EP0391340A1 - Method and device for cleaning of vehicle parts, especially vehicle windows - Google Patents

Abstract

The invention relates to a method and a device for cleaning workpieces, in particular vehicle windows (2), in order to prepare them for subsequent treatment processes such as coating with adhesive etc. The cleaning process (1) contains a wiping element in the form of a cleaning belt (10) which is moved in relation to the workpiece (2). The cleaning belt is guided in a loop (12) between two spools (13,14) and brought into contact with the workpiece (2), the cleaning belt (10) being unwound in sections and in clocked fashion between or during the cleaning processes. For this purpose, an additional loop (44) is formed in the region of the loop (12) and fresh belt material is thereby pulled off the supply spool (13). Subsequently, the additional loop (44) is reformed, the used belt material is transported to the used material spool (14). …<IMAGE>…

Description

The invention relates to a method and a device for cleaning vehicle parts with the features in the preamble of the main method and device claim.

When installing glass panes in vehicle bodies, it is necessary to thoroughly clean the application areas on the pane before applying the adhesive. For this purpose, it is known from EP-A 0 111 206 and EP-A 0 176 701 to use a cleaning device with a wiping element, which is moved relative to the vehicle window by an industrial robot. A cleaning liquid is applied by means of a spray device and is wiped off again by the subsequent wiping element together with the dissolved dirt particles. The soaked wiping element is dispensed at the end of the cleaning process and a new one is taken up again. The wiping elements consist of small pieces of rag that can only be used once, which are picked up by means of a gripping device, held during the wiping process and then released again.

In practice, the use of individual pieces of rag has proven to be disadvantageous. The pieces of rag often stick when opening the gripping device. On the other hand, additional movements for gripping and releasing the flap pieces are necessary, which extend the cycle time. With larger panes and heavy soiling, the rag pieces may have to be changed several times.

When dispensing the rag pieces, additional measures are required for safe removal from the gripping device.

It is therefore an object of the present invention to provide a method and a device for cleaning which work faster, more economically and more safely and which permit quick and safe wiping element disposal.

The invention solves this problem with the features in the characterizing part of the main method and device claim.

The method according to the invention and the associated cleaning device have the advantage that the wiping element can be used for a long time and does not have to be replaced after each cleaning process. The invention also allows the wiping surface to be changed more quickly than in the prior art. Additional, time-consuming, energy-intensive and control-intensive movements of the complete cleaning device are no longer necessary thanks to the internal change of the used wiping surfaces. The wiping surface can be changed when changing the vehicle part, during cleaning in the corner areas of the vehicle part when reorienting the cleaning device, or even during the wiping process.

The method and the associated device can be used for cleaning any vehicle parts and can be extended to any areas of application in which a relative movement between the cleaning device and the vehicle part is provided. Multi-axis manipulators, preferably industrial robots, are provided as the device for mutually guiding and moving the cleaning device and the vehicle part. The preferred area of application and the particular suitability lie in automatic cleaning of vehicle parts, in particular vehicle windows. The slices are prepared for subsequent treatment processes. In the exemplary embodiment described, these consist of a primer and an adhesive application and the subsequent pane assembly. The treatment processes can in principle also be of a different nature.

Compared to the state of the art, the invention enables a kinematic reversal of the relative movement between the cleaning device and the vehicle part, in particular a vehicle window, in that an industrial robot moves the window relative to the cleaning device which is relatively stationary but can be avoided. The industrial robot can thus remove the pane from a stack in one operation, pass the cleaning device and the downstream adhesive application device and then mount it immediately in the vehicle body. This is less expensive, easier and faster than in the prior art, which provides for the robot to transport the cleaning device. Alternatively, the cleaning device according to the invention can also be moved according to the known method.

