EP1614478B1 - Hose routing for a coating robot - Google Patents
Hose routing for a coating robot Download PDFInfo
- Publication number
- EP1614478B1 EP1614478B1 EP05105595A EP05105595A EP1614478B1 EP 1614478 B1 EP1614478 B1 EP 1614478B1 EP 05105595 A EP05105595 A EP 05105595A EP 05105595 A EP05105595 A EP 05105595A EP 1614478 B1 EP1614478 B1 EP 1614478B1
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- EP
- European Patent Office
- Prior art keywords
- hose
- insulating
- accordance
- coating agent
- guide
- 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.)
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Links
- 239000011248 coating agent Substances 0.000 title claims abstract description 60
- 238000000576 coating method Methods 0.000 title abstract description 9
- 238000010422 painting Methods 0.000 claims abstract description 22
- 238000010292 electrical insulation Methods 0.000 claims abstract description 10
- 239000012777 electrically insulating material Substances 0.000 claims abstract description 6
- 238000009413 insulation Methods 0.000 claims abstract description 6
- 239000012530 fluid Substances 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 claims description 7
- 239000000463 material Substances 0.000 abstract 4
- 238000005452 bending Methods 0.000 description 9
- 239000007788 liquid Substances 0.000 description 4
- VLKZOEOYAKHREP-UHFFFAOYSA-N n-Hexane Chemical compound CCCCCC VLKZOEOYAKHREP-UHFFFAOYSA-N 0.000 description 3
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- LAXBNTIAOJWAOP-UHFFFAOYSA-N 2-chlorobiphenyl Chemical group ClC1=CC=CC=C1C1=CC=CC=C1 LAXBNTIAOJWAOP-UHFFFAOYSA-N 0.000 description 1
- 239000004359 castor oil Substances 0.000 description 1
- 235000019438 castor oil Nutrition 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000011187 glycerol Nutrition 0.000 description 1
- ZEMPKEQAKRGZGQ-XOQCFJPHSA-N glycerol triricinoleate Natural products CCCCCC[C@@H](O)CC=CCCCCCCCC(=O)OC[C@@H](COC(=O)CCCCCCCC=CC[C@@H](O)CCCCCC)OC(=O)CCCCCCCC=CC[C@H](O)CCCCCC ZEMPKEQAKRGZGQ-XOQCFJPHSA-N 0.000 description 1
- 239000002480 mineral oil Substances 0.000 description 1
- 235000010446 mineral oil Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 229920002545 silicone oil Polymers 0.000 description 1
- VZGDMQKNWNREIO-UHFFFAOYSA-N tetrachloromethane Chemical compound ClC(Cl)(Cl)Cl VZGDMQKNWNREIO-UHFFFAOYSA-N 0.000 description 1
- 239000003981 vehicle Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/16—Arrangements for supplying liquids or other fluent material
- B05B5/1608—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
- B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
Definitions
- the invention relates to a hose guide for a painting robot according to the preamble of claim 1.
- the coating agent is electrically charged, while the workpieces to be painted, such as motor vehicle body parts, are electrically grounded.
- This offers the advantage that the coating agent is electrostatically attracted to the workpieces to be painted, which contributes to a reduction of the so-called overspray.
- a high-rotation atomizer can be used, which itself is under high voltage and is mounted on an electrically grounded hand axis of the painting robot.
- the coating agent to be applied is in this case supplied by a coating agent tube, which is passed through the robot arms and the hand axis, wherein electrical flashovers between the standing under high voltage coating agent in the coating medium tube and the electrically grounded hand axis must be avoided.
- multi-layer, electrically insulating coating agent tubes are used in which the required dielectric strength of 80-100 kV is achieved by one or more additional insulating layers on the outside of the coating agent tube.
- a hose guide known, which has an inner coating medium hose for passing an electrically charged coating agent and a separate, external Having insulating tube, which consists of an electrically insulating material.
- a disadvantage of the known multilayer, electrically insulating coating agent tubes is the unsatisfactory bending behavior, since only relatively large bending radii are possible and the life is unsatisfactory with frequent deformations.
- the invention is therefore based on the object to provide a hose guide for a painting robot, which allows a passage of coating agent tubes and allows the best possible bending behavior.
- the invention comprises the general technical teaching to provide for the electrical insulation of the coating agent hose a separate insulating tube or a separate insulating tube made of an electrically insulating material, in which the coating agent tube extends.
- the separation of the insulating hose from the coating agent hose offers the possibility of optimizing the coating agent hose on the one hand and the insulating hose on the other hand to the respective technical function, without the various design goals being contradictory.
- the coating agent tube can be structurally optimized for optimal bending behavior and a good piggability out, whereas the insulating tube can be optimized for good insulation or high dielectric strength out.
- the insulating tube is separated from the coating agent tube in the radial direction.
- the insulating tube thus surrounds the coating agent tube as a shell, wherein between the insulating tube and the coating agent tube Preferably, there is a predetermined distance, however, which may vary in the axial direction and in dependence on the position of the painting robot or the hand axis.
- This displacement of the electrical insulation to the outside offers the advantage that smaller thicknesses of the insulating tube are sufficient to prevent electrical breakdown to the outside, since the electrical potential decreases in the space between the coating agent tube and the insulating tube to the outside.
