EP3411196A1 - Robot à plusieurs axes ainsi que procédé de commande dudit robot pour peindre des objets - Google Patents

Robot à plusieurs axes ainsi que procédé de commande dudit robot pour peindre des objets

Info

Publication number
EP3411196A1
EP3411196A1 EP17701479.2A EP17701479A EP3411196A1 EP 3411196 A1 EP3411196 A1 EP 3411196A1 EP 17701479 A EP17701479 A EP 17701479A EP 3411196 A1 EP3411196 A1 EP 3411196A1
Authority
EP
European Patent Office
Prior art keywords
tool
kinematic
center point
robot
kinematic chain
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17701479.2A
Other languages
German (de)
English (en)
Inventor
Stephan Schwab
Mirjam SALOMON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eisenmann SE
Original Assignee
Eisenmann SE
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Eisenmann SE filed Critical Eisenmann SE
Publication of EP3411196A1 publication Critical patent/EP3411196A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • 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
    • B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
    • 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
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39562—Dual end effector, one as tool, the other as workhandler, revolver
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40062—Door opening
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45065—Sealing, painting robot

Definitions

  • the invention relates to a multi-axis robot, in particular a painting robot, a) with a kinematic chain having a tool member and at least one further member, b) wherein the tool member carries a first tool, in particular an application device, c) with a robot controller, the Control of the first tool comprises a kinematic control, which is adapted to receive the trajectory of the first tool based on a parameterizable tool center point and then to drive the members of the kinematic chain such that the tool center follows the trajectory.
  • the invention further relates to an associated paint shop and method for controlling a multi-axis robot, for programming a multi-axis robot and for painting objects.
  • multi-axis robot be delivered with a kinematic control, which is tuned to the kinematic chain, ie the number and design of the movable members and axes of motion of the multi-axis robot.
  • the kinematic control includes a complete kinematics model of the kinematic chain of the multi-axis robot, which allows to easily the trajectory of a mounted on the front end of the multi-axis robot tool program.
  • a so-called. Tool Center Point is deposited depending on the attached tool on the terminal tool member in the kinematic control, which should then proceed via appropriate programming necessary for the process flow trajectory.
  • the kinematic control of the robot manufacturer takes over the calculation of the positions of the various members of the multi-axis robot necessary for the movement and controls the actuators accordingly.
  • the kinematics control ensures, for example, that the respective limbs are driven for collision avoidance only within predetermined ranges of movement, that the new position along the trajectory is reached as quickly as possible or that the most energy-efficient movements possible.
  • the user can easily program the multi-axis robot with the help of the kinematic control so that it performs the tasks intended for it.
  • the user of the multi-axis robot would have to largely circumvent the kinematic control of the robot manufacturer according to the previously known procedure and even calculate and control the required positions of the links. This succeeds only unsatisfactorily in the context of the cost and effort requirements of a project.
  • the at least one further link carries a second tool and that e) the robot control for controlling the second tool is set up such that it transmits all links along the kinematic chain from the tool link to the at least one further link Limb which carries the second tool sets in a fixing position, the tool center point parameterized to an operating point of the second tool and the kinematic control passes the trajectory of the second tool, so that they under the constraint that the fixing position of the links is maintained, using the newly parameterized Tool center point controls the members of the kinematic chain such that the tool center follows the path of movement of the second tool.
  • kinematic control can also be used to control a second tool carried by a member other than the tool member by blocking the degrees of freedom of the kinematic chain between the tool tip end and the other member by manipulating the kinematic chain or the intervening links.
  • Typical kinematics controls allow such a determination of individual or multiple links, for example, collision avoidance.
  • the links By specifying the links, the geometry between the tool member and the operating point of the second tool is then precisely defined so that basically a type of virtual tool is generated by parameterizing the tool center point stored in the kinematic control to the operating point of the second tool for the kinematics control, which, starting from the tool song, comprises all links up to the second tool.
  • all members also includes only a single member, which would then be the tool member.
  • the kinematics control thereby continues to control the center of the tool with the help of the intrinsic kinematics model with respect to the terminal tool member.
