DE102015004146B3 - Surface treatment of a component by means of a mobile robot - Google Patents

Abstract

A method according to the invention for surface processing, in particular for grinding, a component, in particular a forming tool, by means of a mobile robot with a multi-axis robot arm (10) and a mobile platform (11) comprises the steps of: positioning (S10) the mobile platform (11 ) relative to the component; - predetermining (S20-S60) at least one processing primitive; and repeatedly traversing (S70, S80) a trajectory (G, T, G ', T) of a tool (15, 16) guided by the robot arm (10) on the basis of the machining primitive, which includes a machining surface, an machining force and / or a machining surface Includes processing pattern.

Description

The present invention relates to a surface treatment, in particular a grinding, of a component, in particular of a forming tool, by means of a method and a mobile robot.

So far, for example, press tools are molded in the body shop, then CNC post-processed and finally ground in a sometimes several-week and -schichtigen finishing manually.

From the DE 10 2006 001 712 A1 a method for finishing a forming tool for a body sheet metal part is known, in which a nachzubearbeitender surface area is detected on the basis of a color impression of a coated with a Tuschierfarbe sheet metal part on a tool surface and is reworked by a stationary industrial robot for which a control unit generates a movement program based on acquired image data. From the DE 10 2009 012 858 A1 a device for surface treatment of a component is known with a platform to which a robot unit is connected.

The object of the present invention is to improve a surface treatment of a component.

This object is achieved by a method having the features of claim 1. Claim 13 provides a mobile robot under protection, which, in particular hardware and / or software technology, is set up to carry out a method described here. The subclaims relate to advantageous developments.

According to one aspect of the present invention, a mobile robot has a multi-axis robot arm, a mobile platform on which the robot arm, in particular detachable, is arranged or attached, and a controller, the hardware and / or software technology for at least partially automated implementation of one or more steps of a method described here is set up.

In one embodiment, the multi-axis robot arm has at least six, in particular at least seven, actuatable or actuated joints, in particular rotary joints or axes of movement, in particular axes of rotation. By a seven- or multi-axis robotic arm advantageous poses can be given in one embodiment, in particular singular poses avoided and / or for a particular processing position of a tool each an advantageous, especially compact and / or stiff, pose of the robot arm can be realized.

The mobile platform is free in one embodiment, in particular unbound or on a floor, in particular without a track, movable. As a result, the mobile robot can advantageously be used for surface processing at different locations and / or stowed away when not in use. In one development, the mobile platform has a chassis, in particular a tire or track chassis, with one or more unpowered or passive and / or one or more actuatable or driven, in particular frosted, wheels, and / or an air cushion.

According to one aspect of the present invention, the mobile platform is first positioned relative to a component to be surface-worked, in particular manually by an operator and / or in any orientation relative to the component. In one embodiment, the mobile platform is positioned with the robotic arm already attached to it, in another embodiment, the mobile platform is first positioned without a robotic arm and then attached to the positioned mobile platform.

In one embodiment, the component is a forming, in particular pressing or deep-drawing tool, in particular for producing workpieces, in particular workpieces made of sheet metal and / or a vehicle body. It may in particular comprise a so-called matrix, in particular.

The surface treatment may in particular comprise a surface finish, in particular be. In one embodiment, the surface (end) processing is a machining with geometrically defined or undefined cutting edge, in particular a grinding, in particular a longitudinal grinding or generating a longitudinal or transverse grinding.

This represents a particularly advantageous use of the mobile robot or method, so that the invention will be described in more detail below, in particular with reference thereto, but without being limited thereto.

In one embodiment, the mobile platform is manually positioned relative to the component, in particular by manual or non-powered method of the mobile platform, in particular by unbound or free method on a floor. Additionally or alternatively, the mobile platform is motorized in one embodiment, in particular unbound or free on a floor. As a result, it is advantageously possible in each case to realize a high degree of flexibility.

In a further development, the mobile platform is fixed in position. You can do this in particular one or more, in particular mechanical, brakes are closed. Additionally or alternatively, in one embodiment, the landing gear on and / or supports are extended. As a result, advantageously a higher stability can be realized.

In one embodiment, in particular subsequent to the positioning of the mobile platform, one or more processing primitives, in particular semi-automated, given, and in each case a trajectory of guided by the robot tool based on the respective predetermined processing primitive repeatedly or repeatedly, in particular fully or partially automated , (with the robot-guided tool) traversed. In one embodiment, specifying a processing primitive comprises, in particular, storing the processing primitive, in particular in the controller of the robot.

