EP3423963A1 - Procédé assisté par ordinateur et programme d'ordinateur pour estimer la qualité d'un cordon de matière - Google Patents

Procédé assisté par ordinateur et programme d'ordinateur pour estimer la qualité d'un cordon de matière

Info

Publication number
EP3423963A1
EP3423963A1 EP17708508.1A EP17708508A EP3423963A1 EP 3423963 A1 EP3423963 A1 EP 3423963A1 EP 17708508 A EP17708508 A EP 17708508A EP 3423963 A1 EP3423963 A1 EP 3423963A1
Authority
EP
European Patent Office
Prior art keywords
application
cross
values
strand
material strand
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Withdrawn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
EP17708508.1A
Other languages
German (de)
English (en)
Inventor
Thomas Fippl
Marten Tolk
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.)
Atlas Copco IAS GmbH
Original Assignee
Atlas Copco IAS GmbH
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 Atlas Copco IAS GmbH filed Critical Atlas Copco IAS GmbH
Publication of EP3423963A1 publication Critical patent/EP3423963A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/002—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the work consisting of separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling

Definitions

  • the invention relates to a particularly computerimplemented method for simulating the application of a material strand to a workpiece by means of a moving along a running on a surface of the workpiece job path applicator.
  • Strands of viscous materials are industrially applied to workpieces mostly by an applicator device is moved by means of a robot along a run on a surface of the workpiece concerned job path and emits the material to the workpiece surface.
  • a large number of parameters influence the shape and size of the material strand applied to the workpiece.
  • the volume flow and the pressure with which the material is applied through an application nozzle the distance of the nozzle to the workpiece surface, the speed of the nozzle with respect to the workpiece surface, the type of material and the temperature of the material and many more, the Material, the applicator, the workpiece and the environment parameters.
  • the invention is based on the idea, in particular to simulate the order of a strand of material before the commissioning of a coating device.
  • parameter sets are predefined and stored in a data memory which contain parameters that influence the cross-section values of the material strand.
  • the cross-sectional values of the material strand characterize its cross-sectional area in terms of its shape and size.
  • the parameters may include parameters characterizing the material, such as the type of material, the viscosity or the temperature of the material, parameters of the applicator such as the volume flow, the pressure exerted on the material, the cross section of the applicator nozzle, its distance to the workpiece surface or their speed relative to the workpiece surface as well as parameters of the environment such as the ambient temperature act.
  • order points located on the job path are each assigned a cross-sectional value, which is determined from the parameter set specified at the respective job site.
  • a plurality of parameter sets as well as cross-section values experimentally determined for each parameter set are stored in a data memory.
  • the data processing unit which is expediently a computer, then determines the cross-section values associated therewith for each given parameter set with the aid of the data memory or reads them out of the data memory.
  • the data processing unit calculates the cross-sectional values by means of an algorithm from the given parameter sets. In this way, a series of cross-sectional values is created along the application path, which are arranged according to the juxtaposition of the application sites in predetermined mutual distances.
  • the simulation of the material strand between the application sites is carried out by interpolation by assigning cross-section values determined by the data processing unit to each site between the application sites by means of interpolation. It is therefore not necessary to arrange the job sites too close to each other, which would require an enormous computing power.
  • the job path may be a straight line on which the job sites are lined up at predetermined intervals linearly.
  • a straight line is a simplification of a real job path suitable for most applications, which is usually curved several times.
  • the job path is an at least two-dimensional line, so that in the simulation curves and mountain and valley curves can also be displayed.
  • a preferred embodiment provides that the cross-sectional values determined at the application sites based on the predetermined parameter sets for assessing the quality of the material strand are compared with predetermined desired values. In this way, it is possible to assess the quality of the simulated material strand and, if appropriate, to simulate another material strand with changed parameters if the deviations from the target values are too great. Furthermore, it is preferred that the cross-sectional values determined by interpolation at the points between the application sites for assessing the quality of the material strand are also compared with predetermined desired values.
  • FIG. 1 shows a applied to the surface of a workpiece material strand.
  • FIG. 2 shows a section of a simulated material strand;
  • FIG. 3 shows a section of a simulated material strand with identified quality of the individual sections;
  • Fig. 4 is an adhesive applicator
  • 5 is a block diagram of a simulation method.
  • the material strand 10 shown in FIG. 1 made of a viscous material, in particular an adhesive or a sealant, is applied to the surface 12 of a workpiece 14.
  • the illustration according to FIG. 1 can only be seen as an example, but essentially corresponds to the representation of a typical material strand.
  • the material strand 10 begins at an initial point 16 and ends at a terminal point 18. It has areas of larger cross-sectional area 20 and areas of smaller cross-sectional area 22 and can be divided into straight sections 24 and curved sections 26.
