EP2254705A1 - Verfahren und vorrichtung zum automatischen einbringen oder auftragen von zähflüssigem material - Google Patents
Verfahren und vorrichtung zum automatischen einbringen oder auftragen von zähflüssigem materialInfo
- Publication number
- EP2254705A1 EP2254705A1 EP09724219A EP09724219A EP2254705A1 EP 2254705 A1 EP2254705 A1 EP 2254705A1 EP 09724219 A EP09724219 A EP 09724219A EP 09724219 A EP09724219 A EP 09724219A EP 2254705 A1 EP2254705 A1 EP 2254705A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gap
- transition
- groove
- volume
- channel
- 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.)
- Granted
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
- 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
- B05B13/02—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
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
Definitions
- the present invention relates to a method for the automatic introduction or application of viscous material from a doser into a groove, a gap, a channel or a groove or along an edge or a transition.
- the introduced or applied material is contained in a pneumatically or hydraulically, preferably electrically operated, metering device which is moved along the gap or transition to be filled or coated.
- the material in the doser is heated to be more fluid, and then cools in the gap or at the transition.
- the material to be introduced or applied is, for example, an adhesive, a corrosion protection, a seal, a sealing material, foam or the like.
- Delivery volume and feed rate of the doser are specified.
- the default values for delivery volume and feed rate based on experience and standard values for the dimensions of the gap to be filled or the transition to be coated. Experience has shown that these default values can not be met in practice.
- the feed rate and delivery volume are very high. This requires a time and labor intensive manual or automatic post-processing of the introduced or applied material to remove excess material (so-called. Amount compensation).
- feed rate and delivery volume can also be predetermined according to the values of the standard dimensions of the gap or the transition, which then however also requires automatic or manual post-processing (so-called minimum quantity compensation). Post-processing may be required for aesthetic or other reasons (eg technical, physical or chemical reasons).
- the present invention has for its object to design a method of the type mentioned in such a way and further, that the time-consuming and labor-intensive post-processing of the filled or coated material in the region of the gap or transition can be omitted.
- the groove, the gap, the channel, the joint, the edge or the transition is automatically measured, depending on the measured value, the required material volume is determined and a delivery volume the metering and / or a feed rate of the metering, with which the doser is moved along the groove, the gap, the channel, the joint, the edge or the transition, is controlled or regulated so that the determined volume of material is automatically introduced or applied.
- the calculated amount of material can be introduced or applied so that no shortages or excess quantities occur.
- the proposed method compensates for variations in the dimensions of the grooves, gaps, channels, joints, edges, transitions or seams of the part of the workpiece to be filled or coated. A time-consuming and labor-intensive post-processing of the applied or applied material can thus be omitted.
- sensors For measuring the grooves, gaps, channels, joints, edges, transitions or seams of the workpiece to be filled or coated, preferably several sensors are used. These may be attached to a robot arm together with the doser and guided by the robot along the part of the workpiece to be groomed or coated.
- the groove, the gap, the channel, the joint, the edge or the transition be measured by means of laser triangulation sensors, stereo cameras or laser transit time sensors.
- any other suitable sensors for measuring the to be filled or coated part of the workpiece can be used.
- the proposed procedures are particularly suitable for measuring grooves, gaps, channels, joints, edges, transitions and seams. In particular, they provide the accuracy and reliability required for the measurement to prevent spills in the grouting or coating material.
- the determined volume of material is introduced or applied.
- the sensors are moved along the part of the workpiece to be filled or coated.
- the part of the workpiece to be filled or coated is measured and the measured values are stored.
- the actual grouting or coating of the workpiece is controlled or regulated as a function of the stored measured values.
- the first pass for measuring the workpiece to be grouted or coated can be limited to random samples at specific times.
- the sensors may be mounted on the same robotic arm as the doser (in which case the same robotic arm would be moved twice along the part of the workpiece to be grouted) or on a separate robotic arm (in this case both would Robot arms are moved sequentially along the part of the workpiece to be grouted or coated).
- the sensors are mounted on the same robot arm as the doser.
- the robot arm only has to be moved once along the part of the workpiece to be grouted or coated.
- the detection field of the sensors in the direction of movement of the robot arm is arranged in front of the operating point of the metering device.
- the sensors are arranged in the direction of movement of the robot arm in front of the metering device.
- the measurement of the grooves, gaps, channels or joints to be filled or the edges, transitions or seams to be coated and the calculation of the required volume of material preferably takes place in real time. This means that measurement and calculation and application or application of the material takes place in the same run and results in the measurement and calculation no delay in the introduction or application of the material.