- the space between the insulating tube and the coating agent tube is in this case air-filled, however, the space between the insulating tube and the coating agent tube may also be filled by other gaseous or liquid fluids, which are preferably electrically insulating.
- the insulating tube in the tube guide according to the invention is preferably flexible in the axial direction. This is advantageous since, as a function of the position of the painting robot, hose elongations or compressions can occur, which can be absorbed by the axial compliance of the insulating hose.
- the insulating tube in the hose guide according to the invention preferably also flexurally flexible in order to adapt to the different positions of the painting robot or the robot's hand axis.
- the axial compliance and the bending flexibility of the insulating tube can be achieved in that the insulating tube has a pleat structure, as known for example from bellows or corrugated tubes.
- the insulating tube is preferably multi-layered and has an inner tube and an outer tube.
- the Inner tube and the outer tube in this case preferably include an insulating agent space which is at least partially filled with an electrically insulating insulating fluid or filled with it. The electrical insulation of the insulating tube is thus at least partially effected by the insulating fluid.
- the Isolierstoffraum between the inner tube and the outer tube preferably opens a filling nozzle, through which the insulating fluid filled in the Isolierffenraum and / or can be removed therefrom.
- the insulating fluid is preferably an insulating fluid such as mineral oil-based insulating oil, chlorodiphenyl, silicone oil, castor oil, glycerin, hexane or a tetrachlorocarbon-containing liquid.
- the invention is not limited to insulating fluids with respect to the insulating fluid, but in principle can be realized with an insulating gas between the inner tube and the outer tube.
- the insulating tube is electrically grounded to avoid electrical flashovers to the outside or a danger to surrounding people.
- the insulating tube has an insulation capacity or an electrical breakdown strength of at least 50 kV.
- the coating agent tube is preferably pigable, but the coating medium tube does not have to be electrically insulating. It is therefore within the scope of the invention, the possibility that the coating agent tube is not or only partially electrically insulating.
- the insulating tube preferably opens at least at one end into a connection block made of an electrically insulating material.
- the further routing of this connection block can then be carried out by a conventional, multilayer, electrically insulating coating agent line, so that the hose guide according to the invention can be limited to the area between two such connection blocks.
- the insulating tube according to the invention may consist, at least over part of its length, essentially of a rigid pipe made of an electrically insulating material.
- bending elasticity of the insulating tube is not required in the region of a robot arm, so that a rigid pipe can be used there as an insulating tube, whereas the bending elasticity of the insulating tube in the region of a robot joint is essential, so that the insulating tube there is preferably correspondingly flexurally elastic.
- the insulating tube is on a part of its length substantially of a rigid tube and is flexurally flexible over part of its length, wherein the bending flexible part of the insulating tube preferably projects with an axial overlap in the rigid tube of the insulating tube.
- the rigid tube is preferably arranged in the region of the individual robot arms, while the bending-flexible insulating tube is guided in each case through the robot joints.
- the axial overlap between the flexurally flexible part of the insulating tube and the rigid tube of the insulating tube preferably has a length which is in the range between 100 mm and 400 mm depending on the height of the High voltage is, with any intermediate values are possible.
- the invention is not limited to the hose guide according to the invention described above, but also comprises a robot hand axis and a painting robot with such a hose guide according to the invention.
- the invention also encompasses the novel use of the hose guide according to the invention for the electrical insulation of a coating agent hose in a painting robot.
- FIG. 1 shown representation of a painting robot 1 is greatly simplified and stylized and serves only to illustrate the structure and operation of a hose guide according to the invention.
- the painting robot 1 has a base part 2, which is rotatably mounted on a foundation 3, wherein the drive of the base part 2 can be done for example by an electric motor.
- a robot arm 4 is pivotally mounted, wherein the drive of the robot arm 4 can also be done by an electric motor.
- a robot hand axis 5 is mounted, which consists of three relatively rotatable wrist parts 6, 7, 8.
- the drive of the individual wrist parts 6, 7, 8 takes place by means of shafts, which are guided out of the robot arm 4 into the robot hand axis 5 and, for example, are driven by an electric motor.
- a rotary atomizer 10 is attached via a high-voltage insulating terminal block 9, which may be conventionally formed and has a bell cup 11.
- the supply of the coating agent to the bell cup 11 of the rotary atomizer 10 takes place here via two schematically illustrated coating agent lines 12, 13, which emanate from a high voltage insulating terminal block 14 in the base part 2 of the painting robot 1 and by the robot arm 4, the robot hand axis 5 and the high voltage insulating terminal block. 9 are guided to the rotary atomizer 10.
- the coating agent delivered by the bell cup 11 of the rotary atomizer 10 is in this case charged to high-voltage potential, whereas the workpieces to be coated are electrically grounded, so that the applied coating agent of the workpieces to be coated is electrostatically attracted, which contributes to a high efficiency and a correspondingly low overspray.
- the rotary atomizer 10 is therefore charged as a whole to high voltage potential while the robot hand axis 5 is electrically grounded, wherein the terminal block 9 electrically isolates the rotary atomizer 10 relative to the robot hand axis 5.
- the coating agent flowing in the coating agent lines 12, 13 is also electrically charged to high voltage potential, so that the coating agent lines 12, 13 must be electrically insulated from the wrist parts 6, 7, 8 of the robot hand axis 5.