The wiping element according to the invention with the large number of wiping surfaces can be designed differently. For example, a felt disk rotated in cycles and sections can be considered. The wiping surfaces can be formed by disc sections on the circumference or on the end surfaces. An additional sliding movement of the window axis allows a larger window area to be used and the number of available wiping areas to be increased considerably.

A wiping element in the form of a cleaning tape offers particular advantages. The usable surface is particularly large, which enables a long service life. Only a comparatively simple kinematics and a correspondingly uncomplicated feed drive are required for the transport. The wraps can also be replaced quickly and easily.

For reasons of economy, it is advisable to always move the wiping element, in particular in the form of the cleaning belt, by sections of the same size. The sections can be the same or only slightly larger than the wiping area used. This can be achieved in a simple manner in the cleaning belt with a feed drive which engages the loop and lengthens the loop length by forming an additional loop. Regardless of the winding thickness, the same amount of tape material is always drawn from the supply roll. The additional loop is then re-formed by rotating the consumption coil. This enables a particularly simple feed drive. The stroke can always remain the same regardless of the constantly changing thickness of both windings

In the exemplary embodiment shown, the feed drive consists of a tensioning cylinder which acts on the loop and a sequence-controlled winding cylinder which moves the consumption reel. An attack of the tensioning cylinder on the side loop strand, which leads to the consumption wrap, has the advantage that a belt transport is possible without lifting the cleaning device from the vehicle part. This is particularly useful if disposal of the used wiping surface is desired during the wiping process.

In addition to this constructive design of the feed drive, couplings for a controlled rotary movement are provided on the winding rollers. The winding rolls are alternately locked and released in such a way that the cleaning tape is transported exactly by the desired length and in the specified direction. The transport and loop length can be changed by adjusting the clamping cylinder stroke. The clutches can be designed differently, for example as spring-loaded friction clutches with a ratchet lock or the like.

The feed drive can also be designed differently in a modification of the exemplary embodiments. One possibility is to use controllable winding drives, which drive the winding rolls depending on the winding thickness. Electric stepper motors are suitable as winding drives, for example. Another variation provides for the arrangement of a friction wheel drive which engages the cleaning belt in the loop area and conveys it by defined lengths.

In the preferred embodiment, the tape supply and the used material are wound up in roll form. In conjunction with the reel design according to the invention, this allows the windings to be exchanged quickly and the strip material to be securely fixed and guided. Alternatively, the tape supply and the used material can also be stored in a different way, for example in meandering loops and accommodated in a container.

The cleaning device according to the invention is movably and elastically mounted on its holding device. This enables, on the one hand, avoidance of obstacles or bumps on the vehicle part and, on the other hand, an adjustment of the pressing force of the cleaning belt on the Vehicle part. In order to avoid larger obstacles, a clamping device is provided which effects a rigid connection between the cleaning device and its holding device, so that relative lifting movements can be carried out between the cleaning device and the vehicle part.

• Fig. 1: eine Bearbeitungsstation in Seitenansicht mit einer relativ ortsfest gelagerten Reinigungsvorrichtung und einer robotergeführten Fahrzeugscheibe,
• Fig. 2: eine Vorderansicht der Reinigungsvorrichtung gemäß Pfeil II von Fig. 1,
• Fig. 3: eine Seitenansicht der Reinigungsvorrichtung gemäß Pfeil III von Fig. 2,
• Fig. 4: eine Vorderansicht der Reinigungsvorrichtung in Variation zu Fig. 2 und
• Fig. 5-7: Detaildarstellungen einer Wickelrolle in verschiedenen Ansichten.

The invention is shown schematically and by way of example in the drawings. In detail show:

• 1: a processing station in side view with a relatively stationary cleaning device and a robot-guided vehicle window,
• 2: a front view of the cleaning device according to arrow II of FIG. 1,
• 3: a side view of the cleaning device according to arrow III of FIG. 2,
• Fig. 4: a front view of the cleaning device in variation to Fig. 2 and
• Fig. 5-7: Detailed representations of a winding roll in different views.

