Semi-automatic material application system

Abstract

A semi-automatic material application system (1) comprising a material provision unit (2), a material application apparatus (3) and a control device (4) at least for the material application apparatus (3) is described, wherein the material application apparatus (3) is designed to be movable, preferably in a self-propelled and / or self-adjusting manner, in order to apply material (M) to a working surface (5), preferably in an automated process. The material application apparatus (3) has a movable base platform (30) and a working assembly (40, 40', 40'', 40''') which extends in a longitudinal direction (LR) and has a material application head (41, 41', 41'', 41''') which is movable in the longitudinal direction (LR) along the working assembly (40, 40', 40'', 40'''). The working assembly (40, 40', 40'', 40''') is positioned detachably, preferably interchangeably, on the base platform (30). As an alternative or in addition, the material application apparatus (3) has a movable base platform (30) and a working assembly (40, 40', 40'', 40''') which extends in a longitudinal direction (LR) and has a material application head (41, 41', 41'', 41'''), wherein the material application head (41, 41', 41'', 41''') is movable by means of a chain drive (50) in the longitudinal direction (LR) along the working assembly (40, 40', 40'', 40'''). The invention also relates to a material application apparatus (3) for a semi-automatic material application system (1), to an automated application system (70) for applying material (M) to a working surface (5), and to a method for controlling a material application apparatus (3) of a semi-automatic material application system (1).

Description

[0001] Semi-automatic material application system

[0002] The invention relates to a semi-automatic material application system comprising a material supply unit, a material application device, and a control device at least for the material application device. The material application device is designed to be movable in order to apply material to a work surface. The invention further relates to a material application device for a semi-automatic material application system, an automated application system for applying material to a work surface, and a method for controlling a material application device of a semi-automatic material application system.

[0003] In recent years, machines have increasingly been used in the construction industry to automatically apply building materials to work surfaces. Such construction robots can operate autonomously within certain limits and are used on construction sites, for example, to apply paints and varnishes in the form of coatings to surfaces such as building walls.

[0004] The application of material, e.g. paint, to a work surface using a construction robot can be done using Building Information Modeling (BIM for short). This involves digitally modeling, combining and recording all relevant building data. A BIM model can contain, for example, data relating to the floor plan, architecture or materials of a building. One problem with using BIM models to operate a construction robot is that BIM models may not accurately represent the actual or physical environment they model. In addition, BIM models are not available for all buildings. This limits the possible uses of construction robots.

[0005] Some construction robots, for example, for applying paint, have a relatively complex design and include robot arms with up to six degrees of freedom for spraying. Such construction robots often use sensor technology based on LiDAR (light detection and ranging) or depth cameras for spatial navigation. Automated Guided Vehicles (AGVs), for example, can be used to move the construction robot within the room. These are floor-mounted conveyors with their own drive, which are automatically controlled and guided without contact.

[0006] Disadvantages of known construction robots, e.g. for paint application, can arise from their complex design, particularly with regard to the multi-axis robot arm and sensor technology. This can lead to relatively high manufacturing and maintenance costs and increase the operating costs of the construction robot. The complex technology can be prone to malfunctions, e.g. technical or software errors or external disruptive factors. For example, the construction robot may become soiled with paint during operation, which requires cleaning or even maintenance and thus leads to the temporary failure of the construction robot. Furthermore, the use of the construction robot, e.g. installation on a construction site or monitoring operations, can be complicated and time-consuming and may therefore not be economically viable depending on the work area.The above-mentioned reasons may lead to the potential of construction robots, especially for applying paint, not being fully utilized in the construction industry.

[0007] It is an object of the present invention to provide a semi-automatic material application system, a material application device for a semi-automatic material application system, an automated application system and a method for controlling a material application device of a semi-automatic material application system, with which at least some of the aforementioned disadvantages can be reduced or avoided.

[0008] This object is achieved by a semi-automatic material application system according to claim 1 and a material application device for a semi-automatic material application system according to claim 12 as well as an automated application system according to claim 13 and a method for controlling a material application device of a semi-automatic material application system according to claim 15.

[0009] A semi-automatic material application system according to the invention comprises at least one material supply unit, a material application device, and a control device at least for the material application device. The material application device is designed to be movable, preferably self-propelled and / or self-adjusting. The material application device is designed to apply material to a work surface, preferably in an automated process. Preferably, the material application device can be used to apply a desired material and / or to create a desired coating of material on a target surface that is part of the work surface. The material can preferably be a coating material or a paint. However, the invention is not limited thereto.

[0010] The material application device comprises a movable base platform and a working unit with at least one material application head, which working unit extends in a longitudinal direction. The at least one material application head is designed to be movable in the longitudinal direction along the working unit. Regardless of the specific design, the material application head can preferably be actively moved along the working unit by means of a controllable drive. According to one embodiment, the working unit is detachably arranged on the base platform, in particular by detachable or reversible coupling. This means that the working unit can be completely separated from the base platform and / or that the working unit can be reversibly arranged on the base platform (without the working unit). In the latter case, the material application device is formed by the coupling.Preferably, the working unit is arranged on the base platform in a replaceable manner, whereby the working unit can be replaced by another working unit. In this embodiment, it is in principle possible for the material application head to be actively movable in the longitudinal direction along the working unit by means of a cable drive or rope drive.

[0011] According to one embodiment, the material application device comprises a movable base platform and a working unit with at least one material application head, which working unit extends in a longitudinal direction. The material application head is designed and / or controllable such that it can be moved longitudinally along the working unit by means of a chain drive. The at least one material application head is, regardless of the specific design, designed to apply a material to the work surface as intended during operation of the material application system, preferably in the form of a target material application. In particular, the material application head is, regardless of the specific design, designed and / or controllable such that the material application head is moved linearly along the working unit during material dispensing.

[0012] According to one embodiment, the material application device comprises a movable base platform and a working unit extending in a longitudinal direction with at least one material application head which is movable in the longitudinal direction along the working unit, wherein the working unit is arranged detachably, preferably replaceably, on the base platform, and wherein the material application head can be moved in the longitudinal direction along the working unit by means of a chain drive.

[0013] Advantageously, a semi-automatic material application system can be provided that is relatively simple in design, incorporates robust hardware, and is also practical in use. For example, the material application system eliminates the need for a multi-axis robot arm because the material application head, regardless of the specific design, is moved along only one axis for material application. This can reduce the manufacturing and operating costs of the material application system and increase its reliability.

[0014] Thanks to the detachable coupling, the elongated working unit can be quickly and easily disassembled and assembled, e.g., for transporting the material application system between different locations. This allows the material application system to be transported particularly easily and in a space-saving manner. The working unit can preferably have at least one coupling element, which is optionally multi-part, with the base platform having a complementary, possibly multi-part, (counter) coupling element. Preferably, the material application head can be supplied with material and / or electrical energy during operation by means of the interacting coupling elements and / or can be subjected to signals from the control device. For example, the coupling elements for supplying the material application head can form a quick-action coupling.For the detachable mounting of the working unit on the base platform, the coupling elements involved can preferably engage with one another to form a positive connection. Alternatively or additionally, the working unit can be mechanically and reversibly locked to the base platform. Preferably, the respective coupling element can have a first part for supplying the material application head and a second part that is separate from the first part to hold the working unit on the base platform. Advantageously, the working unit can be assembled and disassembled without tools, e.g., with just a few simple steps. Another advantage is that by changing the working unit, the material application head arranged on the working unit can also be changed particularly quickly and easily, e.g., for cleaning or maintenance, or it can be exchanged for another material application head, e.g.,to meet specific requirements of a target material application. This allows the material application system to be flexibly adapted to different locations and work surfaces.

[0015] The chain mechanism for moving the material application head simplifies the design of the material application system, especially compared to construction robots with multi-axis robot arms for spraying. This comparatively simple technology keeps the manufacturing and operating costs of the material application system low, while the chain mechanism enables a robust and reliable drive for the material application head and is easy to maintain. Particular advantages can arise from an interchangeable work unit with a chain drive.

[0016] The invention further relates to a material application device for a semi-automatic material application system, in particular for a semi-automatic material application system according to the invention, which semi-automatic material application system comprises a material supply unit and a control device at least for the material application device. The control device can preferably be part of the material application device.

[0017] The material application device is movable, preferably self-propelled and / or self-adjusting, and designed to apply material to a work surface, preferably in an automated process. According to one embodiment, the material application device comprises a movable base platform and a working unit extending in a longitudinal direction with a material application head that is movable in the longitudinal direction along the working unit. The working unit is detachably, preferably replaceably, arranged on the base platform.

[0018] According to one embodiment, the material application device comprises a movable base platform and a working unit extending in a longitudinal direction with a material application head, wherein the material application head is movable longitudinally along the working unit by means of a chain drive. Regardless of the specific design, a semi-automatic material application system according to the invention can be formed using the material application device in combination with other components. Accordingly, the advantageous developments described with reference to a material application device as part of a semi-automatic material application system also apply correspondingly to the material application device itself.

[0019] The invention further relates to an automated application system for applying material, preferably paint, to a work surface. The automated application system can preferably be used in a semi-automatic material application system according to the invention and / or in a material application device according to the invention, in particular be a part thereof. However, the automated application system, which is referred to below as the application system for short, can also form a standalone product for a wide range of applications, i.e., independent of the material application system or the material application device according to the invention. Accordingly, the automated application system represents an independent partial aspect of the invention.

[0020] The automated application system comprises a material supply, an applicator for dispensing material, at least one sensor for detecting a process parameter, and a control device. The material supply has at least one line for supplying material to be dispensed to the applicator. The applicator can comprise at least one (spray) nozzle and / or a nozzle element. Preferably, the line can be detachably connected to an external or separate reservoir for material. The application system can then advantageously be operated with existing material reservoirs. Furthermore, the line can be connected to a material supply unit of a material application system according to the invention. Alternatively or additionally, the application system itself can have a reservoir for material, e.g., internally.Regardless of the specific design, the material supply is preferably designed to supply the applicator with dispensed material, in particular paint, during operation. The automated application system may have, as additional components, a controllable pump and / or a compressor for the dispensed material and / or a filter for the material. The pump, compressor, and / or filter are preferably part of the material supply.

