Device for scraping a pin carried by an industrial robot

Abstract

Device (1) for scraping a pin (3) carried by an industrial robot (2), in particular a pin (3) used in a painting area (4) of a painting installation, comprising - a base body (5), - a scraper element (7) comprising a scraper structure (6), and - a mounting device (8) for movably mounting the scraper element (7) on the base body (5).

Description

[0001] 24-1245 DE

[0002] Device for stripping a pen guided by an industrial robot

[0003] The invention relates to a device for removing paint from a pin guided by an industrial robot. It is known, for example, to have industrial robots guide a pin which serves as a contact element for the defined movement of movable components in assemblies. For instance, a flap of a car body can be moved relative to a body structure via the contact of a pin. If the pin, moved by the industrial robot, is used in a painting area of ​​a paint shop for at least partially painting a component of an assembly, paint may adhere to the pin. These paint residues on the pin can lead to contamination of subsequent components upon the pin's contact with those components.

[0004] To prevent this, such pens are cleaned manually by production workers at regular intervals. Typically, the pen is cleaned using a cloth. This requires a set amount of time within the work cycle for cleaning the pen, during which, particularly due to safety regulations, the system or its components, such as the industrial robot, cannot be used or can only be used to a limited extent.

[0005] The invention is based on the objective of increasing the effective usage time of an industrial robot that guides or moves a pen, or reducing cleaning times of the system.

[0006] The problem is solved by a device for stripping a pen guided by an industrial robot according to claim 1. The dependent claims relate to possible embodiments of the device. Furthermore, the problem is solved by a method according to claim 9.

[0007] The invention relates to a device for removing paint residue from a pin guided by an industrial robot. The industrial robot can be used in a painting area of ​​a paint shop. The pin guided or moved by the industrial robot can be used and, in the course of its use, become contaminated with paint residue. 24-1245 DE

[0008] Alternatively or additionally, the pen can also be used in other production and / or assembly environments and may become contaminated with residues, e.g. dust and / or oil residues, which are removed from the pen by means of the device.

[0009] The pin can generally be used to execute a defined movement of a first component relative to another component. In other words, the pin can be used as a contact element of the industrial robot to apply a tensile and / or compressive force to a first component. For example, the first component could be a vehicle flap, such as a vehicle door, which is movably mounted on a vehicle base structure, for example, by means of at least one hinge. A robot arm of the industrial robot carrying the pin, or another robot arm of the industrial robot, could, for example, carry an applicator for applying a colorant and / or paint and / or other liquids, whereby the material to be applied (e.g., paint and / or varnish) can be applied to at least one area of ​​the first or other component by means of the applicator.During the application process, particularly a painting process, residues of the material being applied, such as paint residues, can form on the pen. These residues can be removed from the pen using this device. For example, the device is used in a painting system for applying topcoats to components, especially vehicle bodies.

[0010] The device comprises a base body, which may, for example, have a mounting interface for attaching the base body to a wall and / or a floor and / or a ceiling. Furthermore, the device comprises a wiper body including a wiping structure and a bearing device for the movable mounting of the wiper body on the base body. By bringing the pin into contact with the wiping structure of the wiper body, residues, especially paint residues, on the pin can be removed, in particular scraped off. Because the wiper body is movably mounted on the base body via the bearing device, the pin can be quickly moved towards the wiper body and / or a relative wiping motion between the pin and the wiper body can be performed, resulting in a reliably good cleaning result. 24-1245 DE

[0011] It is possible that the wiping structure of the wiper body has at least one groove or is designed as at least one groove. The pin can be inserted into the groove and pulled off or guided along at least one edge (wiping edge) that defines the groove. For example, the at least one groove has a width that corresponds to the width of the pin to be cleaned, in the range of 100% to 150%, preferably 101% to 120%, particularly preferably 101% to 110%, further preferably 101% to 105%, and most preferably 101% to 103%. Alternatively or additionally, the groove can be dimensioned such that, when a pin is inserted into the groove, there is a clearance of 0.5 mm to 4.0 mm, preferably 1.0 mm to 2.0 mm. For example, the pin has a thickness or diameter of 9.8 mm and the groove has a width of 10.0 mm.The specified width of the pin refers, for example, to its maximum width, i.e., its extent perpendicular to its longitudinal axis. Alternatively or additionally, the width of the pin refers to the maximum diameter or the maximum transverse extent of a cylindrically shaped pin, particularly a circularly cylindrical one. The groove can, for example, have a U-shaped base. In this case, the two free legs can be of equal length.

