EP4319945A1 - Procédé de correction de trajectoire pour un système d'enduction - Google Patents

Procédé de correction de trajectoire pour un système d'enduction

Info

Publication number
EP4319945A1
EP4319945A1 EP22720648.9A EP22720648A EP4319945A1 EP 4319945 A1 EP4319945 A1 EP 4319945A1 EP 22720648 A EP22720648 A EP 22720648A EP 4319945 A1 EP4319945 A1 EP 4319945A1
Authority
EP
European Patent Office
Prior art keywords
coating
web
path
component
robot
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.)
Pending
Application number
EP22720648.9A
Other languages
German (de)
English (en)
Inventor
Harald Kunz
Julian Ricardo Diaz POSADA
Björn Schöll
Alexander SPILLER
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.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
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 Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP4319945A1 publication Critical patent/EP4319945A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • 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
    • B05B13/0426—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved along a closed path
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36414—Compare image detected path with stored reference, difference corrects position
    • 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 path correction method for correcting paint paths when coating a component (e.g. motor vehicle body part) with a coating agent (e.g. paint). Furthermore, the invention relates to a corresponding coating method and a coating system for carrying out the method.
  • a component e.g. motor vehicle body part
  • a coating agent e.g. paint
  • rotary atomizers are usually used as ap application devices, which emit a spray jet of paint and are guided over the motor vehicle body components to be painted by multi-axis painting robots.
  • the rotary atomizers are usually guided along specified paint tracks that run parallel to one another and are programmed in such a way that the superimposition of the coatings applied in the adjacent paint tracks results in a layer thickness that is as constant as possible.
  • the path accuracy of the painting robots used is sufficient to achieve an acceptable coating result, since rotary atomizers do not produce sharply defined lacquer paths on the component surface.
  • print heads which offer the advantage that there is almost no annoying overspray, since the application efficiency of print heads is close to 100%.
  • these print heads do not produce a spatially extended and not sharply delimited spray jet, but rather apply paint strips with a sharp delimitation.
  • the result of this is that the print head must be positioned very precisely when applying adjacent coating lines so that there are no gaps or overlaps between the adjacent coating lines.
  • the required track accuracy can still be achieved with the known painting robots if the adjacent painting tracks are applied by the same painting robot in the same direction, at the same speed and with the same orientation.
  • EP 3 098 082 B1 DE 10 2012 006 370 A1, DE 102019 119 730 A1 and US 2015/0 138 275 A1.
  • the invention is therefore based on the object of solving the problem described above.
  • the invention also includes a corresponding coating method, which uses the path correction method according to the invention, as well as a coating system for carrying out the path correction method or the coating method.
  • the web correction method according to the invention enables the correction of coating webs that are applied when a component is coated with a coating agent.
  • the trajectory correction method is used in order to correct coating trajectories that are applied with a coating when coating a motor vehicle body component.
  • the invention is not limited to motor vehicle body components, but can also be used with other types of components.
  • the invention is not limited to paints with regard to the applied coating material, but can in principle also be implemented with other types of coating materials.
  • the invention is not limited to a specific type of the respective application device. However, the invention is particularly advantageous in the use of so-called print heads as application devices.
  • Such print heads differ from rotary atomizers or other atomizers in that no spatially extended spray jet of paint is emitted, but rather a spatially narrowly limited jet of coating agent, with the application efficiency being close to 100%, so that almost no overspray occurs.
  • a reference path is first defined, which then serves as a reference path for the path correction method.
  • the reference track is a component edge, such as a roof edge of a motor vehicle body or an edge of a fender, a door, a hood or a trunk lid, to name just a few examples.
  • the reference path does not necessarily have to run at the edge of the component to be coated. Rather, there is also the possibility that the reference path runs within the component surface, as is the case, for example, with so-called design edges (character edges).
  • the reference path e.g. component edge, design edge
  • the path correction method according to the invention provides that a first coating path of the coating agent is applied to the component, the first coating path and the reference path running alongside one another and ideally adjoining one another at a seam point without a path error.
  • the first lacquering path is thus applied with uncorrected path data which are only to be corrected as part of the path correction method according to the invention.
  • the disturbing web error is then determined at the interface between the first coating web on the one hand and the adjacent reference web on the other hand, which can be done, for example, by the optical measuring system already briefly mentioned above, as will be described in detail below.
  • the width of the seam (gap or overlap) between the first coating line and the adjacent reference line can be measured.