Fig. 1 shows a processing station for the preparation of vehicle windows (2) for subsequent assembly in vehicle bodies. The vehicle window (2) or glass window is attached to the hand of a multi-axis manipulator (3) via a gripping device (4) and is moved and guided by it along a preprogrammed path. The manipulator is preferably designed as a multi-axis industrial robot (3). In the situation shown, he moves the one from a stack of supplies beforehand removed vehicle window (2) along a cleaning device (1). This removes dirt, grease and other impurities from the edges of the pane so that the adhesive bead applied to a subsequent station adheres securely. At the end of the process, the industrial robot (3) inserts the window (2) exactly into the window cutout of the body. Then he gets a new vehicle window and the process described above begins again.

During the cleaning process, the vehicle window (2) and the complete cleaning device (1) are moved relative to one another. In the case shown, the cleaning device (1) is mounted relatively stationary on a holding device (5). The kinematic assignment can also be selected differently by moving the cleaning device (1) relative to a stationary vehicle window (2). In a further modification, both parts can also be moved at the same time.

In Fig. 1, the holding device (5) consists of a stationary base frame (6) and a swivel arm (7) rotatably mounted thereon about a vertical axis, which at the end carries a guide rail (8) on which a guide carriage (43) with the Cleaning device (1) is attached adjustable in height. The cleaning device (1) in turn can be adjusted in height on the guide carriage (43) and is elastically mounted in itself. The further details emerge from FIG. 3 and the description below.

Fig. 2 shows the cleaning device (1) from the front, Fig. 3 discloses the associated side view. The cleaning device (1) consists of a cleaning belt (10) made of felt or another suitable material, which is guided between two coils (13, 14) in a downward loop (12) and is in contact with a wiping surface (16) at the lower end of the loop with the vehicle window (2) stands. The cleaning device (1) further comprises two winding rolls (21, 22), onto which the tape rolls (13, 14) are attached, and a feed drive (17) for the cyclical and section-wise transport of the cleaning tape (10). By unwinding the cleaning tape (10), a used and dirty wiping surface (16) is transported further and exchanged for a new tape section. The winding rollers (21, 22) which can be rotated about horizontal axes (27) are fastened together with the feed drive (17) on a base plate (9).

For the application area shown for cleaning and preparing a vehicle window for the subsequent adhesive coating and assembly, the cleaning device (1) further comprises a spray device (35) for a cleaning liquid and an application device (36) for the primer. The vehicle window (2) is guided past the cleaning device (1) in the transport direction (41) indicated by an arrow. The spray device (35) sits in the transport direction (41) in front of the loop (12), while the application device (36) is arranged behind the loop (12). The cleaning liquid sprayed on a thin sheet at the edge of the pane is wiped with the wiping surface (16) of the cleaning belt (10) and absorbed. This surface is then coated with the primer in the same or a separate operation and prepared for the adhesive bead. The function of the spray device (35) and the application device (36) is monitored and controlled by sensors (42).

In the exemplary embodiment shown, the supply reel (13) with the fresh strip material is arranged behind the loop (12) in the transport direction (41), while the consumption reel (14) sits in front of it. At the lower end of the loop (12), the cleaning tape (10) is guided over a pressure piece (15) which is frustoconical in cross section. At its horizontal area, the wiping surface (16) is pressed against the vehicle window (2).

2 and 4 show two different designs of the feed drive (17) again. In both cases, the feed drive (17) consists of a tensioning cylinder (18) and a winding cylinder (20), which are designed as pneumatic and / or hydraulic cylinders and have a sequence control. The tensioning cylinder (18) acts on the cleaning belt (10) in the loop area. The winding cylinder (20) drives the winding roll (22) counterclockwise. The winding cylinder (20) engages the winding roller (22) via a freewheel or another device in such a way that it rotates the winding roller (22) during the advance, but not during the return stroke.