- the filled or coated part of the workpiece should have a certain amount of material or a certain volume of material.
- the material in the doser is heated and cools after being applied. When the material cools, the volume of the material may change.
- the material volume required taking into account a Volume change, in particular a reduction in volume, by temperature change, in particular by reducing the temperature, after introduction or application of the material is determined such that the introduced or applied material volume corresponds to a predetermined target value.
- the volume change during a temperature change of the material, in particular during a cooling of the material is taken into account in the calculation of the required material volume.
- the introduced or applied material volume is measured and the delivery volume or the
- Feed rate of the doser is controlled or regulated in dependence on the measured value.
- the measurement of the introduced or applied volume of material can for a correction of the control of the doser
- the volume or area of the part of the workpiece is measured, in which the material is introduced or onto which the material is to be applied.
- the measurement may also be part of a regulation of the metering device. In this case, the introduced or applied amount of material can be constantly determined.
- the feed of the dosing is increased or decreased or reduces the delivery volume of the dosing or increased.
- the correct backfilling or coating of the workpiece can be regulated.
- any sensors can be used.
- the introduced or applied volume of material is measured by means of laser triangulation sensors, stereo cameras or laser transit time sensors. These allow a fast and reliable measurement of the material volume.
- the metering device is first operated at a predetermined feed rate and with a predetermined delivery volume and that correction values for the feed rate and / or the delivery volume are determined by the method according to the invention and determined during activation or deactivation Control of the dosing device must be taken into account.
- the preset values for delivery volume and feed rate are based on empirical values and standard values for the dimensions of the gap to be filled or the transition to be coated. Experience has shown that these default values can not be met in practice. Deviations from the empirical values and standard values can be taken into account with the aid of the method according to the invention.
- the groove, the gap, the channel, the joint, the edge, the seam or the transition is automatically measured by sensors, wherein by means of the sensors at the same time the course of the groove, the gap, the channel, the joint, the edge or of the transition.
- the sensors are used both for measuring the part of the workpiece in or on which the material is to be applied, and for determining the trajectory along which the meter is moved during the introduction or application of the material to the workpiece.
- the detection of the trajectory can during a separate run before the actual application or application of the material, for example simultaneously in a run for measuring the groove, the gap, the channel, the joint, the edge or the transition, or simultaneously with the Applying or applying the material to the workpiece in a single pass are performed.
- the method according to the invention can be used particularly advantageously in the manufacture of motor vehicles.
- the method be used in the manufacture of motor vehicles for sealing, seam sealing or foam filling.
- the method can also be used in other areas, for example in prefabricated house construction, in mechanical engineering, etc.
- FIG. 1 shows a schematic flow diagram of the method according to the invention in accordance with a preferred embodiment
- FIG. 2 shows a structogram for illustrating the method according to the invention according to a first preferred embodiment
- FIG. 3 shows a structogram for illustrating the method according to the invention according to a second preferred embodiment
- Figure 4 shows a groove which is partially filled with material
- Figure 5 shows a transition, which is partially coated with material
- Figure 6 shows a weld, which is partially coated with material
- Figure 7 shows an apparatus for implementing the method according to the invention according to the first
- Figure 8 shows an apparatus for implementing the method according to the invention according to the second
- Embodiment of Figure 3, and Figure 9 is a known from the prior art device for automatically introducing or applying viscous material from a dosing into a
- Groove a gap, a channel or a joint or along an edge or a transition.
- the present invention relates to a method for automatically introducing or applying viscous material from a doser into a nip.
- the term "gap” and “seam” are used below to represent any kind of groove, gap, channel, joint, edge, seam or transition.
- the viscous material is, for example, an adhesive, a corrosion inhibitor (eg underbody protection, cavity seal), an insulation foam or the like.
- the method is preferably used in the field of motor vehicle manufacturing. Of course, it can also be used in any other areas, for example. In mechanical engineering or in the manufacture of prefabricated houses, etc.
- the device 1 comprises a D ⁇ sierer 2, in which the material to be filled or applied 3 is held.
- the metering device 2 comprises a storage container 4 having an opening and a nozzle 5 which is connected via a hose 6 to the opening of the container 4.
- an electrically, hydraulically, pneumatically or otherwise driven pressure generating unit 7 By means of an electrically, hydraulically, pneumatically or otherwise driven pressure generating unit 7, the material 3 is conveyed into the tube 6 and the nozzle 5.
- the pressure p By varying the pressure p, the delivery volume V of the metering device 2 can be varied.