The tool guided by the robot arm or robot is or is fastened in one embodiment, in particular releasably, to a tool flange of the robot arm. In particular, it may have a grinding or friction lining, in particular stone, which in one embodiment is in turn releasably attached to a grinding or friction lining connection of the tool.

By specifying processing primitives or the, in particular at least partially automated, trajectory departure based on or depending on predetermined processing primitives advantageously different components and / or component areas, are surface-processed by the robot-guided tool, the effort, especially programming and / or reduced learning and teaching effort and / or the precision and / or reliability, in particular process reliability can be increased.

In one embodiment, the machining primitive comprises a machining surface, in particular a machining surface or basic shape, a, in particular closed, machining surface edge, a machining surface edge and / or one or more machining positions of the robot-guided tool, in particular as a result, at least partially, be defined or be.

The machining surface shape or shape can be defined or defined in particular by a curvature of the machining surface. In particular, a machining surface (nform) may be a plane or non-curved (machining) surface, in one embodiment by three machining positions of the robot-guided tool on the component or a machining position and a machining line of the robot-guided tool on the component or by two machining lines of the robot-guided tool can be specified on the component or can be. A planar processing surface can advantageously be specified in a particularly simple, precise and / or reliable manner and / or surface-treated.

In one embodiment, a machining surface (s) is a curved (machining) surface that is simply curved in only one direction, which in one embodiment is defined by a (curved) machining surface edge and a machining or displacement line on the component be or can be. The single curved (machining) surface may then be a ruled surface having straight generators parallel to the machining line along the machining surface edge. By means of a simply curved working surface, even more complex component surfaces (areas) can advantageously be surface-treated in a simple, precise and / or reliable manner. In a further development, the simply curved (machining) surface is curved convexly or concavely.

In one embodiment, a processing surface (nform) is a double curved (processing) surface which, in a development in two spatial directions, has, in particular, different and / or constant curvatures which are different from zero. As a result of such a doubly curved processing surface, advantageously even more complex component surfaces (regions) can be easily and / or reliably surface-treated.

The machining surface edge is or is given in an embodiment rectangular or ellipsen, in particular circular. This can in particular simplify the specification and / or increase its precision and / or reliability.

Additionally or alternatively, one or the processing primitive in one embodiment comprises a processing force, in particular a desired, minimum and / or maximum force. In a development, the processing force is or is given as normal to the processing surface. In addition or as an alternative, the processing force in a development is set constant over the processing surface. As a result, component surfaces (areas) can advantageously be surface-treated simply, precisely and / or reliably.

Additionally or alternatively, one or the processing primitive in one embodiment comprises a processing pattern, in particular predeterminably spaced and / or mutually parallel processing paths, in particular straight lines, on the component or in the processing surface, in particular their arrangement and / or sequence relative to each other, and / or, in particular component-contact-free or normal to the processing surface of this spaced, transfer paths between spaced-apart processing paths. As a result, trajectories of the robot-guided tool can advantageously, in particular simply, quickly and / or reliably, be specified. In one embodiment, machining paths can be straight or curved, in particular defined by splines or spline functions. Additionally or alternatively, in one embodiment, they may be parallel or perpendicular to or against a working surface edge and a straight line of displacement. A machining path lies in an embodiment in the machining surface and / or is a contact track of the robot-guided tool with the tool to be machined or machined thereby.

In one embodiment, one or the trajectory of the robot-guided tool, the machining paths on the component and the transfer paths between the spaced-apart machining paths comprise, in particular consist thereof.

In one embodiment, the same or different, in particular adjacent, processing paths when trajectory traversing the same (or) in the same or in opposite directions. In one embodiment, first a first set of processing paths are traversed successively with the robot-guided tool and then a second set of processing paths, wherein one or more processing paths of the second amount are each arranged between two processing paths of the first set. In this way, an advantageous robot movement, in particular transfer web, can be realized.

In one embodiment, specifying the edit primitive comprises selecting a edit primitive from a group of predefined, in particular stored, edit primitives. As a result, the specification can be simplified and / or the reliability and / or precision can be increased.

