Device and method for handling components, preferably components to be coated

Abstract

A component-handling device for handling components to be coated comprises a grasping element capable of having at least one of its volume and its shape changed to grasp a component, whereby the component can be handled. A method for handling components to be coated comprises changing at least one of a volume and a shape of the grasping element to grasp a component, thereby handling the component.

Claims

1. A device, comprising: a grasping element having a resilient support that is a sole support disposed therein; and a fluid supply to the grasping element such that at least one of supply and removal of the fluid changes at least one of a volume and a shape of the grasping element.

2. The device of claim 1, wherein the grasping element is configured to fit within an opening in the component in a de-expanded state, and further wherein the grasping element is configured to be pressed against both sides of the opening in an expanded state, whereby in the de-expanded state pressure loading onto the component is released.

3. The device of claim 1, wherein the grasping element is deformable to an internal contour of at least a section of an opening in the component.

4. The device of claim 1, wherein the fluid supply extends to, and ends at, a base of the resilient support.

5. A device, comprising: a grasping element having a resilient support disposed therein; and a fluid supply to the grasping element such that at least one of supply and removal of the fluid changes at least one of a volume and a shape of the grasping element; wherein the resilient support is configured to move along, and bend away from, a central axis.

6. The device of claim 5, wherein the grasping element is configured to fit within an opening in the component in a de-expanded state, and further wherein the grasping element is configured to be pressed against both sides of the opening in an expanded state, whereby in the de-expanded state pressure loading onto the component is released.

7. The device of claim 5, wherein the grasping element is deformable to an internal contour of at least a section of an opening in the component.

8. The device of claim 5, wherein the fluid supply extends to, and ends at, a base of the resilient support.

Description

(1) Other advantageous developments of the invention are disclosed in the claims or are evident from the following description of preferred exemplary embodiments in conjunction with the attached figures. The figures show as follows:

(2) FIG. 1 a schematic longitudinal section of an exemplary device for handling components to be coated;

(3) FIG. 2a a plan view onto a paint booth having two handling robots with one device according to FIG. 1 in each case;

(4) FIG. 2b a side view of another paint booth having a different handling robot with a device according to FIG. 1;

(5) FIG. 3 a flow chart of an exemplary method for handling components to be coated;

(6) FIG. 4 a simplified block diagram of an exemplary apparatus for establishing and/or determining operating states/processes of a component to be coated and/or a device; and

(7) FIG. 5a-5c schematic fluid pressure/fluid volume curves.

(8) FIG. 1 shows an exemplary schematic longitudinal section of a device 1 for handling components B to be coated. The device 1 is provided for handling components B to be coated, such as hoods, doors, flaps or the like of motor vehicle bodies. In particular, the handling comprises the opening, holding and/or closing of hoods, flaps, doors or the like of motor vehicle bodies. The handling of the component B can take place during and/or before and/or after a coating-agent application onto the component B.

(9) The handling device 1 has a grasping element or gripping element 10, which can be changed in terms of volume and/or changed in terms of shape, in order on the one hand to grasp the component B, as a result of which the component B can be handled, and on the other hand in order to release the grasping of the component B.

(10) The grasping element 10 comprises a volume 10a and a shape 10b. The grasping element 10 is shown by means of a solid line in a de-expanded states, e.g., a shape-downsized and/or volume-downsized and/or essentially de-expanded and/or deflated and/or slackened and/or slack state.

(11) The grasping element 10 is shown by means of a dashed line in an expanded state, e.g., a shape-enlarged and/or volume-enlarged and/or expanded and/or blown-up and/or internal-pressure-loaded state.

(12) The component B to be coated comprises a graspable section in and/or adjacent to an opening Ö of the component B. In the de-expanded state, the grasping element 10 can be guided in and/or through the opening Ö, in order to reach the expanded state in, upstream of and downstream of the opening Ö, as a result of which the component B can be grasped and handled.

(13) After handling, the grasping element 10 can again assume the de-expanded state, as a result of which the grasping can be released and the grasping element 10 can be removed from the opening Ö or from the component B.

(14) As can be seen in FIG. 1, in the expanded state, the grasping element 10 is pressed against the internal contour of the opening Ö and in the process adapts at least to some extent or completely to the internal contour of the opening Ö, as a result of which a non-positive fit and/or a friction fit is formed. As the grasping element 10 is furthermore so enlarged in the expanded state downstream of the opening Ö that it does not fit through the opening Ö, a certain positive fit is furthermore formed.