- the insulating tube 15 has a bellows-like fold structure, so that the insulating tube 15 is flexible and flexurally elastic in the axial direction.
- the bending elasticity of the insulating tube 15 is important so that the insulating tube 15 can adapt to the respective position of the robot's hand axis 5.
- the axial compliance of the insulating tube 15, however, is important because in an adjustment of the robot hand axis 5 axial strokes can result, which must be compensated by the insulating 15.
- the insulating tube 15 is double-walled and consists of an inner tube and an outer tube, which enclose a Isolierschraum, wherein the Isolierstoffraum between the inner tube and the outer tube is filled with an insulating liquid.
- the insulating tube 16 in the robot arm 4 must not follow any changes in shape and is therefore constructed largely rigid.
- the insulating tube 15 protrudes here in the axial direction over a length of about 300 mm in the insulating tube 16 in order to achieve at an axial lifting movement of the insulating tube 15 relative to the insulating tube 16 always a sufficiently large axial overlap and a correspondingly large insulation capacity.
- connection between the insulating tube 16 and the electrically insulating terminal block 14 is again via a double-walled, electrically insulating insulating tube 17, which is constructed according to the insulating tube 15.
- the supply of the coating agent to the high-voltage resistant terminal block 14 can be done in a conventional manner by high voltage insulating coating agent tubes, which are not shown here for simplicity.
- FIG. 2 illustrated embodiment of a hose guide 18 according to the invention serves to guide a coating agent hose 19 in a painting robot, wherein the hose guide 18 can also accommodate a plurality of coating agent hoses.
- the hose guide has an insulating tube 20, which consists of an inner tube 21 and an outer tube 22, the inner tube 21 and the outer tube 22 an insulating agent space 23, which is filled with an insulating liquid.
- the connecting piece 24 has a filling nozzle 26 which opens into the Isolierstoffraum 23 between the inner tube 21 and the outer tube 22 and a filling or emptying of the Isolierstoffraums 23 allows.
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- Manipulator (AREA)
- Spray Control Apparatus (AREA)
- Electrostatic Spraying Apparatus (AREA)
- Coating Apparatus (AREA)
Abstract
Description
Die Erfindung betrifft eine Schlauchführung für einen Lackierroboter gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a hose guide for a painting robot according to the preamble of claim 1.
Es sind Lackierroboter bekannt, bei denen das Beschichtungsmittel elektrisch aufgeladen wird, während die zu lackierenden Werkstücke, wie beispielsweise Kraftfahrzeugkarosserieteile, elektrisch geerdet sind. Dies bietet den Vorteil, dass das Beschichtungsmittel von den zu lackierenden Werkstücken elektrostatisch angezogen wird, was zu einer Verringerung des sogenannten Oversprays beiträgt. Zur Applikation des Beschichtungsmittels kann hierbei ein Hochrotationszerstäuber eingesetzt werden, der selbst unter Hochspannung steht und an einer elektrisch geerdeten Handachse des Lackierroboters montiert ist. Das zu applizierende Beschichtungsmittel wird hierbei durch einen Beschichtungsmittelschlauch zugeführt, der durch die Roboterarme und die Handachse hindurchgeführt ist, wobei elektrische Überschläge zwischen dem unter Hochspannung stehenden Beschichtungsmittel in dem Beschichtungsmittelschlauch und der elektrisch geerdeten Handachse vermieden werden müssen. Herkömmlicherweise werden deshalb mehrlagige, elektrisch isolierende Beschichtungsmittelschläuche eingesetzt, bei denen die erforderliche Durchschlagfestigkeit von 80-100 kV durch eine oder mehrere zusätzliche Isolierlagen an der Außenseite des Beschichtungsmittelschlauchs erreicht wird. Beispielsweise ist aus
Ein Nachteil an den bekannten mehrlagigen, elektrisch isolierenden Beschichtungsmittelschläuchen ist das unbefriedigende Biegeverhalten, da nur relativ große Biegeradien möglich sind und die Lebensdauer bei häufigen Verformungen unbefriedigend ist.A disadvantage of the known multilayer, electrically insulating coating agent tubes is the unsatisfactory bending behavior, since only relatively large bending radii are possible and the life is unsatisfactory with frequent deformations.
Der Erfindung liegt deshalb die Aufgabe zugrunde, eine Schlauchführung für einen Lackierroboter zu schaffen, die eine Durchführung von Beschichtungsmittelschläuchen erlaubt und ein möglichst gutes Biegeverhalten ermöglicht.The invention is therefore based on the object to provide a hose guide for a painting robot, which allows a passage of coating agent tubes and allows the best possible bending behavior.
Diese Aufgabe wird, ausgehend von den eingangs beschriebenen mehrlagigen, elektrisch isolierenden Beschichtungsmittelschläuchen gemäß dem Oberbegriff des Anspruchs 1, durch die kennzeichnenden Merkmale des Anspruchs 1 gelöst.This object is achieved on the basis of the above-described multilayer, electrically insulating coating agent tubes according to the preamble of claim 1 by the characterizing features of claim 1.
