EP2067530A1 - Method and device for feeding a preserving agent into a cavity - Google Patents
Method and device for feeding a preserving agent into a cavity Download PDFInfo
- Publication number
- EP2067530A1 EP2067530A1 EP07023664A EP07023664A EP2067530A1 EP 2067530 A1 EP2067530 A1 EP 2067530A1 EP 07023664 A EP07023664 A EP 07023664A EP 07023664 A EP07023664 A EP 07023664A EP 2067530 A1 EP2067530 A1 EP 2067530A1
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- EP
- European Patent Office
- Prior art keywords
- workpiece
- positioning
- control
- axes
- nozzle
- 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.)
- Withdrawn
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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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- 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
- B05B13/06—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 specially designed for treating the inside of hollow bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
Definitions
- the invention relates to a method according to the preamble of claim 1 and a device according to the preamble of claim 9 for introducing a preservative into cavities of assemblies or components such as a motor vehicle body.
- a device for preserving cavities of a vehicle body is in DE 10 2005 036 342 described.
- This device comprises a nozzle frame with spray nozzles arranged thereon, which are each assigned to a cavity to be preserved, and a positioning device for aligning the nozzle frame relative to the body.
- the device has a magazine with a plurality of different nozzle frames and at least one industrial robot with whose arm a nozzle frame can be connected by a coupling.
- This arrangement offers through the possible replacement of the nozzle frame increased flexibility in mass production, however, the device is dependent on input of different body types on an external input to adjust the corresponding system parameters (such as the amount of preservatives) and perform a tool change.
- the invention has for its object to develop a method and an apparatus of the type described above, which make it possible to perform the preservation, without relying on an input of the component type from the outside.
- the inventive method or device is characterized in that a detection of a workpiece to be machined by a non-contact multi-dimensional measurement, and pass the result of this measurement to a control device as a basis for the control of a positioning and the control of an applicator and the preservation process becomes.
- Detection of the assembly to be machined is accomplished by non-contact multidimensional measurement, and the result of this measurement is provided to the controller as the basis for control of the positioning and control of the applicator and preservation process.
- the method and the device according to the invention by means of automatic component recognition offers a higher process reliability, since operating errors can be reduced or avoided by, for example, erroneous inputs as a result of this measure.
- the sensors are advantageously designed as optolelektronische sensors. Very well suitable for this purpose are lasers whose reliability has already been proven many times in practice (claim 11).
- the device may be surrounded by an at least partially closed on all sides cabin with ventilation device, the access to the cabin interior, for example, for the purpose of workpiece change is made possible by a gate.
- the workplace safety is increased and in combination with the ventilation device, the impairment of operating or monitoring personnel is also minimized by released preservative and noise.
- the door is advantageously provided with means to prevent opening during the preservation process, consisting of a safety device connected to the control device and an associated sensor which signals the state of the door (claims 3 or 14).
- the component receptacle of the positioning device is designed as a linear guide and provided with a centering device in order to achieve a stable and precise positioning in the working space.
- This centering device may consist of a cone which engages in an opening provided on the workpiece for the purpose of centering. (Claims 4 or 15).
- the applicator has a nozzle bar which can be precisely and stably aligned with respect to the positioning device via at least two axis guides (claims 5 or 16).
- the drive of the linear guides is advantageously carried out electrically, so a fast and precise movement is possible (claim 17).
- the nozzle bar may be provided with one nozzle per cavity to be sealed, this allows a short processing time per module (claim 18).
- the drive of the spray nozzles is advantageously carried out electrically, thereby a fast and precise movement is possible (claims 7 or 20).
- the individual spray nozzles are controlled in each case advantageously by a separate valve for preservative dosing, thereby ensuring an exact volume control. (Claims 8 or 21).
- the equipped with rolling or sectional door (2) and ventilation device (3) cabin (4) completely encloses the working space.
- the workpiece (5) to be preserved is placed in the component receiving device (6) with centering device (which lingers in a transfer position) and then fixed by a clamping device (not shown). Thereafter, the roll or sectional door (2) is closed and locked.
- a safety device, not shown detects the closing and prevents opening of the door (2) during the preservation process.
- the component receptacle (6) is movable via an electrically driven linear guide (7) in at least two axes and ensures that the workpiece (5) is now moved stable and precise from the transfer position to the working position.
- the workpiece (5) is classified:
- the independent module detection by means of non-contact multidimensional measurement advantageously takes place via three laser sensors (8) arranged mutually orthogonally independently of one another. These sensors supply their signals to the control device (9), which is advantageously designed as an industrial PC and controls all associated sensors, Akttoren and facilities.