(15) In FIG. 1, the grasping element 10 is shown in an expanded state in, to some extent upstream of and to some extent downstream of, the opening Ö. It is however also possible that a grasping element is positioned downstream of an opening in order to reach an expanded state completely downstream of the opening. In this embodiment, the grasping element engages behind the opening or the component to be coated, as a result of which e.g. a positive fit can be formed.

(16) The grasping element 10 can be changed in terms of shape and/or changed in terms of volume by means of fluid supply (pressure increase) and/or fluid removal (pressure reduction). For this purpose, the handling device 1 can comprise an apparatus 16, schematically illustrated in FIG. 1, for supplying and/or removing fluid or an interface S in order to be able to be connected to such an apparatus 16.

(17) The apparatus 16 can, e.g., comprise a fluidic apparatus with at least one valve and a fluid pressure source, as a result of which it would only be possible to set and monitor one pressure. The apparatus 16 can, e.g., comprise a fluidic cylinder or a dosing element, which can convey a predetermined fluid volume into the grasping element 10, which can be controlled or regulated and as a result (indirectly) monitored.

(18) Further, it is possible that the handling device 1 comprises one or a plurality of pressure sensors in order to detect any leaks, leakiness or damage of the handling device 1, particularly of the grasping element 10.

(19) The fluid can preferably be air which can in particular be supplied and drained via a fluid supply/drain channel 14 which opens in the grasping element 10 and/or the volume 10a.

(20) The fluid is supplied to the grasping element 10 in order to enlarge the grasping element 10 (or the volume 10a and the shape 10b), as a result of which a grasp of the component B can be achieved. As can be seen in FIG. 1, the grasping element 10 is enlarged by axial lengthening (see arrow Rav) and by circumferential enlargement (see arrow Ru) or enlargement in the radial direction.

(21) The fluid is removed from the grasping element 10 in order to downsize the grasping element 10 (or the volume 10a and the shape 10b), as a result of which the grasping of the component B can be released. As can be seen in FIG. 1, the grasping element 10 is downsized by axial shortening (see arrow Rah) and by circumferential downsizing (see arrow Ru) or downsizing in the radial direction.

(22) As can further be seen in FIG. 1, the grasping element 10 is a balloon-like grasping element, particularly a balloon-like hollow body, which can be changed in terms of shape and/or changed in terms of volume in a balloon-like manner, and which has at least one of the following properties: extensible, inextensible, flexible, elastic, resilient, fluid-tight, inflatable, film-like and membranous.

(23) The handling device 1 further has a support part 11, which keeps the grasping element 10 in a shape in which the grasping element 10 can be guided in and/or through the opening Ö and guided out of the opening Ö again. The support part 11 is arranged in the grasping element 10 and flexibly or elastically constructed and in particular is a spring.

(24) It is however also possible that the grasping element 10 is inherently sufficiently dimensionally stable (particularly in the essentially de-expanded state) in order to be able to be guided in and/or through the opening Ö and guided out of the opening Ö again.

(25) Further, it is possible that the grasping element 10 is constructed from a material with memory/shape-memory effect, as a result of which the grasping element 10 can be kept in a sufficiently stable shape without pressure loading or can advantageously always return to a sufficiently stable initial state again.

(26) Further, the grasping element 10 can have one or a plurality of chambers to which fluid or pressure can be supplied sequentially and/or in parallel or from which fluid or pressure can be removed sequentially and/or in parallel.

(27) The grasping element 10 and/or the support part 11 are therefore not rigidly or stiffly, but rather resiliently, constructed in order, on the one hand, to enable a smooth even grasping of the component B, as a result of which the risk of damaging the component B can be reduced or prevented in an advantageous manner. On the other hand, the resilient construction means that, in the event of an unintended contact or impact between grasping element 10 or support part and component B, the risk of damaging the component B, the grasping element 10 and the robot/manipulator HR guiding the grasping element 10 (e.g., a SCARA robot or a robot with up to 7 degrees of freedom) can be reduced or prevented in an advantageous manner. The handling device 1 is in this case connected via an interface S schematically illustrated in FIG. 1 to the robot HR.