[0021] The control device is designed to control the application system in an automated process such that, taking into account an actual value during operation, at least one process parameter of the application system is within a target range, in particular is maintained within a target range, preferably continuously or permanently. The target range can also be referred to as a tolerance range. Preferably, the control can be carried out such that the at least one process parameter corresponds to a target value during operation. Preferably, the control can be carried out such that, during operation, an actual value of at least one process parameter is compared at least once, preferably regularly or continuously, with an associated target value of the process parameter, wherein in the event of a deviation (of the actual value from the target value), the application system is controlled such that the target value or target range is reached and preferably maintained during operation.

[0022] Advantageously, material application to the work surface can be carried out particularly easily and simply because the automated application system is able to record various process parameters and, if necessary, independently take corrective measures during operation in order to achieve an optimal result of the material application.

[0023] In a method according to the invention for controlling (control method) a material application device of a semi-automatic material application system according to the invention, which has a material supply unit and a control device at least for the material application device, wherein the material application device is designed to be movable, preferably self-propelled and / or self-adjusting, material is applied at least once to a work surface by means of the material application device, preferably in an automated process.The material application device comprises a movable base platform and a working unit extending in a longitudinal direction with at least one material application head which is movable in the longitudinal direction along the working unit, wherein the working unit is arranged detachably, preferably replaceably, on the base platform, and / or wherein the material application head is movable in the longitudinal direction along the working unit by means of a chain drive.

[0024] According to one embodiment, the working unit is arranged on the base platform by means of a detachable coupling and / or is detached or separated from the base platform at least once in the method. Preferably, a working unit can be changed at least once in the method, e.g., exchanged for another working unit.

[0025] Alternatively, and preferably additionally, in the method, the material application head is moved at least once in the longitudinal direction along the working unit by means of a chain drive in order to apply material to the work surface. Preferably, the material application head can be moved alternately in opposite directions along the working unit during operation to apply the material.

[0026] The control method involves the use of the material application device according to the invention, in particular the semi-automatic material application system according to the invention, so that the method offers the same advantages as the material application system. Preferably, the method can include controlling the operation of the (entire) semi-automatic material application system, e.g., also the material supply unit.

[0027] Further, particularly advantageous embodiments and developments of the invention emerge from the dependent claims and the following description, wherein the claims of one claim category can also be developed analogously to the claims and description parts to form another claim category and, in particular, individual features of different embodiments or variants can be combined to form new embodiments or variants.

[0028] The semi-automatic material application system, referred to in the description as the material application system for short, is designed to be "semi-automatic" in such a way that the generation of a target coating requires the cooperation of a user of the material application system at least once. In particular, it can be provided that the user initially positions the material application device in relation to the work surface. Furthermore, it can be provided that certain information relating to or defining a target material application is physically arranged on the work surface. The material application system is designed to be "semi-automatic" in such a way that a target material application can be carried out in an automated process after initiation by the user, in particular based on recorded information.For the purposes of the invention, an automated process is understood to mean that the process steps involved are or can be carried out as intended without direct manual human intervention (after initiating the automated process). The operations included in the automated process are preferably controlled by the control device.

[0029] The material application system comprises at least one material supply unit which is functionally connected to the material application device during operation. In principle, the material supply unit can be part of the material application device. However, it is preferred that the material supply unit is designed separately from the material application device and can be immobile during operation. Regardless of the specific embodiment, the material supply unit can be designed to supply the material application device with material during operation and / or to keep one material or different materials in stock. The material supply unit can be designed and / or controllable to set at least one of the following parameters in the material which is provided in the material application device: a type orThe nature of the material, a mixture of different (starting) materials, a material temperature, a material pressure, a viscosity, or a dilution of the material. Preferably, the adjustment of at least one parameter can be based on real-time data acquired before and / or during a material application. The material supply unit and, accordingly, the entire material application system can preferably operate according to the airless principle. The material supply unit is preferably designed to supply the material application device with electrical energy during operation.

[0030] The material application system is preferably designed to apply a fluid as a material to the work surface. This includes substances that continuously deform under the influence of shear forces. For example, liquids or pasty substances can be processed. Preferably, the material can be selected from paints, also called coatings or painting materials, which mean liquid to paste-like and optionally powder-like substances or mixtures thereof, which, when applied to surfaces, result in a physically drying or chemically hardening coating, e.g. in the form of a coating. This preferably includes paints that are applied by spraying. A definition of a paint is also given in DIN 55945. Alternatively or additionally, joint compound, sealant, filler and the like can be applied to the work surface as material.The invention is described, without limitation, using a paint or a coating material as the material to be applied.

[0031] The material application system comprises a control device which is designed at least to control the operation of the material application device, in particular for generating a target coating by means of the material application device. A target coating is understood to mean that a target material application takes place on a target surface, which target surface is part of the work surface. This can, for example, produce a specific material image or material pattern on the target surface. To generate a target coating, different materials can be applied to the same area several times in succession, e.g. in layers, whereby individual parts of the target surface can be coated with material differently and / or with different materials. The generation of a target coating can preferably take place by spraying material. The target surface is part of the work surface, whereby the work surface can extend beyond the target surface and, for example,may include areas adjacent to the target area.

[0032] It is preferred that the operation of the material supply unit can also be controlled by means of the (same) control device. The control device can preferably be designed as part of the material application device. It would also be possible for the material application system to have a plurality of partial control devices, e.g. in the material supply unit and in the material application device, which interact and jointly form the control device of the material application system. In principle, the material supply unit can also have a separate control device. It is preferred that a user can access the control device for controlling the material application system via a user interface, e.g. as part of the material application device, in particular in order to create, adapt and / or confirm control commands.Furthermore, the user can initiate and / or modify and / or terminate the automated process and / or control method using the user interface. The control method can be part of the automated process. The user interface can preferably comprise a control display interface.

[0033] The working unit is preferably designed to detachably or reversibly arrange the (respective) material application head on the working unit. Accordingly, the (respective) material application head can also be designed for a detachable coupling. The material application head can preferably have an optionally multi-part coupling element that can interact with a complementary, possibly multi-part, coupling element on the working unit for a detachable coupling. The material application head can preferably be connected to the control device by means of the interacting coupling elements and / or can be supplied with electricity and / or material. A supply of electrical energy or signals and / or material can preferably be achieved by means of a quick-action coupling.Furthermore, the material application head can be movably mounted and / or secured to the working unit using the coupling element for proper operation. This advantageously allows for a particularly quick and easy replacement of an (entire) material application head, e.g., for cleaning, maintenance, or for a specific type of material dispensing.

[0034] The working unit is preferably designed to accommodate differently designed material application heads, preferably detachably, on the working unit. For example, the material application heads can be designed to process different materials and / or can dispense the material in different ways.

[0035] The working unit is preferably designed to simultaneously arrange and / or operate two or more, even different, material application heads on the working unit. Preferably, the respective material application heads can be controlled separately for material application during operation. Advantageously, the respective material application head can be arranged on the working unit by means of a detachable coupling to enable the material application head to be changed. The invention is described below, without limitation, using a working unit with only one material application head, whereby advantageous further developments equally apply to a plurality of material application heads.

[0036] Regardless of the specific design, it is possible for only a specific part of a (respective) material application head to be designed to be replaceable, with at least one other part of the same material application head remaining on the working unit. Accordingly, the (respective) material application head can comprise multiple components and / or parts that can be separated from one another and interact to form a functional material application head. Preferably, it is possible for only one material dispensing unit of a material application head, preferably a nozzle, to be replaced, in particular without the use of tools.

[0037] The material application device is preferably designed and / or controllable such that the (respective) material application head is moved linearly along a single axis along the working unit for applying material to the work surface. Preferably, the material application head is moved discontinuously along the working unit for material application. Preferably, the material application head is moved linearly along the working unit alternately in opposite directions for material application. Preferably, the material application can be carried out by guiding the material application head along at least one linear guideway of the working unit and actively moving it by means of a drive. The material application can preferably be carried out in webs or in the form of webs. A web preferably corresponds to a distance that the material application head travels in a prescribed direction during operation.Accordingly, a specific (elongated) part of the work surface can be assigned to a respective path, which is represented by the path and / or which is processed by the material application head as it travels along the path. For this purpose, the material application head can be moved along the work unit in the longitudinal direction, in particular alternately in opposite directions. Preferably, the material application head can be moved on an (imaginary) path along the work surface, in particular relative to the work surface, wherein a corresponding material path is generated on the work surface, in particular on the target surface, during operation. Preferably, a path, in particular a material path, of the material application head can be defined by a width of the applied material and / or by a (potential or actual) spray width of a nozzle.

[0038] Preferably, the base platform can be temporarily stationary during the production of a material web. Preferably, the base platform is operated such that, after completion of a first material web, the material application head is moved relative to the work surface in order to produce a second material web adjacent to the first material web. Preferably, the material dispensing by the material application head can be temporarily interrupted during repositioning of the base platform. In principle, it is also possible for material dispensing to occur while the base platform is being moved. It is also possible for the same material web to be coated multiple times in order to produce a desired coating.

[0039] The working unit can comprise a working tower, with the material application head being movable longitudinally along the working tower. In particular, the working unit can be implemented in the form of an elongated working tower.

[0040] The work tower or the work unit is preferably designed to be adjustable in size, preferably in an automated process, in order to set a specific longitudinal extent of the work unit, along which the material application head is movable during operation. The setting of a specific longitudinal extent can preferably be controlled by means of the control device. The longitudinal extent is understood to be the greatest or longest extent (extension) of the elongated work unit in one direction (longitudinal direction). The longitudinal extent defines a longitudinal axis of the work unit, which longitudinal axis runs along the longitudinal extent of the work unit. Accordingly, the material application head can be moved longitudinally along the longitudinal extent of the work unit during operation, parallel to the longitudinal axis.