  • the inventive method allows the simulation of the order of the material strand 10 on the workpiece 14.
  • the size and shape of the cross section of the material strand 10 is dependent on a variety of parameters at each of its locations. These parameters include parameters of the application device used for the material application, such as the volume flow or the pressure applied to the material during application, the type of nozzle from which the material emerges, in particular its cross-section, the speed with which the material flows 12. Parameters influencing the shape and size of the strand cross section are further material-specific parameters such as the type of material and the viscosity of the material and its temperature, as well as environmental parameters such as ambient temperature, humidity, etc ..
  • the simulation is performed by a data processing unit 52 having a data memory 54 (see Fig. 4).
  • the data memory 54 stores a plurality of parameter sets, each of which has a value for each of the contains the above parameters.
  • Each of these parameter sets is assigned an experimentally determined cross-sectional value of the material strand 10 and stored in the data memory 54, which contains the size and shape of the cross-sectional area of the material strand 10, which is achieved during the material application with the parameters specified in the parameter set.
  • first of all a plurality of application points 30, which are arranged along an application path 28 on the workpiece surface 12 at predetermined distances from one another, are each assigned a parameter set which contains the parameters provided for the material application. Then, as shown in FIG.
  • the application sites 30 are assigned two-dimensional representations of the strand cross-section, which are read from the data memory 54 as belonging to the parameter set predetermined at the relevant application site 30.
  • the cross-sectional values 32 that can be visualized as slices form a good visualization of the material strand 10 to be expected at the respective application locations 30 between the respective parameter sets.
  • the material strand 10 is simulated by interpolation, by each Place assigned between the job sites 30 by the data processing unit 52 by means of interpolation cross-section values and the spaces between the job sites 30 are filled with it.
  • the representation of the material strand 10 obtained by the simulation can be compared with nominal values, as shown in FIG. 3. It is thus possible to check whether the parameter sets selected during the application process are suitable for producing a material strand 10 of the desired shape.
  • the cross-sectional values 32 obtained by the simulation are compared with nominal values and the material strand 10 is subdivided in its visualization into sections 34 in which it does not deviate from the nominal values or tolerable, as well as into further sections 36 in which its deviation from Setpoint is intolerable.
  • the sections 34, 36 can be highlighted in color.
  • the simulation can then be repeated by changing the parameter sets for the further sections 36. If you get in the simulation a strand of material 10, which is acceptable for the application appears, then the predetermined parameter sets used in the simulation can be used when applying the actual material strand 10.
  • An application device 40 for the application of adhesive to a body component 42 for a motor vehicle according to FIG. 4 has a robot 44, on the robot arm 46 of which an application device 48 for the adhesive is mounted.
  • the application device 48 has an application nozzle 50, which is moved by the robot 44 along an application path at a distance from the workpiece 42 over its surface. From the application nozzle 50 adhesive pressure is applied to the workpiece 42.
  • the movement of the robot 44 and thus of the application device 48 relative to the workpiece 42 is controlled by means of a robot control unit which, together with a job control unit controlling the material application, is part of a control device 56.
  • control device 56 has the data processing unit 52, which provides the previously determined in the simulation parameters for controlling the adhesive application.
  • FIG. 5 illustrates the simulation method as a block diagram.
  • Method step 60 relates to the setting of the job sites 30 on the job path 28
  • process step 62 relates to the reading of parameter sets and their assignment to the job sites 30th
  • method step 64 relates to the reading of belonging to the parameter sets representations of the strand cross-section, during step 66, the assignment of these representations to the order locations 30.
  • the optional method step 68 relates to the interpolation between the application sites 30,
  • method step 70 relates to the comparison of the order cross sections associated with the order points 30 with setpoints. If all strand cross-sections lie within tolerance ranges around the target values, a transfer of the parameter sets to the application device 40 takes place in method step 72. If individual or all strand cross-sections to differ greatly from the respective setpoint, step 62 is repeated by individual parameters of the parameter sets that have resulted in strongly deviating strand cross sections are changed.
  • the invention relates to a method for simulating the application of a strand of material 10 on a workpiece 14, in particular a strand of a viscous adhesive or sealant, by means of a along a run on a surface 12 of the workpiece 14 application path 28 applicator, wherein cross-sections 32 of the material strand 10 characterizing the cross-sectional area of the material strand 10 in their shape and size are assigned at predetermined deposition intervals to the application sites 30 arranged on the application path 28, and the cross-sectional values 32 at each application site 30 are determined by a data processing unit 52 are determined from a predetermined parameter set, which i5 rather contains parameters that influence the material order at the respective job site 30.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Coating Apparatus (AREA)

