DE3900283A1 - CNC apparatus of modular construction and usable in a mobile or stationary manner for the working of surfaces of any size with interchangeable effectors in accordance with the requirements - Google Patents

CNC apparatus of modular construction and usable in a mobile or stationary manner for the working of surfaces of any size with interchangeable effectors in accordance with the requirements

Info

Publication number
DE3900283A1
DE3900283A1 DE3900283A DE3900283A DE3900283A1 DE 3900283 A1 DE3900283 A1 DE 3900283A1 DE 3900283 A DE3900283 A DE 3900283A DE 3900283 A DE3900283 A DE 3900283A DE 3900283 A1 DE3900283 A1 DE 3900283A1
Authority
DE
Germany
Prior art keywords
mobile
size
effectors
computer
interchangeable
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.)
Ceased
Application number
DE3900283A
Other languages
German (de)
Inventor
Erfinder Wird Nachtraeglich Benannt Der
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.)
GOLF EHRHART D
Original Assignee
GOLF EHRHART D
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 GOLF EHRHART D filed Critical GOLF EHRHART D
Priority to DE3900283A priority Critical patent/DE3900283A1/en
Publication of DE3900283A1 publication Critical patent/DE3900283A1/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39468—Changeable hand, tool, code carrier, detector

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Physics & Mathematics (AREA)
  • Structural Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Geometry (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Spray Control Apparatus (AREA)

Abstract

CNC apparatus which is of modular construction, can be used in a mobile and/or stationary manner and is flexibly adaptable to the working of surfaces of any size with interchangeable effectors in accordance with the requirements. The invention concerns an apparatus and a method which permits through the use of a computer the transfer of computer-aided designs (e.g. CAD) to surfaces which hitherto could only be worked manually. In this way, error-free progress from the design stage to completion is obtained. This enables, for example, house facades and large billboards to be automatically fashioned in a short time. The increase in quality obtainable by the invention guarantees an exactly definable coating thickness of the paint application provided and high reproducibility, which is manually unobtainable. The scaffolding required, for example, during manual execution is dispensed with. This avoids the expenditure on services which do not help to increase the value of the building.

Description

1.3 Einsatzmöglichkeiten1.3 Possible uses

Der modulare Aufbau des Automatischen Bearbeitungssystems für Oberflächen beliebiger Größe gestattet bedarfsgerechtes Auf-, Ab- und Umrüsten durch auswechselbare Effektoren wie z. B.:The modular structure of the automatic processing system for Surfaces of any size allow needs-based installation, Dismantling and retrofitting through interchangeable effectors such. B .:

alle Arten von Sprühköpfen
Sandstrahldüsen
Wasserstrahldüsen
Mehrkomponentendüsen für Polyurethan Hartschaum
Putzsprühdüsenall types of spray heads
Sandblasting nozzles
Water jet nozzles
Multi-component nozzles for rigid polyurethane foam
Cleaning spray nozzles

Alle Arten von Anstrichwerkzeugen
Pinsel
Schwämme
Faserstife
RollenAll types of painting tools
brush
Sponges
Fiber pen
roll

Alle Arten von mechanischen Arbeitsgeräten
Bürsten (Rotations-, Vibrierbürsten u. a.)
Schweißen
Nieten
Bohren
SchleifenAll types of mechanical tools
Brushes (rotary, vibrating brushes, etc.)
welding
Rivets
Drill
grind

Alle Arten von Überwachungsgeräten
Kameras
Laserscanner
Infrarotdetektoren
Gasdetektoren
Ultraschalldetektoren
RadardetektorAll types of monitoring devices
Cameras
Laser scanner
Infrared detectors
Gas detectors
Ultrasonic detectors
Radar detector

Dadurch vielseitig einsetzbar:This makes it versatile:

Beschichten
Beschichtung von Oberflächen, vollflächig und/oder teilflächig
Werbebeschriftung von:
Bussen und großflächigen Fahrzeugen
Schaufenstern
Gebäudefassaden
Wände jeglicher Art (Innenwände, Außenwände, Lärmschutzwände usw.)
Verkehrshinweise
Schutzfolien
Bühnenbilder
Anstrich auf Schiffe,
Bearbeiten
Sandstrahlen
Hochdruckreinigen mit Wasser, -dampf zum Beispiel bei:
Schiffskörperreinigung
Flugzeugkörperreinigung
Fensterreinigung
Fassadenreinigung
Inspizieren
Zerstörungsfreies Prüfen der physikalischen Beschaffenheit mehrschichtiger Oberflächen
Überwachung von schwer zugänglichen Oberflächen
Abtragen von Oberflächenbeschichtungen, vollflächig und/oder teilflächig
Plotten der Innenwände von Räumen, Fluren, U-Bahnstationen etc.Coating
Coating of surfaces, over the entire surface and / or over part of the surface
Advertising lettering from:
Buses and large vehicles
Shop windows
Building facades
Walls of any kind (interior walls, exterior walls, noise barriers, etc.)
Traffic information
Protective films
Stage sets
Painting on ships,
To edit
Sandblasting
High pressure cleaning with water and steam, for example:
Hull cleaning
Aircraft body cleaning
Window cleaning
Facade cleaning
Inspect
Non-destructive testing of the physical properties of multi-layer surfaces
Monitoring of difficult to access surfaces
Removal of surface coatings, over the entire surface and / or over part of the surface
Plotting the inside walls of rooms, corridors, subway stations etc.

2 Stand der Technik2 State of the art

2.1 automatisches Beschichten kleiner Flächen2.1 automatic coating of small surfaces

Um beliebige Grafiken automatisch zu erstellen werden heute Plotter eingesetzt, die sich glatter Oberflächen wie z. B. Papier, Kunststoffolien als Farbträger bedienen. Diese Geräte sind auf Grund ihrer kinematischen Beschaffenheit nur bis ca. DIN A0 und für den stationären Betrieb geeignet.To create any graphics automatically today Plotter used that smooth surfaces such. B. Use paper and plastic films as ink carriers. These devices are due to their kinematic nature only up to approx. DIN A0 and suitable for stationary operation.

Ebenso sind diese Verfahren zum Schneiden von Folien, Stoffen, Kunststoffen und Metalle im Einsatz.These processes for cutting foils, fabrics, Plastics and metals in use.

2.2 Beschichtung großer Flächen2.2 Coating large areas

Sollten größere Flächen beschichtet oder wie auch immer bearbeitet werden, so wird dies nur manuell ausgeführt. Betrachtet man beispielsweise die grafische Gestaltung einer großflächigen Fassade, so wird dies mit folgenden Arbeitsschritten realisiert:Should larger areas be coated or whatever edited, this is only done manually. For example, consider the graphic design of a large-scale facade, so will this with the following Work steps implemented:

  • 1. Entwurf der Fassadengestaltung manuell und/oder rechnerunterstützt (z. B. mit CAD)1. Draft the facade design manually and / or computer-supported (e.g. with CAD)
  • 2. Einrüsten der Fassade mit Standrüstung oder Hängerüstung2. Scaffolding the facade with stand armor or hanging armor
  • 3. Durchführen der Arbeiten per Hand von der Rüstung aus durch handwerklich und/oder künstlerisch ausgebildetes Personal.3. Perform the work by hand from the armor artisan and / or artistically trained staff.
  • Hierzu wird der Entwurf maßstabsgerecht manuell auf die vorgesehene Oberfläche übertragen.To do this, the design is manually scaled to the transfer the intended surface.
  • Die Beschichtung erfolgt konventionell per Hand (z. B. mit Pinsel, Bürste, Rolle etc.), oder mit geeigneten Sprühgeräten (z. B. Sprühpistolen)The coating is done conventionally by hand (e.g. with Brush, brush, roller etc.), or with suitable Sprayers (e.g. spray guns)
  • 4. Abrüsten der Fassade4. Disassemble the facade

Für das manuelle Lackieren großflächiger Fahrzeuge u. ä. gilt sinngemäß das Gleiche.For manual painting of large vehicles and. applies analogously the same.