[0041] Preferably, the working unit can comprise two or more elongated segments that can be moved relative to one another to form a specific longitudinal extension of the working unit. The segments can also be referred to as sections of the working unit. For example, at least a first segment can be partially or completely retracted or pushed into another, second segment and / or can be partially or completely moved out of it. Preferably, at least one of the segments can be moved relative to at least one other segment by means of a controllable drive, e.g. at least one linear actuator with a stroke of 1300 mm, in order to position the segments relative to one another to create a specific longitudinal extension. For example, the working unit can have an elongated outer section which, during operation, is directed towards the floor of a building and which has an internal elongated cavity.The working unit can have a further elongated inner section which is designed such that the inner section can be introduced or retracted at least partially lengthwise into the hollow space of the outer section. Preferably, the inner section can also protrude sectionally from the outer section when retracted. Purely as an example, the outer and inner sections can be designed in the manner of a telescopic rod. The inner (second) section is preferably movable relative to the outer (first) section by means of a drive. The first section can, for example, have a length of 1.65 meters, whereby the second section can have a length of 1.3 meters, and whereby the sections can be positioned relative to one another such that a longitudinal extension of the working unit of approximately 2.95 meters is achieved.

[0042] Preferably, the respective segment can comprise at least one, preferably two parallel, guideways for the material application head. Preferably, the at least two segments can interact such that at least one, preferably two parallel, length-variable linear guideways are formed, wherein the material application head is adapted to the guideways in order to be guided along the working unit. For example, a part of the material application head can be in engagement with a respective guideway and / or can at least partially enclose it. Alternatively or additionally, the material application head can have a plurality of rollers and can thus be guided preferably in a sliding manner along the respective guideway. Advantageously, a linear guide can be provided for the material application head, the length of which is automatically adapted to a current longitudinal extent of the working unit.

[0043] Advantageously, the longitudinal extent of the working unit can be adapted to different room heights. The longitudinal extent can also be changed during operation of the material application system, in particular to create a desired coating on the work surface. Another advantageous feature of the variable longitudinal extent is that it can facilitate transport of the material application device between two locations, e.g. by temporarily retracting the working unit when passing through doors, i.e. the longitudinal extent is reduced to a minimum size. For example, the longitudinal extent of the working unit can be at least 2 meters and can be gradually expanded up to 3 meters, preferably up to 4 meters. In principle, other, in particular larger, longitudinal extents are also possible, whereby the respective sections can be longer and whereby the weight distribution within the material application device can be adjusted.

[0044] The working unit can preferably be rotated around its longitudinal axis by an angle of at least 90°, preferably 180°. For this purpose, the working unit and / or the base platform can comprise one or more drives, e.g., a linear drive with a servo motor, which can be supplied with signals from the control device. The working unit can preferably also be rotated around its longitudinal axis during operation, i.e., while material is being applied to the work surface. This advantageously makes it possible to apply the material even in corners without having to reposition the entire material application device.

[0045] Alternatively or additionally, the working unit can be pivotally mounted in order to set a specific orientation or position of the longitudinal axis of the working unit in space, e.g. in relation to the base platform and / or the floor of a building. For example, it is possible to arrange the working unit vertically, i.e. in the vertical direction, with regard to its longitudinal extent during operation. It is also possible for the longitudinal axis of the working unit to be aligned transversely or orthogonally to the vertical direction during operation. Orientations in between are also possible. Preferably, the working unit can also be pivoted during operation. The pivoting of the working unit can be controlled by means of the control device. Advantageously, the material application head can be moved back and forth, e.g. in a horizontal direction, depending on the orientation of the working unit, or can be moved predominantly vertically (in the vertical direction and in the opposite direction).

[0046] The base platform of the material application device is preferably designed to be detachably coupled to various working units, preferably a working unit for applying material to walls and / or a working unit for applying material to ceilings and / or a working unit for applying material to floors. Advantageously, the material application system is particularly flexible in its use because it can be quickly and easily adapted to different requirements and conditions.

[0047] The (respective) working unit can be designed to apply material to the work surface even when decoupled from the base platform (assuming a connection to the material application device). Accordingly, the working unit can be immobile for material application, at least temporarily.

[0048] Preferably, the (respective) material application head is designed to change an inclination of at least one material dispensing unit of the material application head with respect to the work surface, in particular to set a specific angle of inclination of the material dispensing unit. Preferably, in an automated process, i.e. without direct manual intervention, a positive or negative angle of inclination with respect to a direction orthogonal to the vertical direction can be set specifically (only) for the material dispensing unit. The material dispensing unit is part of the material application head and, depending on the design, can comprise, for example, a single nozzle. Details on this will be given later. It is also possible for other parts of the material application head to be inclined, e.g. a linear drive of the material application head.

[0049] Preferably, the (respective) material application head is designed to adjust a specific distance between a material dispensing unit of the material application head and the work unit and / or the work surface, preferably in an automated process. It is preferred that a relative movement is generated only of the material dispensing unit (relative to other components of the material application head), for which purpose the material application head can have a controllable drive, e.g., a linear drive with a servo motor. Advantageously, both the distance and the inclination of the material dispensing unit can be changed during operation.

[0050] The (respective) material application head is preferably designed such that at least one material dispensing unit can be rotated, even during operation, about a rotation axis that runs transversely to the longitudinal extent of the working unit, preferably in an automated process. It is preferred that (only) the material dispensing unit is rotated. Optionally, other parts of the material application head can be rotated, e.g., a linear drive. A rotation angle, e.g., of the material dispensing unit, can be at least 180° and / or up to 360°.

[0051] The (respective) material application head can have two or more, preferably separately controllable, material dispensing units, each for applying material to the work surface. The material dispensing units can be identical or different. Each material dispensing unit can have at least one single nozzle, optionally multiple nozzles, for dispensing material. It is also possible for a material dispensing unit to have at least one type of spray gun. For example, a material dispensing unit can have at least one nozzle and at least one upstream filter. Mixed forms are also possible.

[0052] Alternatively or additionally, the (respective) material application head and / or the working unit can have at least one material dispensing unit for applying material to the work surface, e.g., one or more nozzles, and at least one associated material processing unit. The material processing unit can be implemented as part of the material application head or can be formed separately and / or moved separately relative to the material application head. The material processing unit is preferably arranged downstream of the material dispensing unit, i.e., it follows it in a processing direction. Alternatively or additionally, the material processing unit can be arranged upstream of the material dispensing unit in the processing direction.

[0053] The material processing unit is preferably designed for contact processing of the work surface. In particular, the material processing unit can have at least one rotatable roller or cylinder, optionally several rotatable rollers, for rolling a material application onto the work surface. The material processing unit, in particular the roller, can be moved (purely) passively across the work surface, e.g., by forming the material processing unit as part of the material application head and moving it along the work unit by its movement.

[0054] It is preferred that the material processing unit, in particular the roller, has a controllable drive mechanism for actively moving the roller, i.e., by its own drive, along the work surface. It is possible for the material processing unit, in particular the roller, to be moved exclusively by its own drive, e.g., if the roller is formed separately from the material application head. However, it is also possible for a material processing unit that is part of the material application head to have a drive mechanism and then be moved along the work surface both by its own drive (actively) and by the movement of the material application head (passively).Advantageously, a material processing unit, in particular a post-treatment roller, can apply and process the material to create a textured surface, thereby achieving a particularly visually appealing result. This allows the material application system to also be used for interior finishing, such as living spaces or offices, for example, when the material application system is used to apply paint.

[0055] The (respective) material application head, as explained, preferably comprises at least one material delivery unit for material application and optionally a material processing unit. Furthermore, the material application head is preferably assigned a drive that can be controlled by the control device to actively move the material application head in two opposite directions along the working unit. The material application head can optionally have means for guiding the material application head in a specific track along the working unit, preferably within the working unit. The drive can preferably be a chain drive, as described below.

[0056] The working unit can preferably have a chain drive with at least one sprocket that engages with a chain of the chain drive, and a drive unit that is assigned to the material application head. The chain drive can preferably comprise two parallel chains, e.g., each a roller chain, each of which engages with at least one sprocket or gear. The drive unit can comprise one or more servomotors, the operation of which can be controlled by the control device. The drive unit and the at least one sprocket, preferably two sprockets, are preferably arranged in or on the material application head itself, in particular formed as part of the material application head. Accordingly, the (respective) material application head can comprise, in addition to a drive unit and at least one sprocket, at least one material dispensing unit, optionally with guide means for guiding the material application head in a specific track.For example, the material application head can have a type of carriage and / or several rollers in order to be guided in the working unit along at least one linear guideway.

[0057] The chain drive, in particular the interaction of two parallel chains, two sprockets and at least one drive unit is preferably designed and / or is controllable to move the material application head in an automated process in the longitudinal direction along the working unit, in particular in two opposite directions.

[0058] The chain drive can be designed such that a maximum possible travel distance or travel length of the material application head along the chain, i.e. the distance along which the material application head can be moved during operation, automatically adapts or adjusts to a specific, preferably a changed, longitudinal extent of the working unit. This means that a change in the longitudinal extent of the working unit is preferably accompanied by an equally large change in the possible travel distance of the material application head. In other words, a change in the possible travel distance of the material application head can be adapted, in particular correspond, to a change in the longitudinal extent of the working unit. For example, the travel distance can be reduced as a result of a reduction in the size of the working unit, whereby the travel distance is lengthened as a result of an expansion of the working unit.This means that the longitudinal extension of the working unit can correspond to the travel length of the material application head. It is also possible for the longitudinal extension of the working unit to be slightly greater than the possible travel length of the material application head, e.g., due to attachments to the working unit. Advantageously, a change in the longitudinal extension of the working unit and a change in the travel distance can be achieved in the same automated process.

