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EP2185297A1 - Procede de depoussierage, et dispositif de depoussierage correspondant - Google Patents

Procede de depoussierage, et dispositif de depoussierage correspondant

Info

Publication number
EP2185297A1
EP2185297A1 EP08838142A EP08838142A EP2185297A1 EP 2185297 A1 EP2185297 A1 EP 2185297A1 EP 08838142 A EP08838142 A EP 08838142A EP 08838142 A EP08838142 A EP 08838142A EP 2185297 A1 EP2185297 A1 EP 2185297A1
Authority
EP
European Patent Office
Prior art keywords
dedusting
tool
drive motor
corrected
dedusted
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08838142A
Other languages
German (de)
English (en)
Other versions
EP2185297B1 (fr
Inventor
Jürgen Haas
Alexander Meissner
Marcus Frey
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Priority to PL08838142T priority Critical patent/PL2185297T3/pl
Publication of EP2185297A1 publication Critical patent/EP2185297A1/fr
Application granted granted Critical
Publication of EP2185297B1 publication Critical patent/EP2185297B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/02—Brushes with driven brush bodies or carriers power-driven carriers
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B3/00—Brushes characterised by the way in which the bristles are fixed or joined in or on the brush body or carrier
    • A46B3/18—Brushes characterised by the way in which the bristles are fixed or joined in or on the brush body or carrier the bristles being fixed on or between belts or wires
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/30—Brushes for cleaning or polishing
    • A46B2200/3026—Dusting brush
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/30—Brushes for cleaning or polishing
    • A46B2200/3046—Brushes for cleaning cars or parts thereof