- the metering device 2 or the nozzle 5 is moved by means of an industrial robot 8 or in any other way at a feed rate v along the gap 9 to be filled or coated or transition of a workpiece 10.
- the nozzle 5 is attached to a robot arm.
- a robot controller 11 is provided which, for example, comprises a programmable logic controller (PLC). This sends control commands via a control line 12 to the robot 8 and can receive feedback signals from the robot 8 via the line 12.
- PLC programmable logic controller
- delivery volume V and feed rate v of the metering device 2 are predetermined.
- the predetermined values are based on empirical values and standard values for the dimensions of the gap 9 to be filled or the transition to be coated. Experience has shown that these default values can not be met in practice. In particular, the dimensions of the gap 9 may be subject to fluctuations due to manufacturing tolerances. The prior art can not respond to these fluctuations. In order to bring in any case enough material 3 'in the gap 9 or on the transition or apply relatively much material 3' is introduced or applied in the prior art. This requires time-consuming and labor-intensive manual or automatic post-processing of the introduced or applied material 3 'in order to remove excess material (so-called additional quantity compensation).
- the present invention begins.
- the method shown schematically in Figure 1 is proposed.
- the method begins in a function block 20.
- the gap 9 or the transition is measured in a function block 21.
- suitable sensors which enabled an accurate, non-contact, optical measurement of the gap 9 or of the transition, for example by means of laser triangulation sensors, stereo cameras or laser transit time sensors.
- the material volume required for filling the gap 9 or for covering the transition is determined as a function of the measured volume of the gap 9 or the measured dimensions of the transition.
- the required volume of material can be dependent on application-specific specifications. For example, in some applications, it may be sufficient if a small amount of material 3 'is contained in the gap 9, so that the surface of the material 3' is concave inwardly. In other applications, it may again be necessary that so much material 3 'is introduced into the gap 9, that the surface of the material 3' bulges convexly outward.
- the doser 2 is activated in a function block 23, so that the determined amount of material is applied to the gap 9 or to the transition.
- the delivery volume V of the metering device 2 can be varied by the pressure generating means 7 are driven accordingly.
- the pressure generating means 7 are driven accordingly.
- Feed speed v of the metering 2 can be changed by the robot controller 11 is driven accordingly. In this way, it is ensured that even with deviations in the dimensions of the gap 9 or the transition from the standard values, a sufficient filling of the gap 9 or coating of the transition is always ensured, without a subsequent processing is required. In a function block 24, the process is completed.
- Method step 21 may be performed either in the same pass as steps 22 or 23, or alternatively in a previous first pass.
- the robot 8 moves the nozzle 5 and sensors attached thereto once along the gap 9 to be filled or the transition to be coated.
- the sensors are mounted or aligned so that their detection range in the feed direction in front of the nozzle 5.
- the gap 9 or the transition is measured by the sensors (step 21) and the required amount of material is calculated (step 22). Measurement and calculation preferably takes place in real time.
- the nozzle 5 the immediately reached previously measured range, it promotes the calculated volume of material in the region of the gap 9 and on the region of the transition (step 23). The measurement of the gap 9 and the transition and the conveying of the material 3 'takes place in one pass.
- the sensors are first moved along the gap 9 or the transition in a first pass, and the gap 9 or the transition is measured (step 21).
- the movement of the sensors can be done by means of the robot 8 or in another way, for example by means of another robot.
- the required material volume can also be calculated in the first pass (step 22). This completes the first pass.
- the required volume of material is first calculated (step 22), if this has not already taken place in the first pass.
- the nozzle 5 is again moved along the gap 9 or the transition by means of the robot 8 and controlled in such a way that it conveys the calculated material volume into the region of the gap 9 or onto the region of the transition (step 23). Measuring the gap 9 or the transition (and calculating the required material volume) takes place offset in time to the introduction or application of the material 3 'on the workpiece 10th
- FIG. 2 shows a structogram for illustrating the method according to the invention in accordance with a first preferred embodiment.
- the metering device 2 is controlled as part of a control.
- FIG. 2 shows the workpiece 10 with the gap 9 formed therein.
- the dimensions of the gap 9, in particular its cross-sectional area or its volume, are detected by a plurality of sensors 32 during a movement along the gap 9.
- sensors 32 are preferably optical sensors, in particular laser triangulation sensors, Stereo cameras or laser transit time sensors, used.
- the sensors 32 allow a non-contact measurement of the part of the workpiece 10 to which the material 3 is to be introduced or applied.
- the sensors 32 preferably emit light in any wavelength range. In particular, the sensors can emit visible light or invisible UV or IR radiation. In the illustrated embodiment, two sensors 32 are used. Of course, more than two sensors 32 can be used.