  • the constraints on the fixed members are taken into account so that ultimately only the one or more rear members are moved up to and including the member which carries the second tool.
  • First and second tools for the purposes of the present invention may be, for example, application devices such as rotary atomizers, spray guns or printheads, grippers, door or bonnet openers, measuring devices such as scanners or optical or mechanical surface measuring devices, welding heads or tools for intermediate drying such as radiators or air nozzles.
  • application devices such as rotary atomizers, spray guns or printheads, grippers, door or bonnet openers, measuring devices such as scanners or optical or mechanical surface measuring devices, welding heads or tools for intermediate drying such as radiators or air nozzles.
  • the links that are fixed can easily be moved to a previously defined fixing position.
  • the fixing position corresponds to a position which occupies or occupy the or the members to be fixed immediately before the change to the second tool.
  • the robot controller must be set up to calculate the position of the operating point with respect to the tool member when changing, in order to parameterize the kinematic control correctly. In this way, unnecessary movements of the limbs are avoided.
  • the outer contour of the fixed part of the kinematics chain is preferably also used parameterized. As a result, the collision monitoring of the kinematic control can continue to be used.
  • the moment of inertia of the terms should already be taken into account. However, if necessary, an adjustment of the moment of inertia of the tools to the changed tool center point would have to be made (i.e., basically a transition to the changed tool center point coordinate system).
  • the at least one further link may carry a plurality of second tools.
  • the robot controller may be configured to parameterize the tool center point in each case to that second tool which is to be controlled.
  • a plurality of different tools for example a door opener and a separate bonnet opener, can be provided and controlled at a rear element of the kinematics chain.
  • the driving principle according to the invention can also be applied to tools on different links.
  • several second tools can be arranged on different other links.
  • the robot controller can be set up to fix the corresponding links along the kinematics chain from the tool link to the respective further link which carries the respective second tool in a fixing position and to parameterize and control the kinematic control accordingly.
  • such a multi-axis robot can advantageously be used as a painting robot.
  • a method for controlling a multi-axis robot, in particular a painting robot, having a kinematic chain which has a tool member and at least one further member, wherein the tool member is a first tool, in particular an application device, and the at least one further member is a second tool carry the following steps: a) providing a robot controller comprising a kinematic controller for controlling the first tool, which is adapted to receive the trajectory of the first tool based on a parameterizable tool center point and then to drive the links of the kinematic chain such that the tool center follows the trajectory; b) fixing all members along the kinematic chain from the tool member to the at least one further member supporting the second tool in a fixing position; c) parameterizing the tool center of the kinematic control to an operating point of the second tool; d) Passing the trajectory of the second tool to the kinematic control so that it under the constraint that the fixing position of the links is maintained, based on the newly parameterized tool center the links
  • the following steps can be performed beforehand: a) programming the trajectory of the first tool by means of a tool center point; b) programming the trajectory of the second tool by means of a
  • the inventive method can also be used to control a multi-axis robot with a kinematic chain of xn members using a kinematic control, which is designed for a multi-axis robot with x members.
  • a kinematic control which is designed for a multi-axis robot with x members.
  • the real tool member of the multi-axis robot with xn members for the control purposes corresponds to the second tool.
  • the terminal n members are included fully defined so that the kinematic control maintains them as a fixed constraint throughout the process.
  • the teaching described above in a method for painting an article with a movable component are used.
  • This comprises the following steps: a) providing a painting robot with a kinematic chain having a tool member and at least one further member, wherein the tool member carries an application device as a first tool and the at least one further member a second tool, b) applying the method according to the invention for controlling the painting robot in order to move the movable component with the second tool; c) painting the object before and / or after moving the movable component with the aid of the application device;