[0012] The wiper structure is preferably made of a rigid material, allowing for the scraping of contaminants, particularly paint residue, from the pen by means of a scraping edge. A rigid wiper material has proven advantageous compared to a sponge or other elastic materials because it achieves a predictable and reproducible cleaning function over a longer period. A sponge-like or elastic cleaning agent, for example, can exhibit impaired or inconsistent cleaning performance over time due to aging effects, such as saturation or becoming saturated with accumulated contaminants. The wiper body or wiper structure can be made of, for example, a metal or a plastic, such as POM.

[0013] In a preferred embodiment, the groove-shaped scraper structure has a groove bottom of varying depth. Preferably, the groove bottom can have a depth that changes at least partially, preferably predominantly, and particularly preferably completely. The depth of the groove bottom is defined as the distance between the groove bottom and the opening defining the groove. Preferably, the depth is considered parallel to the direction of movement of the scraper body, which is mounted on the bearing device, relative to the base body. Alternatively or additionally, the groove-shaped scraper structure can have a groove width that is constant at least partially, preferably predominantly, and particularly preferably completely.

[0014] It is possible that the bearing assembly is configured to mount the wiper body so that it can move along one, and in particular only along a single, spatial axis. The bearing assembly can, for example, be configured as a bearing that allows only translational movement along a single spatial axis; that is, translational movement along the other two spatial axes, as well as rotation around the spatial axes, is prevented by the bearing assembly or results in bearing reactions. A wiper body mounted in such a way results in a defined avoidance behavior and a reproducible wiper process step that can be easily integrated into an industrial robot motion sequence.

[0015] The spatial axis, in particular the only one, along which the scraper body can be displaced relative to the base body, can, for example, form an angle in the range of 30° to 150° with a main extension axis of the scraper structure, in particular a groove-like structure.

[0016] In a preferred embodiment, it can be provided that one, and in particular a single, plane of movement, within which the wiper body is movably mounted, is aligned at right angles or perpendicularly with a principal extension plane of a wiper body, in particular a groove-like wiper body. This allows the pin to be guided in a linear movement along, in particular in or on, the wiper structure, and any evasive movement of the wiper body is a movement that carries out a movement that poses no or only a minimal risk of jamming (a) of the pin on the wiper body and / or (b) of the wiper body on the base body and / or (c) of the wiper body and / or the base body on the bearing device. 24-1245 DE

[0017] It can be advantageous if the device includes a preloading device configured to preload the wiper body relative to the base body in at least one direction of movement. For example, the wiper body is preloaded into a position away from the base body by means of the preloading device. The preloading device can, for example, have at least one preloading element designed as an elastic body. For example, the at least one preloading element of the preloading device is designed as a mechanical tension and / or compression spring or as an elastomer. The requirements for programming and / or controlling the industrial robot can also be reduced by equipping the device with the preloading device, since a "hard contact" or a rapidly increasing resistance jump is avoided.

[0018] The bearing assembly can, for example, comprise at least one guide rod that is received or receptacled in a guide rod receptacle. The guide rod can be part of the base body, and the guide rod receptacle can be part of the scraper body, or vice versa. Preferably, the bearing assembly has a first and at least one further guide rod, wherein the first guide rod is received or receptacled in a first guide rod receptacle on the bearing assembly side, and the further guide rod is received or receptacled in a further guide rod receptacle on the bearing assembly side. The at least two guide rods can be arranged or formed on the same body (base body or scraper body) or on different bodies.