In one embodiment, the group of predefined processing primitives comprises one or more predetermined processing surfaces (basic) forms or shapes and / or shaping / shaping of processing surface edges (basic).

In one development, the group of predetermined processing primitives or processing surfaces comprises (basic) forms one or more planar processing surfaces (forms), in particular a planar processing surface (nform) with a predetermined rectangular-shaped processing surface edge and / or a planar processing surface with a predetermined ellipses, in particular circular working surface edge.

Additionally or alternatively, the group of predetermined processing primitives or machining surfaces (basic) shapes in one embodiment comprises one or more single curved and / or one or more double curved machining surfaces (shapes), in particular a single curved machining surface (basic) shape a curved predefinable machining surface edge and / or a processing or displacement line or generatrix.

In one embodiment, specifying the machining primitive comprises starting up and storing one or more machining positions of the robot-guided tool or a measuring device with the robot, which is fastened to the robot arm in a design for predetermining instead of the tool, or a start-up and Storing one or more machining positions of the machining primitive by the robot-controlled tool or measuring means. The approach is carried out in an embodiment by manually or manually guiding the robot arm in an advantageous, in particular simple and / or precise manner. For this purpose, the robot in one embodiment when setting, in particular approaching the machining position (s), compliant regulated and performed by an operator with his hand.

In one embodiment, the machining surface is or is at least partially automatically predefined or determined on the basis of a number of a plurality of mutually spaced-apart machining positions, in particular predetermined or variable.

In one embodiment, a planar processing surface is or is determined by or based on a (r), number of a plurality of spaced apart, in particular approached and stored processing positions or at least partially determined automatically, in particular by three processing positions, from in one development, two machining positions define the machining surface edge and one of these machining positions and the third machining position define one or the machining line.

A single curved machining surface is or is determined in an embodiment by or based on a (r), in particular predetermined (n) or variable (n) number of a plurality of spaced apart, in particular approached and stored processing positions or at least partially determined automatically. In a Further, a machining surface edge of the single-curved machining surface is predetermined or at least partially automatically determined by or on the basis of a (r), in particular predetermined or variable number of a plurality of mutually spaced, especially approached and stored machining positions. and a processing or displacement line defining by parallel displacement along said working surface edge as generatrix said simple curved working surface by or on the basis of a further, particularly spaced, surface (s) of said processing surface edge; in particular driven and stored (s) processing position predetermined or at least partially determined automatically.

In a further development, the machining surface edge is or is determined by or based on a spline function by the machining surface predetermining machining positions or at least partially determined automatically. By a variable number of the machining surface edge predetermining machining positions advantageously and thus flexible even more complex machining surfaces can be easily and / or reliably specified.

In an embodiment in which a single-curved machining surface is or are predetermined by a curved machining surface edge and a displacement straight line predetermined in particular by a spline function, the curved machining paths on which the tool is robot-guided on the component or in the machining surface are parallel to the machining surface edge or go out by parallel displacement of the Bearbeitungsflächenkante along the displacement line apart.

In another embodiment, in which a simply curved working surface is predetermined by a curved, predetermined in particular by a spline function, working surface edge and a machining line is or are the straight machining paths or processing lines on which the tool on the component or in the Machining surface is robotically guided, parallel to the processing line or go out by parallel displacement of the processing line along the edge of the processing edge apart.

In another further embodiment, in which a simply curved machining surface is predetermined by a curved machining surface edge, predefined in particular by a spline function, and a displacement straight line, the curved machining paths on which the tool is robotically guided on the component or in the machining surface are is tilted to the working surface edge and the displacement line.

In other words, in one embodiment, a single-curved machining surface can be machined on machining paths with the robot-guided tool that are parallel to the curved machining surface edge or parallel to the machining straight line that together define the machining surface, or even against the Machining surface edge and displacement lines inclined and parallel to each other.

In one embodiment, a machining position comprises or describes one, in particular three-dimensional, position and / or orientation of the tool, in particular relative to the environment or a reference or base of the robot, in particular in the working or joint coordinate space of the robot.

A working surface edge of a processing surface may in particular be a part of a processing surface edge or parallel to it, ie. H. in the interior of the processing surface, be arranged or lie. It is in an embodiment perpendicular to the or the processing tracks.

In one embodiment, specifying the edit primitive includes predetermining one or more trajectory parameters and / or one or more force parameters of the edit primitive. As a result, machining patterns and / or forces can advantageously be parameterized in a simple, precise and / or reliable manner.