- the measuring ranges of the sensors 32 are designated by the reference numeral 33.
- the measuring areas 33 comprise the gap 9 to be measured and are preferably arranged in front of the nozzle 5 (not shown) in the feed direction.
- the sensor signals are sent to a
- Processing unit 34 passes, which determines the dimensions of the gap 9.
- the result of the measurement of the gap 9 is forwarded to a further processing unit 35 where the required volume of material for "filling" the gap 9 with material 3 'is calculated, which is "sufficient” depending on the application and the wishes of the user from. What the user considers "sufficient”, he can specify in the form of parameters Par.
- the calculated volume of material is then forwarded to a further processing unit 36, where suitable control signals (eg delivery volume V or feed rate v) for the doser 2 are determined as a function of the calculated required volume of material.
- suitable control signals eg delivery volume V or feed rate v
- correction values for fixed values for delivery volume V and / or feed rate v can also be determined. Due to the targeted control of the metering 2 exactly the required amount of material is introduced into the gap 9, regardless of always ensure a "sufficient" filling of the gap 9 the actual dimensions of the gap 9.
- a correction of the control can be provided.
- the amount of material introduced into the gap 9 or applied to a transition is measured in a processing unit 37.
- suitable sensors which are not shown in Figure 2.
- the calculated material volume and the degree of "sufficient" filling of the gap 9 are available from the processing unit 36. From a comparison of the values for a "sufficient" filling of the gap 9 and the amount of material actually introduced into the gap 9, suitable correction values for the control of the doser 2 are determined.
- the correction values are passed back to the processing unit 35, where the calculated material volume is corrected so that the amount of material actually introduced actually achieves a "sufficient" filling of the gap 9.
- the correction values could also be fed directly to the processing unit 36 when controlling the doser 2 be taken into account.
- processing units 34 to 37 are preferably implemented as software which can run on a computing device, in particular on a microprocessor.
- any interference S can be taken into account, such as, for example, a change in the dimensions or the volume of the introduced material 3 'due to a change in temperature of the material 3'.
- a shrinkage of the material 3 'due to cooling of the introduced in the heated state material 3' is taken into account.
- a heating of the introduced material 3 'to cure the material 3' or to connect the material 3 'with the surface of the workpiece 10 is conceivable, which can also lead to a change in the dimensions or the volume of the introduced material 3'.
- the inventive method can be used for any type of groove, gap, channel, joint, edge, seam or transition.
- FIGS. 4 to 6 A gap or groove 9, which is partially filled with a material 3 ', is shown in FIG.
- the inner edge 30 is partially coated with a material 3 '.
- At the inner edge 30 may also be formed a weld which is covered by the material 3 '.
- FIG. 6 shows a weld 31 between two workpieces 10 'and 10 "bordering on the front side.
- the weld seam 31 and the surface regions of the workpieces 10 ', 10 "adjoining the seam 31 are partially coated with material 3'.
- FIG. 7 shows a device 1 for realizing the method according to the invention in accordance with the first preferred embodiment.
- the sensors 32 are fastened together with the nozzle 5 to the arm of the industrial robot 8.
- the part of the gap 9 still to be filled with material 3 'in the feed direction in front of the nozzle 5 lies in the detection area 33 of the sensors 32.
- the measured values of the sensors 32 are passed to a metering control 38 where the dimensions of the gap 9 are then determined as a function of the measured values , the required volume of material for a "sufficient" Filling the gap 9 and drive signals 39, 40 (delivery volume V * and / or feed rate v * or alternatively correction values for the delivery volume .DELTA.V or the feed rate .DELTA.v) are determined for the doser 2.
- the control signals 39, 40 are then transmitted to the pressure generating device 7 (for varying the delivery volume V) or the robot controller 11 (for varying the feed rate v).
- the dosing control 38 thus comprises the processing units 34 to 37.
- FIG. 3 shows a further embodiment of the method according to the invention.
- the control of the dosing device 2 by means of a control.
- the processing units 34 to 37 correspond to the processing units 34 to 37 from FIG. 2.
- the measured values of the material 3 'introduced into the gap 9 or applied to the transition are fed as actual values to the processing unit 35, which then determines a control difference from a comparison of the actual values with the desired values predefined on the basis of the parameter Par.
- the control difference is fed to a controller 39, which determines one or more signal variables for controlling the metering unit 2 in the processing unit 36.
- a closed loop for introducing and / or applying material 3 'results in a gap 9 or on a transition.
