Fluid Application Device

Abstract

A fluid application device for mechanical fasteners such as rivets, screws, bolts, and similar fasteners, and a robot end effector including such a device as well as a robot being equipped therewith. The fluid application device includes a fluid application element having a curved application surface, wherein the curved application surface includes a channel configured to receive a fluid. A brush is arranged at the curved application surface such that the fluid is able to wet the brush elements. The device further includes a gripping device configured to push a mechanical fastener against the wetted brush elements.

Claims

1-14. (canceled)

15. A fluid application device for mechanical fasteners, the fluid application device comprising: a fluid application element comprising: a curved application surface, the curved application surface comprising a channel configured to receive a fluid, and a brush arranged at the curved application surface and comprising brush elements arranged near the channel, such that the fluid is able to wet the brush elements; and a gripping device configured to: push a mechanical fastener against the wetted brush elements, and rotate the mechanical fastener when in contact with the brush elements, such that fluid is transferred to the mechanical fastener.

16. The fluid application device of claim 15, wherein the brush elements are flexible.

17. The fluid application device of claim 15, wherein the brush elements are bristles or lamellae.

18. The fluid application device of claim 17, wherein the bristles have such a diameter and distance to each other that fluid is transported by capillary force from the channel to the free ends of the bristles.

19. The fluid application device of claim 15, wherein the curved application surface is substantially semicircular.

20. The fluid application device of claim 15, wherein the curved application surface is semicircular.

21. The fluid application device of claim 15, wherein the curvature of the curved application surface is adapted to the diameter of the mechanical fastener.

22. The fluid application device of claim 15, wherein the fluid application element further comprises a bore leading to the channel, the bore supplying fluid to the channel.

23. The fluid application device of claim 15, wherein the gripping device is arranged rotatable to move between a first position, wherein the gripping device grips a mechanical fastener from a feeder mechanism, and a second position, wherein the gripping device pushes the gripped mechanical fastener against the wetted brush elements.

24. The fluid application device of claim 23, wherein the gripping device is configured to further move to a third position, wherein the gripping device provides the gripped mechanical fastener to an installation mechanism.

25. The fluid application device of claim 15, wherein the fluid is a sealant.

26. A robot effector for installing mechanical fasteners, the robot effector comprising a frame supporting the fluid application device of claim 15.

27. The robot effector of claim 26, wherein the effector further comprises a feeder mechanism supported on the frame, the feeder mechanism configured to feed mechanical fasteners, to the gripping device.

28. The robot effector of claim 27, wherein the gripping device is arranged linearly movable on the frame.

29. A robot comprising a robot effector in accordance with claim 26.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In the following, the invention is described exemplarily with reference to the enclosed figures, in which:

[0027] FIG. 1 shows an exemplary embodiment of a fluid application device according to the invention;

[0028] FIG. 2 shows details of a fluid application device of the exemplary embodiment of FIG. 1;

[0029] FIG. 3 shows details of a fluid application device of the exemplary embodiment FIG. 1;

[0030] FIG. 4a shows a robot effector with a frame supporting an exemplary embodiment of a fluid application device according to the invention;

[0031] FIG. 4b shows a robot effector with a frame supporting an exemplary embodiment of a fluid application device according to the invention from a different perspective; and

[0032] FIG. 5 shows a robot being equipped with an effector.

DETAILED DESCRIPTION

[0033] FIG. 1 shows an exemplary embodiment of a fluid application device 100 according to the invention. The fluid application device 100 comprises a fluid application element 110. The fluid application element 110 comprises a curved application surface 111. In the exemplary embodiment of FIG. 1 the fluid application surface 111 has a semicircular shape. In general, the fluid application surface 111 may have any curved shape. The fluid application surface 111 comprises a channel 112. In the exemplary embodiment, the channel 112 has the shape of a circumferential notch extending along the circumference of the semicircular fluid application surface 111. In general, the channel 112 may have any desired shape, as long as it is capable of receiving fluid. The fluid may for example be a sealant, glue, or similar.

[0034] The fluid application element 110 furthermore comprises a brush 113 arranged at the curved application surface 111. The brush 113 comprises brush elements which in the exemplary embodiments are flexible bristles. The brush elements are arranged near the channel 112, such that fluid is able to wet the brush elements. Wetting of the brush elements may be facilitated for example by capillary forces or gravity.

[0035] The fluid application device 100 furthermore comprises a gripping device 120 configured to push a mechanical fastener 121 against the wetted brush elements. To this end, the gripping device of FIG. 1 comprises a pair of jaws 122a, 122b arranged on a holder 123 adapted to grip a mechanical fastener 121. In general, the gripping device 120 may comprise any mechanism to hold a mechanical fastener in place, e.g. may also use a magnetic coil.