[0019] In addition to the device for stripping a pen guided by an industrial robot, the invention also relates to a method for stripping a pen guided by an industrial robot, in particular a pen used in a painting area of ​​a painting system. The method comprises a process step of providing a device, in particular a device described herein, for stripping a pen, comprising a base body, a stripping body comprising a stripping structure, and a bearing device for movably mounting the stripping body on the base body. In a further process step, a device is moved on a 24-1245 DE

[0020] An industrial robot mounts a pin along a wiper structure of a wiper body and applies a wiping force to the wiper body via the pin, causing the wiper body to move relative to the base body. This wiping force can, for example, cause a relative movement between the wiper body and the base body. This relative movement can be counteracted by a preload force generated by a preloading device. The preloading device allows the wiper body to return to a starting position after the pin moves away from the wiper body. This ensures that the wiper body is always in a predefined starting position for repeated, time-interval wiping of one or more pins.

[0021] All advantages, details, designs and / or features of the device according to the invention are transferable or applicable to the method according to the invention and vice versa.

[0022] The invention is explained in more detail with reference to exemplary embodiments in the drawings. These show:

[0023] Fig. 1 shows a schematic perspective view of an industrial robot and a device for removing a pen according to an exemplary embodiment;

[0024] Fig. 2 shows a schematic perspective view of a device for wiping a pen according to an exemplary embodiment;

[0025] Fig. 3 shows a schematic representation of a pin and a schematic cross-section of a scraper body of the device according to Figure 2;

[0026] Fig. 4 shows a schematic representation of a pin cross-section and a schematic top view of a wiper body of the device according to Figure 2.

[0027] Device 1 for stripping a pin 3 guided by an industrial robot 2, in particular a pin 3 used in a painting area 4 of a painting system. As shown by way of example in Figure 1, a robot arm 19 can be equipped with an applicator 20, e.g. a dye and / or paint applicator, and within a 24-1245 DE

[0028] The robot arm 19 may be located in the painting area 4 of a painting system or in another room of a production and / or assembly plant. In addition to the applicator 20, the robot arm 19 may also have a pin 3, so that the applicator 20 and the pin 3 can be moved by a targeted movement of the robot arm 19.

[0029] Furthermore, the device 1 described herein for wiping the pin 3 can be arranged or configured in the painting area 4 and / or within the painting system and / or in the immediate vicinity or within the working area of ​​the industrial robot 2. For example, the base body 5 of the device 1 is mounted on a wall of a painting area 4, e.g., a paint booth, see Figure 1.

[0030] The device 1 comprises a base body 5 and a scraper body 7 having a scraper structure 6, as well as a bearing device 8 for movably mounting the scraper body 7 on the base body 5. The scraper structure 6 can have at least one scraper edge and / or a scraper surface that is at least partially flat and roughened. The pin 3 can preferably have a cylindrical shape, e.g., a circular cylindrical shape. By bringing the pin 3 into contact with and moving it along the scraper structure 6, residues located on the pin 3 can be scraped off by means of point, line, or area contact between the pin and the scraper body 7. These residues can be scraped off the pin 3 at least partially by the contact and may fall off the pin 3 due to gravity and / or adhere at least partially to the scraper body 7.It is possible that a collection container is arranged below the scraper body 7, so that residues falling from the scraper body 7 can fall into the collection container and be collected there.

[0031] The wiping structure 6 of the wiper body 7 can, as exemplified in the figures, have at least one groove 25 or be configured as at least one groove 25. For example, the at least one groove 25 has a width 9 which, in the range of 100% to 150%, preferably 101% to 120%, particularly preferably 101% to 110%, further preferably 101% to 105%, most preferably 101% to 103%, corresponds to the width 21 of the pin 3 to be cleaned. The width 9 of the groove 25 is to be understood as its transverse extent, which is oriented transversely to a longitudinal axis of an elongated groove profile. Alternatively or additionally, as 24-1245 DE

[0032] The width 21 of the pin 3 is understood to be the maximum diameter or the maximum transverse extent of a cylindrically, in particular a circularly cylindrical, shaped pin 3. In general terms, the dimensioning of the groove 25 can be adapted to the shape or dimensioning of the pin, so that a reliable stripping or release of the pin 3 can occur through contact with the stripping body 7, in particular through a purely linear relative movement between the pin 3 and the wiper body 7.