- FIG. 8 shows a part of a device 1 for realizing the method according to the invention in accordance with the second preferred embodiment.
- sensors 39 are additionally provided on the robot arm, which detect with their measuring areas 40 a part of the gap 9 in the feed direction after the nozzle 5.
- the sensors 39 thus measure the introduced into the gap 9 material 3 'and If the introduced amount of material 3 'is too small (less than specified by the parameters Par), the controller 39 reduces the feed rate v and / or increases the delivery volume V.
- the controller 39 or the closed control loop for controlling the metering device 2 the last slight deviations between the actual and desired value of the introduced into the gap 9 material 3 'can be compensated.
- the decisive improvement over the prior art already results from the fact that before the introduction of the material 3 ', the dimensions of the gap 9 and the transition are measured and the amount of material to be introduced is adjusted by appropriate control of the dosing device 2.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Coating Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008015834A DE102008015834A1 (de) | 2008-03-27 | 2008-03-27 | Verfahren und Vorrichtung zum automatischen Einbringen oder Auftragen von zähflüssigem Material |
PCT/EP2009/000234 WO2009118072A1 (de) | 2008-03-27 | 2009-01-16 | Verfahren und vorrichtung zum automatischen einbringen oder auftragen von zähflüssigem material |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2254705A1 true EP2254705A1 (de) | 2010-12-01 |
EP2254705B1 EP2254705B1 (de) | 2012-11-14 |
Family
ID=40601452
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09724219A Not-in-force EP2254705B1 (de) | 2008-03-27 | 2009-01-16 | Verfahren und vorrichtung zum automatischen einbringen oder auftragen von zähflüssigem material |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP2254705B1 (de) |
CN (1) | CN101977694B (de) |
DE (1) | DE102008015834A1 (de) |
WO (1) | WO2009118072A1 (de) |
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US11826768B2 (en) | 2021-03-11 | 2023-11-28 | Ford Global Technologies, Llc | Method and apparatus for adaptive control and real-time edge tracking of adhesive and sealer dispensing |
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KR20120113224A (ko) | 2009-12-11 | 2012-10-12 | 래티두드 18, 아이엔씨. | 무기 인산염 조성물 및 방법 |
EP2510134B1 (de) | 2009-12-11 | 2018-09-19 | Latitude 18, Inc. | Anorganische, korrosionsbeständige phosphatbeschichtungen |
US20130139930A1 (en) | 2009-12-18 | 2013-06-06 | Latitude 18, Inc. | Inorganic phosphate corrosion resistant coatings |
WO2011100288A2 (en) | 2010-02-09 | 2011-08-18 | Latitude 18, Inc. | Phosphate bonded composites and methods |
DE102011011545B4 (de) * | 2011-02-17 | 2014-09-11 | Yaskawa Europe Gmbh | Verfahren und Vorrichtung zum Einbringen eines Fluids in eine Fuge |
ES2495165B1 (es) * | 2013-02-13 | 2015-07-07 | Ct Ingenieros Aai, S.L. | Método y sistema de dosificación de fluidos |
DE102013218611A1 (de) * | 2013-09-17 | 2015-03-19 | Peter Schiller | Verfahren und Vorrichtung zur Qualitätssicherung bei Beschichtungsverfahren |
HUE054627T2 (hu) * | 2013-12-06 | 2021-09-28 | Musashi Eng Inc | Folyékonyanyag-felhordó eszköz |
DE102014217892A1 (de) * | 2014-09-08 | 2016-03-10 | Volkswagen Aktiengesellschaft | Verfahren zum automatisierten Auftragen eines viskosen oder flüssigen Mediums auf Bauteile und Dosiervorrichtung zur Durchführung des Verfahrens |
DE102015107667A1 (de) * | 2015-05-15 | 2016-11-17 | Marco Systemanalyse Und Entwicklung Gmbh | Dosiervorrichtung |
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- 2009-01-16 CN CN2009801102955A patent/CN101977694B/zh not_active Expired - Fee Related
- 2009-01-16 WO PCT/EP2009/000234 patent/WO2009118072A1/de active Application Filing
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US11826768B2 (en) | 2021-03-11 | 2023-11-28 | Ford Global Technologies, Llc | Method and apparatus for adaptive control and real-time edge tracking of adhesive and sealer dispensing |
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DE102008015834A1 (de) | 2009-10-01 |
WO2009118072A1 (de) | 2009-10-01 |
CN101977694A (zh) | 2011-02-16 |
EP2254705B1 (de) | 2012-11-14 |
CN101977694B (zh) | 2013-07-31 |
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