[0059] The chain drive is designed in such a way that the material application head is moved along the chain by means of the chain drive, whereby the chain itself remains stationary during operation (apart from a change in the travel distance). In particular, the chain is not actively driven or in motion during operation. Consequently, the relative movement of the material application head, e.g. in relation to the work surface, originates from the material application head itself and not (directly) from the chain. Advantageously, the material application head can actively move along the (respective) chain, in particular climb up or down it. Advantageously, the chain drive can be implemented in a simpler, cheaper, and less wear-intensive manner because fewer moving parts are required. A further advantage of the chain drive is that it enables fast movements and, at the same time, the transmission of relatively large forces or torques.

[0060] Preferably, the chain drive is designed so that the material application head is always moved along the same path along the chain for material application. For example, the material application head can be moved up and down along the same chain section during operation, with the outward and return paths running in the same linear track. Preferably, the chain drive can generate a discontinuous movement of the material application head for or during material application.

[0061] The material application device, preferably the (respective) material application head, can have at least one information acquisition device, preferably a scanner, which is designed to acquire at least one piece of information relating to at least one criterion of a material application to be carried out. The information acquisition device is preferably arranged in or on the material application head and can be moved together with it. The (respective) information can preferably be provided in a machine-readable form. The information is physically arranged on the work surface for acquisition by the scanner. This can preferably be done by a user of the material application system, e.g. a painter. The arrangement of the information on the work surface can take place before the start of a material application and / or can optionally be carried out while the material application is already in progress. The acquired information can be fed to the control device.

[0062] The control device of the material application system is preferably designed to control the material application device using the information or depending on the information such that material is applied to the work surface, in particular to produce a desired coating on a target surface in an automated process.

[0063] In a preferred method for controlling (control method) the material application device, the information acquisition device of the material application device acquires at least once information relating to at least one criterion of a material application to be carried out, which information is physically arranged on the work surface. The information can be provided, for example, as a data code and acquired from this. Preferably, several pieces of information are provided, each relating to a different criterion of a material application to be carried out. The control device can then, using the information(s) or depending on the information(s), control the material application device of the material application system such that material is applied to the work surface, in particular to produce a desired coating on a target surface in an automated process.

[0064] Preferably, the (relevant) information is recorded before the start of a material application to the work surface and / or during a material application to the work surface, in particular repeatedly and / or continuously during the material application. Preferably, while a first part of the work surface is being coated, information relating to a second part to be coated subsequently can already be read out and processed. The provision of the information(s) can be part of the control method. The provision of the information(s) can be offset in time from the material application, e.g., significantly earlier, and can optionally be carried out by a person other than the user of the material application system.

[0065] The control method is preferably carried out such that the material application device, e.g. starting from a starting position with a defined distance to the work surface and / or with a defined spatial position to the work surface, is automatically moved once or several times along the work surface while maintaining a constant distance (as part of the automated process). It can be provided that the distance remains constant within a tolerance range during the movement. The tolerance range can, for example, be a deviation of at most 2 cm, preferably at most 3 cm, from a target value. For this purpose, the material application device can be designed to be self-propelled and controllable by the control device. For example, the material application device can have a plurality of separately controllable electric motors, e.g. servo motors, each of which is assigned to a ground-mounted drive wheel of the material application device.

[0066] The initial positioning of the material application device is preferably performed by a user. For example, the material application device can be steered and operated via a control handle and moved to the desired starting position by means of a drive. It is also possible for a user to push the material application device into the starting position, i.e., without an active drive. Alternatively or additionally, it would be possible for the control device to be configured to control the material application device such that it assumes a starting position for the material application in an automated process. In this case, initial positioning by the user can be omitted.

[0067] In the control method, the longitudinal extension of the working unit can be adjusted to an ambient height at least once in an automated process. This can occur during a repositioning of the material application device relative to a work surface, e.g., to adjust to a clearance height, and / or during ongoing operation, e.g., to adjust to a room height or if a target area requires different longitudinal extensions. The change in the longitudinal extension can preferably be controlled by means of the control device.

[0068] The material application device can preferably be controlled and / or is designed such that a distance between the material application head, in particular a material dispensing unit, and the work surface is kept constant during operation, in particular during a movement of the material application device relative to the work surface. Preferably, the distance can be determined by means of the control device for a respective target coating, in particular as a function of a material property, a speed of the material application head during material application relative to the work surface and / or a property of the material feed. It is optionally possible for the distance between the material application head, in particular a material dispensing unit, and the work surface to be changed during operation, preferably by a relative movement of a material dispensing unit of the material application head with respect to the work surface.

[0069] The base platform of the material application device is preferably designed to be movable in a first dimension, e.g. in the x-direction (in a Cartesian coordinate system). The working unit is preferably designed to move the material application head in a second (different) dimension, e.g. in the z-direction. Depending on the design, the material application head can be designed to be moved at least in part in a third (different) dimension, e.g. in the y-direction. A material application head that is partially movable in a third dimension can advantageously be used to set a specific distance between the material dispensing unit and the work surface particularly precisely and / or to keep it as constant as possible during operation, even without repositioning the (remaining) material application device.

[0070] The control method can provide for the environment of the material application device to be continuously detected and / or monitored by at least one safety scanner. The control device can preferably determine different danger levels based on the scan area. If, for example, movement and / or an object is detected within a range of two meters from the scanner, an (alarm) message can be generated for the operator by means of the control device. If (unknown) movement or an object is detected within one meter of the scanner, the material application can be temporarily paused, with the material application being able to be resumed upon approval by the operator. A pop-up window can preferably be generated on the display by means of the control device so that the operator can check for possible dangerous situations and, if necessary,After the hazard has been eliminated, the material application can be continued. If an object or movement is detected within a range of less than 50 centimeters around the scanner, the material application device can be shut down or the material application process can be aborted (without prior interaction with the operator).

[0071] The automated application system according to the invention can preferably be part of the material application system according to the invention, wherein the control of the application system can be integrated into the previously described control method. The control device of the application system can then be implemented by the control device of the material application system and / or the material application device. However, the application system can also be operated independently (stand-alone operation), wherein the application system has its own control device. In general, the control of the application system to keep the respective process parameters constant can be carried out in an automated process, in particular without direct manual human intervention.For example, a start and / or a termination of the automated process, in particular a spraying process, can be initiated by a user, wherein the material application, in particular keeping the respective process parameters constant during operation, is (only) controlled by the control device.

[0072] The application system is preferably designed such that, during operation, measured values ​​from two or more sensors are recorded, even simultaneously. The measured values ​​from each sensor can be fed to the control device and processed there to control the application system, in particular in real time. The recorded measured values ​​can each represent a process parameter of the application system. Accordingly, two or more process parameters can be monitored simultaneously during operation. A process parameter can be a (real) physical value of a material application. Preferably, the process parameter can be a material viscosity, in particular paint viscosity, a material temperature, a material flow rate, a material consumption, e.g. per area or time, a spray pattern (material application pattern) and / or pump performance data. The material flow rate can, for example,refer to the applicator itself and / or to a material-carrying line of the application system. Advantageously, these process parameters can be derived from production in real time. Additionally, it may be necessary for the application system to execute an automated additional or special program at the beginning of a material application.

[0073] If a process parameter lies outside a predetermined tolerance range during operation, the operation of the application system can be (readjusted) using the control unit. For this purpose, corrective measures can be implemented by the control unit, particularly by controlling the operation of the individual components of the application system. In cases where a single setting value is insufficient for a corrective function, adjustments to several parameters or (operating) settings of the application system can be made to achieve the target range of a process parameter.

[0074] Preferably, the control device can perform an analysis of the measured values ​​of the respective process parameter, wherein the analysis is based on machine learning (ML). Depending on an ML-based sensor data analysis, the application system can react accordingly to achieve the respective target value or target range during operation. Preferably, the control device can access a corresponding database, which includes, for example, training data, for the purpose of sensor data analysis.

[0075] During operation, for example, an insufficient jet width of the escaping material may occur, caused, for example, by an incorrectly set viscosity of the material. In such a scenario, the application system could initiate automatic viscosity adjustment or temperature increase as corrective measures. If these measures prove ineffective within the specified limits, a user of the application system can optionally intervene. This could be an indication of a dirty or defective nozzle / air cap. In addition to checking the spray pattern, monitoring the pump is also of great technical benefit. Early detection of contamination or wear helps to keep the process stable and avoid process interruptions.

[0076] Advantageously, the application system can achieve automated material application, whereby operation and monitoring of the application system during operation by a user is particularly simple. The application system enables the user to monitor the material application process, e.g. as real-time monitoring, to proactively detect anomalies, e.g. by generating alerts, and to be guided by recommendations provided by the application system. Based on the data output of the application system, the user can make informed final decisions or take measures regarding the material application without requiring in-depth knowledge of the underlying mechanisms. In addition, the application system is controlled during operation, even without user input, so that certain process parameters remain reliably within predetermined limits during the material application.This eliminates the need for expensive diagnostic systems, and the application system can also be used in remote locations. In synergy with well-executed (wet) material preparation, the application system can serve as the basis for various automated material application processes.

[0077] Further advantageously, the control device of the application system can be designed to create a plan for a material application to be carried out, in particular before the material application begins. For example, an ideal "recipe" can be determined by means of the control device, preferably ML-based, and used to control the application system in order to best apply a certain material to a certain surface under certain (external) conditions. For this purpose, for example, an ideal spray speed, an ideal distance from the surface, the type of nozzle, the type of filter and / or the setting of the pump pressure can be suggested. Some or all of the following parameters can be taken into account for the recipe: a mixing ratio or dilution ratio of material, a temperature of the material and / or the ambient temperature, air humidity.