  • a method for implementing a multi-axis robot, in particular a painting robot, with a kinematic chain having a tool member and at least one further member, wherein the tool member a first tool, in particular an application device, and the at least one further member may carry a second tool the following steps include: a) programming the path of movement of the first tool, in particular an application device, in a kinematic control, which is adapted to receive the trajectory of the first tool based on a parameterizable tool center point and then to drive the members of the kinematic chain such that the tool center point the trajectory follows; b) fixing all members along the kinematic chain from the tool member to the at least one further member supporting the second tool in a fixing position; c) parameterizing the tool center of the kinematic control to an operating point of the second tool; d) programming the trajectory of the second tool in the kinematic control, so that it can control the members of the kinematic chain under the constraint that the fixing position of the links
  • Figure 1 is a perspective view of a paint shop with two multi-axis robots as painting robot;
  • Figure 2 is a schematic partial view in cross section through the paint shop, which illustrates the programming of a trajectory of an application device
  • FIG. 3 shows a schematic partial view in cross section through the painting installation, which illustrates the programming of a movement path of another operating element
  • FIG. 4 shows a flowchart which shows the method step for reducing the kinematics.
  • Figure 1 shows a perspective view of a portion of an exemplary paint shop 10, which is provided here for painting vehicle bodies 12 or their attachments, which have, for example, a motor hood 13 as a movable component.
  • the vehicle bodies 12 are moved with the aid of a conveyor 14 through a painting booth 16, in which multi-axis robots are arranged as painting robots 18.
  • such a painting robot 18 initially has a base 20 and a fuselage element 22.
  • a three-axle joint 24 is arranged at the upper end, which produces a hinged connection to a first arm portion 26.
  • a Einachsgelenk 28 is arranged, which in turn between the first arm portion 26 and a second arm portion 30 establishes a hinged connection.
  • a three-axis joint 32 is arranged, which in turn carries a third arm portion 34.
  • This third arm portion 34 has a single axis joint 36 which carries a hand portion 38 on which the first tool, in this case a rotary atomizer 40 with a bell cup, is mounted.
  • the painting robot 18 has on the second arm portion 30 an actuating element as a second tool, here by way of example a bonnet opener 42. Furthermore, as an alternative applicable second tool here also a tank flap opener 43 on the same second arm portion 30 is provided.
  • a second tool here by way of example a bonnet opener 42.
  • a tank flap opener 43 on the same second arm portion 30 is provided.
  • a so-called tool center 44 is assigned to the rotary atomizer 40 as a reference point.
  • This tool center 44 may be the point at which the rotary atomizer 40 emits its optimum spray pattern.
  • This tool center 44 is then as needed during the Implementation phase of the paint shop 10 is guided over the surface of each vehicle body 12 to be painted.
  • the tool center 44 can also be performed in front of or behind the actual body surface, for example, to produce a larger or smaller Lackierfleck.
  • a robot controller 50 comprising a kinematic controller 51, which is typically supplied by the manufacturer of the corresponding multi-axis robot.
  • the robot controller communicates with an operator computer 52 for programming.
  • a tool zero point 54 is deposited, with respect to which the tool center 44 is determined depending on the tool. In Figure 2, this is indicated by the double arrow a, which of course is to be considered vectorially. If the painting robot 18 is operated with another tool, for example by an automated tool change during a painting process or between different painting processes, e.g. when changing to different types of vehicle bodies 12, the tool center 44 can be reparameterized.
  • the movement path of the tool center point 44 or of the rotary atomizer 40 including its orientation along the vehicle body 12 is then programmed in a simple manner, for example in the form of a plurality of individual support points of a spline curve, via the operating computer 52.
  • the hood opener 42 is used. Due to the fact that the bonnet opener 42 is arranged on the second arm portion 30 and naturally the rear joints and members and the associated actuators of the painting robot 18 are dimensioned larger than the front elements, the painting robot 18 is capable of doing so because then with the bonnet opener 42 a sufficient force can be applied.
  • the two last joints 32 and 36 are either in their current position or in a predefined position fixed. Depending on the fixed position, the tool center point 44 is now parameterized with respect to the tool zero point 54 to the operating point of the bonnet opener 42 (see double arrow b).
  • the bonnet opener 42 can be controlled according to its required trajectory via the usual kinematics control 51 by means of a path planning.
  • the operating computer 52 accesses the known kinematic control 51 via the robot controller 50, the joints 32 and 36 remaining fixed in the kinematics model as a secondary condition.
  • the tank flap opener 43 can also be operated.
  • the tool center point 44 in the kinematic control 51 is then defined correspondingly differently. If the tank flap opener 43 were to be arranged on another link of the kinetmatic chain, correspondingly more or fewer joints would have to be fixed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)