(28) The grasping element 10 comprises a fastening mechanism 12 for connecting to a fastening structure 13 on the handling device 1. The fastening mechanism 12 can, e.g., be a collar or a cuff with an internal thread, wherein the fastening structure 13 can provide a fitting external thread. Reference number 15 shows a predetermined breaking point. The predetermined breaking point 15 is for example arranged on the fastening mechanism 12 and configured in such a manner that it breaks in the case of overloading, e.g., if the component B jams during handling.

(29) The fastening mechanism 12 and/or the fastening structure 13 can also be provided as a latching, snap, clamping or hook and loop connection. In this case it is possible to shape the connection between fastening mechanism 12 and fastening structure 13 in such a manner that the connection is preferably released without damage in the case of overloading, e.g. if the component B jams during handling, as a result of which the risk of damaging the handling device 1, the robot HR guiding the handling device 1 and/or the component B can be reduced or prevented in an advantageous manner.

(30) FIG. 2a shows a plan view of a paint booth having two handling robots HR′ each with one handling device 1 according to FIG. 1. In particular, two grasping elements 10 can be seen, which are guided by one handling robot HR′ in each case and which in each case grasp and handle one component B′ in the form of a motor vehicle door. Further, two painting robots LR′ can be seen, which guide an application element for applying a coating agent.

(31) FIG. 2b shows a section of a side view of another paint booth having another handling robot HR″ with a handling device 1 according to FIG. 1. In particular, the grasping element 10 can be seen, which is guided by the handling robot HR″, in order to grasp and to handle a component (not shown in FIG. 2b). Further, two painting robots LR″ can be seen, which in each case guide one application element for applying a coating agent.

(32) It is also possible to attach the handling device 1 to a painting robot, which then also acts as handling robot.

(33) FIG. 3 shows a flow chart of an exemplary method for handling components to be coated.

(34) In a first step S1, a grasping element 10 is guided in and/or through an opening Ö in a component B, whilst the grasping element 10 is in an essentially de-expanded state.

(35) In a second step S2, the grasping element 10 is changed in terms of shape and/or changed in terms of volume, in particular brought to an expanded state, by means of fluid supply, in order to grasp the component B. Further, a check can be carried out as to whether the component B is grasped by the grasping element 10 or not.

(36) In a third step S3, the component B grasped by the grasping element 10 is handled. If the component B is a hood, flap or door of a motor vehicle body, the handling generally includes opening, holding and closing of the hood, door or flap. Further, a force or momentum monitoring can be carried out during the handling, particularly during the movement, e.g., in order to prevent damage.

(37) After successful handling, the grasping element 10 is again changed in terms of shape and/or changed in terms of volume in a fourth step S4 by means of fluid removal (e.g. fluid withdrawal or draining of fluid), particularly brought to an essentially de-expanded state, in order to release the grasping of the component B.

(38) If the grasping element 10 is in the essentially de-expanded state and the grasping between grasping element 10 and component B is released, the grasping element 10 is guided out of the opening Ö again and removed from the component B in a fifth step S5.

(39) After step S5 has been executed, the handling of another component can be carried out.

(40) FIG. 4 shows a simplified, schematic block diagram of an exemplary apparatus 50 for a handling device 1 for establishing and/or determining various operating states of the handling device 1, in particular of the grasping element 10, and/or the component B, for example in order to establish or to determine incorrect grasping or an absence of a component B.

(41) The apparatus 50 can e.g. be connected to a computer, an arithmetic unit, a memory, a control, a CPU (processor), etc. or comprise some or all of these components.

(42) The apparatus 50 has a first detection unit 20a for detecting the fluid pressure with which the grasping element 10 is loaded.

(43) The apparatus 50 can have a second detection unit 20b for detecting the fluid volume with which the grasping element 10 is loaded.

(44) Here, the two following principles are conceivable in particular.

(45) First: Fill and during the process determine the volumetric flow in order to set the volume over time.

(46) Second: A predetermined (required or constant) volume is located in a dosing organ which is provided in order to provide its volume to the grasping element 10. In this case, no volumetric flow measurement is necessary, rather just pressure detection (e.g. for fault detection), for which reason the second detection unit 20b could also be omitted.