[0078] Advantageous further developments of the material processing unit, which is also synonymously referred to as a processing unit, are described below. The processing unit can preferably be implemented as part of a semi-automatic material application system according to the invention. However, the processing unit is not limited to the semi-automatic material application system according to the invention. Rather, the processing unit represents an independent sub-aspect of the invention. Accordingly, the processing unit can also generally be implemented in a semi-automatic system for processing surfaces. The invention particularly relates to the following feature combinations: 1.Semi-automatic system for processing surfaces with a working unit and a control device for the working unit, wherein the working unit is designed to be movable, preferably self-propelled and / or self-adjusting, and has at least one movable processing head, wherein the processing head has at least one rotatable processing unit for contact processing of a surface, in particular of material on a surface, and a drive, which drive is assigned to the rotatable processing unit and is designed to actively move the rotatable processing unit along the surface, in particular the target surface, preferably in an automated process.

[0079] The drive of the processing head is preferably controllable by means of the control device, preferably in an automated process. This control device can in principle be implemented by the control device of the semi-automatic material application system according to the invention. Accordingly, the previously described features relating to the controller or the control device can also apply to the control of the processing head. For example, the control of the operation of the processing unit can be integrated into the control method of the material application device. The drive is designed and / or controllable to actively move the rotatable processing unit during operation, in particular in a contact-type manner, along the surface, preferably in an automated process. The drive is preferably designed and / or controllable to generate an active rotation of the processing unit, in particular a roller, during operation.In particular, the processing unit, preferably a roller, can be driven during operation by means of the drive and consequently rotated about itself. The drive is preferably designed and / or controllable to temporarily set the rotatable processing unit into a continuous rotary movement (about itself) during operation. Preferably, the processing unit is in contact with the surface during the actively generated rotary movement. Preferably, a roller (as a processing unit) can be actively rotated by means of the drive in order to carry out a post-treatment of paint on the surface, in particular for back-rolling paint on the wall.

[0080] The terms surface and work surface are used synonymously. The work unit can preferably be provided by a material application device according to the invention. The processing head and / or the processing unit can be implemented as part of a material application head of the material application device. Alternatively or additionally, the processing head and / or the processing unit can be formed separately and / or can be movable separately relative to the material application head. It is fundamentally possible for the processing unit to have two or more rollers or rolls that can be actively rotated by means of a drive. It is possible for the respective rollers or rolls to be driven separately, in particular by assigning each roller or roll its own drive. The respective drive can preferably comprise a servo motor whose operation can be controlled by the control device.It is possible for the machining head to have two or more drives for the same roller, which cooperate to rotate the roller. The drive is preferably designed to set the respective roller in rotation about its longitudinal axis during operation, i.e., during contact with the surface, and / or to keep it rotating about its longitudinal axis. The drive can preferably be a direct drive for the roller.

[0081] 2. Semi-automatic system according to feature combination 1, wherein the working unit has a guide element that extends in a longitudinal direction, and wherein the processing head, in particular the rotatable processing unit, is movable in the longitudinal direction along the guide element, preferably in an automated process. According to one embodiment, the guide element is designed separately from the working unit for the material application head. Accordingly, the processing head and the material application head can be controlled or moved separately from one another during operation, in particular on different paths. The guide element can be arranged on a base platform of the working unit, preferably in a detachable, in particular replaceable, manner during operation.The guide element for the processing unit is optionally designed to be adjustable in size, preferably in the automated process, in order to set a specific longitudinal extent of the guide element along which the processing unit can be moved during operation. Advantageously, the processing unit can be moved linearly along only one axis during operation. The material application head is preferably arranged upstream of the processing head with respect to a processing direction of the surface by the material application device or the working unit. The working unit and / or the material application device are preferably designed and / or controllable in such a way that, during operation, the material application head and the processing head each move in paths, i.e. in the form of (imaginary) paths, along the surface or across the surface, in particular alternating in opposite directions.Advantageously, the material application head and the processing head can be moved in paths in opposite directions or in the same direction along the surface or across the surface, in particular simultaneously.

[0082] According to one embodiment, the material application head and the processing head can form a detachable unit, at least during operation, wherein the entire unit is actively movable in the longitudinal direction along the same guide element. The guide element can be formed by the working unit of the material application device. Preferably, by means of the unit, in particular during a movement of the unit, material can be dispensed by the material application head and material can be processed by the processing head, preferably a post-treatment of material. Preferably, the material application head and the processing head can be moved during operation on two parallel, different paths, in particular in the same direction. It is generally preferred that the paths that are processed simultaneously lie directly next to one another.Alternatively, it is also possible for the material application head and the processing head to form a detachable unit, wherein the material application head and the processing head are moved along the same path during operation, in particular in the same direction. A combination of the described embodiments in the same work unit is also possible. Preferably, the processing head has a further controllable drive, in particular a linear drive, in order to carry out a relative movement of at least the roller of the processing head with respect to the guide element, in particular transversely to a longitudinal direction of the guide element. Preferably, the drive of the roller for the rotational movement can also be moved together with the roller by means of the linear drive.A spring mechanism with at least one compressible spring can preferably be provided between the linear drive and the roller. In combination with the linear drive, this mechanism can adjust a specific pressure of the roller on the surface during operation. Advantageously, only the roller with its (rotary) drive, in particular without the material application head, can be moved toward the surface by means of the linear drive, so that the roller contacts the surface and preferably exerts a specific pressure on the surface (and correspondingly in the opposite direction). In this embodiment, the guide element can preferably be the guide element of the material application head.

[0083] 3. Semi-automatic system according to feature combination 2, wherein the processing head is designed such that the rotatable processing unit can be moved along the guide element and / or along the surface during operation by an actively generated rotary movement (by means of the drive) and contact with the surface. This means that the roller can essentially climb up or down the surface due to the rotary movement and the direct contact with the surface. Consequently, no separate drive is required to move the processing head along the guide element.

[0084] 4. Semi-automatic system according to feature combination 2 or 3, wherein a distance between the working unit and the guide element is adjustable substantially transversely to the longitudinal direction of the guide element, preferably in an automated process.

[0085] 5. Semi-automatic system according to feature combination 4, wherein at least one actuator, preferably two actuators, is assigned to the guide element in order to set a specific distance between the working unit and the guide element, preferably in an automated process.

[0086] 6. Semi-automatic system according to one of the feature combinations 2 to 5, wherein the guide element, preferably also the actuators, are detachably arranged on the working unit.

[0087] 7. Semi-automatic system according to one of the preceding feature combinations, wherein the working unit comprises at least one movable material application head for applying material to the surface, wherein the working unit comprises a guide element extending in a longitudinal direction, and wherein the material application head is movable longitudinally along the guide element, preferably in an automated process. The guide element for the material application head is preferably the previously described working unit, wherein the working unit is preferably provided by the previously described material application device.

[0088] 8. Semi-automatic system according to feature combination 7, wherein the material application head is positioned upstream of the processing head with respect to a processing direction of the surface.

[0089] 9. Semi-automatic system according to feature combination 7 or 8, wherein the working unit is designed and / or controllable to move the material application head and the processing head in paths along the surface during operation.

[0090] 10. Semi-automatic system according to one of the combinations of features 7 to 9, wherein the working unit is designed and / or controllable to move the material application head on one path along the surface during operation and to move the processing head, in particular simultaneously, on another path along the surface which was previously traversed by the material application head.

[0091] 11. Semi-automatic system according to one of the combinations of features 7 to 10, wherein the working unit is designed and / or controllable to move the material application head and the processing head, preferably in paths, in opposite directions along the surface during operation.

[0092] 12. Semi-automatic system according to one of the combinations of features 7 to 10, wherein the material application head and the processing head form, at least during operation, a unit which is movable in the longitudinal direction along a guide element, wherein by means of the unit material can be dispensed by the material application head and material can be processed by the processing head simultaneously.

[0093] 13. Method for controlling a semi-automatic system, in particular according to one of the above combinations of features, for processing surfaces with a working unit and a control device for the working unit, wherein the working unit is designed to be movable, preferably self-propelled and / or self-adjusting, and has at least one movable processing head, wherein the processing head has at least one rotatable processing unit for contact processing of a surface, in particular of material on a surface, and a drive, which drive is assigned to the rotatable processing unit and is controlled such that the rotatable processing unit is actively moved along the surface, preferably in an automated process.

[0094] 14. Method according to feature combination 13, wherein a material application head of the working unit is moved for material application on a path between a starting point and an end point along a, preferably vertical, axis along the surface, and wherein the processing head is moved for processing material on the surface on another path, which was previously followed by the material application head, between a starting point and an end point along a, preferably vertical, axis along the surface.

[0095] 15. Method according to feature combination 13 or 14, wherein the working unit is controlled such that in a first position the material application head and the processing head are moved along the surface on two different paths, preferably in opposite directions, and wherein the working unit is subsequently moved to a second position in order to move the material application head and the processing head along the surface on two different paths, preferably in opposite directions.

[0096] The invention is explained in more detail below with reference to the accompanying figures using exemplary embodiments. In the various figures, identical components are provided with identical reference numerals. The figures are generally not to scale. They show:

[0097] Figure 1 is a schematic view of a semi-automatic material application system according to the invention,

[0098] Figure 2 is a schematic view of parts of the material application system of Figure 1,

[0099] Figure 3 is a schematic and partially enlarged view of a material application device of a semi-automatic material application system according to the invention,

[0100] Figure 4 is a schematic and partially enlarged view of a material application device of a semi-automatic material application system according to the invention,

[0101] Figure 5 is a schematic view of a material application device of a semi-automatic material application system according to the invention,

[0102] Figures 6 to 9 are schematic views of parts of material application devices of semi-automatic material application systems according to the invention,

[0103] Figure 10 schematic views of parts of a semi-automatic material application system according to the invention,

[0104] Figure 11 is a schematic view of parts of a semi-automatic material application system according to the invention, Figure 12 is a schematic view of a semi-automatic material application system according to the invention,

[0105] Figure 13 is a schematic view of parts of a semi-automatic material application system according to the invention,

[0106] Figure 14 is a schematic representation of an automated application system according to the invention.