Die Erfindung umfasst die allgemeine technische Lehre, zur elektrischen Isolierung des Beschichtungsmittelschlauchs einen separaten Isolierschlauch oder ein separates Isolierrohr aus einem elektrisch isolierenden Material vorzusehen, in dem der Beschichtungsmittelschlauch verläuft. Die Trennung des Isolierschlauchs von dem Beschichtungsmittelschlauch bietet die Möglichkeit, den Beschichtungsmittelschlauch einerseits und den Isolierschlauch andererseits auf die jeweilige technische Funktion hin zu optimieren, ohne dass die verschiedenen Konstruktionsziele gegensätzlich sind. So kann der Beschichtungsmittelschlauch konstruktiv auf ein optimales Biegeverhalten und eine gute Molchbarkeit hin optimiert werden, wohingegen der Isolierschlauch auf ein gutes Isolationsvermögen bzw. eine hohe Durchschlagfestigkeit hin optimiert werden kann.The invention comprises the general technical teaching to provide for the electrical insulation of the coating agent hose a separate insulating tube or a separate insulating tube made of an electrically insulating material, in which the coating agent tube extends. The separation of the insulating hose from the coating agent hose offers the possibility of optimizing the coating agent hose on the one hand and the insulating hose on the other hand to the respective technical function, without the various design goals being contradictory. Thus, the coating agent tube can be structurally optimized for optimal bending behavior and a good piggability out, whereas the insulating tube can be optimized for good insulation or high dielectric strength out.
Erfindungsgemäß ist der Isolierschlauch hierbei in Radialrichtung von dem Beschichtungsmittelschlauch getrennt. Der Isolierschlauch umgibt also den Beschichtungsmittelschlauch als Hülle, wobei zwischen dem Isolierschlauch und dem Beschichtungsmittelschlauch vorzugsweise ein vorgegebener Abstand besteht, der jedoch in Axialrichtung und in Abhängigkeit von der Stellung des Lackierroboters bzw. der Handachse schwanken kann. Diese Verlagerung der elektrischen Isolierung nach außen bietet den Vorteil, dass geringere Dicken des Isolierschlauchs ausreichen, um einen elektrischen Durchschlag nach außen zu verhindern, da das elektrische Potential in dem Raum zwischen dem Beschichtungsmittelschlauch und dem Isolierschlauch nach außen hin abnimmt. Vorzugsweise ist der Raum zwischen dem Isolierschlauch und dem Beschichtungsmittelschlauch hierbei luftgefüllt, jedoch kann der Raum zwischen dem Isolierschlauch und dem Beschichtungsmittelschlauch auch durch andere gasförmige oder flüssige Fluide gefüllt sein, die vorzugsweise elektrisch isolierend sind.According to the invention, the insulating tube is separated from the coating agent tube in the radial direction. The insulating tube thus surrounds the coating agent tube as a shell, wherein between the insulating tube and the coating agent tube Preferably, there is a predetermined distance, however, which may vary in the axial direction and in dependence on the position of the painting robot or the hand axis. This displacement of the electrical insulation to the outside offers the advantage that smaller thicknesses of the insulating tube are sufficient to prevent electrical breakdown to the outside, since the electrical potential decreases in the space between the coating agent tube and the insulating tube to the outside. Preferably, the space between the insulating tube and the coating agent tube is in this case air-filled, however, the space between the insulating tube and the coating agent tube may also be filled by other gaseous or liquid fluids, which are preferably electrically insulating.
Darüber hinaus ist der Isolierschlauch bei der erfindungsgemäßen Schlauchführung vorzugsweise in Axialrichtung flexibel. Dies ist vorteilhaft, da in Abhängigkeit von der Stellung des Lackierroboters Schlauchlängungen oder -stauchungen auftreten können, die durch die axiale Nachgiebigkeit des Isolierschlauchs aufgenommen werden können.In addition, the insulating tube in the tube guide according to the invention is preferably flexible in the axial direction. This is advantageous since, as a function of the position of the painting robot, hose elongations or compressions can occur, which can be absorbed by the axial compliance of the insulating hose.
Darüber hinaus ist der Isolierschlauch bei der erfindungsgemäßen Schlauchführung vorzugsweise auch biegeflexibel, um sich an die unterschiedlichen Stellungen des Lackierroboters bzw. der Roboterhandachse anpassen zu können.In addition, the insulating tube in the hose guide according to the invention preferably also flexurally flexible in order to adapt to the different positions of the painting robot or the robot's hand axis.
Die axiale Nachgiebigkeit und die Biegeflexibilität des Isolierschlauchs kann dadurch erreicht werden, dass der Isolierschlauch eine Faltenstruktur aufweist, wie sie beispielsweise von Faltenbälgen oder Wellschläuchen bekannt ist.The axial compliance and the bending flexibility of the insulating tube can be achieved in that the insulating tube has a pleat structure, as known for example from bellows or corrugated tubes.
Weiterhin ist der Isolierschlauch vorzugsweise mehrlagig und weist einen Innenschlauch und einen Außenschlauch auf. Der Innenschlauch und der Außenschlauch schließen hierbei vorzugsweise einen Isoliermittelraum ein, der mindestens teilweise mit einem elektrisch isolierenden Isolierfluid gefüllt oder damit befüllbar ist. Die elektrische Isolierung des Isolierschlauchs wird hierbei also zumindest teilweise durch das Isolierfluid bewirkt.Furthermore, the insulating tube is preferably multi-layered and has an inner tube and an outer tube. Of the Inner tube and the outer tube in this case preferably include an insulating agent space which is at least partially filled with an electrically insulating insulating fluid or filled with it. The electrical insulation of the insulating tube is thus at least partially effected by the insulating fluid.