Definitions

  • the invention relates to a dedusting method, in particular for the wet cleaning of motor vehicle body components prior to painting.
  • the invention relates to a corresponding Entstau- bung device that is suitable for wet cleaning of motor vehicle body components and, for example, has a sword brush as dedusting tool.
  • the vehicle body components to be painted must be dedusted before the actual painting process, for which purpose so-called sword brushes can be used, which are described, for example, in DE 43 14 046 A1 and DE 103 29 499 B3.
  • the sword brush is mounted on a hand axis of a multi-axis robot and is guided by the robot over the dust-removing surfaces of the vehicle chassis components to be painted, whereby the sword brush removes dust from the surfaces to be dedusted.
  • the problem with the use of sword brushes for dedusting of motor vehicle body components is the low tolerance of sword brushes with respect to the immersion depth.
  • the cleaning brushes mounted on the rotating brush belt of the sword brush have to Touch the surfaces to remove dust.
  • a certain distance between the rotating dedusting band of the sword brush and the dedusting surface must not be fallen below, since the dedusting brushes are deformed more with increasing depth of immersion, resulting in damage to the cleaning brushes and in the worst case to a collision between the sword brush and the can lead to dedusting component.
  • the cleaning result with sword brushes depends on the immersion depth, whereby an optimal cleaning result can only be achieved if the immersion depth remains within a certain range.
  • the low positioning tolerance of the known sword brushes is problematic in particular because the positioning of the vehicle body components to be dedusted in a paint shop is possible only with a relatively low positioning accuracy, which would have to be absorbed by the sword brush.
  • vehicle body components can have tolerances of up to one centimeter in their dimensions, which can not be changed.
  • sword brushes are not only used for dedusting flat surfaces, but are also used for dedusting curved surfaces.
  • the drive torque of the sword brush motor is not a suitable measure of the immersion depth when curved surfaces are dedusted.
  • the invention is therefore based on the object to achieve the greatest possible positioning tolerance when using a sword brush for dedusting of motor vehicle body components in order to avoid the disruptive production stoppages caused by the triggering of collision protection.
  • the invention conveys the principle mentioned in the abovementioned dissertation by Klaus Dieter Rupp of regulating the immersion depth in consideration of the drive motor. ment of the brush motor for the first time on a dedusting device for motor vehicle body components. This is made possible according to the invention by also determining the surface shape of the component to be dedusted and taking it into account in the position correction. In this way, independent of the immersion depth effects of different shapes of dedusting surfaces on the torque of the sword brush motor can be considered.
  • the invention therefore provides a dedusting method in which a dust removal tool (for example a sword brush) driven by a drive motor is brought into a predetermined dedusting position so that the dedusting tool touches and dedusts the component to be dedusted.
  • a dust removal tool for example a sword brush
  • the specified dedusting position is usually one
  • a first operation amount (e.g., torque) of the deduster tool driving motor is detected, the first operation amount representing the mechanical load of the drive motor by the contact with the part to be dedusted.
  • a corrected dedusting position is then calculated which takes into account the positional tolerances of the vehicle body components to be dedusted and thereby enables compliance with a narrow tolerance field of the immersion depth of the sword brush.
  • the dedusting tool is then brought into the dedusting position thus corrected.
  • the corrected dedusting position is calculated not only as a function of the first operating variable of the drive motor and the predetermined dedusting position, but also as a function of a form factor which reproduces the surface shape of the component to be dedusted at the predetermined dedusting position. This is useful because the surface shape of the vehicle body component to be dedusted, in addition to the immersion depth, likewise influences the load torque of the drive motor and should therefore be taken into account in the calculation of the corrected dedusting position.
  • the form factor can be determined by means of a sensor which measures the deflection of the dedusting belt of the sword brush, since a convex surface of the components to be dedusted, with otherwise identical immersion depth, leads to a greater deflection of the dedusting belt than a flat surface of the components to be dedusted ,
  • a second amount of operation (e.g., speed) of the drive motor of the dedusting tool is determined and also taken into account in the calculation of the corrected dedusting position.
  • the corrected dedusting position is thus calculated as a function of the predefined dedusting position, the first operating variable (for example the torque) and the second operating variable (for example the rotational speed) of the drive motor of the dedusting tool.
  • the dedusting tool in the context of the invention is preferably a sword brush, which as such is a brush-type brush.
  • a dedusting band which is guided around two pulleys.
  • sword brushes are known, for example, from DE 43 14 046 A1 and DE 103 29 499 B3, so that reference is made to these two publications with regard to the structure and mode of operation of sword brushes, the content of which is fully attributable to the present description.