Abstract

L'invention concerne un robot à plusieurs axes, en particulier un robot de peinture (18), muni d'une chaîne cinématique qui présente un élément d'outil (36, 38) et au moins un autre élément (22, 24, 26, 28, 30, 32, 34), l'élément d'outil (36, 38) portant un premier outil (40), en particulier un appareil d'application (40). La commande de robot (50) associée comprend une commande cinématique (51) qui est conçue pour recevoir la trajectoire de déplacement du premier outil (40) au moyen d'un point d'outil (44) paramétrable et pour commander les éléments (22, 24, 26, 28, 30, 32, 34, 36, 38) de la chaîne cinématique de telle manière que le point d'outil (44) suit la trajectoire de déplacement. Par ailleurs, la commande de robot (50) immobilise tous les éléments (32, 34, 36, 38) le long de la chaîne cinématique du premier élément d'outil (36, 38) à un autre élément (28, 30) qui porte le deuxième outil (42, 43) dans une position fixe, paramètre le point d'outil (44) sur le point de fonctionnement du deuxième outil (42, 43), et transmet la trajectoire de déplacement du deuxième outil (42, 43) à la commande cinématique (51), de sorte que cette dernière, à la condition auxiliaire que la position fixe des éléments (32, 34, 36, 38) soit maintenue, active, à l'aide du point d'outil (44) récemment paramétré, les autres éléments (22, 24, 26, 28, 30) de la chaîne cinématique de telle manière que le point d'outil (44) suit la trajectoire de déplacement du deuxième outil (42, 43).
EP17701479.2A 2016-02-02 2017-01-24 Robot à plusieurs axes ainsi que procédé de commande dudit robot pour peindre des objets Withdrawn EP3411196A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016001073.8A DE102016001073B4 (de) 2016-02-02 2016-02-02 Mehrachsroboter sowie Verfahren zu dessen Steuerung bei der Lackierung von Gegenständen
PCT/EP2017/051445 WO2017133929A1 (fr) 2016-02-02 2017-01-24 Robot à plusieurs axes ainsi que procédé de commande dudit robot pour peindre des objets

Publications (1)

Publication Number Publication Date
EP3411196A1 true EP3411196A1 (fr) 2018-12-12

Family

ID=57890816

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17701479.2A Withdrawn EP3411196A1 (fr) 2016-02-02 2017-01-24 Robot à plusieurs axes ainsi que procédé de commande dudit robot pour peindre des objets

Country Status (5)

Country Link
US (1) US20190039249A1 (fr)
EP (1) EP3411196A1 (fr)
CN (1) CN108698226A (fr)
DE (1) DE102016001073B4 (fr)
WO (1) WO2017133929A1 (fr)

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CN109454642B (zh) * 2018-12-27 2021-08-17 南京埃克里得视觉技术有限公司 基于三维视觉的机器人涂胶轨迹自动生产方法
CN111347423B (zh) * 2020-01-19 2022-08-05 天津大学 工业机器人传送带动态跟踪涂胶方法
CN113560051B (zh) * 2021-08-10 2022-08-05 扬州瑞阳化工有限责任公司 一种黄磷燃烧炉供磷用的磷喷枪

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Also Published As

Publication number Publication date
DE102016001073B4 (de) 2018-10-25
DE102016001073A1 (de) 2017-08-17
CN108698226A (zh) 2018-10-23
WO2017133929A1 (fr) 2017-08-10
US20190039249A1 (en) 2019-02-07

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