Hierbei mündet in den Isoliermittelraum zwischen dem Innenschlauch und dem Außenschlauch vorzugsweise ein Befüllstutzen, über den das Isolierfluid in den Isoliermittelraum eingefüllt und/oder daraus entnommen werden kann. Das Isolierfluid ist vorzugsweise eine Isolierflüssigkeit, wie beispielsweise Isolieröl auf Mineralölbasis, Chlordiphenyl, Silikonöl, Rizinusöl, Glyzerin, Hexan oder eine tetrachlorkohlenstoffhaltige Flüssigkeit. Die Erfindung ist jedoch hinsichtlich des Isolierfluids nicht auf Isolierflüssigkeiten beschränkt, sondern grundsätzlich auch mit einem Isoliergas zwischen dem Innenschlauch und dem Außenschlauch realisierbar.In this case, in the Isoliermittelraum between the inner tube and the outer tube preferably opens a filling nozzle, through which the insulating fluid filled in the Isoliermittelraum and / or can be removed therefrom. The insulating fluid is preferably an insulating fluid such as mineral oil-based insulating oil, chlorodiphenyl, silicone oil, castor oil, glycerin, hexane or a tetrachlorocarbon-containing liquid. However, the invention is not limited to insulating fluids with respect to the insulating fluid, but in principle can be realized with an insulating gas between the inner tube and the outer tube.
Vorzugsweise ist der Isolierschlauch elektrisch geerdet, um elektrische Überschläge nach außen oder eine Gefährdung umstehender Personen zu vermeiden. In einem bevorzugten Ausführungsbeispiel weist der Isolierschlauch ein Isolationsvermögen bzw. eine elektrische Durchschlagfestigkeit von mindestens 50 kV auf.Preferably, the insulating tube is electrically grounded to avoid electrical flashovers to the outside or a danger to surrounding people. In a preferred embodiment, the insulating tube has an insulation capacity or an electrical breakdown strength of at least 50 kV.
Der Beschichtungsmittelschlauch ist dagegen vorzugsweise molchbar, jedoch muss der Beschichtungsmittelschlauch nicht elektrisch isolierend sein. Es besteht deshalb im Rahmen der Erfindung die Möglichkeit, dass der Beschichtungsmittelschlauch nicht oder nur teilweise elektrisch isolierend ist.By contrast, the coating agent tube is preferably pigable, but the coating medium tube does not have to be electrically insulating. It is therefore within the scope of the invention, the possibility that the coating agent tube is not or only partially electrically insulating.
Weiterhin ist zu erwähnen, dass der Isolierschlauch vorzugsweise an mindestens einem Ende in einen Anschlussblock aus einem elektrisch isolierenden Material mündet. Die weitere Leitungsführung von diesem Anschlussblock kann dann durch eine herkömmliche, mehrlagige, elektrisch isolierende Beschichtungsmittelleitung erfolgen, so dass die erfindungsgemäße Schlauchführung auf den Bereich zwischen zwei derartigen Anschlussblöcken beschränkt sein kann.It should also be mentioned that the insulating tube preferably opens at least at one end into a connection block made of an electrically insulating material. The further routing of this connection block can then be carried out by a conventional, multilayer, electrically insulating coating agent line, so that the hose guide according to the invention can be limited to the area between two such connection blocks.
Ferner kann der erfindungsgemäße Isolierschlauch zumindest auf einem Teil seiner Länge im Wesentlichen aus einem biegestarren Rohr aus einem elektrisch isolierenden Material bestehen. Beispielsweise ist im Bereich eines Roboterarms keine Biegeelastizität des Isolierschlauchs erforderlich, so dass dort ein biegestarres Rohr als Isolierschlauch verwendet werden kann, wohingegen die Biegeelastizität des Isolierschlauchs im Bereich eines Robotergelenks unerlässlich ist, so dass der Isolierschlauch dort vorzugsweise entsprechend biegeelastisch ist.Furthermore, the insulating tube according to the invention may consist, at least over part of its length, essentially of a rigid pipe made of an electrically insulating material. For example, bending elasticity of the insulating tube is not required in the region of a robot arm, so that a rigid pipe can be used there as an insulating tube, whereas the bending elasticity of the insulating tube in the region of a robot joint is essential, so that the insulating tube there is preferably correspondingly flexurally elastic.
Vorzugsweise besteht der Isolierschlauch deshalb auf einem Teil seiner Länge im Wesentlichen aus einem biegestarren Rohr und ist auf einem Teil seiner Länge biegeflexibel, wobei der biegeflexible Teil des Isolierschlauchs vorzugsweise mit einer axialen Überlappung in das biegestarre Rohr des Isolierschlauchs hineinragt. Das biegestarre Rohr ist hierbei vorzugsweise im Bereich der einzelnen Roboterarme angeordnet, während der biegeflexible Isolierschlauch jeweils durch die Robotergelenke hindurchgeführt ist.Preferably, therefore, the insulating tube is on a part of its length substantially of a rigid tube and is flexurally flexible over part of its length, wherein the bending flexible part of the insulating tube preferably projects with an axial overlap in the rigid tube of the insulating tube. In this case, the rigid tube is preferably arranged in the region of the individual robot arms, while the bending-flexible insulating tube is guided in each case through the robot joints.