In particular, a trajectory parameter may describe a spacing of the machining paths from one another, in particular along or perpendicular to the machining surface edge, in particular by specifying a distance or a number of parallel, in particular along or parallel to the machining surface edge, equidistantly distributed machining paths.

Additionally or alternatively, in one embodiment, a trajectory parameter may describe a travel speed of the tool along the machining paths. In one embodiment, a predeterminable travel speed is at most 200 mm / s, in particular at most 150 mm / s, and / or at least 50 mm / s.

In addition or as an alternative, a trajectory parameter in one embodiment can describe the processing pattern or, for example, whether optionally adjacent processing paths are traversed one after the other or instead first one or more processing tracks are omitted and then, in particular in reverse order, driven off.

Additionally or alternatively, a force parameter in one embodiment may describe an amount of processing force. In one embodiment, a predeterminable processing force is at most 200 N, in particular at most 150 N, and / or at least 50 N.

In one embodiment, one or more trajectory and / or force parameters of the processing primitive, in particular at least partially automated, predefined on the basis of a default, in particular by Vorbelegen the parameters with a preset default value, preferably a last stored or adjustable value.

In general, therefore, a machining surface in an embodiment can be specified in multiple stages by form, in particular selected, in one, in particular first, stage a machining surface shape or shape, in particular a flat or simply curved machining surface (s), and in one, in particular subsequent or Second, stage the position, shape and / or dimension of the working surface, in particular relative to the robot, by the specification of processing positions, in particular on a Bearbeitungsflächenrand or a Bearbeitungsflächenkante, are specified. In one development, a processing pattern, in particular by specifying a spacing of, in particular parallel, processing paths, and / or a processing force, in particular perpendicular to the processing surface, can be specified in one, in particular further or third, step in the processing surface thus specified.

In one embodiment, the trajectory of the robot-guided tool is traversed with force and / or position control. In particular, the robot when trajectory traversing, in particular partially or completely active or direct and / or passive or indirect, position and / or force controlled, in particular yielding and / or impedance or admittance controlled, be controlled in a development of a virtual spring suspension is moved slightly below the working surface along the machining paths and the control realizes a virtual bondage of the robot-guided tool to this spring suspension. In one embodiment, the robot carrying the tool, in particular for this purpose, has a force and / or (joint rotation) torque sensor, in particular regulation, in particular a compliance control.

In one embodiment, the trajectory or at least in time or in sections or temporarily gas, in particular air, and / or liquid is blown through a robot-guided nozzle onto the component and / or sucked off from the component during the entire travel. As a result, the surface treatment can be improved advantageously. The sections of the trajectory on which gas and / or liquid are blown out through the nozzle and / or sucked off, and / or a blow-off, can be variably specified in an embodiment by predetermining a corresponding trajectory parameter.

In a further development, the nozzle, in particular adjustable, in particular articulated, and / or detachable, is fastened to the robot-guided tool or a member, in particular a tool flange, of the robot. As a result, an advantageous admission of the respective current processing area can be realized. By attachment to a member of the robot, the nozzle is advantageously independent of a change of the tool.

In one embodiment, the trajectory is automatically traversed a fixed or variable predetermined repetition number. By a variably predetermined or predetermined repetition number, the method can be flexibly adapted to different conditions of use. After the predetermined repetition number has been processed, an operator can check the processing result and, if appropriate, start another automatic retraction of the same or another, in particular reduced, predetermined repetition number.

During the automated trajectory trajectory, in one embodiment, an operator can manually (otherwise) finish, in particular grind, another surface of the component manually.

Additionally or alternatively, after the predetermined repetition number of a first trajectory has been processed, another, second trajectory can be traced on the basis of another, second processing primitive. Subsequently, in one embodiment, the first trajectory or another, third trajectory can again be traced on the basis of another, third processing primitive. As a result, the mobile robot can advantageously also be used during a control and / or manual reworking of a processing surface machined by it, thus shortening the process time.

As stated, the mobile robot, in particular its control, is at least partially automated for carrying out one here set up described method, in particular hardware and / or software technology.

Accordingly, in one embodiment, it has means for at least partially automated predefining of at least one processing primitive and means for at least partially automated repeated traversing of a trajectory of a tool guided by the robot arm on the basis of the processing primitive.

