7.

[0070] For this purpose, the drive shaft 28 is brought to the rotational positions shown before coupling and / or decoupling by the motor and PLC program.

[0071] In the illustrated embodiment, the rotational position of the rotating shaft 56 is achieved by a centering / clamping bolt and associated hole. To this end, the connecting arm 58 includes a first through hole 68 extending through the wall of the connecting arm 58. The rotating shaft 56 also includes an associated first rotating shaft hole 70 ( FIG. 7 ). The first through hole 68 and the first rotating shaft hole 70 are axially spaced an equal distance from the end face of the rotating shaft 56. Because the rotating shaft 56 is rotatable with respect to the connecting arm 58, the first through hole 68 and the first rotating shaft hole 70 are coaxial with each other only at a predetermined relative rotational position 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 (FIGS. 5 and 9) extending through the wall of the connecting arm 58. The rotating shaft 56 further includes an associated second rotating shaft bore 74 (FIG. 9). The second through hole 72 and the second rotating shaft bore 74 are axially spaced an equal distance from the end face of the rotating shaft 56. Because the rotating shaft 56 is rotatable with respect to the connecting arm 58, the second through hole 72 and the second rotating shaft bore 74 are also coaxial with each other only in preset relative rotational positions of the rotating shaft 56 and the connecting arm 58. The preset relative rotational positions are shown in FIGS. 5-9.

[0073] Both the second through hole 72 and the second rotary shaft hole 74 are axially spaced apart from the end face of the rotary shaft 56 by the same distance as the first through hole 68 and the first rotary shaft hole 70. The second through hole 72 and the second rotary shaft hole 74 are disposed on the circumferential surfaces of the connecting arm 58 and the rotating shaft 56, respectively, at positions opposite to the first through hole 68 and the first rotary shaft hole 70. Specifically, the second through hole 72 is circumferentially offset by 180° from the first through hole 68, and the second rotary shaft hole 74 is circumferentially offset by 180° from the first rotary shaft hole 70.

[0074] In the coupled state, the rotary shaft 56 can be placed in a rotational position dictated by the motor and PLC program via the drive shaft 28. In this rotational position, the rotary shaft 56 is secured by a clamping bolt 88 (FIG. 10) of the robot 16 that passes through the first through-hole 68 and engages with the first rotary shaft hole 70, thereby securing the rotary shaft 56 with respect to the connecting arm 28 and preventing relative rotation. The clamping bolt 88 can be automatically displaced into and / or out of the first hole, for example, pneumatically, hydraulically, and / or electromagnetically.

[0075] In order to ensure that the rotary shaft 56 is always fixed in a preset rotational position, the clamping 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 rotary shaft 56 is instantly fixed in its rotational position by the clamping bolts 88 and by coupling the rotary shaft 56 to the drive shaft 28.

[0076] Similarly, the clamping bolts 88 are not withdrawn from the first holes 68, 70 until the centering bolts 86 engage the second through holes 72 and the second rotary shaft holes 74 to secure the rotary shaft 56 relative to the connecting arm 58. Insertion of the centering bolts 86 into the second holes 72, 74 can be accomplished by lowering or placing the workpiece carrier device 50 on the centering trays 80, 82, and in one embodiment, the centering bolts 86 can be fixedly formed on the centering trays 80, 82 (FIGS. 1, 2, 8, and 9). To insert the centering bolts 86 into the second holes 72, 74, the workpiece carrier device 50 is targeted and positioned over the centering trays 80, 82 by the robot 16.

[0077] For the best possible grasping, holding and displacement of the workpiece carrier device 50 by the robot 16, the connecting arm 58 is provided with two engagement sides 76 in the region of the joining interface 60. The engagement sides 76 are milled into the peripheral surface of the connecting arm 58 and are formed opposite one another (only one engagement side is shown in Figures 5 to 7 and 8).

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

[0079] 10 Production Plant 12 Base material 14 Treatment Zone 16. Robot 18 Robot Gripper 20 Supply Zones 22 Removal Zone 24 Rake Arm 25 Manipulator 26 Connection Division 28 Drive shaft 30 flange 32 Annular Ring 34 End face 36 Axial recess 38 Complementary recess 50 Workpiece carrier device 52 Frame Structure 54 Individual holder / substrate holder 56 Rotation axis 58 Connecting arm 60 Bond boundary 62 Color 64 Retaining protrusion 66 Ken-shaped end division 68 First through hole 70 First rotating shaft hole 72 Second through hole 74 Second rotating shaft hole 76 Engagement surface 80 Centering Tray 82 Centering Tray 84 Receiver 86 Centering bolt 88 Fastening bolt 90 Gripper arm or gripper jaw 92 Arrow (movement direction) 94 Arrow (movement direction) 96 base body 100 production plants