2.3 Technische Neuerungen durch den erfindungsgemäßen Plotter2.3 Technical innovations through the plotter according to the invention

Das von den Anmeldern beschriebene Verfahren gestattet einen durchgängigen Rechnereinsatz von Entwurf bis zur Ausführung. Hierdurch erlangt man folgende Vorteile:The method described by the applicants allows one end-to-end computer use from design to execution. This gives you the following advantages:

Direkte Übertragung des Entwurfes auf die vorgesehene Oberfläche ohne Qualitätsverlust. Dies gewährleistet ein entwurfsgetreues Endprodukt auch bei grafisch aufwendigen Entwürfen.
Der Datenaustausch kann mit den in der Rechnertechnik hinlänglich bekannten Verfahren (Austausch von Daten Online-Offline) vorgenommen werden.
Gleichbleibende Qualität der Beschichtung durch hohe Reproduzierbarkeit der Schichtendicke, Menge und Mischung des gesprühten Materials.
Erhebliche Einsparung an Arbeitszeit durch Wegfall der Gerüstarbeiten und des mühevollen manuellen Übertragens der Grafik, und Sprühmaterial durch Rechnersteuerung.
Rechnergestützes Ausnutzen der Vorteile vollautomatischer Sprühanlagen zur Oberflächenbeschichtung großer Flächen.
Erreichen einer Flexibilität durch Rechnereinsatz, die bisher nur bei "kleinformatigen" Plotten gewährleistet war.Direct transfer of the design to the intended surface without loss of quality. This ensures a true-to-design end product, even with graphically complex designs.
The data exchange can be carried out using the methods which are well known in computer technology (exchange of data online-offline).
Consistent quality of the coating due to the high reproducibility of the layer thickness, quantity and mixture of the sprayed material.
Significant savings in working time by eliminating the scaffolding work and the tedious manual transfer of the graphics, and spray material by computer control.
Computer-aided exploitation of the advantages of fully automatic spraying systems for surface coating of large areas.
Achieving flexibility through the use of computers that was previously only possible with "small format" plotting.

3. Automatisches Bearbeitungssystem für Oberflächen beliebiger
3.1 Systemvarianten
3.1.1 Plottertyp für Arbeitsflächen in Ruhelage
3.1.1.1 Auf einem Bewegungsschlitten fest arretierter Effektor
3.1.1.2 Auf einem Bewegungsschlitten befestigter Effektor mit
3.1.1.3 s. w. v. aber Laufwagen mit aufgesetztem weiteren Laufwagen
3.1.1.4 s. w. v. jedoch mit zusätzlicher mit Teleskopverlängerung der
3.1.1.5 Mischung der Varianten untereinander
3.1.1.6 Art der Bewegungen
Varianten des Arbeitsprinzips:
streifenweise vertikal und/oder horizontal vektoriell
Flächenweise mit festem Rahmen
Flächenweise (große Flächen) mit verspannten flexiblen Tragelementen (wie zum Beispiel Drähte, Seile, Lochbänder usw.)
Kombination der Verfahren untereinander3. Automatic processing system for any surface
3.1 System variants
3.1.1 Plotter type for work surfaces at rest
3.1.1.1 Effector firmly locked on a movement sled
3.1.1.2 Effector attached to a slide with
3.1.1.3 swv but carriages with another carriage attached
3.1.1.4 swv but with additional with telescopic extension of the
3.1.1.5 Mixing the variants with each other
3.1.1.6 Type of movements
Variants of the working principle:
Striped vertically and / or horizontally vectorially
Partly with a solid frame
Area by area (large areas) with tensioned flexible supporting elements (such as wires, ropes, perforated tapes, etc.)
Combination of the procedures with each other

3.1.2 Plottertyp mit mobilen Arbeitsflächen in Einachs-Bewegung
3.1.2.1 Art der Bewegungen3.1.2 Plotter type with mobile work surfaces in one-axis motion
3.1.2.1 Type of movements

Bei dieser Apparatur wird die zu bearbeitende Fläche ähnlich wie bei Trommelplottern in einer Achse per Rechner gesteuert und definiert bewegt. Die sich im rechten Winkel befindliche zweite Achse wird entsprechend den vorstehenden Beschreibungen befahren.With this apparatus, the surface to be worked on similar to drum plotters in one axis per Computer controlled and defined movement. The in second axis located at right angles Drive according to the above descriptions.