Abstract

L'invention concerne un procédé permettant la simulation de l'application d'un cordon de matière (10) sur une pièce à usiner (14), en particulier un cordon d'une substance visqueuse adhésive ou étanche, au moyen d'un dispositif d'application déplacé le long d'une trajectoire d'application (28) sur une surface (12) de la pièce à usiner (14). À des positions d'application (30) disposées à des intervalles respectifs prédéfinis sur la trajectoire d'application (28) sont associées des valeurs de section transversale (32) du cordon de matière (10) qui caractérisent la surface de la section transversale du cordon de matière (10) selon sa forme et sa taille. Les valeurs de section transversale (32) sont déterminées chacune à chaque position d'application (30) au moyen d'une unité de traitement de données (52) à partir d'un jeu de paramètres prédéfinis, qui contient des paramètres qui influent sur l'application de matière à la position d'application (30) concernée.
EP17708508.1A 2016-03-03 2017-03-03 Procédé assisté par ordinateur et programme d'ordinateur pour estimer la qualité d'un cordon de matière Withdrawn EP3423963A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016002484.4A DE102016002484A1 (de) 2016-03-03 2016-03-03 Simulationsverfahren
PCT/EP2017/055012 WO2017149123A1 (fr) 2016-03-03 2017-03-03 Procédé assisté par ordinateur et programme d'ordinateur pour estimer la qualité d'un cordon de matière

Publications (1)

Publication Number Publication Date
EP3423963A1 true EP3423963A1 (fr) 2019-01-09

Family

ID=58213092

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17708508.1A Withdrawn EP3423963A1 (fr) 2016-03-03 2017-03-03 Procédé assisté par ordinateur et programme d'ordinateur pour estimer la qualité d'un cordon de matière

Country Status (6)

Country Link
US (1) US20190034567A1 (fr)
EP (1) EP3423963A1 (fr)
KR (1) KR102257488B1 (fr)
CN (1) CN108701165A (fr)
DE (1) DE102016002484A1 (fr)
WO (1) WO2017149123A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019121347A1 (de) * 2019-08-07 2021-02-11 Atlas Copco Ias Gmbh Überwachungsverfahren sowie Auftragsvorrichtung für mehrkomponentiges viskoses Material

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10150826A1 (de) * 2001-10-15 2003-04-17 Duerr Systems Gmbh Verfahren und Programmsteuersystem zur Steuerung einer Beschichtungsanlage
DE102005026374B4 (de) * 2005-06-07 2017-10-12 Sca Schucker Gmbh & Co. Kg Verfahren zum Aufbringen von Streifen aus pastösem Material
ES2564242T3 (es) * 2007-05-10 2016-03-21 Homag Holzbearbeitungssysteme Ag Procedimiento y dispositivo para el revestimiento de una superficie
JP6342912B2 (ja) * 2012-11-08 2018-06-13 ディーディーエム システムズ， インコーポレイテッド 金属構成要素の加法的製造および修復
DE102012223806B4 (de) * 2012-12-19 2018-11-29 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum materialabtragenden Bearbeiten eines Werkstücks und zugehöriges Computerprogrammprodukt

Also Published As

Publication number Publication date
KR102257488B1 (ko) 2021-05-27
DE102016002484A1 (de) 2017-09-07
WO2017149123A1 (fr) 2017-09-08
KR20180118654A (ko) 2018-10-31
CN108701165A (zh) 2018-10-23
US20190034567A1 (en) 2019-01-31

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