[0107] Figure 1 shows a schematic view of a semi-automatic material application system 1 according to the invention, which comprises a material supply unit 2 and a movable material application device 3. Some details of the semi-automatic material application system 1 are not shown in Figure 1, e.g. supply lines 49 for the material application head 41 (Figure 5). The material supply unit 2 is immobile during operation of the material application system 1 and is connected to the material application device 3 via hoses 20 or cables 20. The material supply unit 2 is designed, among other things, to supply the material application device 3 with material and electrical energy via the hoses 20 or cables 20 during operation in order to apply material to a work surface.

[0108] The material application device 3 comprises a movable base platform 30 and an elongated working unit 40 detachably mounted thereon. In the example in Figure 1, the movable base platform 30 has two driven wheels, each of which is assigned a separate drive motor 35, 35' (see also Figure 2), e.g., an electric motor each, so that the two wheels can be controlled or driven individually. The two front wheels, which point toward the working unit 40, are not driven in this example.The movable base platform 30 forms a housing, inside which, among other things, a compressor 33 for opening and closing a nozzle or spray gun of the material application head 41 and batteries 34 as a backup power source for safely shutting down the material application device 3 in the event of a power failure or power supply disruptions are housed, as well as other components not shown in detail that are required for material application. Unlike shown in Figure 1, the movable base platform 30 can be sealed off from the environment and accordingly comprise a largely closed housing (see, for example, Figure 11).

[0109] The movable base platform 30 has, on the left in Figure 1, a handlebar with control elements 31 arranged thereon. For example, a user of the material application device 3 can steer the movable base platform 30 and control the ferry operation via the handlebar and the control elements 31, e.g. to move the material application device 3 to a specific location, e.g. to a start or starting position for a material application, or to move it between two locations. Also arranged in the area of ​​the handlebar is a display 32 (not shown in detail in Figure 1), which forms a user interface via which a user can access, for example, a control device 4 of the material application system 1. In this example, the control device 4 is designed as part of the material application device 3.

[0110] In the right-hand area here, the movable base platform 30 has a working unit 40, which is shown in Figure 1 without an outer housing for the sake of clarity. The working unit 40 has an elongated shape and extends lengthwise in a longitudinal direction LR. A longitudinal extension LE of the working unit 40 corresponds to the longest extension of the working unit 40 in one direction (in the longitudinal direction LR), here in the vertical direction. A longitudinal axis x of the working unit 40 runs parallel to the longitudinal direction LR. The working unit 40 has a material application head 41, which can be moved in the longitudinal direction LR along the working unit 40. This will be described in detail later. To move the material application head 41, the working unit 40 has a chain drive 50, which will be described elsewhere.

[0111] To navigate the material application device 3 in space, the material application device 3 has various sensors, the signals from which are forwarded to the control device 4 and processed there. For example, the working unit 40 has an ultrasonic sensor 45 at its end, e.g. to determine the distance between the upper end of the working unit 40 and a ceiling of a building. In the area of ​​the material application head 41, the working unit 40 has an upper distance sensor 45' (Figure 2) and a lower distance sensor 45" (Figure 1), which can be moved together with the material application head 41 in the longitudinal direction LR. These two sensors 45', 45" are signal-connected to the control device 4 and are intended to determine a distance between the material application head 41 and, for example, a floor or ceiling of a building during operation. The sensor 45" can be used, for example, toto determine a distance between a nozzle or a spray gun of the material application head 41 and a work surface during operation.

[0112] The material application device 3 further comprises a front laser sensor 45'" on the work unit 40 (Figure 1) and a rear laser sensor 36 (Figure 2) on the base platform 30, the data from which are taken into account for controlling the movement of the base platform 30 in space by the control device 4, e.g., to move the movable base platform 30 along a work surface in an automated process. The movable base platform 30 further has a safety scanner 37 for detecting movements and / or objects within a range of, e.g., two meters from the safety scanner 37. In the event of a movement or an object within one meter, a warning message can be generated and displayed to a user via the display 32.

[0113] In Figure 1, the base platform 30 has a first drive 38, e.g. a linear drive 38, wherein the working unit 40 has a second drive 48, e.g. a second linear drive 48, which can each be controlled by the control device 4. The first linear drive 38 can be controlled in this way and is designed to rotate the working unit 40 by a specific angle about the longitudinal axis x. This can be seen from a combination of Figures 1 and 2, wherein the working unit 40 and in particular the material application head 41, starting from Figure 1, is rotated in Figure 2 by an angle of approximately 90° (relative to the longitudinal axis x). The second linear drive 48 can be controlled in this way and is designed to change or adjust the longitudinal extent LE of the working unit 40. Unlike how it is shown here, the linear drive 48 is arranged for the most part in the working unit 40 and can, for example, be arranged lengthwise inside a lower or upperouter (hollow) section of the working unit 40 and partially protrude upwards therefrom and extend into an adjoining upper or inner section of the working unit 40. As a result, the upper or inner section can be moved up and down relative to the lower or outer section by means of the linear drive 48.

[0114] Figure 2 shows a schematic view of parts of the material application system 1 from Figure 1, with the material supply unit 2 not shown here. In contrast to Figure 1, the material application device 3 is shown from a different perspective, with the working unit 40 rotated by an angle of approximately 90° around the longitudinal axis x.

[0115] Figure 3 shows a schematic view and an enlarged view of a material application device 3 in a partially disassembled state. Specifically, the working unit 40 is separated from the base platform 30 here. In order to detachably arrange the working unit 40 on the base platform 30 and to hold it there during operation, the base platform 30 has a plurality of coupling elements 39, 39', wherein the working unit 40 has a plurality of complementary coupling elements 47, 47'. In the case shown here, a respective coupling element 47, which can also be referred to as an anchor 47, on the working unit 40 can be brought into engagement with a coupling element 39 of the base platform 30, e.g. by a downward-pointing pin of a respective anchor 47 being inserted from above into a complementary recess in the respective coupling element 39. The further coupling element 47' orThe anchor 47' can be engaged with the coupling element 39', whereby this connection enables rotation of the working unit 40 about the longitudinal axis x (Figure 1) by means of the drive 38. The interacting coupling elements 39, 39', 47, 47' can create a positive connection, thus easily achieving a detachable coupling of the working unit 40, whereby the working unit 40 is held to the base platform 30 by gravity in the coupled state. Additional securing devices are optionally available.

[0116] Figure 4 shows a schematic view of a material application device 3, with individual parts shown enlarged. The material application device 3 differs from the material application devices 3 of Figures 1 to 3 in the design of the chain drive 50. The enlarged section at the top left shows part of the material application head 41 and part of the chain drive 50, with parts of two parallel chains 52 visible here, among other things. The chain drive 50 is designed such that, in particular by suspending the chains 52 in the working unit 40, a travel distance s of the material application head 41 along the chains 52 can be variably adapted to the (current) longitudinal extent LE (e.g., Figure 1) of the working unit 40.For example, if the longitudinal extent LE is increased by a certain distance, the travel distance s along which the material application head 41 can be moved during operation can also be increased by the same distance, or if the longitudinal extent LE is reduced, the travel distance s can be reduced accordingly. In order for the two chains 52 to have a certain tension during operation, they are fastened at the ends to a stationary end of the working unit 40, e.g. by means of screws. This is shown in Figure 4 in the enlarged section at the top right. The two chains 52 extend from the fastening downwards and are guided at an opposite end of the working unit 40 via two deflection rollers or gear wheels each back up into the working unit 40. This is shown in the enlarged section at the bottom right. The construction of the chain drive 50 shown here with the bottom, ieDuring operation, deflection rollers for the chains 52 pointing towards the ground can have the advantage over the examples in Figures 1 to 3 that the upper end of the working unit 40 can be as light as possible.

[0117] The opposite end of each chain 52 is connected to a steel cable 54. This can be seen in the enlarged section at the bottom left. The steel cables 54 are guided upwards and are then each deflected downwards via a winch 55 or deflection pulley 55, with the respective winch 55 being arranged on an outer (first) segment 49* or on an outer section 49*. This is shown in detail in the enlarged section at the top left. Each steel cable 54 is fastened at the end by means of a fixing 56 to an inner (second) segment 49** or to an inner section 49** of the working unit 40. The inner segment 49** can be actively moved relative to the outer segment 49* by means of a drive (not shown), i.e. it can be retracted into or extended from the outer segment 49*.The relative movement of the inner segment 49** allows a specific longitudinal extension of the working unit 40 and a specific travel distance s to be generated, whereby the fixing device 56 is moved equally, i.e., by the same distance, due to the relative movement of the inner segment 49**. This allows the chains 52 to be kept under tension despite a changed travel distance s. The chains 52, the fastenings at the upper end of the working unit 40, the deflection pulleys at the lower end of the working unit 40, the steel cables 54, the winches 55, and the fixing devices 56 are part of the chain drive 50.

[0118] Figure 5 schematically shows a material application device 3, wherein the base platform 30 and also the working unit 40 here have a closed housing or casing. The detachable coupling of the working unit 40 to the base platform 30 can be carried out as described with reference to Figure 3. In order to supply the material application head 41 with material and electrical energy during operation and to connect it to the control device, two supply lines 49 are provided, for example, which are connected to and supplied by the base platform 30 via a coupling point 43 (not shown in detail). The coupling point 43 can have two complementary coupling elements (not shown), wherein a quick-action coupling can be formed in the coupled state. The quick-action coupling can have plugs with a male or a female part, which can be easily separated from or connected to one another.The quick coupling can be easily separated for transport, in particular to transport the material application device 3 as two separate parts, e.g., the base platform 30 and the working unit 40. The two supply lines 49 run from the coupling point 43 along the outside of the working unit 40 and are partially received by or guided through a drag chain 49'. The supply lines 49 are connected at their ends directly to a nozzle 42 of the material application head 41 or are guided into the interior of the material application head 41.