Claims

1. 1. A method for modifying a workpiece carrier device (50) in a production plant (10, 100) for coating a substrate (12), said method comprising: - displacing a workpiece carrier device (50) by means of a robot (16) from a feed zone (20) of said production plant (10, 100) to a processing zone (14) of said production plant (10, 100); - releasably coupling the workpiece carrier device (50) to the production plant (10, 100) via a coupling interface (60) of the workpiece carrier device (50) by further displacing the workpiece carrier device (50) by the robot (16); Including, a connecting arm (58) of the workpiece carrier device (50) is connected to a connecting section (26) of the production plant (10, 100) for releasably connecting the workpiece carrier device (50) to the production plant (10, 100), thereby fixing the connecting arm (58) in a fixed position relative to the connecting section (26); To releasably couple the workpiece carrier device (50) to the production plant (10, 100), a rotation shaft (56) of the workpiece carrier device (50), which is rotatably mounted on the connecting arm (58), is coupled to a drive shaft (28) of the production plant (10, 100), whereby the rotation shaft (56) is rotationally drivingly connected to the drive shaft (28), and the method comprises: before displacing the workpiece carrier device (50) to the processing zone (14), simultaneously inserting a clamping 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) to prevent relative rotation between the rotation shaft (56) and the connecting arm (58); removing clamping bolts (88) from the first through-holes (68) and the first rotary shaft holes (70) to allow relative rotation between the rotary shaft (56) and the connecting arm (58) after releasably coupling the workpiece carrier device (50) to the production plant (10, 100); The method further comprises:

2. The method of claim 1 , wherein the robot (16) comprises the clamping bolt (88).

3. 3. The method according to claim 1, wherein the workpiece carrier device is positioned in the supply zone on a centering tray having a centering bolt formed thereon, the centering bolt being adapted to engage in a second through hole formed in the connecting arm and a second rotation shaft hole formed in the rotation shaft to prevent relative rotation between the rotation shaft and the connecting arm.

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

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

7. The method of claim 6, wherein the rotating shaft (56) is coupleable to the drive shaft (28) for drivingly moving 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), said workpiece carrier device (50) comprising: a frame structure (52) having a plurality of individual holders (54) for holding a plurality of substrates (12); an elongated connecting arm (58) for connecting the frame structure (52) to a connecting section (26) of the production plant (10, 100), the connecting arm (58) having a longitudinal axis; a rotating shaft (56) rotatably mounted on the connecting arm (58) and mechanically coupled to the plurality of individual holders (54) for driving the plurality of substrates (12); a coupling interface (60) via which the workpiece carrier device (50) can be releasably coupled to the production plant (10, 100) by a robot (16), by which the connecting arm (58) can be coupled to the connecting section (26) of the production plant (10, 100) to hold the connecting arm (58) in a fixed position relative to the connecting section (26), and by which the rotating shaft (56) can be coupled to the drive shaft (28) of the production plant (10, 100) to connect the rotating shaft (56) to the drive shaft (28) in a rotationally driving manner; a clamping bolt (88) configured to be simultaneously insertable into the first through-hole (68) formed in the connecting arm (58) and the first rotary shaft hole (70) formed in the rotary shaft (56) in order to prevent relative rotation between the rotary shaft (56) and the connecting arm (58) before the workpiece carrier device (50) is displaced to the processing zone (14); Equipped with the clamping bolt (88) is removable from the first through hole (68) and the first rotary shaft hole (70) to allow relative rotation between the rotary shaft (56) and the connecting arm (58) after releasably coupling the workpiece carrier device (50) to the production plant (10, 100). A workpiece carrier device (50).

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

10. 10. The workpiece carrier device (50) according to claim 8 or 9, wherein the joining boundary (60) comprises a first through hole (68) formed in the connecting arm (58) for a tightening bolt (88) of the robot and a first rotary shaft hole (70) formed in the rotary shaft (56), the first through hole (68) and the first rotary shaft hole (70) being aligned with each other in a preset rotational position of the rotary shaft (56).

11. 11. The workpiece carrier device according to claim 8, wherein the connecting interface (60) comprises second through-holes (72) formed in the connecting arms (58) for centering bolts (86) of a centering tray (80, 82) and second rotary shaft holes (74) formed in the rotary shaft (56), the second through-holes (72) and the second rotary shaft holes (74) being aligned with each other in preset rotational positions of the rotary shaft (56).

12. Workpiece carrier device (50) according to any one of claims 8 to 11, wherein the joining interface (60) comprises a sword-shaped portion (66) formed at one end of the rotation axis (56).

13. 13. The workpiece carrier device (50) according to claim 8, wherein the joining interface (60) comprises a collar (62) formed at one end of the connecting arm (58) and extending in the axial direction in the form of an annular section beyond the end of the connecting arm (58), the collar (62) comprising a retaining protrusion (64) formed on an inner circumferential surface thereof 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), comprising: At least one workpiece carrier device (50) according to any one of claims 8 to 13, which is releasably connected or connectable to a connection section (26) of the production plant (10, 100), wherein a drive shaft (28) is rotatably mounted in the connection section (26) and is rotatably drivable by a motor; A production plant (10, 100) comprising:

15. a robot (16) configured to connect the workpiece carrier device (50) to the connecting section (26), to disconnect the workpiece carrier device (50) from the connecting section (26), and to displace the workpiece carrier device (50); 15. The production plant (10, 100) of claim 14, comprising:

16. 16. The production plant (10, 100) of claim 14 or 15, wherein the robot (26) comprises the clamping bolt (88).

17. 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 an end face (34) of a frame section and having a flange (30) formed thereon, the annular ring (32) and the flange (30) comprising an axial recess (36) through which a section of the rotating shaft (56) can be inserted into the connection section (26) to connect the rotating shaft (56) to the drive shaft (28).

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

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