In one embodiment, the controller comprises means for at least partially automated selection of a processing primitive from the group of predetermined processing primitives.

Additionally or alternatively, in one embodiment, the controller comprises means for at least partially automated startup, in particular hand-controlled starting, and storing at least one processing position of the robot-guided tool or a measuring device with the robot.

Additionally or alternatively, in one embodiment, the controller comprises means for at least partially automated predetermining or determining a, in particular planar or simply curved, processing surface by or on the basis of a (r), in particular predetermined or variable number, of a plurality spaced-apart machining positions.

Additionally or alternatively, in one embodiment, the controller has means for at least partially automated specification of at least one trajectory and / or force parameter of the processing primitive, in particular on the basis of a presetting, wherein the trajectory parameter in a development is a spacing of the processing paths from one another and / or a travel speed along the machining paths and / or the force parameters describes an amount of the machining force.

Additionally or alternatively, in one embodiment, the controller has means for force-controlled and / or position-controlled trajectory traversing.

Additionally or alternatively, in one embodiment, the controller has a robot-guided, in particular adjustable and / or detachable nozzle and means for at least partially automated and / or temporary blowing out and / or on the robot-guided tool or a member, in particular tool flange, of the robot Aspirate gas, especially air, and / or liquid through the nozzle while trajectory travels.

Additionally or alternatively, in one embodiment, the controller has means for at least partially automated tracing of a fixed or variably predetermined repetition number of the trajectory.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or to output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it is capable of embodying or executing the methods described herein, so that the CPU may perform the steps of such methods and thus operate robots in particular.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

1 a robot according to an embodiment of the present invention;

2 a method according to an embodiment of the present invention; and

3 : tracing a trajectory based on a processing primitive according to another embodiment of the present invention.

1 shows a mobile robot according to an embodiment of the present invention.

The robot has a seven-axis robotic arm 10 , a mobile platform 11 to which the robot arm is attached, and a controller located in the platform 12 to, follow the steps of below with reference to 2 described method according to an embodiment of the present invention performs.

The mobile platform has a chassis with wheels that can be moved freely on a floor 13 on.

A robot-guided tool is detachable on a tool flange 14 attached to the robot arm. It has a rubbing stone 15 on, in turn, releasably connected to a Reibbelaganbindung 16 of the tool is attached.

In a first step S10 (cf. 2 ), the mobile robot is first manually positioned by an operator relative to a die or male of a press tool for making workpieces of a sheet metal vehicle body (not shown). This will be the mobile platform 11 pushed manually to the pressing tool and fixed in the desired position, for example by closing brakes (not shown) and / or retracting the landing gear 13 ,

Following the positioning of the mobile platform, a (first) processing primitive is specified in a second step S20.

For this purpose, the user first selects in step S20, for example by corresponding input of a, in particular portable, control unit of the controller 12 (not shown), a processing primitive from a group of predetermined, stored processing primitives.

This group comprises, in particular, a simply curved working surface (basic) shape or shape with a predefinable working surface edge and processing or displacement straight line or generatrix.

If the user selects these simply curved machining surfaces (basic) in step S20, he then travels in a step S30 by manual guidance of the flexibly controlled robot arm 10 a first processing position P _{1 of} the robot-guided grindstone 15 as a three-dimensional position and orientation of a tool-fixed, in 1 dot-dashed reference system relative to the base 12 of the robot is stored, for example by entering a touch-up command. This is where the rubbing stone sets 15 perpendicular to the surface of the pressing tool, which in the schematized, partially perspective view of 1 is not shown for clarity.

As long as the user wants to enter further processing positions (S40: "Y"), the controller returns 12 back to step S30 and the user travels by hand guiding the robot arm 10 in each case a further processing position of the robot-guided grindstone 15 of which in 1 purely by way of example a further processing position P _{2 is} indicated.

If the user no longer wants to enter further machining positions of a machining surface edge (S40: "N"), this is done, for example, by inputting them to the control unit's portable control unit 12 can input, in a step S50 a processing surface edge K (see FIG. 1 ) of the single-curved machining surface is given by a spline function by the machining positions predetermined in steps S20, S30, which in 1 indicated in bold.