- the ventilation device (3) is now put into operation to supply the working space with fresh air.
- the spring-loaded nozzle beam (10), initially in a rest position, is movable in two directions via an electrically operated linear guide (11) and is thus aligned precisely with respect to the workpiece (5).
- On the nozzle bar (10) are in turn the spray nozzles (12) with bracket. These can also be moved via linear guides in two directions to be adapted to the workpiece to be preserved (5). Thus, a higher flexibility of the device is achieved.
- the nozzle bar (10) is moved to the application position, i. the spray nozzles (12) are introduced into the respectively assigned cavities in the workpiece (5).
- the spray nozzles (12) are supplied with preservative via a piping (13) and high-pressure hoses (14), wherein each individual spray nozzle is controlled via a separate solenoid valve (15).
- the dosage of the preservative is volumetric.
- the nozzle bar (10) moves back to the rest position, the component holder (6) transports the workpiece (5) into the transfer position.
- the ventilation device (3) is deactivated.
- the rolling or sectional door (2) can now be unlocked and opened, the workpiece (5) is ready after removal of the clamping device for removal.
Landscapes
- Spray Control Apparatus (AREA)
Abstract
Description
Die Erfindung bezieht sich auf ein Verfahren nach dem Oberbegriff des Anspruches 1 und eine Vorrichtung nach dem Oberbegriff des Anspruches 9 zum Einbringen eines Konservierungsmittels in Hohlräume von Baugruppen oder Bauteilen wie beispielsweise eine Kfz-Karosserie.The invention relates to a method according to the preamble of
Eine Einrichtung zum Konservieren von Hohlräumen einer Fahrzeugkarosserie ist in
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung der eingangs beschriebenen Art zu entwickeln, die es ermöglichen, die Konservierung durchzuführen, ohne auf eine Eingabe des Bauteiltyps von außen angewiesen zu sein.The invention has for its object to develop a method and an apparatus of the type described above, which make it possible to perform the preservation, without relying on an input of the component type from the outside.
Diese Aufgabe wird durch ein Verfahren nach Anspruch 1 und eine Vorrichtung nach Anspruch 9 gelöst.This object is achieved by a method according to
Das erfindungsgemäße Verfahren bzw. die Vorrichtung zeichnet sich dadurch aus, dass eine Erkennung eines zu bearbeitenden Werkstückes durch eine berührungsfreie mehrdimensionale Vermessung erfolgt, und das Ergebnis dieser Vermessung an eine Steuerungseinrichtung als Grundlage für die Steuerung einer Positioniereinrichtung und die Steuerung einer Auftragsvorrichtung und des Konservierungsprozesses übergeben wird.The inventive method or device is characterized in that a detection of a workpiece to be machined by a non-contact multi-dimensional measurement, and pass the result of this measurement to a control device as a basis for the control of a positioning and the control of an applicator and the preservation process becomes.
Die Erkennung der zu bearbeitenden Baugruppe erfolgt durch berührungsfreie mehrdimensionale Vermessung, und das Ergebnis dieser Vermessung wird an die Steuerungseinrichtung als Grundlage für die Kontrolle der Positioniereinrichtung und Steuerung der Auftragsvorrichtung und des Konservierungsprozesses übergeben. Im Vergleich zum Stand der Technik bietet das erfindungsgemäße Verfahren und die Vorrichtung durch eine automatische Bauteilerkennung eine höhere Prozesssicherheit, da durch diese Maßnahme Bedienfehler durch beispielsweise fehlerhafte Eingaben reduziert oder vermieden werden können.Detection of the assembly to be machined is accomplished by non-contact multidimensional measurement, and the result of this measurement is provided to the controller as the basis for control of the positioning and control of the applicator and preservation process. In comparison with the prior art, the method and the device according to the invention by means of automatic component recognition offers a higher process reliability, since operating errors can be reduced or avoided by, for example, erroneous inputs as a result of this measure.