  • path correction values are then determined, which are used to correct the course of the first painting path in a subsequent coating operation, the path correction values being calculated as a function of the previously determined path error. If, for example, a gap is determined between the reference line and the first painting line, it can the first coating line can be moved closer to the reference line. If, on the other hand, no gap is determined between the reference line and the first painting line and instead there is a disruptive overlap between the reference line and the first painting line, the first painting line can be moved away from the reference line by means of the line correction values.
  • the path correction values are preferably calculated for a large number of path points along the respective painting path. This means that the path can be corrected individually for each path point along the painting path.
  • a first variant of the invention was described above, in which the line errors between the first paint line and a component edge or a design edge are determined.
  • the reference track is formed by a second paint track that is applied to the component next to the first paint track.
  • at least two coating tracks are applied to the component next to one another, with the disturbing track defects then being determined at the interface between the adjacent coating tracks.
  • the path errors determined in this way are then used to calculate path correction values. If, for example, the adjacent paint tracks have a disruptive overlap, the paint tracks can be moved away from each other at the respective point. If, on the other hand, there is a gap in the coating at the interface between the adjacent paint tracks, the adjacent paint tracks can be moved closer together at the respective point.
  • the problem can arise that the seam is difficult to identify, making it difficult to determine the line error.
  • the seam between the adjacent paint lines is difficult to detect when the adjacent paint lines overlap, since the seam then only results in an overcoating that is more difficult to detect than a gap in the otherwise continuous coating.
  • it is therefore provided to make it easier to identify the seam between the adjacent coating tracks, so that the track errors can be determined better and more precisely.
  • an artificial track distance can be generated, which is then expressed in a gap between the adjacent paint tracks, so that any track errors can be easily measured.
  • the above-mentioned artificial track spacing can be easily achieved by individual nozzles of the applicator being switched off when applying the adjacent paint tracks. If, for example, the print head has a row of nozzles with several nozzles and the row of nozzles is aligned transversely to the row of paint when applying the paint lines, switching off an outer nozzle of the row of nozzles results in a corresponding gap between the adjacent paint tracks, with this gap then expanding through a optical measuring system can be easily recognized.
  • Another way to create the artificial track spacing between the adjacent paint tracks is to rotate the applicator (e.g. print head) around its spray axis, so that the applicator sprays the first paint track and/or the second paint track with a narrower or wider track width according to its angle of rotation generated.
  • the applicator e.g. print head
  • the first paint line is first applied, measured and then removed.
  • the second coat of paint is then applied, measured and removed again.
  • the web errors are then calculated from the web measurement values that were determined when measuring the two painting webs. In this case, the coating lanes are measured independently and separately from one another.
  • the two paint tracks are applied and then measured in order to determine the track error while both paint tracks are applied next to one another.
  • the two coating lanes are measured together.
  • the two coating tracks are each measured individually, whereas in another variant of the invention, the two coating tracks are measured together. Only the determination of path errors and corresponding path correction values for exactly two adjacent painting paths has been described above. In practice, however, not only two paint tracks are applied, but a significantly larger number of parallel paint tracks. When correcting two coating lines, a line error can therefore also affect coating lines that are further away. As part of the path correction method according to the invention, it is therefore preferably provided that path correction values for painting paths that are further away are also calculated.
  • the path error can be determined by an optical measuring system.
  • this measuring system can be stationary and have a stationary camera that takes an image of the coated component surface.
  • a mobile surveying system that is attached to the former coating robot and can have a camera, for example, that determines the path error during coating.
  • the optical measurement system can have a light section measurement system that includes at least one light source and one camera. The light source projects a line of light onto the component, which is then captured by the camera.
  • a light-emitting diode (LED) or a laser can be used as the light source.
  • the adjacent coating tracks can be applied by two separate coating robots.
  • a mobile measuring system is attached to each of the two coating robots.
  • the path correction method according to the invention was described above, which serves to determine path correction values which can then be used in the actual coating operation in order to correct the progression of the painting paths.
  • the invention also claims protection for a coating method in which the path correction method according to the invention is used.
  • the coating process then additionally provides for a coating operation to be carried out, with layers lying next to one another in the coating operation Coating strips are applied to the component to be coated, which form a specified coating on the component, in particular a continuous film of coating agent or a specified pattern, with the path correction values determined in the path correction method being taken into account in order to correct the course of the coating paths accordingly.
  • a coating program that controls the coating operation usually runs in the coating operation.
  • the coating program controls the coating robot and the application device, with the coating program running on a control computer during coating.
  • the coating program is corrected offline with the previously determined path correction values, i.e. not on the control computer that controls the coating operation.
  • the coating program is corrected online with the path correction values, i.e. on the control computer on which the control program also runs.