In addition, in step S50, the user travels by manipulating the robot arm 10 yet another processing position P _{3 of} the robot-guided grindstone 15 at. Also in the above-mentioned further processing positions of the friction stone 15 each perpendicular to the surface of the pressing tool, which in the illustration of 1 again for better clarity is not shown in perspective.

The control 12 determined in step S50 on the basis of the connection of the two processing positions P ₁ , P _3, a processing line G, which defines the simple curved processing surface F by parallel displacement along the machining surface edge K as a generator (see. 1 ).

By the query in step S40, the machining surface edge K can be specified by a variable number of machining positions P ₁ , P ₂ . It should be noted again that in 1 purely by way of example only one further processing position of the machining surface edge is shown and designated P ₂ .

Subsequently, the user in a step S60, for example, by appropriate input to the portable control unit of the controller 12 , a first trajectory parameter describing a spacing of the machining line G from each other along the machining surface edge K, and a second trajectory parameter representing a traveling speed of the rubbing stone 15 along the machining line G, and a force parameter that describes an amount of the machining force perpendicular to the machining surface F. For this purpose, it can in particular take over the last stored values or overwrite them with new values.

After entering a corresponding start command, the controller moves 12 Now, in a step S70 force-controlled, a trajectory automatically automates a fixed or variably predetermined repetition number and thereby grinds the corresponding surface (machining) area of the pressing tool in order to machine this or these robot-assisted surfaces (end).

The trajectory is composed of the parallel processing lines G spaced apart from each other by the predetermined spacing along the machining surface edge K on the die or in the processing surface F and transfer paths T between these processing lines which distance them from the processing surface F without contact or normal to the processing surface connect with each other and in 1 exemplary dash-dotted lines are indicated.

In this case, the processing pattern in the exemplary embodiment provides that initially only the odd-numbered processing lines are traversed and then the omitted even-numbered processing lines are traversed in the reverse order, as by movement arrows in FIG 1 indicated. This processing pattern, the user can select in step S60 by a corresponding third trajectory parameter. By contrast, after another selectable processing pattern, adjacent processing lines are traversed successively.

As long as the repetition number also set in step S60 has not yet been reached (S80: "N"), the control repeats step S70, d. H. retracts the trajectory again.

If the predetermined repetition number is reached (S80: "Y"), the user checks the processing result in a step S90.

If necessary, he can start a renewed automated departure of the same or another, in particular reduced, predetermined repetition number (not shown).

In addition, in step S90, he may decide whether to process another processing area. If this is the case, the method returns in the exemplary embodiment to step S20, in which a further processing surface can be specified. In a modification not shown, a plurality of machining surfaces may also initially be specified in the manner described with reference to S20 to S60, and then the predetermined machining surfaces may be successively or alternately in the manner described by reference to S70 to S90 by the robot-guided friction stone 15 to be edited.

During the automated trajectory of the trajectory (s) in step S70, the user can parallel surfaces (end) edit, in particular grind a different area of the pressing tool manually.

In the exemplary embodiment, the group of predetermined processing primitives also includes a planar processing surface (nform) with a predeterminable, rectangular-shaped processing surface edge.

If the user selects the planar processing surface (nform) instead of the simply curved one in step S20, then in order to specify its edge in steps S30 to S50, he moves only the in 1 explicitly designated processing positions P ₁ to P ₃ , wherein the controller 12 then from the connection of the two processing positions P ₁ , P _2, the straight processing edge K and from the connection of the two processing positions P ₁ , P _3, the processing line G determined.

During trajectory trajectory, air is temporarily released through a robot-guided nozzle 17 blown out on the pressing tool, the adjustable, in particular articulated, and / or releasably, on the tool flange 14 is attached.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible.

In particular, the in 1 shown simply curved working surface F instead of along the parallel processing line G also processed along curved paths or traversed, which emerge by parallel displacement of the machining surface edge K longer of the straight line P ₁ P ₃ .

This is in 3 exemplary in 1 corresponding manner indicated the departure of the trajectory according to such a modification, which otherwise corresponds to the above-described embodiment, so that reference is made to its description and will be discussed below only on differences.

The control 12 determined in this modification in step S50 based on the connection of the two processing positions P ₁ , P _3, a shift line, wherein the single-curved work surface F by parallel displacement of this displacement line P ₁ P ₃ along the machining surface edge K or vice versa by parallel displacement of the machining surface edge K along this displacement line P ₁ P _{3 is} defined.