Both winding rollers (21, 22) have couplings for an alternating and controlled rotary movement. The couplings only allow the two winding rollers (21, 22) to rotate counterclockwise. They also prevent more tape material from being conveyed than necessary when the used material is wound onto the winding (14).

The transport length is determined by the tensioning cylinder (18), which acts on the loop (12) in both embodiments and forms an additional loop (44) when its piston is extended, which loop is then re-formed. The length of the loop (44) corresponds approximately to the length of the wiping surface (16) and is always the same regardless of the winding sizes. It can be varied by changing the piston stroke length and / or the deflection radius.

2, the tensioning cylinder (18) is arranged in the middle of the loop (12) and in the longitudinal direction thereof. Tensioning rollers (19) are arranged on both sides of the loop (12) approximately at the level of the rest position of the pressure piece (15). The piston, which can be extended downwards, carries the pressure piece at the end (15). If the clamping cylinder (18) is activated, it pulls out the additional loop (44) (shown in dashed lines) in the lowering movement. The tension rollers (19) support the formation of loops and ensure that the shape of the loops remains constant.

At the same time as the tensioning cylinder (18), the piston of the winding cylinder (20) moves back, the engagement with the winding roller (22) being interrupted via the freewheel. The winding roll (22) itself is locked against turning back by the coupling. It is therefore only possible to pull tape material from the supply roll (14). The winding roller (21) rotates against a spring, the restoring force of which is less than the feed force of the tensioning cylinder (18).

Then the piston of the tensioning cylinder (18) is retracted, at the same time the piston of the winding cylinder (20) is extended and the winding roller (22) rotates, the strip material in the loop (44) being wound up exactly by the length of the strip which is at Return stroke of the clamping cylinder (18) is free. The cleaning belt (10) always remains taut during this process. The feed force of the winding cylinder (20) is less than the spring restoring force on the winding roll (21), so that the latter locks and only the used strip material is transported during the winding movement.

In the exemplary embodiment in FIG. 4, the tensioning cylinder (18) is arranged within the loop (12), but is now directed transversely. With its piston and a rotatable deflection roller attached to it, it engages on the side loop strand leading behind the now stationary pressure piece (15) to the consumption roll (22). On the other side of the loop strand, two tensioning rollers (19) are arranged one above the other on both sides of the piston track. When the piston extends, the additional loop (44) pulled out to the side between the two tensioning rollers (19). The winding rollers (21, 22) and the winding cylinder (20) work in the manner described above. The embodiment according to FIG. 4 enables a wiping surface change due to the lateral loop formation and the stationary pressure piece (15) while the cleaning belt (10) is in contact with the window (2).

As illustrated in FIG. 2, various devices for monitoring the individual movements are provided. The monitoring device (31) is used to check the thickness of the supply roll (13) and consists of a swivel arm which rests on the roll (13) and a switch contact. If the winding thickness falls below a predetermined value, the swivel arm touches the switch contact and triggers a warning signal.
The monitoring device (32) serves to control the tape feed. It is assigned to the winding roll (21) and consists of two sensors that contactlessly scan a row of teeth on the roll circumference. The cleaning belt (10) is only transported if the winding roll (21) rotates when the tensioning cylinder (18) is advanced and the sensors report this; otherwise it is broken.
A similar monitoring device (34) with one or two sensors is also found on the winding roll (22) and serves to control the winding movement and the function of the winding cylinder (20). The clamping cylinder (18) also has a monitoring device (33) for position and drive control.

Fig. 3 shows in side view further parts of the cleaning device (1). As described at the beginning, the parts leading the tape are mounted on a base plate (9). This in turn is guided vertically on a guide (37) on the guide carriage (43) of the holding device (5). For the sake of clarity, only parts of the guide carriage (43) are shown. The The guiding direction results from the pressing direction between the pane and the cleaning belt (10). The base plate (9) also has a horizontally projecting flange on which two vertical compensation springs (38) engage on both sides and support the base plate (9) on the guide carriage (43) and support it in a spring-loaded manner. The contact pressure of the cleaning belt (10) on the vehicle window (2) is also set via the compensating springs (38). The base plate (9) with the belt-guiding parts can thus evade any unevenness on the surface of the pane and yield resiliently in the vertical direction up and down.