  • de-staining used in the context of the invention is not limited to a liquid-free dedusting. Rather, it is within the scope of the invention, the possibility that in the dedusting a cleaning and antistatic fluid is applied to the surfaces to be dedusted to improve the cleaning effect, as is known for example from DE 199 20 250 Al, so that the content of this Patent application is fully attributable to the present description. Preferably, therefore, a liquid film is applied to the dedusting component surfaces in the dedusting.
  • de-dusting therefore also encompasses both in the context of the invention
  • dedusting as well as a wet dedusting.
  • dedusting in the context of the invention is to be distinguished from washing methods which not only produce a liquid film on the component surface, but apply larger amounts of a washing liquid.
  • the invention is not restricted to dedusting methods and dedusting devices, in which a sword brush is used as a dewatering tool. Rather, the invention also includes dedusting and dedusting facilities, in which other types of dedusting tools are used. Furthermore, the invention is not restricted to dedusting methods and dedusting devices in which the corrected dedusting position is calculated as a function of the torque and the speed of the sword brush motor and as a function of the surface shape of the component to be dedusted. Rather, other operating variables of the dedusting tool can also be taken into account when calculating the corrected dedusting position.
  • the dedusting tool is positioned by a multi-axis dedusting robot, wherein in the case of a sword brush the assembly of the sword brush on a hand axis of the dedusting robot is particularly advantageous.
  • the components to be dedusted are preferably transported by means of a conveyor along a conveying path past the dedusting robot.
  • the conveyor also has positioning inaccuracies, which add up to the positioning inaccuracies mentioned above and therefore also have to be compensated or tolerated by the dedusting tool.
  • the position of the component to be dedusted is determined on the conveying path, for which purpose, for example, a position sensor can be used.
  • the corrected dedusting position is then also calculated as a function of the determined position of the component to be dedusted. In this way, the positioning accuracy of the conveyor can be compensated and thus does not have to be absorbed by the dedusting tool.
  • the sensors mentioned above may, for example, be ultrasonic sensors, optical sensors, force sensors or strain gauges (DMS).
  • DMS strain gauges
  • a correction of the dedusting position is made in order to keep the immersion depth of the heavy brush within the predetermined tolerance field.
  • the invention comprises not only the above-described dedusting method according to the invention, but also a dedusting device in which the dedusting position is corrected by means of an adaptation unit in order to keep the immersion depth of the dedusting tool within a predetermined tolerance field.
  • the adaptation unit continuously calculates a corrected dedusting position as a function of the first operating variable (for example the torque), the second operating variable (for example the rotational speed) of the drive motor of the dedusting tool and / or depending on the form factor, which represents the surface shape of the component to be dedusted.
  • the first operating variable for example the torque
  • the second operating variable for example the rotational speed
  • the invention also includes a painting installation with one or more paint booths and the dedusting device according to the invention.
  • FIG. 1A shows a simplified cross-sectional view of a conventional sword brush for dedusting force vehicle body components on a flat body surface
  • FIG. 1B shows the sword brush according to FIG. 1A on a convex body surface
  • Figure 2 is a control engineering equivalent circuit diagram of a dedusting device according to the invention.
  • FIG. 3 shows the dedusting process according to the invention in the form of a flow chart.
  • FIGS. 1A and 1B show, in a simplified form, a sword brush 1, as described, for example, in DE 43 14 046 A1 and DE 103 29 499 B3, so that reference is also made to these documents with regard to the further details of the sword brush 1, the contents of which This description in terms of the structure and operation of the sword brush 1 is fully attributable.
  • the sword brush 1 has two parallel deflection rollers 2, 3, around which a dedusting belt 4 is led, the dedusting belt 4 carrying dedusting brushes 5 on its outside.
  • the sword brush 1 is positioned so that the lower, pulled run of the dedusting belt 4 presses with the dedusting brushes 5 against the body surface 6.
  • the dedusting brushes 5 have a free length 1 in the unloaded state, while a distance d lies between the lower, drawn strand of the dedusting belt 4 and the bodywork surface 6 to be dedusted.
  • This results in an immersion depth T ld. It is important that the immersion depth T remains within a predetermined tolerance field, since a too small immersion depth T leads to an unsatisfactory defrosting effect, whereas a too large immersion depth T causes a strong wear of the dedusting brushes 5.
  • the immersion depth T also has an influence on the cleaning result, wherein an optimum cleaning result requires that the immersion depth T be within a certain range T MIN ⁇ T ⁇ T MAX .
  • FIG. 1A shows the use of the sword brush 1 for dedusting the planar body surface 6, whereas the body surface 6 in FIG. 1B is convex, which leads to a displacement ai ⁇ ⁇ of the lower, pulled run of the dedusting belt 4.
  • the deflection ai S ⁇ of the lower, pulled run of Entustaubungsbands 4 increases acting on a drive motor 7 of the sword brush 1 torque M ⁇ S ⁇ t which is important for the dedusting process according to the invention.