3.1.3 Gelenkarm Roboter
43.1.3.1 System3.1.3 Articulated arm robot
43.1.3.1 system

Rechnergesteuerter Gelenkarm-Roboter in Vertikal-Knickarm Ausführung (s. w. Betonpumpen) zum Sprühen im Pinselstrichverfahren oder mit Flächen-PlotterComputer-controlled articulated arm robot in vertical articulated arm Version (see concrete pumps) for spraying in Brush stroke process or with surface plotter

3.1.4 Sonstiges
3.2 Technische Ausstattungsmerkmale
3.2.1 Aufbau, Antrieb und Bewegungskontrolle
Der modulare Aufbau der Erfindung benützt den Einsatz von in der Technik bekannten und geeigneten Systemen.3.1.4 Other
3.2 Technical features
3.2.1 Structure, drive and motion control
The modular structure of the invention uses the systems known and suitable in the art.

Dies gilt insbesondere für verwendete Effektoren, Bewegungskontrolle und Antrieb des kinematischen Systems, Arretierung der beweglichen Teile beim Ausführen der Arbeiten, die Trägerkonstruktion zur Aufnahme und Arbeitsweise der Effektoren.This applies in particular to the effectors used, Motion control and drive of the kinematic system, Locking of the moving parts when carrying out the work, the support structure for receiving and working the Effectors.

Claims (10)

1 Technische Neuerung 1 Technical innovation 1.1 Bezeichnung der Erfindung1.1 Name of the invention Eine modular aufgebaute mobil und/oder stationär einsetzbare CNC-gesteuerte Apparatur, flexibel anpaßbar an bedarfsgerechte Bearbeitung von Oberflächen beliebiger Größe mit auswechselbaren Effektoren.A modular mobile and / or stationary use CNC-controlled equipment, flexibly adaptable to needs-based Processing of surfaces of any size with interchangeable Effectors. 1.2 Ansprüche1.2 Claims 1. Eine mobil und/oder stationär einsetzbare CNC-gesteuerte Apparatur zum vollautomatischen Aufbringen von streich- und sprühfähigen Medien auf Oberflächen beliebiger Größe.1. A mobile and / or stationary CNC-controlled Apparatus for fully automatic application of brush and sprayable media on surfaces of any size. Denkbare Einsatzfelder sind zum Beispiel Werbegrafik, Dekoration, Kunst oder dergleichen an Gebäudefassaden, Schiffwänden, Innenwänden, Schaufenstern, Lastwagenplanen, Schildern.Possible fields of application are, for example, advertising graphics, Decoration, art or the like on building facades, Ship walls, interior walls, shop windows, truck tarpaulins, Describe. 2. Apparatur nach Anspruch 1, dadurch gekennzeichnet, daß vollflächiges Auftragen jeglicher Art Sprühstoffen, z. B. von Schutzschichten, Dekorationsanstrichen, Quellschaumstoffen, sprühbaren Folien, putzartige- oder ähnliche Materialien möglich ist.2. Apparatus according to claim 1, characterized in that full-surface application of any kind of spray, e.g. B. from Protective layers, decorative coatings, swelling foams, sprayable foils, plaster-like or similar materials is possible. 3. Apparatur nach Anspruch 1, dadurch gekennzeichnet, daß streichfähiger Farbauftrag jeglicher konventioneller Art (Farbstifte, Farbschwämme, Farbrollen, Faserstifte u. a.) möglich ist.3. Apparatus according to claim 1, characterized in that brushable paint application of any conventional type (Colored pencils, colored sponges, paint rollers, fiber pencils, etc.) is possible. 4. Apparatur nach Anspruch 1, dadurch gekennzeichnet, daß das Auftragen beliebiger, als Vorlage und/oder Entwurf vorhandener oder beim Sprühen entstehender Bilder, Grafiken, Texte, Symbole, Sonderzeichen und dreidimensionaler Konturen, die in Dimension, Kontur und Farbe frei programmierbar sind, möglich ist.4. Apparatus according to claim 1, characterized in that the Apply any, existing as a template and / or draft or when spraying resulting images, graphics, texts, Symbols, special characters and three-dimensional contours that are in Dimension, contour and color are freely programmable is. 5. Apparatur nach Anspruch 1, dadurch gekennzeichnet, daß die Verwendung von rechnergestützten Kreationen, z. B. CAD, Desktop Publishing und Computergrafik im weitesten Sinne, für zu bearbeitende mobile und/oder immobile Flächen beliebiger Größe als durchgängiges System möglich ist.5. Apparatus according to claim 1, characterized in that the use of computer-aided creations, e.g. B. CAD, Desktop publishing and computer graphics in the broadest sense, for any mobile and / or immobile areas to be processed Size as a continuous system is possible.
DE3900283A 1989-01-05 1989-01-05 CNC apparatus of modular construction and usable in a mobile or stationary manner for the working of surfaces of any size with interchangeable effectors in accordance with the requirements Ceased DE3900283A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE3900283A DE3900283A1 (en) 1989-01-05 1989-01-05 CNC apparatus of modular construction and usable in a mobile or stationary manner for the working of surfaces of any size with interchangeable effectors in accordance with the requirements

