A handling device is provided for opening a flap portion of a component part to be coated, in particular for opening a door or hood of a motor-vehicle body component part in a painting installation. The handling device includes a handling robot with a robot arm and a gripper mounted on the robot arm. The gripper is configured for engaging an engagement region or grip region on the flap to be opened, to enable the handling robot to open the flap with the gripper. The handling device further includes a sensor for non-contact sensing of the position of the gripper relative to the flap, to enable the gripper to be positioned relative to the engagement region on the flap. The sensor measures the distance from the handling device to the outside of the flap to be opened.

A fixture assembly for supporting workpieces in a coating process includes a shaft; and a plurality of fixtures each having a workpiece support surface and a shaft mount defining a shaft mounting structure, wherein the shaft mounting structure extends from the workpiece support surface such that, when the shaft mounting structure is engaged with the shaft, workpiece support surfaces of the fixtures are positioned facing radially outwardly away from the shaft.

The invention relates to a workpiece carrier device (1) comprising: a drive gear (3) for receiving workpiece arrangements (4), which is rotatable about a main axis (2), a number of drive bodies (6), which are arranged on the drive gear (3), are respectively rotatable about an axis of rotation (5) and each have a drive pinion (8) and a stationary internal input gear (9) with an inner toothing, which meshes with the drive pinions (8), wherein the axes of rotation (5) extend parallel to the main axis (2) and are arranged in an annular region of the drive gear (3) that runs concentrically in relation to the main axis (2), and so, when there is rotation of the drive gear (3) relative to the internal input gear (9), the drive bodies (6) rotate about their respective axes of rotation (5), wherein the internal input gear (9) and the drive bodies (6) with their drive pinions (8) are formed and arranged in relation to one another and a working clearance (S) is provided between the internal input gear (9) and the drive pinions (8) such that a driving effect is transferred to all of the drive pinions (8) equally during operation. The invention also relates to a coating arrangement 100 comprising such a workpiece carrier device (1).

A door opening/closing robot includes: a base provided at a position different from a conveyance line on which a vehicle body is conveyed; a first arm attached to the base to rotate around a first axis and extending away from the first axis; a second arm attached to the first arm to rotate around a second axis and extending away from the second axis; a third arm attached to the second arm to rotate around a third axis and extending away from the third axis; and a fourth arm attached to the third arm to extend vertically and configured to vertically move a tool for holding a door of the vehicle body. At least a portion of a connection area including a distal end of the second arm and a proximal end of the third arm is positioned at a same height as at least a portion of the base.

A painting system includes: a conveying apparatus that conveys a vehicle body having a door in a painting area; an operation robot that includes a base fixed in the painting area, a holding tool capable of holding the door, and a horizontal articulated arm that moves the holding tool, and opens the door of the vehicle body that is being conveyed by the conveying apparatus; and a painting robot that paints an inside of the vehicle body in a state where the door is opened by the operation robot. In the vertical direction, at least a portion of the horizontal articulated arm is disposed at a position lower than a height of a lower end of the door where the height of the lower end of the door is maintained by the conveying apparatus.

A coating system includes a coating robot and an operation robot. The coating robot has a height and is mounted in a coating booth to coat a workpiece while the workpiece is conveyed in the coating booth in a conveyance direction substantially perpendicular to a height direction. The workpiece including a body and a movable part movable with respect to the body. The operation robot is disposed in the coating booth below the coating robot in the height direction. The operation robot is movable in the coating booth in the conveyance direction and is configured to move the movable part of the workpiece.

An end effector is disclosed that is configured for connection to a robotic unit used to manipulate a door of a vehicle (e.g., during vehicle painting). The end effector includes a base plate; a sensor that is supported by the base plate; and a piston that is configured for engagement with the door. The piston is operatively connected to an interrupter such that movement (displacement) of the piston causes corresponding movement (displacement) of the interrupter between a first position, in which the interrupter is positioned in alignment with a signal transmitted across the sensor to interfere with the signal and thereby interrupt circuit completion, and a second position, in which the interrupter is out of alignment with the signal transmitted across the sensor to permit circuit completion and thereby inform the robotic unit that the door is present and engaged with the end effector.

A coating system including a coating robot and a movable opener robot. The coating robot has a fixed base fixedly mounted to a coating booth, and a first arm rotatably coupled to the fixed base about a first axis substantially parallel to a conveyance direction of a workpiece that includes a body and a first movable member. The body has a body inner surface and the first movable member has a first movable member inner surface. The movable opener robot has a movable base mounted such that the movable opener robot is movable in the coating booth in the conveyance direction. The movable base is mounted below the fixed base. The movable opener robot can open the first movable member of the workpiece. The coating robot can coat the body inner surface and the first movable member inner surface when the first movable member has been opened.

The invention relates to a workpiece carrier device (1) comprising: a drive gear (3) for receiving workpiece arrangements (4), which is rotatable about a main axis (2), a number of drive bodies (6), which are arranged on the drive gear (3), are respectively rotatable about an axis of rotation (5) and each have a drive pinion (8) and a stationary internal input gear (9) with an inner toothing, which meshes with the drive pinions (8), wherein the axes of rotation (5) extend parallel to the main axis (2) and are arranged in an annular region of the drive gear (3) that runs concentrically in relation to the main axis (2), and so, when there is rotation of the drive gear (3) relative to the internal input gear (9), the drive bodies (6) rotate about their respective axes of rotation (5), wherein the internal input gear (9) and the drive bodies (6) with their drive pinions (8) are formed and arranged in relation to one another and a working clearance (S) is provided between the internal input gear (9) and the drive pinions (8) such that a driving effect is transferred to all of the drive pinions (8) equally during operation. The invention also relates to a coating arrangement 100 comprising such a workpiece carrier device (1).

According to an embodiment, a substrate cleaning device includes a processing tank, at least one spray tube, and a scanning mechanism. The processing tank can accommodate a plurality of substrates arranged in a thickness direction of the substrates. The spray tube extends in the thickness direction and is configured to emit a cleaning liquid to each substrate accommodated in the processing tank. The scanning mechanism is configured to move the spray tube along an outer periphery of the substrate to perform a scan.