In the event of larger unevenness on the surface of the pane or another vehicle part (2) to be cleaned, evasion can be achieved by a relative lifting movement between the vehicle part (2) and the cleaning device (1) or its holding device (5). For this purpose, a clamping device (39) is provided, which temporarily activates a rigid connection between the holding device (5) and the cleaning device (1) when activated. The clamping device (39) consists of a pneumatic and / or hydraulic cylinder which is fastened to the guide carriage (43) and carries a clamping piece at the end of the piston rod. A vertical flange (40) is rigidly connected to the base plate (9) and is clamped and held between the clamping piece and a stop part when the cylinder is activated. As a result, the compensating springs (38) are blocked, so that the base plate (9) moves when the holding device (5) is raised or cannot follow a lowering movement of the vehicle part (2). To automate the system, a monitoring device with a sensor is provided which controls the position of the piston projecting out of the cylinder.

5 to 7 show details of the winding rolls (21, 22). 5 and 6 show the winding roll construction in a front view, while FIG. 7 shows a side view of FIG. 6. In the preferred embodiment, the felt band (10) is turned into coreless windings with an exposed inner band end (30). The winding rolls (21, 22) have a plate-shaped base body (23) with a roll core (24). A clamping device (28) for the strip end (30) is accommodated in each of the roll cores (24). It consists of a radial slot in which a spring-loaded clamping bracket (29) is pivotally mounted. When the tape end (30) is pushed in, the clamping bracket (29) withdraws against the spring force and then rests on the tape end (30). He clamps it against the diaphragm wall and supports himself down on a wall projection. The band end (30) can then no longer be pulled out of the slot against the clamping action of the bracket (29).

The supply roll (13) is placed on the roll core (24) of the winding roll (21) and fixed with its inner band end (30) in the clamping device (28). The cleaning tape (10) is then laid in the prescribed loop and also fastened at the other end to the roll core (24) of the winding roll (22). The roll cores (24) are then covered by overlapping roll covers (25) for the axial fixation of the rolls (13, 14). The connection is made via a bayonet lock (26).

PARTS LIST

• 1 cleaning device
• 2 vehicle part, glass pane, vehicle pane
• 3 manipulator, industrial robot
• 4 gripping device
• 5 holding device
• 6 base frame
• 7 swivel arm
• 8 guide rail
• 9 base plate
• 10 cleaning tape
• 11 wiping surface, wiping section
• 12 loop
• 13 rolls, supply rolls
• 14 wraps, consumable wraps
• 15 pressure piece
• 16 wiping surface
• 17 feed drive
• 18 clamping cylinders
• 19 tension pulley
• 20 winding cylinders
• 21 winding roll, supply roll
• 22 winding roll, consumption winding
• 23 basic body
• 24 roll core
• 25 roller cover
• 26 bayonet catch
• 27 axis
• 28 clamping device
• 29 clamps
• 30 band end
• 31 Monitoring device, inventory control
• 32 Monitoring device, unwind control
• 33 Monitoring device, drive control
• 34 Monitoring device, winding control
• 35 spraying device, cleaning liquid
• 36 applicator, primer
• 37 leadership
• 38 compensation springs
• 39 clamping device
• 40 flange
• 41 Direction of transport
• 42 sensor
• 43 slides
• 44 additional loop

Claims (17)