Subsequently, in step S60, the user inputs the first trajectory parameter, which then describes a spacing of the curved machining paths G 'parallel to the machining surface edge K along the displacement straight line P ₁ P ₃ and predetermined by the spline function along the displacement straight line, and the second one Trajectory parameter, which is the traversing speed of the rubbing stone 15 along these machining paths G 'and the force parameter which describes the amount of machining force perpendicular to the machining surface F.

The trajectory is thus in the modification of the spaced apart by the predetermined spacing along the displacement line P ₁ P ₃ parallel processing paths G 'on the die or in the processing surface F and transfer paths T between these processing paths together, these contactless or normal spaced apart from the processing surface F from the processing surface.

As in the above-described embodiment, the processing pattern can also analogously provide that at first only the odd-numbered processing paths are traversed and then the omitted even-numbered processing paths are traversed in the reverse order, or adjacent processing paths are traversed successively according to another selectable processing pattern. This processing pattern can be selected by the user in step S60 by the corresponding third trajectory parameter.

It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

10

robot arm

11

mobile base

12

control

13

Wheel (chassis)

14

tool flange

15

Reibstein

16

Reibflächenanbindung

17

jet

F

working surface

G

processing straight

G'

machining path

K

working edge

P _{1, 2,3}

processing position

T

transfer orbit

Claims (13)

Method for surface treatment, in particular for grinding, a component, in particular a forming tool, by means of a mobile robot with a multi-axis robotic arm ( 10 ) and a mobile platform ( 11 ), comprising the step: - positioning (S10) the mobile platform ( 11 ) relative to the component; characterized by the steps of: - specifying (S20-S60) at least one edit primitive; and repeated traversing (S70, S80) of a trajectory (G, T, G ', T) of a trajectory (G, T; 10 ) guided tool ( 15 . 16 ) based on the processing primitive, wherein the processing primitive - a processing surface (F), in particular a processing surface shape, a processing surface edge, a processing surface edge (K) and / or at least one processing position (P ₁ -P ₃ ) of the robot-guided tool ( 15 . 16 ); - An editing force, in particular normal to the working surface (F); and / or - a processing pattern, in particular predeterminably spaced and / or mutually parallel processing paths, in particular processing line (G) or Bearbeitungssplines (G '), on the component and / or, in particular component-contact-free, transfer paths (T) between spaced processing tracks comprises. The method of claim 1, wherein the mobile platform ( 11 ) manually and / or motor positioned, in particular method and / or fixed, is. The method of any one of the preceding claims, wherein predetermining the edit primitive comprises: - selecting (S20) a machining primitive from a group of given machining primitives. The method of claim 3, wherein the set of predetermined processing primitives comprises at least one planar and / or at least one single curved machining surface and / or at least one double curved machining surface. Method according to one of the preceding claims, wherein the specification of the processing primitive comprises: - starting, in particular manually guided starting, and storing (S30, S40, S50) at least one processing position (P ₁ -P ₃ ) of the robot-guided tool ( 15 . 16 ) or a measuring means with the robot. Method according to one of the preceding claims, wherein one, in particular planar or simply curved, processing surface by one, in particular predetermined or variable number of a plurality of spaced apart processing positions (P ₁ -P ₃ ) is specified. The method of any one of the preceding claims, wherein predetermining the edit primitive comprises: - Specifying (S60) at least one trajectory and / or force parameter of the processing primitive, in particular based on a default setting. Method according to claim 7, wherein the trajectory parameter describes a spacing of the machining paths (G; G ') from one another and / or a travel speed along the machining paths (G; G') and / or the force parameters an amount of the machining force. Method according to one of the preceding claims, wherein the trajectory of the robot-guided tool is traversed force and / or position-controlled. Method according to one of the preceding claims, wherein during the trajectory of the trajectory at least temporarily gas, in particular air, and / or liquid through a robot-guided nozzle ( 17 ) is blown onto the component and / or sucked from the component. Method according to claim 10, wherein the nozzle ( 17 ), in particular adjustable and / or detachable, on the robot-guided tool ( 15 . 16 ) or a member, in particular tool flange ( 14 ), the robot is attached. Method according to one of the preceding claims, wherein the trajectory automatically a fixed or variably predetermined repetition number is traversed. Mobile Robot ( 10 - 17 ), which is set up to carry out a method according to one of the preceding claims.

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