  • the dedusting method according to the invention evaluates the torque M IST of the drive motor 7 of the sword brush 1 as a measure of the immersion depth T of the sword brush 1 in order to compensate for positional tolerances of the body surface 6 to be dedusted.
  • the sword brush 1 is mounted on a multi-axis hand axis of a multi-axis dedusting robot 8, which allows a free positioning of the sword brush 1.
  • the vehicle body components to be dedusted are transported by a linear conveyor 9 along a conveying path past the dedusting robot 8, so that the dedusting robot 8 can guide the sword brush 1 over the body surfaces 6 to be dedusted.
  • the current spatial position and orientation of the sword brush 1 is reproduced here by a position vector P IST and regulated by a control unit 10 in accordance with a predetermined, taught robot path.
  • control unit 10 has a robot track generator 11 which outputs position vectors P TEACH for previously programmed robot tracks , which define the position of a tool center point (TCP) of the sword brush 1 and the orientation of the sword brush 1 for the individual track points.
  • P TEACH position vectors
  • TCP tool center point
  • the position vectors P TEACH are then converted by an adder 12 with a correction value ZlP to a corrected position vector P K0RR , as will be described in detail later.
  • the corrected position vectors P KORR in the spatial coordinates are then supplied to a robot controller 13, which converts the spatial coordinates into axis coordinates and controls the dedusting robot 8 accordingly.
  • control unit 10 has an adaptation unit 14 which calculates the correction value ZIP and thereby compensates for positioning inaccuracies of the body surfaces 6 to be dedusted.
  • the torque MI S T of the drive motor 7 of the sword brush 1 increases with the immersion depth T, since the dust removal brushes 5 must be deformed more strongly with increasing immersion depth T.
  • the torque Mi ST is therefore suitable half as a measure for the adjustment of the immersion depth T of the sword brush.
  • the dedusting device therefore has a torque sensor 15, which determines the torque M actual of the drive motor 7 of the sword brush 1 and forwards it to the adaptation unit 14 for evaluation.
  • the torque M actual is not measured by the separate torque sensor 15, but is derived from the electrical operating variables of the drive motor 7, so that the torque sensor 15 can be dispensed with.
  • the torque M IS ⁇ of the drive motor 7 of the sword brush 1 is influenced not only by the immersion depth T of the sword brush 1, but also by the shape of the body surface to be dedusted 6.
  • the torque M IS ⁇ of the drive motor 7 of the sword brush 1 is influenced not only by the immersion depth T of the sword brush 1, but also by the shape of the body surface to be dedusted 6.
  • Figure IB shows an idealized state in which the immersion depth over the entire length of the sword brush 1 is constant. In practice, however, the immersion depth T varies over the length of the sword brush 1, since the dedusting brushes 5 each represent a spring.
  • the adaptation unit 14 therefore takes into account not only the torque M IST of the drive motor 7 of the sword brush 1 in the calculation of the correction value ⁇ P, but also a
  • the deflection ai S ⁇ of the lower, pulled strand is measured by a deflection sensor 16, which may be designed, for example, as an optical sensor or as an ultrasonic sensor.
  • the dedusting device has a rotational speed sensor 17, which measures a rotational speed n IS ⁇ of the drive motor 7 of the sword brush 1 and forwards it to the adaptation unit 14, so that the speed n IS ⁇ is also used in the calculation of the correction value -4P. is considered.
  • the vehicle body parts to be dedusted are transported by a linear conveyor 9 along a conveying path past the dedusting robot 8, wherein the linear conveyor 9 also has positioning inaccuracies which must be absorbed or compensated by the dedusting device according to the invention.
  • the dedusting device according to the invention therefore has a position sensor 18, which measures a position S IST of the motor vehicle body components to be dedusted along the conveying path and forwards them to the adaptation unit 14.
  • the adaptation unit 14 calculates the correction value ZlP as a function of the measured position Sisx of the vehicle body components to be dedusted on the conveying path, which compensates for positioning inaccuracies of the linear conveyor 9.
  • a robot path is first programmed ("taught"), which is known per se from the prior art and therefore does not have to be described in detail.
  • the programming of the desired robot path can be done offline, i. E. without the dedusting robot making a real move.
  • the distributed by the applicant programming software "3D OnSite" can be used.
  • step S2 the respective next track point P TEACH is then activated on the previously programmed robot track.
  • the correction value .DELTA.P is then calculated from the previously measured variables, wherein the calculation of the correction value .DELTA.P can take place on the basis of predefined maps.
  • a corrected path point P K0RR is then calculated from the predetermined path point P TEACH and the correction value ⁇ P.
  • the robot controller 13 then converts the corrected path point P K0RR from the spatial coordinates into axis coordinates and controls the dedusting robot 8 accordingly in a next step S10.
  • the steps S3 to SlO are then repeated in a loop until it is determined in a step Sil that the corrected path point P KORR has been reached.
  • step S12 it is then checked in a step S12 whether the predetermined robot path has ended. If this is not the case, the steps S2 to Sil are repeated in a loop, wherein in each case the next path point P TEACH of the predetermined robot path is controlled.