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE3900283A DE3900283A1 (en) 1989-01-05 1989-01-05 CNC apparatus of modular construction and usable in a mobile or stationary manner for the working of surfaces of any size with interchangeable effectors in accordance with the requirements

Publications (1)

Publication Number Publication Date
DE3900283A1 true DE3900283A1 (en) 1990-07-12

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Application Number Title Priority Date Filing Date
DE3900283A Ceased DE3900283A1 (en) 1989-01-05 1989-01-05 CNC apparatus of modular construction and usable in a mobile or stationary manner for the working of surfaces of any size with interchangeable effectors in accordance with the requirements

Country Status (1)

Country Link
DE (1) DE3900283A1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2744247A1 (en) * 1976-10-05 1978-04-06 Carrier Drysys Ltd DEVICE AND METHOD FOR SURFACE COATING
DE3227084A1 (en) * 1981-07-20 1983-02-10 Gerber Scientific, Inc., 06074 South Windsor, Conn. PHOTO HEAD WITH FLASHING BEAM
DE3244053A1 (en) * 1981-11-30 1983-06-16 Tokico Ltd., Kawasaki, Kanagawa ROBOT
DE3414024A1 (en) * 1983-11-30 1985-06-05 Hitachi Zosen Corp., Osaka COATING DEVICE
US4614300A (en) * 1982-04-19 1986-09-30 E. I. Du Pont De Nemours And Company Computerized spray machine
DE3700935A1 (en) * 1986-01-09 1987-08-06 Gerber Garment Technology Inc COMPOSITE RECORDING DEVICE AND RELATED WORKING METHOD
DE3800633A1 (en) * 1988-01-12 1989-07-20 Bernhard Bruene METHOD AND DEVICE FOR PRODUCING STAGE IMAGES

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2744247A1 (en) * 1976-10-05 1978-04-06 Carrier Drysys Ltd DEVICE AND METHOD FOR SURFACE COATING
DE3227084A1 (en) * 1981-07-20 1983-02-10 Gerber Scientific, Inc., 06074 South Windsor, Conn. PHOTO HEAD WITH FLASHING BEAM
DE3244053A1 (en) * 1981-11-30 1983-06-16 Tokico Ltd., Kawasaki, Kanagawa ROBOT
US4614300A (en) * 1982-04-19 1986-09-30 E. I. Du Pont De Nemours And Company Computerized spray machine
DE3414024A1 (en) * 1983-11-30 1985-06-05 Hitachi Zosen Corp., Osaka COATING DEVICE
DE3700935A1 (en) * 1986-01-09 1987-08-06 Gerber Garment Technology Inc COMPOSITE RECORDING DEVICE AND RELATED WORKING METHOD
DE3800633A1 (en) * 1988-01-12 1989-07-20 Bernhard Bruene METHOD AND DEVICE FOR PRODUCING STAGE IMAGES

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
DE-Z: Regelungstechnik, 30.Jg.,1982, H.3,St.80-87 *
DE-Z: VDI-Z 122 (1980), Nr. 14, Juli II, St. 577 bis 581 *

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