[0036] The gripping device 120 is also configured to rotate the mechanical fastener 121 when in contact with the brush elements, such that fluid is transferred to the mechanical fastener 121. To this end, the holder 123 of the gripping device 120 in the exemplary embodiment of FIG. 1 is rotatable by gears 124a and 124b which are driven by a motor (not shown in FIG. 1).

[0037] The gripping device 120 is arranged rotatable to move between a first position, where the gripping device 120 grips the mechanical fastener 121 from a feeder mechanism or similar (not shown in FIGS. 1 to 3) and a second position, where the gripping device pushes the gripped mechanical fastener 121 against the wetted brush elements. The gripping device 120 is further configured to move to a third position, where the gripping device 120 provides the gripped mechanical fastener 121 to e.g. an installation mechanism (not shown in the Figures). To this end, the gripping device 120 may be mounted on the axis of a motor, e.g. a stepper motor (not shown in FIGS. 1 to 3).

[0038] As can be seen in FIG. 1, the curvature of the application surface 111 is adapted to the diameter of the mechanical fastener 121, i.e. the fluid application surface 111 would be essentially concentric with the surface of the mechanical fastener 121 in a cross-sectional view.

[0039] The fluid application element 110 is shown in more detail in FIG. 2. As can be seen, a supply element 201 which in the example of FIG. 2 is a hose is connected to the fluid application element supplying the fluid application element 110 with fluid. The hose 201 supplies fluid into a bore 202 formed in the fluid application element 110. The bore 202 in the example of FIG. 2 is curved and leads to the channel 112 to supply fluid to the channel 112.

[0040] In the exemplary embodiments the fluid application element 110 comprises two members. The first member 203 comprises the bore 202, whereas the second member 204 comprises the fluid application surface 111 with the brush 113. As can be seen in more detail in FIG. 3, the first member 203 comprises a circumferential groove 301, whereas the second member 204 comprises a complementary circumferential tongue 302. By means of the tongue 302 and the groove 301 the second member 204 may be releasably connected to the first member. As the brush elements are subject to wear due to frequent contact with mechanical fasteners, the second member 204 with the brush 113 may be exchanged during maintenance.

[0041] It is also conceivable that the fluid application element 110 is made from one piece instead of several. In this case, the fluid application element 110 can be exchanged as a whole if needed.

[0042] FIGS. 4a and 4b show an exemplary fluid application device 100 mounted on a frame 401 of a robot effector 400, i.e. the frame 401 is supporting the fluid application device 100. The robot effector 400 could be part of a robot for automatic installation of mechanical fasteners. Also mounted on the frame 401 is a feeder mechanism 402 for feeding mechanical fasteners to the gripping device 120. During operation, a mechanical fastener is provided by the feeder mechanism 402 in one of its aligning jaws 403a, 403b or 403c. The gripping device 120 may grip the shaft of the fastener, pull the fastener out of the corresponding aligning jaw and transport the fastener to the fluid application device 110 by a rotary motion. To this end, the gripping device 120 is mounted on the axis of a motor 404. In addition, the gripping device is arranged linearly movable on the frame 401. Subsequently, the gripping device 120 may move the wetted fastener by a rotary motion to an installation mechanism (not shown in the Figures) which installs the fastener to a workpiece (not shown in the Figures).

[0043] In FIG. 5, for illustrative purposes, an industrial robot 500 is shown, that is equipped with the effector 400 (the effector 400 is only sketched). The skilled person will realize that the effector 400 can be part of a larger effector that may comprise additional installation means, such as drilling devices, measurement facilities, rivet installation tools etc.

[0044] While the present invention has been illustrated by a description of various embodiments, and while these embodiments have been described in considerable detail, it is not intended to restrict or in any way limit the scope of the appended claims to such detail. The various features shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative example shown and described. Accordingly, departures may be made from such details without departing from the spirit and scope of the general inventive concept.

LIST OF REFERENCE NUMERALS

[0045] 100 fluid application device [0046] 110 fluid application element [0047] 120 gripping device [0048] 111 fluid application surface [0049] 112 channel [0050] 113 brush with brush elements [0051] 120 gripping device [0052] 121 mechanical fastener [0053] 122a and 122b jaws [0054] 123 holder [0055] 124a and 124b gears [0056] 201 hose [0057] 202 bore [0058] 203 first member [0059] 204 second member [0060] 301 groove [0061] 302 tongue [0062] 400 robot effector [0063] 401 frame [0064] 402 feeder mechanism [0065] 403a, 403b and 403c aligning jaws [0066] 404 motor [0067] 500 robot