  • the invention is not limited to paints with regard to the coating material used.
  • the applied coating agent can also be an insulating material for acoustic and/or thermal insulation or an adhesive, to name just a few examples.
  • the path correction method according to the invention and the associated coating method have been described above. However, the invention also claims protection for a coating plant designed to carry out these methods. So includes the invention Coating system first a first application device for applying the coating means on the component, wherein the first application device is performed by a first coating robot ge.
  • the coating system according to the invention includes a control device for controlling the first application device and the first coating robot by means of a control program that is executed in the control device during operation. The control program is now designed in such a way that the path correction method or the coating method according to the invention is carried out.
  • the coating system can also have a second application device and a second coating robot, which are also controlled by the control device. This is the case, for example, when the adjacent coating tracks are applied by different coating robots, as has already been briefly mentioned as a possibility above.
  • the coating system according to the invention can have a stationary or mobile measurement system, as has also already been described above.
  • FIG. 1 shows a schematic representation of two uncorrected coating tracks.
  • FIG. 2 shows an illustration corresponding to FIG. 1 with corrected coating lines.
  • FIG. 3 shows two adjacent sub-areas with a seam between the sub-areas before a path correction.
  • FIG. 4 shows the representation according to FIG. 3 after a correction.
  • FIG. 5A shows two adjacent paint tracks with a seam between the paint tracks.
  • FIG. 5B shows the representation according to FIG. 5A with an additional distance at the interface to facilitate the measurement of the path error.
  • FIG. 5C shows an illustration in accordance with FIGS. 5A and 5B with a corrected course of the coating lines.
  • FIG. 6 shows a schematic representation of a coating system according to the invention with two painting robots.
  • FIG. 7 shows a schematic representation of a painting system according to the invention with only one painting robot.
  • FIG. 8 shows a schematic representation of two adjacent painting lines with numerous measuring points for measuring the line error.
  • FIG. 9 shows an illustration similar to FIG. 8 with numerous coating tracks lying next to one another.
  • FIG. 10 shows a schematic representation of a painting system according to the invention with a mobile optical measuring system.
  • FIG. 11 shows a flow chart to illustrate a variant of the path correction method according to the invention.
  • FIG. 12 shows a flow chart to illustrate another variant of the path correction method according to the invention.
  • FIG. 13 shows a pattern that can be applied to a component.
  • FIGS. 1 and 2 which each show two adjacent painting tracks 1, 2, are now described below.
  • FIG. 1 shows the course of the two paint tracks 1, 2 before the track correction
  • FIG. 2 shows the course of the two paint tracks 1, 2 after the track correction.
  • the fact is that between the two applied paint strips 1, 2 (partial areas) an error occurs at the seam and this error must be eliminated.
  • the error described at the seam typically ranges between 0.05 mm and 5 mm.
  • the target accuracy is in the range of 0.1 mm and better.
  • F M 2 [ s(2_1), s_(2_2), ..., o(2_k) ] , similar as for the first coating line 1, for the second coating line 2.
  • the painting lanes 1, 2 (F M i and F M 2) are normalized for later calculations as follows:
  • the surface is first applied.
  • the interface is measured with a measure the system.
  • the resolution of the measuring system must be selected according to the application accuracy to be achieved. Two ways of creating the difference between the two adjacent seam panels were considered. The condition is that the measurement always takes place with the same measuring system in order to determine the relative deviation:
  • Either the application takes place by introducing a desired small distance between the coating tracks 1, 2, which is then measured. This distance can be introduced, for example, by twisting or shifting the webs, but also by specifically controlling the applicator (switching off individual nozzles, if possible).
  • An applicator is a tool that is used to apply a specific coating to a substrate. The applicator is mounted on the robot and guided along the surface by it.
  • D [61, 62,..., 6n] with n as the number of programmed measurement poses and also normalized as follows: D :[0 1], where
  • the deviation D can also be calculated by measuring each of the painting lanes 1, 2 in a common coordinate system (e.g. with an external measuring system). In this way, one can also define the deviation sA as follows:
  • the deviation A between the coating lanes 1, 2 is the sum of the following error sources:
  • the path correction can be applied in different ways.
  • the robot program itself can be adapted by calculating the corrections directly with the robot poses, e.g. by shifting or rotating the applicator in the individual robot poses or by controlling the applicator differently.
  • the correction can take place both offline via a separate program and online on the robot controller. How finely corrections can be made depends on the density of the robot poses and the measured values.
  • a homogeneous transformation (TL) can optionally be fitted to calculate the compensation.