(47) As can be seen in FIG. 4, a determination and/or creation unit 25 is provided in order to utilize the fluid pressures and fluid volumes detected (by the first detection unit 20a and the second detection unit 20b) and/or the fluid pressures and fluid volumes with which the grasping element 10 is loaded.

(48) The determination and/or creation unit 25 is provided in order to determine and/or to create at least one fluid pressure/fluid volume curve based on the fluid pressures and the fluid volumes which are detected by the first and/or the second detection unit 20a, 20b and/or with which the grasping element 10 is loaded (see e.g. FIGS. 5b, 5c).

(49) The determination and/or creation unit 25 in turn communicates the determined and/or created fluid pressure/fluid volume curve to a comparison and/or establishing unit 30. The comparison and/or establishing unit 30 compares at least one determined and/or created fluid pressure/fluid volume curve with at least one reference fluid pressure/fluid volume curve stored in a memory 35 (see e.g. FIG. 5a).

(50) By means of a comparison of a determined and/or created fluid pressure/fluid volume curve with a stored reference fluid pressure/fluid volume curve, various operating states (e.g. defective grasping or even no grasping at all of a component B) can be established or determined.

(51) The stored reference fluid pressure/fluid volume curves can e.g. describe correct states or processes or typical defective states or processes.

(52) If the determined and/or created fluid pressure/fluid volume curve does not correspond to a stored reference fluid pressure/fluid volume curve which describes a correct process or state, then the conclusion can be drawn that generally a defective state or process is present.

(53) If the determined and/or created fluid pressure/fluid volume curve essentially corresponds to a stored reference fluid pressure/fluid volume curve, then the conclusion can be drawn that a certain correct process or state is present or that a certain defective state or process is present.

(54) The results determined and/or established by the apparatus 50, particularly the comparison and/or establishing unit 30, can be communicated, e.g., to a control (e.g. a control for the handling robot HR, the handling device 1, a painting robot or another component of a painting installation dependent on the handling) for further utilization and processing.

(55) The first detection unit 20a, the second detection unit 20b, the determination and/or creation unit 25, and also the comparison and/or establishing unit 30 are illustrated as separate units. It is, however, also possible to combine separately illustrated units in one unit (e.g., to combine the first and second detection unit 20a, 20b to form one unit, to combine the determination and/or creation unit 25 and the comparison and/or establishing unit 30 to form one unit, etc.).

(56) By way of example, FIG. 5a shows a stored reference fluid pressure/fluid volume curve which represents correct grasp between grasping element 10 and component B.

(57) Point P1 characterizes the start of the loading of the grasping element 10 with fluid/pressure.

(58) The region between point P1 and P2 characterizes a state or process in which the grasping element 10 expands but the component B is not yet grasped.

(59) Point P2 characterizes the start of the grasping between grasping element 10 and component B.

(60) The region between point P2 and P3 characterizes a state or process in which the grasping element 10 expands and the component B is grasped.

(61) Point P3 characterizes a state or process in which no further fluid/pressure is supplied to the grasping element 10, the component B is grasped and thus can be handled.

(62) The FIGS. 5b, 5c show exemplary fluid pressure/fluid volume curves determined and/or created by the determination and/or creation unit 25, representing a present loading of the grasping element 10 with fluid pressure/fluid volume. By way of example, FIG. 5b shows a fluid pressure/fluid volume curve in which the grasping element 10 correctly grasps a component B, wherein by way of example FIG. 5c shows a fluid pressure/fluid volume curve in which the grasping element 10 does not grasp a component B or no component B is present.

(63) The stored reference fluid pressure/fluid volume curve according to FIG. 5a essentially corresponds to the fluid pressure/fluid volume curve according to 5b, so that after a comparison of the curves, the conclusion can be drawn that there is a correct grasp between grasping element 10 and component B.

(64) The stored reference fluid pressure/fluid volume curve according to FIG. 5a does not however correspond to the fluid pressure/fluid volume curve according to 5c (in particular no bend occurs at point P2, because no component B has been grasped), so that after a comparison of the curves, the conclusion can be drawn that there is no grasp between grasping element 10 and component B or no component B is present.

(65) The invention is not limited to the preferred exemplary embodiments described above. Instead, a plurality of variants and modifications are possible, which also make use of the concept of the invention and thus fall within the scope of protection. The invention, in particular, also claims protection for the object of the sub-claims independently of the object of the prior claims referred to.