1.) Method for automatically cleaning vehicle parts, in particular vehicle windows, in preparation for subsequent treatment and / or assembly processes, a cleaning device with a wiping element and the vehicle part being moved relative to one another by means of a multi-axis manipulator, characterized in that the wiping element is a Has a plurality of wiping surfaces, which are brought into contact with the vehicle part in succession, the wiping surfaces being changed between or during the cleaning processes in cycles by a further movement of the wiping element. 2.) Method according to claim 1, characterized in that the manipulator moves the vehicle part past the evasive cleaning device. 3.) Method according to claim 1 or 2, characterized in that the wiping element is guided as a movable cleaning belt (10) in a loop (12) between two windings (13, 14) and brought into contact with the vehicle part, the cleaning belt ( 10) is carried out in sections and in cycles between or during the cleaning processes. 4.) Method according to claim 3, characterized in that the cleaning tape (10) is unwound around sections of equal size. 5.) Method according to claim 3 or 4, characterized in that in the region of the loop (12) in the cleaning belt (10) an additional loop (44) is formed and fresh strip material is drawn off from the supply reel (13), and that then Loop (44) is re-formed, the used strip material being transported to the consumption reel (14). 6.) Device for the automatic cleaning of vehicle parts (2), in particular vehicle windows, in preparation for subsequent treatment and / or assembly processes, the cleaning device (1) and the vehicle part (2) being movable relative to one another by means of a multi-axis manipulator (3) and the cleaning device (1) has a wiping element, characterized in that the wiping element has a multiplicity of wiping surfaces (11), and in that the cleaning device (1) has an intermittently operating feed drive (17) for a further movement of the wiping element in sections. 7.) Device according to claim 6, characterized in that the vehicle part (2) is held and moved by the manipulator (3), the cleaning device (1) being mounted on a holding device (5) in an evasive manner. 8.) Device according to claim 6 or 7, characterized in that the wiping element is designed as a cleaning belt (10) and is guided between two windings (13, 14) in a loop (12) via a pressure piece (15), and in that a feed drive (17) provided for the tape transport is. 9.) Device according to claim 8, characterized in that the feed drive (17) arranged in the region of the loop (12), the additional loop (44) forming the tensioning cylinder (18) and one on the consumption roll (22) engaging, the loop ( 44) has rewinding winding cylinder (20), and that the winding rollers (21, 22) have couplings for a controlled rotary movement. 10.) Device according to claim 9, characterized in that the two cylinders (18, 20) have a common control for a simultaneous and at the same time opposite piston movement, the winding cylinder (20) engaging with a freewheel on its winding roll (22). 11.) Device according to one or more of claims 8 to 10, characterized in that the tensioning cylinder (18) within the loop (12) is arranged in its longitudinal direction and at its movable end carries the pressure piece (15) or that the tensioning cylinder ( 18) acts behind the relatively stationary pressure piece (15) on the strand of the loop (12) leading to the consumption roll (14) and forms a transverse loop (44) in the cleaning belt (10). 12.) Device according to one or more of claims 8 to 11, characterized in that tensioning rollers (19) for the formation of loops are arranged on both sides of the feed path of the tensioning cylinder (18). 13.) Device according to claim 8, characterized in that controlled winding drives are provided as the feed drive (17). 14.) Device according to one or more of claims 6 to 13, characterized in that the winding rollers (21, 22) and the feed drive (17) are assigned monitoring devices (31, 32, 33, 34) for the control of the tape transport and the tape supply are. 15.) Device according to one or more of claims 6 to 14, characterized in that the winding rollers (21, 22) and the feed drive (17) are mounted on a base plate (9), which are mounted to the vehicle part (2) and can be avoided is led. 16.) Device according to claim 15, characterized in that a controllable clamping device (39) for temporarily fixing the position of the base plate (9) is provided. 17.) Device according to one or more of claims 6 to 16, characterized in that seen in the transport direction (41) of the vehicle window in front of the loop (12) a spray device (35) for a cleaning liquid and behind the loop (12) an application device ( 36) are arranged for a primer.

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