Die axiale Überlappung zwischen dem biegeflexiblen Teil des Isolierschlauchs und dem biegestarren Rohr des Isolierschlauchs weist vorzugsweise eine Länge auf, die im Bereich zwischen 100 mm und 400 mm in Abhängigkeit von der Höhe der Hochspannung liegt, wobei beliebige Zwischenwerte möglich sind.The axial overlap between the flexurally flexible part of the insulating tube and the rigid tube of the insulating tube preferably has a length which is in the range between 100 mm and 400 mm depending on the height of the High voltage is, with any intermediate values are possible.
Ferner ist zu erwähnen, dass die Erfindung nicht auf die vorstehend beschriebene erfindungsgemäße Schlauchführung beschränkt ist, sondern auch eine Roboterhandachse und einen Lackierroboter mit einer derartigen erfindungsgemäßen Schlauchführung umfasst.It should also be mentioned that the invention is not limited to the hose guide according to the invention described above, but also comprises a robot hand axis and a painting robot with such a hose guide according to the invention.
Darüber hinaus umfasst die Erfindung auch die neuartige Verwendung der erfindungsgemäßen Schlauchführung zur elektrischen Isolierung eines Beschichtungsmittelschlauchs in einem Lackierroboter.In addition, the invention also encompasses the novel use of the hose guide according to the invention for the electrical insulation of a coating agent hose in a painting robot.
Andere vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen gekennzeichnet oder werden nachstehend zusammen mit der Beschreibung des bevorzugten Ausführungsbeispiels der Erfindung anhand der Figuren näher erläutert. Es zeigen:
- Figur 1
- eine vereinfachte Seitenansicht eines Lackierroboters mit einer erfindungsgemäßen Schlauchführung zur Aufnahme eines Beschichtungsmittelschlauchs sowie
Figur 2- eine Querschnittsansicht einer erfindungsgemäßen Schlauchführung zur Führung eines Beschichtungsmittelschlauchs durch eine Handachse eines Lackierroboters.
- FIG. 1
- a simplified side view of a painting robot with a hose guide according to the invention for receiving a coating agent hose and
- FIG. 2
- a cross-sectional view of a hose guide according to the invention for guiding a coating agent hose by a hand axis of a painting robot.
Die in
Der Lackierroboter 1 weist ein Basisteil 2 auf, das auf einem Fundament 3 drehbar gelagert ist, wobei der Antrieb des Basisteils 2 beispielsweise elektromotorisch erfolgen kann.The painting robot 1 has a
An dem Basisteil 2 ist ein Roboterarm 4 schwenkbar angebracht, wobei der Antrieb des Roboterarms 4 ebenfalls elektromotorisch erfolgen kann.On the
Am distalen Ende des Roboterarms 4 ist eine Roboterhandachse 5 angebracht, die aus drei relativ zueinander drehbaren Handgelenksteilen 6, 7, 8 besteht. Der Antrieb der einzelnen Handgelenksteile 6, 7, 8 erfolgt durch Wellen, die aus dem Roboterarm 4 in die Roboterhandachse 5 hineingeführt sind und beispielsweise elektromotorisch angetrieben werden.At the distal end of the
An dem Handgelenksteil 6 der Roboterhandachse 5 ist über einen hochspannungsisolierenden Anschlussblock 9 ein Rotationszerstäuber 10 befestigt, der herkömmlich ausgebildet sein kann und einen Glockenteller 11 aufweist.On the
Die Zuführung des Beschichtungsmittels zu dem Glockenteller 11 des Rotationszerstäubers 10 erfolgt hier über zwei schematisch dargestellte Beschichtungsmittelleitungen 12, 13, die von einem hochspannungsisolierenden Anschlussblock 14 in dem Basisteil 2 des Lackierroboters 1 ausgehen und durch den Roboterarm 4, die Roboterhandachse 5 und den hochspannungsisolierenden Anschlussblock 9 zu dem Rotationszerstäuber 10 geführt sind.The supply of the coating agent to the
Das von dem Glockenteller 11 des Rotationszerstäubers 10 abgegebene Beschichtungsmittel ist hierbei auf Hochspannungspotential aufgeladen, wohingegen die zu beschichtenden Werkstücke elektrisch geerdet sind, so dass das applizierte Beschichtungsmittel von den zu beschichtenden Werkstücken elektrostatisch angezogen wird, was zu einem hohen Wirkungsgrad und einem entsprechend geringen Overspray beiträgt.The coating agent delivered by the
Der Rotationszerstäuber 10 ist deshalb als Ganzes auf Hochspannungspotential aufgeladen, während die Roboterhandachse 5 elektrisch geerdet ist, wobei der Anschlussblock 9 den Rotationszerstäuber 10 gegenüber der Roboterhandachse 5 elektrisch isoliert.The
Darüber hinaus ist auch das in den Beschichtungsmittelleitungen 12, 13 strömende Beschichtungsmittel elektrisch auf Hochspannungspotential aufgeladen, so dass die Beschichtungsmittelleitungen 12, 13 elektrisch gegenüber den Handgelenksteilen 6, 7, 8 der Roboterhandachse 5 isoliert werden müssen. Hierzu dient ein Isolierschlauch 15, der die gesamte Roboterhandachse 5 von dem Anschlussblock 9 bis zu einem Isolierrohr 16 durchzieht.Moreover, the coating agent flowing in the