Landscapes

  • Cleaning In General (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

L'invention concerne un procédé de dépoussiérage pour le dépoussiérage à sec ou humide de pièces, notamment pour le dépoussiérage d'éléments de carrosserie de véhicule automobile au moyen d'une brosse ensiforme, comprenant les étapes suivantes : (a) positionnement d'un outil de dépoussiérage, entraîné par un moteur d'entraînement (7), dans une position de dépoussiérage prédéfinie (PTEACH), de sorte que l'outil de dépoussiérage entre en contact avec la pièce (6) à dépoussiérer, et la dépoussière; (b) détermination d'un premier paramètre de fonctionnement (MIST) du moteur d'entraînement (7) de l'outil de dépoussiérage lors du positionnement de l'outil de dépoussiérage dans la position de dépoussiérage prédéfinie (PTEACH), le premier paramètre de fonctionnement (MIST) reproduisant la sollicitation mécanique du moteur d'entraînement (7) par le contact direct avec la pièce à dépoussiérer; (c) calcul d'une position de dépoussiérage corrigée (PKORR) en fonction de la position de dépoussiérage prédéfinie (PTEACH) et du premier paramètre de fonctionnement (MIST) du moteur d'entraînement (7); et (d) positionnement de l'outil de dépoussiérage dans la position de dépoussiérage corrigée (PKORR). L'invention concerne en outre un dispositif de dépoussiérage correspondant.
EP08838142A 2007-10-02 2008-10-01 Procede de depoussierage, et dispositif de depoussierage correspondant Active EP2185297B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL08838142T PL2185297T3 (pl) 2007-10-02 2008-10-01 Sposób odpylania i odpowiednie urządzenie odpylające

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007047190A DE102007047190A1 (de) 2007-10-02 2007-10-02 Entstaubungsverfahren und entsprechende Entstaubungseinrichtung
PCT/EP2008/008321 WO2009046916A1 (fr) 2007-10-02 2008-10-01 Procédé de dépoussiérage, et dispositif de dépoussiérage correspondant

Publications (2)

Publication Number Publication Date
EP2185297A1 true EP2185297A1 (fr) 2010-05-19
EP2185297B1 EP2185297B1 (fr) 2012-06-27

Family

ID=40247726

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08838142A Active EP2185297B1 (fr) 2007-10-02 2008-10-01 Procede de depoussierage, et dispositif de depoussierage correspondant

Country Status (9)

Country Link
US (1) US8298342B2 (fr)
EP (1) EP2185297B1 (fr)
KR (1) KR101577996B1 (fr)
CN (1) CN101815585B (fr)
DE (1) DE102007047190A1 (fr)
ES (1) ES2389829T3 (fr)
PL (1) PL2185297T3 (fr)
PT (1) PT2185297E (fr)
WO (1) WO2009046916A1 (fr)

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DE102011012231B4 (de) * 2011-02-24 2014-05-28 Washtec Holding Gmbh Verfahren zum Reinigen einer Felge eines Kraftfahrzeug-Rades und Vorrichtung zur Durchführung des Verfahrens
DE102012017388A1 (de) 2012-09-01 2014-03-06 Volkswagen Aktiengesellschaft Vorrichtung zum Reinigen einer Oberfläche eines Bauteils
US9248974B2 (en) 2013-03-08 2016-02-02 Mark S. Grill Cleaning apparatus, methods of making cleaning apparatus, and methods of cleaning
US8997295B1 (en) 2013-08-06 2015-04-07 Justin Romonti Smart belt tooth brush
CN111905927B (zh) * 2019-05-09 2023-05-09 斗山重工业建设有限公司 集尘装置
TWI718876B (zh) * 2020-02-21 2021-02-11 山立工業股份有限公司 具有能旋轉且以不同方向運作之雙向砂光裝置的砂光機
CN114558389A (zh) * 2022-04-28 2022-05-31 张掖市巨龙铁合金有限公司 一种具有灰尘清理装置的负压布袋除尘器

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Also Published As

Publication number Publication date
DE102007047190A1 (de) 2009-05-14
ES2389829T3 (es) 2012-11-02
US20100242991A1 (en) 2010-09-30
US8298342B2 (en) 2012-10-30
WO2009046916A1 (fr) 2009-04-16
PT2185297E (pt) 2012-09-11
KR20100077170A (ko) 2010-07-07
CN101815585B (zh) 2013-01-23
CN101815585A (zh) 2010-08-25
EP2185297B1 (fr) 2012-06-27
PL2185297T3 (pl) 2012-11-30
KR101577996B1 (ko) 2015-12-17

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