[0119] Figures 6 and 7 schematically show parts of material application devices 3 of material application systems according to the invention. Figure 6 shows an enlarged view of a material application head 41 as well as parts of a chain drive 50. The material application head 41 comprises a nozzle 42 at its end as a material dispensing unit, wherein the nozzle 42 can be tilted during operation, e.g. in an automated process. In the case shown here, the nozzle 42 has an angle of inclination α relative to the work surface 5 (relative to a direction of a nozzle opening). A drive 46 (not shown in detail) is connected to the nozzle 42 in the direction of the chains 52 in order to carry out a relative movement of the nozzle 42 with respect to the work surface 5.

[0120] The drive 46 and the nozzle 42 are connected here via a narrow web, e.g. made of metal, to another part of the material application head 41, which is usually arranged within the casing of the working unit 40 and is therefore not visible. Depending on the embodiment, it is possible, for example, for the nozzle 42 to be detachably arranged on the material application head 41 and to be separated from other parts of the material application head 41, e.g. for replacement. The part of the material application head 41 located in the working unit 40 comprises, among other things, two gears 51 (only one visible here) and an electric motor 53 (not shown in detail) as the drive 53. Each gear 51 engages with a chain 52. The two chains 52, the electric motor 53 and the gears 51 are part of the chain drive 50.

[0121] Because the two gears 51 and the electric motor 53 are firmly connected to the material application head 41, the material application head 41 can be moved up or down along the chains 52 by rotating the two gears 51. At the rear (facing away from the material application head 41), the material application head 41 is guided by rollers along two guideways along the working unit 40.

[0122] Figure 7 shows an enlarged view of a material application head 41, wherein an information acquisition device 44, e.g., a scanner 44, is arranged plane-parallel to the nozzle 42 on the material application head 41. The scanner 44 is designed to acquire information that is physically arranged on a work surface, wherein the information is transmitted to the control device 4 (Figure 1) for evaluation, and wherein the material application system can be controlled for material application using the information. Unlike what is shown here, it is alternatively or additionally possible for the nozzle 42, as a material dispensing unit, and optionally adjoining parts of the material application head 41, to be rotated about an axis x', e.g., by up to 180°.

[0123] Figures 8 and 9 schematically show parts of material application devices 3 of material application systems according to the invention. In Figure 8, part of a material application head 4T is shown enlarged, wherein here two separate nozzles 42, 42' are arranged as material dispensing units on the material application head 4T. The nozzles 42, 42' are designed such that a direction of a respective nozzle opening (not shown) is parallel to the longitudinal direction LR and here points upwards. A spray cone, which is generated during operation of the material application device 3, is shown schematically. The working unit 40' in the embodiment shown here is intended, for example, to apply material to a ceiling of a building.

[0124] Figure 8 shows, by way of example, that the material application head 4T comprises two parts 41*, 41**, which are connected to one another during operation. A first part 41* has a frame on which two nozzles 42, 42' are arranged. The frame is connected at its end to a second part 41** of the material application head 41', wherein this part 41** has, among other things, an electric motor 53 for moving the material application head 4T in the longitudinal direction LR and is in (direct) contact with the working unit 40'. It is possible that specifically only the part 41* comprising the nozzles 42, 42' is replaced.

[0125] Figure 9 shows an enlarged view of part of a material application head 41", wherein here too two separate nozzles 42, 42' are arranged as material dispensing units on the material application head 41". The nozzles 42, 42' are designed such that a respective direction of a nozzle opening (not shown) is parallel to the longitudinal direction LR and points downwards here. A spray cone which is generated during operation of the material application device 3 is shown schematically. The working unit 40" shown here is intended, for example, to apply material to the floor of a building. The material application head 41" here also comprises two parts 41*, 41** which are connected to one another during operation, wherein the part 41* with the nozzles 42, 42' can preferably be changed separately, i.e. the other part 41** can remain on the working unit 40" during the change.

[0126] Figure 10 shows schematic views of a material application system 3 according to the invention in two different (operating) states. In the left-hand part of Figure 10, the working unit 40 is fully retracted in order to achieve the smallest possible longitudinal extension LE. In this state, the material application system 3 can, for example, be transported between two locations and can advantageously also be moved in residential buildings, whereby, for example, normal doors can be passed through, even without prior dismantling of the working unit 40. In the right-hand part of Figure 10, the working unit 40 is fully expanded in order to achieve the greatest possible longitudinal extension LE, e.g. in order to also apply material to high walls or ceilings. Any intermediate forms between the two examples shown are also possible, whereby the longitudinal extension LE can also be changed during operation.

[0127] Figure 11 shows a schematic view of a material application system 3 according to the invention in operation, i.e. when applying, for example, paint as material M to a work surface 5. During operation, the material application device 3 is moved automatically in an automated process across the floor in a direction R along the work surface 5 while maintaining a constant distance a' between the work surface 5 and the work unit 40. In the left-hand part here, a target surface 6, which is part of the work surface 5 and which the material application device 3 has passed, has already been coated with material M. The work surface 5 or target surface 6 here is a wall, e.g. in a residential building. The part of the work surface 5 or target surface 6 which is here to the right of the material application device 3 has not yet been coated with material M.During operation, a distance a between an outlet opening of a nozzle of the material application head 41 and the work surface 5 can be kept constant. Optionally, the material application head 41 can be designed to be movable in order to change the distance a. The longitudinal extension LE of the working unit 40 is adapted to an ambient height H, in this case a room height, so that the work surface 5 or the target surface 6 can be exposed to material M along its entire vertical extent.

[0128] On the work surface 5, but not on the target surface 6, an adhesive tape 7 is arranged, which comprises information I. The adhesive tape 7 frames a material-free area 8, here a window 8, in the work surface 5, which should not be exposed to material M. The machine-readable information I relates to a criterion for the material application to be carried out and can be captured by the scanner 44. Using the information I, the material application system 3 can be controlled in the example shown here such that material M is specifically applied (only) to the target surface 6 and, in particular, not to the window 8.

[0129] Figure 12 shows a schematic view of a semi-automatic material application system 1 according to the invention, which is based on the material application system 1 from Figure 1 and additionally comprises a processing head 58. With regard to the common features, reference is made to the description of Figure 1, which applies here accordingly. In Figure 12, the material application device 3 has, in addition to the working unit 40, a guide element 57 for the processing head 58. The guide element 57 has an elongated shape and extends lengthwise in a longitudinal direction LR. In the example in Figure 12, the working unit 40 with the material application head 41 is designed separately from the guide element 57 for the processing head 58. The two elements are arranged, e.g. detachably, on the movable base platform 30. The guide element 57 for the processing head 58 here comprises, for example, two parallel rods along which the processing head 58 can be moved.In the example shown, a distance a between the material application device 3, in particular the base platform 30, and the guide element 57 can be varied and / or a specific distance a can be set. The processing head 58 comprises a roller 59 as processing unit 59 and a controllable drive 60. The drive 60 is designed to rotate the roller 59 around its longitudinal axis in opposite directions during operation. The drive 60 exclusively sets the roller 59 in rotation or keeps it rotating. If the roller 59 comes into direct contact with a surface during operation (not shown), the roller 59 can roll up or down the surface as a result of the rotational movement and through interaction with the surface, e.g. using frictional force, whereby the movement of the processing head 58 along the guide element 57 is also generated.

[0130] Figure 13 shows a schematic view of parts of a semi-automatic material application system according to the invention. In this example, both a material application head 41 and a processing head 58 are movably mounted on the same work unit 40'. The material application head 41 and the processing head 58 form a unit 61. It can be seen that the roller 59 is rotatably connected to a frame 62, which is provided at its end with a linear drive

[0131] 63. The linear drive 63 is part of the machining head 58 and is mounted on a suspension

[0132] 64, with the entire processing head 58 being held on the suspension 64 above and via two rollers. The drive for the rotary movement of the roller 59 is not shown in Figure 13. The material application head 41'" is also mounted on the suspension 64. The semi-automatic material application system can, apart from the differences described, be designed, for example, as shown in Figure 1.

[0133] Figure 14 shows, purely schematically, an example of an embodiment of an automated application system according to the invention. The automated application system 70 comprises as components an applicator 71, here a nozzle 71, for dispensing material, e.g. paint, onto a surface, and a sensor 72 for detecting a process parameter during operation. Further components of the application system 70 are a material supply 73 with a pump 75 and a filter 76 as well as a control device 74 for controlling the application system 70, in particular the pump 75. The sensor 72 is connected to the control device 74 in terms of signals in order to supply it with data D or measured values ​​D from the sensor 72. The material supply 73 comprises a line 77 which is connected to an external material reservoir (not shown) and is designed to supply material to the nozzle 71.The control device 74 is designed to evaluate the detected process parameter, in particular by comparing it with a target value, and, if necessary, to independently carry out corrective measures during operation in order to achieve optimal performance during material application while maintaining the target value.

[0134] Finally, it should be noted once again that the material application systems described in detail above are merely exemplary embodiments that can be modified in a variety of ways by those skilled in the art without departing from the scope of the invention. Furthermore, the use of the indefinite articles "a" or "an" does not preclude the possibility of the relevant features being present multiple times.