Der Isolierschlauch 15 weist eine faltenbalgartige Faltenstruktur auf, so dass der Isolierschlauch 15 in Axialrichtung flexibel und biegeelastisch ist. Die Biegeelastizität des Isolierschlauchs 15 ist wichtig, damit sich der Isolierschlauch 15 der jeweiligen Stellung der Roboterhandachse 5 anpassen kann. Die axiale Nachgiebigkeit des Isolierschlauchs 15 ist dagegen wichtig, weil sich bei einer Verstellung der Roboterhandachse 5 axiale Hubbewegungen ergeben können, die von dem Isolierschlauch 15 ausgeglichen werden müssen.The
Zur elektrischen Isolierung der Beschichtungsmittelleitungen 12, 13 gegenüber den Handgelenksteilen 6, 7, 8 der Roboterhandachse 5 ist der Isolierschlauch 15 doppelwandig ausgeführt und besteht aus einem Innenschlauch und einem Außenschlauch, die einen Isoliermittelraum einschließen, wobei der Isoliermittelraum zwischen dem Innenschlauch und dem Außenschlauch mit einer Isolierflüssigkeit gefüllt ist.For electrical insulation of the
Das Isolierrohr 16 in dem Roboterarm 4 muss dagegen keinen Formänderungen folgen und ist deshalb weitgehend starr aufgebaut. Der Isolierschlauch 15 ragt hierbei in axialer Richtung über eine Länge von ungefähr 300mm in das Isolierrohr 16 hinein, um bei einer axialen Hubbewegung des Isolierschlauchs 15 relativ zu dem Isolierrohr 16 stets eine ausreichend große axiale Überlappung und ein entsprechend großes Isolationsvermögen zu erreichen.The insulating
Die Verbindung zwischen dem Isolierrohr 16 und dem elektrisch isolierenden Anschlussblock 14 erfolgt wieder über einen doppelwandigen, elektrisch isolierenden Isolierschlauch 17, der entsprechend dem Isolierschlauch 15 aufgebaut ist.The connection between the insulating
Die Zuführung des Beschichtungsmittels zu dem hochspannungsfesten Anschlussblock 14 kann in herkömmlicher Weise durch hochspannungsisolierende Beschichtungsmittelschläuche erfolgen, die jedoch hier zur Vereinfachung nicht dargestellt sind.The supply of the coating agent to the high-voltage resistant
Das in
Zur elektrischen Isolierung des Beschichtungsmittelschlauchs 19 gegenüber dem umgebenden Lackierroboter weist die Schlauchführung einen Isolierschlauch 20 auf, der aus einem Innenschlauch 21 und einem Außenschlauch 22 besteht, wobei der Innenschlauch 21 und der Außenschlauch 22 einen Isoliermittelraum 23 einschließen, der mit einer Isolierflüssigkeit gefüllt ist. An seinen axialen Enden ist der Isolierschlauch 20 mit zwei Anschlussstücken 24, 25 verbunden, wobei das Anschlussstück 24 einen Befüllstutzen 26 aufweist, der in den Isoliermittelraum 23 zwischen dem Innenschlauch 21 und dem Außenschlauch 22 mündet und eine Befüllung bzw. Entleerung des Isoliermittelraums 23 ermöglicht.For the electrical insulation of the
Die Erfindung ist nicht auf die vorstehend beschriebenen bevorzugten Ausführungsbeispiele beschränkt. Vielmehr ist eine Vielzahl von Varianten und Abwandlungen möglich, die ebenfalls von dem Erfindungsgedanken Gebrauch machen und deshalb in den Schutzbereich fallen.The invention is not limited to the preferred embodiments described above. Rather, a variety of variants and modifications is possible, which also make use of the inventive idea and therefore fall within the scope.
Claims (20)
- A hose guide (18) for a painting robot, particularly for a robot wrist, with- at least one coating agent hose (12, 13, 19) to conduct an electrically-charged coating agent and- electrical insulation surrounding the coating agent hose (12, 13, 19), where the insulation has a separate insulating hose (15, 16, 17, 20, 21, 22) of an electrically-insulating material, in which the coating agent hose (12, 13, 19) extends,characterised in that
the insulating hose (15, 16, 17, 20, 21, 22) is radially separate from the coating agent hose (12, 13, 19). - The hose guide (18) in accordance with claim 1, characterised in that the insulating hose (15, 16, 17, 20, 21, 22) extends at a radial distance from the coating agent hose (12, 13, 19).
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the insulating hose (15, 17, 20, 21, 22) is axially flexible.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the insulating hose (15, 17, 20, 21, 22) is flexible enough to bend.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the insulating hose (15, 17, 20, 21, 22) has a bellows structure.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the insulating hose (15, 17, 20, 21, 22) is multilayered and has an internal hose (21) and an external hose (22).
- The hose guide (18) in accordance with claim 6, characterised in that the internal hose (21) and the external hose (22) enclose an intermediate insulating space (23) which is or can be at least partially filled with an electrically-insulating insulating fluid.
- The hose guide (18) in accordance with claim 7, characterised in that a filling nozzle (26), through which the insulating fluid can be filled and/or drained, leads into the intermediate insulating space (23).