Als vorteilhaft für das Erkennen des Bauteiltyps erweist sich eine berührungslose mehrdimensionale Vermessung durch wenigstens zwei voneinander unabhängige Sensoren, deren Ergebnis an die Steuerungseinheit übergeben wird, da auf diese Weise der Bauteiltyp zuverlässig durch Vergleich mit der (in der Steuerungseinheit hinterlegten) Vorgabe klassifiziert werden kann (Ansprüche 2 oder 10).To prove advantageous for the detection of the component type proves a non-contact multidimensional measurement by at least two mutually independent sensors whose result is passed to the control unit, since in this way the component type reliably by comparison with the (in the Control unit deposited) default can be classified (
Die Sensoren sind vorteilhafterweise als optolelektronische Sensoren ausgeführt. Sehr gut hierfür geeignet sind Laser, deren Zuverlässigkeit sich in der Praxis bereits vielfach bewährt hat (Anspruch 11).The sensors are advantageously designed as optolelektronische sensors. Very well suitable for this purpose are lasers whose reliability has already been proven many times in practice (claim 11).
Die Vorrichtung kann von einer zumindest zeitweise allseitig geschlossenen Kabine mit Belüftungseinrichtung umgeben sein, wobei der Zugang zum Kabineninnenraum beispielsweise zum Zwecke des Werkstückwechsels durch ein Tor ermöglicht wird. Durch die Abgrenzung des Arbeitsraumes wird einerseits die Arbeitsplatzsicherheit erhöht und in Kombination mit der Belüftungseinrichtung wird zusätzlich die Beeinträchtigung des Bedien- oder Überwachungspersonals durch freiwerdendes Konservierungsmittel und Lärm minimiert. (Anspruch 12).The device may be surrounded by an at least partially closed on all sides cabin with ventilation device, the access to the cabin interior, for example, for the purpose of workpiece change is made possible by a gate. By the delimitation of the working space on the one hand the workplace safety is increased and in combination with the ventilation device, the impairment of operating or monitoring personnel is also minimized by released preservative and noise. (Claim 12).
Das Tor ist idealerweise als Roll- oder Sektionaltor ausgebildet; dieses bietet den Vorteil
- gegenüber einem Schwingtor, dass die benötigte Grundfläche für die Vorrichtung kompakter bleibt und
- gegenüber einem Schiebetor, dass bei gleicher benötigter Grundfläche eine größere Öffnungsweite erzielbar ist (Anspruch 13).
- against a swing gate that the required footprint for the device remains more compact and
- relative to a sliding gate, that with the same required base area a larger opening width can be achieved (claim 13).
Das Tor ist vorteilhafterweise mit einer Einrichtung versehen, die das Öffnen während des Konservierungsvorgangs verhindert, bestehend aus einer mit der Steuerungseinrichtung verbundenen Sicherungseinrichtung und einem dazugehörigen Sensor, der den Zustand des Tors signalisiert (Ansprüche 3 oder 14).The door is advantageously provided with means to prevent opening during the preservation process, consisting of a safety device connected to the control device and an associated sensor which signals the state of the door (claims 3 or 14).
In bevorzugter Ausführung der Erfindung ist die Bauteilaufnahme der Positioniereinrichtung als Linearführung ausgestaltet und mit einer Zentriervorrichtung versehen, um eine stabile und präzise Positionierung im Arbeitsraum zu erreichen. Diese Zentriervorrichtung kann aus einem Konus bestehen, der in eine am Werkstück zum Zweck der Zentrierung vorhandene Öffnung eingreift. (Ansprüche 4 oder 15).In a preferred embodiment of the invention, the component receptacle of the positioning device is designed as a linear guide and provided with a centering device in order to achieve a stable and precise positioning in the working space. This centering device may consist of a cone which engages in an opening provided on the workpiece for the purpose of centering. (
Vorzugsweise weist die Auftragseinrichtung einen Düsenbalken auf, der über Linerarführungen in wenigstens zwei Achsen präzise und stabil in Bezug auf die Positioniereinrichtung ausgerichtet werden kann (Ansprüche 5 oder 16).Preferably, the applicator has a nozzle bar which can be precisely and stably aligned with respect to the positioning device via at least two axis guides (
Der Antrieb der Linearführungen erfolgt in vorteilhafter Weise elektrisch, so wird ein schnelles und präzises Bewegen ermöglicht (Anspruch 17).The drive of the linear guides is advantageously carried out electrically, so a fast and precise movement is possible (claim 17).
Der Düsenbalken kann mit jeweils einer Düse pro zu versiegelndem Hohlraum versehen sein, dies ermöglicht eine kurze Bearbeitungszeit je Baugruppe (Anspruch 18).The nozzle bar may be provided with one nozzle per cavity to be sealed, this allows a short processing time per module (claim 18).