[0033] For example, a principal extension axis 23 of the groove 25 can form an angle α with a principal extension plane 14 of the scraper body 7 and / or with a principal movement plane 13 of the scraper body 7 relative to the base body 5 in the range of 5° to 90°, preferably 20° to 85°, particularly preferably 40° to 80°, and particularly preferably 60° to 80°. It is possible that an edge closing the groove 25 on the scraper body 7 forms an acute angle.

[0034] In a preferred embodiment, the groove-shaped scraper structure 6 can have a groove bottom 11 with a varying depth 10. In other words, the groove 25 has a varying depth 10 along its length. Optionally, the groove bottom 11 can also be inclined. Alternatively or additionally, the groove-shaped scraper structure 6 can, for example, have a constant width 9 along the groove 25.

[0035] The bearing device 8 can, for example, be configured to movably mount the wiper body 7 along a spatial axis 12, in particular along only a single axis 12. This ensures that the bearing device 8 performs a defined linear back-and-forth movement during contacting and de-contacting.

[0036] The bearing device 8 can, for example, be configured such that one, in particular a single, main plane of motion 13, within which the scraper body 7 is movably mounted or within which the scraper body 7 performs a relative movement to the base body 5, is aligned perpendicularly with a main extension plane 14 of a scraper body 7, in particular a groove-like one. 24-1245 DE

[0037] In a preferred embodiment, the device 1 has a preloading device 15 configured to preload the wiper body 7 to move relative to the base body 5 in at least one direction of movement. For example, the wiper body 7 can be preloaded by the preloading device 15 into a position 16 away from the base body 5. In other words, when free from external forces, the wiper body 7 can be forced or moved into a position spaced apart from the base body 5. This allows a defined positioning of the wiper body 7 to be achieved when it is unaffected by the pin 3. The preloading device 15 may include a spring element designed as a mechanical compression spring.A support structure 24 can be associated with the spring element. The support structure 24 can be arranged or formed at least partially on the base body 5 and / or at least partially on the wiper body 7. The support structure 24 can, for example, be designed as a support body formed in an interior space of a compression and / or tension spring – see the exemplary highlighting on the base body 5 – and / or as a recess that partially receives a cylindrical compression spring – see the exemplary recess on the wiper body 7 in Figure 4.

[0038] The bearing assembly 8 can, for example, comprise at least one guide rod 17, 17' which is received or can be received in a guide rod receptacle 18, 18'. Preferably, the bearing assembly 8 has a first and at least one further guide rod 17, 17', wherein the first guide rod 17 is received or can be received in a first guide rod receptacle 18 on the bearing assembly side and the further guide rod 17' is received or can be received in a further guide rod receptacle 18' on the bearing assembly side. The at least one guide rod 17, 17' can, for example, be oriented perpendicular to a principal extension plane of the base body 5. It is possible that the wiper body 7 is movably mounted on the base body 5 and / or on a bearing assembly 8 in a captive manner. For example, lifting devices 22, e.g.,in the form of screws, to which at least one guide rod 17, 17' is attached, so that the stop 22 enables a defined limitation of the movement of the scraper body 7 relative to the base body 5. In the embodiment shown by way of example in the figures, the guide rods 17, 17' are attached to the base body 5 by a material bond, e.g. by welding. Alternatively, the at least one guide rod 17, 17' can be attached to the base body 5 by a force-fit and / or form-fit. The stop 22 can, for example, be a screw provided with a screw head, e.g. a countersunk head. This screw can be screwed into an internal thread of the at least one guide rod 17, 17' and thereby limit the movement of the scraper body 7 relative to the base body 5 or act as a stop for a scraper body 7 that has moved maximally away from the base body 5.

[0039] In addition to the device 1 for stripping a pin 3 guided by an industrial robot 2, in particular a pin 3 used in a painting area 4 of a painting system, the invention comprises a method for stripping the pin. The method provides a device 1, in particular a device 1 as described herein, for stripping a pin 3, comprising a base body 5, a stripping body 7 comprising a stripping structure 6, and a bearing device 8 for movably mounting the stripping body 7 on the base body 5. The method further comprises moving a pin 3 mounted on an industrial robot 2 along a stripping structure 6 of a stripping body 7 and applying a stripping force via the pin 3 to the stripping body 7 such that the stripping body 7 performs a relative movement to the base body 5.During this relative movement, the pin 3 can be freed from residues by mechanical contact with the wiper structure 6.