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the insulating hose (15, 16, 17, 20, 21, 22) is electrically earthed.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the insulating hose (15, 16, 17, 20, 21, 22) has an insulation strength of at least 50 kV.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the coating agent hose (12, 13, 19) is piggable.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the coating agent hose (12, 13, 19) is not or is only partly electrically insulating.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that the insulating hose (15, 17, 20, 21, 22) leads into an electrically-insulating manifold at at least one end.
- The hose guide (18) in accordance with one of the aforegoing claims, characterised in that at least part of the length of the insulating hose (16) consists of a rigid tube.
- The hose guide (18) in accordance with one of the aforegoing claims characterised in that part of the length of the insulating hose consists of a rigid tube (16) and part of its length is flexible enough to bend, the flexible part of the insulating hose protruding into the rigid tube (16) with an axial overlap.
- The hose guide (18) in accordance with claim 15, characterised in that the axial overlap between the part of the insulating hose flexible enough to bend and the rigid tube (16) has a length between 100mm and 400mm.
- A robot wrist (5) with a hose guide (18) in accordance with one of the aforegoing claims.
- A painting robot (1) with a hose guide (18) in accordance with one of claims 1 to 16.
- The painting robot (1) in accordance with claim 18, characterised by at least one robot arm (4) and at least one joint, where the insulating hose (15, 16, 17, 20, 21, 22) in the robot arm consists of a rigid insulating tube (16), whilst the insulating hose (15, 16, 17, 20, 21, 22) in the joint is flexible enough to bend.
- Use of a hose guide (18) in accordance with one of claims 1 to 16 for electrical insulation of a coating agent hose (12, 13, 19) in a painting robot (1).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004033330A DE102004033330A1 (en) | 2004-07-09 | 2004-07-09 | Hose guide for a painting robot |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1614478A1 EP1614478A1 (en) | 2006-01-11 |
EP1614478B1 true EP1614478B1 (en) | 2009-08-26 |
Family
ID=34940226
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05105595A Active EP1614478B1 (en) | 2004-07-09 | 2005-06-23 | Hose routing for a coating robot |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1614478B1 (en) |
AT (1) | ATE440669T1 (en) |
DE (2) | DE102004033330A1 (en) |
ES (1) | ES2330533T3 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4261598B2 (en) | 2007-07-30 | 2009-04-30 | ファナック株式会社 | Striated structure of industrial robot |
ATE511925T1 (en) * | 2007-09-17 | 2011-06-15 | Abb As | HOSE FOR A PAINT APPLICATION DEVICE AND USE THEREOF |
DE102007051018A1 (en) | 2007-10-25 | 2009-04-30 | Daimler Ag | Production equipment e.g. assembly robot, for coating, processing or handling of workpieces in series, has line arrangement tightly held in tool region by suitably changing length of arrangement in tool region |
DE102009010953A1 (en) | 2009-02-27 | 2010-09-02 | Dürr Systems GmbH | Robots, in particular painting robots |
CN102441895B (en) * | 2011-10-09 | 2014-04-02 | 山西省电力公司长治供电分公司 | Insulating sheath special for mechanical arm for high-voltage live line work |
DE102018133412A1 (en) * | 2018-12-21 | 2020-06-25 | Eisenmann Se | Channel structure for an application robot and application robot |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4499784A (en) * | 1981-11-20 | 1985-02-19 | Westinghouse Electric Corp. | Split-ball type wrist and manipulating assembly for robot |
CA2055901A1 (en) * | 1990-11-26 | 1992-05-27 | James J. Gimple | Automatic coating using conductive coating materials |
EP0750945A1 (en) * | 1995-06-27 | 1997-01-02 | Paul Borer | Apparatus for spraying conductive paint |
DE20114345U1 (en) * | 2001-08-30 | 2003-01-16 | LEONI Protec Cable Systems GmbH, 98574 Schmalkalden | Holder for supply line for multiple axis robot has top portion hinged to bottom portion on one side and holding split tapered sleeve which engages flexible hose |
DE10157966A1 (en) * | 2001-11-27 | 2003-06-05 | Duerr Systems Gmbh | Method and supply system for the metered supply of material to a coating device |
DE10205593A1 (en) * | 2002-02-11 | 2003-08-21 | Duerr Systems Gmbh | Coating machine with one atomizer and one atomizer and one swivel joint |
DE10216081B4 (en) * | 2002-04-11 | 2005-03-31 | Kabelschlepp Gmbh | Robot with a routing device |
-
2004
- 2004-07-09 DE DE102004033330A patent/DE102004033330A1/en not_active Withdrawn
-
2005
- 2005-06-23 EP EP05105595A patent/EP1614478B1/en active Active
- 2005-06-23 AT AT05105595T patent/ATE440669T1/en not_active IP Right Cessation
- 2005-06-23 ES ES05105595T patent/ES2330533T3/en active Active
- 2005-06-23 DE DE502005007978T patent/DE502005007978D1/en active Active
Also Published As
Publication number | Publication date |
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ATE440669T1 (en) | 2009-09-15 |
EP1614478A1 (en) | 2006-01-11 |
DE502005007978D1 (en) | 2009-10-08 |
ES2330533T3 (en) | 2009-12-11 |
DE102004033330A1 (en) | 2006-02-02 |
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