Zusätzliche Flexibilität läßt sich dadurch erreichen, dass die Positionen der Sprühdüsen am Düsenbalken in wenigstens zwei Achsen variabel sind; unterschiedliche Bauteilgeometrien lassen sich so zeitsparend behandeln (Ansprüche 6 oder 19).Additional flexibility can be achieved in that the positions of the spray nozzles on the nozzle beam are variable in at least two axes; Different component geometries can be treated as time-saving (claims 6 or 19).
Der Antrieb der Sprühdüsen erfolgt in vorteilhafter Weise elektrisch, dadurch wird ein schnelles und präzises Bewegen ermöglicht (Ansprüche 7 oder 20).The drive of the spray nozzles is advantageously carried out electrically, thereby a fast and precise movement is possible (claims 7 or 20).
Die einzelnen Sprühdüsen werden in vorteilhafter Weise jeweils von einem separaten Ventil zur Konservierungsmitteldosierung angesteuert, dadurch wird eine exakte Mengenregelung gewährleistet. (Ansprüche 8 oder 21).The individual spray nozzles are controlled in each case advantageously by a separate valve for preservative dosing, thereby ensuring an exact volume control. (
Im Folgenden wird die Erfindung anhand eines in der Zeichnung dargestellten bevorzugten Ausführungsbeispieles näher erläutert. Es zeigt:
- Fig. 1
- in schematischer Schnittansicht ein bevorzugtes Ausführungsbeispiel der Erfindung.
- Fig. 1
- in a schematic sectional view of a preferred embodiment of the invention.
Die mit Roll- oder Sektionaltor (2) und Belüftungseinrichtung (3) ausgestattete Kabine (4) umschließt den Arbeitsraum vollständig. Zu Beginn eines Arbeitszyklus wird das zu konservierende Werkstück (5) in die (in einer Übergabeposition verweilende) Bauteilaufnahme (6) mit Zentriervorrichtung eingelegt und anschließend durch eine nicht dargestellte Klemmvorrichtung fixiert. Danach wird das Roll-oder Sektionaltor (2) geschlossen und verriegelt. Eine nicht dargestellte Sicherungseinrichtung erkennt das Schließen und verhindert ein Öffnen des Tores (2) während des Konservierungsprozesses. Die Bauteilaufnahme (6) ist über eine elektrisch angetriebene Linearführung (7) in mindestens zwei Achsen beweglich und sorgt dafür, dass das Werkstück (5) nun stabil und präzise von der Übergabeposition in die Arbeitsposition verfahren wird. Im nächsten Arbeitsschritt wird das Werkstück (5) klassifiziert: Die selbständige Baugruppenerkennung mittels berührungsloser mehrdimensionaler Vermessung erfolgt vorteilhafterweise über drei unabhängig voneinander positionierte, zueinander orthogonal angeordnete Lasersensoren (8). Diese Sensoren liefern ihre Signale an die Steuerungseinrichtung (9), die vorteilhafterweise als Industrie-PC ausgeführt ist und sämtliche zugeordnete Sensoren, Akttoren und Einrichtungen kontrolliert. Die Belüftungseinrichtung (3) wird nun in Betrieb genommen um den Arbeitsraum mit Frischluft zu versorgen.The equipped with rolling or sectional door (2) and ventilation device (3) cabin (4) completely encloses the working space. At the beginning of a working cycle, the workpiece (5) to be preserved is placed in the component receiving device (6) with centering device (which lingers in a transfer position) and then fixed by a clamping device (not shown). Thereafter, the roll or sectional door (2) is closed and locked. A safety device, not shown detects the closing and prevents opening of the door (2) during the preservation process. The component receptacle (6) is movable via an electrically driven linear guide (7) in at least two axes and ensures that the workpiece (5) is now moved stable and precise from the transfer position to the working position. In the next step, the workpiece (5) is classified: The independent module detection by means of non-contact multidimensional measurement advantageously takes place via three laser sensors (8) arranged mutually orthogonally independently of one another. These sensors supply their signals to the control device (9), which is advantageously designed as an industrial PC and controls all associated sensors, Akttoren and facilities. The ventilation device (3) is now put into operation to supply the working space with fresh air.
Der gefederte Düsenbalken (10), vorerst in einer Ruheposition, ist über eine elektrisch betätigte Linearführung (11) in zwei Richtungen beweglich ausgeführt und wird so präzise in Bezug auf das Werkstück (5) ausgerichtet. Am Düsenbalken(10) befinden sich wiederum die Sprühdüsen (12) mit Halterung. Diese können ebenso über Linearführungen in zwei Richtungen bewegt werden um an das zu konservierende Werkstück (5) angepasst zu werden. Somit wird eine höhere Flexibilität der Vorrichtung erreicht.The spring-loaded nozzle beam (10), initially in a rest position, is movable in two directions via an electrically operated linear guide (11) and is thus aligned precisely with respect to the workpiece (5). On the nozzle bar (10) are in turn the spray nozzles (12) with bracket. These can also be moved via linear guides in two directions to be adapted to the workpiece to be preserved (5). Thus, a higher flexibility of the device is achieved.