[0135] List of reference symbols

[0136] 1 semi-automatic material application system

[0137] 2 Material supply unit

[0138] 3 Material application device

[0139] 4 Control device

[0140] 5 Work surface

[0141] 6 Target area

[0142] 7 Adhesive tape

[0143] 8 material-free area / window

[0144] 20 hoses / cables

[0145] 30 basic platform

[0146] 31 Control element

[0147] 32 displays

[0148] 33 Compressor

[0149] 34 Battery

[0150] 35, 35' traction motor

[0151] 36 sensors

[0152] 37 security scanners

[0153] 38 Drive / Linear Drive

[0154] 39, 39' coupling element

[0155] 40, 40', 40", 40'" working unit

[0156] 41 , 41 ', 41 “, 41 material application head

[0157] 41*, 41** Part of the material application head

[0158] 42, 42' material dispensing unit / nozzle

[0159] 43 Coupling point

[0160] 44 Information capture device / scanner

[0161] 45, 45', 45", 45'" Sensor

[0162] 46 Drive

[0163] 47, 47' coupling element / anchor

[0164] 48 Drive / Linear Drive

[0165] 49 supply line

[0166] 49' drag chain

[0167] 49*, 49** Section / Segment

[0168] 50 chain drive

[0169] 51 Chain wheel / toothed wheel

[0170] 52 chain

[0171] 53 Drive / Electric Motor

[0172] 54 steel cables

[0173] 55 Winch / pulley 56 Fixation

[0174] 57 Guide element

[0175] 58 machining head

[0176] 59 Processing unit / roller

[0177] 60 drive

[0178] 61 units

[0179] 62 frame

[0180] 63 Linear actuator

[0181] 64 Suspension

[0182] 70 Automated application system

[0183] 71 Applicator / Nozzle

[0184] 72 Sensor

[0185] 73 Material supply

[0186] 74 Control device

[0187] 75 Pump

[0188] 76 Filter a Angle a, a' Distance

[0189] D Data / Measured values

[0190] H Ambient height

[0191] I Information

[0192] LE Longitudinal extension

[0193] LR longitudinal direction

[0194] M Material

[0195] R direction s travel length / travel distance x, x' axis

Claims

Patent claims 1 . Semi-automatic material application system (1) with a material supply unit (2), a material application device (3) and a control device (4) at least for the material application device (3), wherein the material application device (3) is designed to be movable, preferably self-propelled and / or self-adjusting, in order to apply material (M) to a work surface (5), preferably in an automated process, wherein the material application device (3) has a movable base platform (30) and a working unit (40, 40', 40", 40'") extending in a longitudinal direction (LR) with a material application head (41, 41', 41", 41"') which is movable in the longitudinal direction (LR) along the working unit (40, 40', 40", 40'"), and wherein the working unit (40, 40', 40", 40'") is detachable, preferably exchangeable, is arranged on the base platform (30),and / or wherein the material application device (3) has a movable base platform (30) and a working unit (40, 40', 40", 40'") extending in a longitudinal direction (LR) with a material application head (41, 41', 41", 41"'), wherein the material application head (41, 41', 41", 41"') is movable in the longitudinal direction (LR) along the working unit (40, 40', 40", 40'") by means of a chain drive (50).

2. Semi-automatic material application system according to claim 1, wherein the material application head (41, 41', 41", 41"') for applying material (M) to the work surface (5) is moved linearly along only one axis (x) along the work unit (40, 40', 40", 40'").

3. Semi-automatic material application system according to claim 1 or 2, wherein the working unit (40, 40', 40", 40'") is designed to be adjustable in size, preferably in an automated process, in order to set a specific longitudinal extent (LE) of the working unit (40, 40', 40", 40'"), along which the material application head (41, 41', 41", 41"') is movable.

4. Semi-automatic material application system according to one of the preceding claims, wherein the working unit (40, 40', 40", 40'") can be rotated through an angle of at least 90°, preferably 180°, about a longitudinal axis (x) of the working unit (40, 40', 40", 40'"), and / or wherein the working unit (40, 40', 40", 40'") is pivotally mounted in order to set a specific orientation of a longitudinal axis (x) of the working unit (40, 40', 40", 40'").

5. Semi-automatic material application system according to one of the preceding claims, wherein the base platform (30) is designed to be detachably coupled to different working units (40, 40', 40", 40'"), preferably to a working unit (40, 40'") for applying material to walls and / or to a working unit (40') for applying material to ceilings and / or to a working unit (40") for applying material to floors, and / or wherein the working unit (40, 40', 40", 40'") has a working tower (40, 40', 40", 40'"), wherein the material application head (41, 41', 41", 41"') is movable in a longitudinal direction (LR) along the working tower (40, 40', 40", 40'"), and / or wherein the working unit (40, 40', 40", 40'") is designed to apply material (M) to the working surface (5) in a state decoupled from the base platform (30).

6. Semi-automatic material application system according to one of the preceding claims, wherein the material application head (41, 41', 41", 41"') is detachably arranged on the working unit (40, 40', 40", 40'"), and / or wherein the working unit (40, 40', 40", 40'") is designed to detachably arrange different material application heads (41, 41', 41", 41"') thereon, and / or wherein the working unit (40, 40', 40", 40'") is designed to detachably arrange two or more, preferably different, material application heads (41, 41', 41", 41"') thereon, and / or wherein the material application head (41, 41', 41", 41"') is designed to to change an inclination of at least one material dispensing unit (42, 42') of the material application head (41, 41', 41", 41"') with respect to the work surface (5), in particular for setting a specific angle of inclination (a) in an automated process,and / or wherein a specific distance (a) between a material dispensing unit (42, 42') of the material application head (41, 41', 41", 41"') and the working unit (40, 40', 40", 40'") and / or the working surface (5) is adjustable, preferably in an automated process, and / or wherein at least one material dispensing unit (42, 42') of the material application head (41, 41', 41", 41"') can be rotated about a rotation axis (x') which runs transversely to the working unit (40), preferably in an automated process.

7. Semi-automatic material application system according to one of the preceding claims, wherein the material application head (40, 41 ', 41 ", 41 "') has two or more, preferably separately controllable, material dispensing units (42, 42') for applying material (M) to the work surface (5), and / or wherein the material application head (41, 41 ', 41 ", 41 "') and / or the work unit (40, 40', 40", 40'") has at least one material dispensing unit (42, 42') for applying material (M) to the work surface (5) and at least one associated, preferably contacting, material processing unit, in particular a rotatable roller.

8. Semi-automatic material application system according to one of the preceding claims, wherein the material application device (3) has at least one movable processing head (58), wherein the processing head (58) has at least one rotatable processing unit (59) for contact processing of a work surface (5), in particular of material (M) on the Work surface (5), and a drive (60), which drive (60) is assigned to the rotatable processing unit (59) and is designed to actively move the rotatable processing unit (59) along the work surface (5), preferably in an automated process.

9. Semi-automatic material application system according to one of the preceding claims, wherein the chain drive (50) has at least one sprocket (51) which is in engagement with a chain (52) of the chain drive (50), and a drive unit (53) which is assigned to the material application head (41, 41', 41", 41"') and is designed to move the material application head (41, 41', 41", 41"') in an automated process in the longitudinal direction (LR) along the working unit (40, 40', 40", 40'").

10. Semi-automatic material application system according to claim 9, wherein the chain drive (50) is designed such that a travel length (s) of the material application head (41, 41', 41", 41"') along the chain (52) automatically adapts to a specific, preferably changed, longitudinal extent (LE) of the working unit (40, 40', 40", 40'").

11. Semi-automatic material application system according to one of the preceding claims, wherein the material application device (3), preferably the material application head (41, 41', 41", 41"'), has an information acquisition device (44), preferably a scanner (44), for capturing at least one piece of information (I) relating to at least one criterion of a material application to be carried out, which information (I) is physically arranged on the work surface (5), wherein preferably the control device (4) of the material application system (1) is designed to control the material application device (3) using the information (I) such that material (M) is applied to the work surface (5).

12. Material application device (3) for a semi-automatic material application system (1), in particular according to one of claims 1 to 11, which has a material supply unit (2) and a control device (4) at least for the material application device (3), wherein the material application device (3) is designed to be movable, preferably self-propelled and / or self-adjusting, in order to apply material (M) to a work surface (5), preferably in an automated process, wherein the material application device (3) has a movable base platform (30) and a working unit (40, 40', 40", 40'") extending in a longitudinal direction (LR) with a material application head (41, 41', 41", 41"') which is movable in the longitudinal direction (LR) along the working unit (40, 40', 40", 40'"), and wherein the working unit (40, 40', 40", 40'") is detachably, preferably exchangeably, arranged on the base platform (30), and / or wherein the material application device (3) has a movable base platform (30) and a working unit (40, 40', 40", 40'") extending in a longitudinal direction (LR) with a material application head (41, 41', 41", 41"'), wherein the material application head (41, 41', 41", 41"') is movable in the longitudinal direction (LR) along the working unit (40, 40', 40", 40'") by means of a chain drive (50).

13. Automated application system (70) for applying material (M) to a work surface (5), in particular for a semi-automatic material application system (1) according to one of claims 1 to 11 and / or for a material application device (3) according to claim 12, comprising a material supply (73), an applicator (71) for dispensing material (M), at least one sensor (72) for detecting a process parameter and a control device (74), wherein the control device (74) is designed to control the application system (70) in an automated process, so that, taking into account an actual value during operation, at least one process parameter of the application system (70) is in a target range.

14. Automated application system according to claim 13, wherein the process parameter relates to a material viscosity, a material temperature, a material flow rate, a material consumption, a spray pattern and / or pump performance data.

15. Method for controlling a material application device (3) of a semi-automatic material application system (1) according to one of claims 1 to 11, wherein the working unit (40, 40', 40", 40'") is arranged at least once by detachable coupling on the base platform (30) and / or is detached from the base platform (30), and / or wherein the material application head (41, 41', 41", 41"') is moved at least once in the longitudinal direction (LR) along the working unit (40, 40', 40", 40'") by means of a chain drive (50).

16. The method according to claim 15, wherein the information acquisition device (44) of the material application device (3) acquires at least once information (I) relating to at least one criterion of a material application to be carried out, which is physically arranged on a work surface (5), wherein the control device (4) of the material application system (1) uses the information (I) to control the material application device (3) of the material application system (1) such that material (M) is applied to the work surface (5), preferably in an automated process, and / or wherein the information (I) is acquired before the start of a material application to the work surface (5) and / or during a material application to the work surface (5), preferably repeatedly and / or continuously.

17. The method according to claim 15 or 16, wherein the material application device (3) is moved automatically once or several times along the work surface (5) while maintaining a constant distance (a'), and / or wherein a longitudinal extent (LE) of the work unit (40, 40', 40", 40'") is adapted to an ambient height (H) in an automated process, preferably during a repositioning of the material application device (3) with respect to a work surface (5).

Images