[0040] 24-1245 DE

[0041] Reference symbol list

[0042] 1 Device

[0043] 2 industrial robots

[0044] 3 pens

[0045] 4 Painting area

[0046] 5 basic bodies

[0047] 6 stripping structure of 7

[0048] 7 scraper bodies

[0049] 8 Storage facility

[0050] 9 width of 25

[0051] 10 depth of 11

[0052] 11 Grooved floor

[0053] 12 Spatial axis

[0054] 13 Main plane of motion

[0055] 14 Main extent level 7

[0056] 15 Pre-tensioning device

[0057] 16th position away from 7 of 5

[0058] 17, 17' Guide rod

[0059] 18, 18' Guide rod mount

[0060] 19 robot arms out of 2

[0061] 20 Applicator

[0062] 21 Width of 3

[0063] 22 Lifting equipment

[0064] 23 Main extension axis of 6, 25

[0065] 24 Support structure

[0066] 25 Nut a Angle between 23 on one side and 13 and / or 14 on the other

Claims

24-1245 DE REQUIREMENTS 1. Device (1) for stripping a pin (3) guided by an industrial robot (2), in particular a pin (3) used in a painting area (4) of a painting system, comprising - a basic body (5), - a wiper body (7) comprising a wiper structure (6) as well as - a bearing device (8) for the movable bearing of the scraper body (7) on the base body (5).

2. Device (1) according to claim 1, characterized in that the wiping structure (6) of the wiping body (7) has at least one groove (25) or is designed as at least one groove (25), preferably the at least one groove (25) has a width (9) which corresponds to the width (9) of the pin (3) to be cleaned in the range of 100% to 150%, preferably 101% to 120%, particularly preferably 101% to 110%, further preferably 101% to 105%, most preferably 101% to 103%.

3. Device (1) according to claim 2, characterized in that the groove-shaped scraper structure (6) has a groove bottom (11) having a different depth (10).

4. Device (1) according to claim 2 or 3, characterized in that the groove-shaped scraper structure (6) has a constant width (9) of the groove (25).

5. Device (1) according to one of the preceding claims, characterized in that the storage device (8) is configured to 24-1245 DE The scraper body (7) is to be movably mounted along a spatial axis (12), in particular along only a single spatial axis.

6. Device (1) according to one of the preceding claims, characterized in that a, in particular a single, main plane of motion (13), within which the scraper body (7) is movably mounted, is connected to a main plane of extension (14) of a, in particular groove-like, scraper body. (7) is aligned at right angles.

7. Device (1) according to one of the preceding claims, characterized by a pretensioning device (15) which is configured to pretension the movement of the scraper body (7) to the base body (5) in at least one direction of movement, preferably the scraper body (7) is pretensioned by means of the pretensioning device (15) into a position (16) away from the base body (5).

8. Device (1) according to one of the preceding claims, characterized in that the bearing device (8) comprises at least one guide rod (17, 17') which is received or can be received in a guide rod receptacle (18, 18'), preferably the bearing device has (8) a first and at least one further guide rod (17, 17') wherein the first guide rod (17) is received or can be received in a first guide rod receptacle (18) on the bearing device side and the further guide rod (17') is received or can be received in a further guide rod receptacle (18') on the bearing device side.

9. Method for stripping a pen (3) guided by an industrial robot (2), in particular a pen (3) used in a painting area (4) of a painting system, comprising the process steps: - Providing a device (1), in particular according to claim 1, for stripping a pin (3), comprising a base body (5), a -1245 DE a wiper structure (6) comprising a wiper body (7) and a bearing device (8) for movable mounting of the wiper body (7) on the base body (5); - Moving a pen (3) mounted on an industrial robot (2) along a wiper structure (6) of a wiper body (7) and - Applying a wiping force via the pin (3) to the wiping body (7) such that the wiping body (7) performs a relative movement to the base body (5).

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