Der Düsenbalken (10) wird in die Applikationsposition verfahren, d.h. die Sprühdüsen (12) werden in die jeweils zugeordneten Hohlräume im Werkstück (5) eingeführt.The nozzle bar (10) is moved to the application position, i. the spray nozzles (12) are introduced into the respectively assigned cavities in the workpiece (5).
Die Sprühdüsen (12) werden über eine Verrohrung (13) und Hochdruckschläuche (14) mit Konservierungsmittel versorgt, wobei jede einzelne Sprühdüse über ein separates Magnetventil (15) angesteuert wird. Die Dosierung des Konservierungsmittels erfolgt volumetrisch.The spray nozzles (12) are supplied with preservative via a piping (13) and high-pressure hoses (14), wherein each individual spray nozzle is controlled via a separate solenoid valve (15). The dosage of the preservative is volumetric.
Anschließend verfährt der Düsenbalken (10) wieder in die Ruheposition, die Bauteilaufnahme (6) transportiert das Werkstück (5) in die Übergabeposition. Nach ausreichendem Luftaustausch wird die Belüftungseinrichtung (3) deaktiviert. Das Roll- oder Sektionaltor (2) kann nun entriegelt und geöffnet werden, das Werkstück (5) ist nach Lösen der Klemmvorrichtung zur Entnahme bereit.Subsequently, the nozzle bar (10) moves back to the rest position, the component holder (6) transports the workpiece (5) into the transfer position. After sufficient air exchange, the ventilation device (3) is deactivated. The rolling or sectional door (2) can now be unlocked and opened, the workpiece (5) is ready after removal of the clamping device for removal.
Claims (21)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07023664A EP2067530A1 (en) | 2007-12-06 | 2007-12-06 | Method and device for feeding a preserving agent into a cavity |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07023664A EP2067530A1 (en) | 2007-12-06 | 2007-12-06 | Method and device for feeding a preserving agent into a cavity |
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Publication Number | Publication Date |
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EP2067530A1 true EP2067530A1 (en) | 2009-06-10 |
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ID=39284096
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP07023664A Withdrawn EP2067530A1 (en) | 2007-12-06 | 2007-12-06 | Method and device for feeding a preserving agent into a cavity |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009052654A1 (en) * | 2009-11-11 | 2011-05-12 | Dürr Systems GmbH | Device and method for the preservation of components |
CN112007792A (en) * | 2020-08-25 | 2020-12-01 | 卢新亮 | Automatic adjustment shower nozzle based on transmission principle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2729781B1 (en) * | 1977-07-01 | 1978-09-28 | Daimler Benz Ag | Method for the automatic, one-sided linearly limited application of coating material to the surface of an object, in particular a body for passenger cars |
DE102005036342A1 (en) | 2004-07-31 | 2006-03-23 | Daimlerchrysler Ag | Inhibiting device for cavities in bodywork of vehicle has magazine with several jet frames and at least one industrial robot |
EP1806265A1 (en) * | 2006-01-10 | 2007-07-11 | Financière Clairac | Robotized car wash system |
-
2007
- 2007-12-06 EP EP07023664A patent/EP2067530A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2729781B1 (en) * | 1977-07-01 | 1978-09-28 | Daimler Benz Ag | Method for the automatic, one-sided linearly limited application of coating material to the surface of an object, in particular a body for passenger cars |
DE102005036342A1 (en) | 2004-07-31 | 2006-03-23 | Daimlerchrysler Ag | Inhibiting device for cavities in bodywork of vehicle has magazine with several jet frames and at least one industrial robot |
EP1806265A1 (en) * | 2006-01-10 | 2007-07-11 | Financière Clairac | Robotized car wash system |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009052654A1 (en) * | 2009-11-11 | 2011-05-12 | Dürr Systems GmbH | Device and method for the preservation of components |
US9409192B2 (en) | 2009-11-11 | 2016-08-09 | Duerr Systems Gmbh | Device and method for preserving components |
CN112007792A (en) * | 2020-08-25 | 2020-12-01 | 卢新亮 | Automatic adjustment shower nozzle based on transmission principle |
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