  • Compensating the measured path with this compensation transformation (here ( T ) means that it is better positioned in space to the reference path (here F M i ) as follows:
  • the coating program consists of several paint lines, it is possible to adjust the adjacent paint lines to the seam line in the correction, so that the error does not move on by one paint line, but these are taken into account in the adjustment.
  • the transfer of the correction to neighboring tracks can either take place homogeneously, i.e. all neighboring tracks are provided with the similar correction, or the correction is gradually reduced up to the edge of the coating. Changes in the alignment, location or shape of the appliqué surface can also be taken into account when applying the correction along the seam spread.
  • the correction method can also be used if there are several seams on a component.
  • each robot pose is corrected in such a way that all distances between directly adjacent paths become the same.
  • the measurement program can be used for the test measurement at the same time to check the correction. Finally, however, the corrections are carried out in such a way that the application overlaps with the desired dimensions so that a homogeneous surface / appearance is created.
  • the measurement is carried out with a camera or sensors permanently mounted on the robot.
  • the measuring system only for adjustment on the robot to be attached and kept as measuring equipment, so to speak, or to use a self-sufficient, robot-independent measuring system.
  • a separate robot program, the measuring program can be created for seam measurement. The adjustment process can be repeated at any time as soon as changes are made to the application, component or robot, or one of the components changes (e.g. due to temperature influences).
  • the measurement program would also be a template if new components or samples had to be retrofitted.
  • the sensor or the camera takes pictures of the seam between the application strips and measures them with the help of image processing tools ( Figure 10).
  • Figure 10 image processing tools
  • the fact that the position of the measuring point and the corrected path point match is already taken into account when the measuring program is created.
  • the measuring points are at the same height as the track points. If necessary, measurement results can also be interpolated / extrapolated.
  • FIGS. 3 and 4 The schematic illustration according to FIGS. 3 and 4 will now be described below, with the same reference numbers being used for corresponding details, so that reference is made to the above description to avoid repetition.
  • FIG. 3 shows the course of the coating lines 1, 2 before the path correction
  • FIG. 4 shows the course of the coating lines 1, 2 after the path correction.
  • the gap between the adjacent coating lines 1, 2 is optically measured at the seam 3, specifically at a large number of measuring points along the coating lines 1, 2, as will be described in detail below.
  • the course of the coating tracks 1, 2 is then corrected in accordance with the path error determined in this way, so that when the corrected coating tracks 1, 2 are applied at the seam 3, no gap can be seen, as can be seen in FIG.
  • FIGS. 5A-5C correspond in part to FIGS. 3 and 4 described above, so that to avoid repetition, reference is made to the above description, with the same reference numbers being used for corresponding details.
  • FIG. 5A shows the progression of the uncorrected coating lines 1, 2, a line error being recognizable at the seam 3, which manifests itself partly in a gap and partly in an overcoating.
  • the optical measurement of the web error at the seam 3 is difficult.
  • the seam 3 is artificially widened.
  • individual nozzles are switched off in the nozzle head used as the application device, so that a pronounced gap then arises at the interface 3, which can be optically more easily measured, as shown in FIG. 5B.
  • path correction values are then determined which are used to correct the coating paths 1, 2 and, after the correction, mean that no path error can be detected at the seam 3, as can be seen from FIG. 5C.
  • FIG. 6 shows a schematic representation of a painting system according to the invention with two painting robots 4, 5, each of which guides an application device 6 or 7, each of which is a print head that does not emit a spray jet of paint, but rather a spatially limited paint jet.
  • the painting installation shown has a control device 8 which controls the two painting robots 4 , 5 and the two application devices 6 , 7 .
  • a control program runs in the control device 8 and executes the path correction method or coating method described above. With regard to the details of the method, reference is made to the preceding description in order to avoid repetition.
  • FIG. 7 shows a modification of FIG. 6, so that reference is made to the above description of FIG. 6 in order to avoid repetition.
  • a special feature here is that the two painting tracks 1 , 2 are applied by the same painting robot 5 .
  • Figure 8 again shows a representation of two adjacent paint tracks 1, 2 with a seam 3 between the two paint tracks 1, 2.
  • the drawing shows numerous measuring points 9 for measuring the track error at numerous track points along the paint tracks 1, 2.
  • FIG. 9 shows a modification to FIG. 8, so that to avoid repetition, reference is again made to the description of FIG. 8 described above.
  • numerous other paint tracks with a corresponding number of measurement points are provided.
  • FIG. 10 again shows a schematic representation of a painting system according to the invention, which partially corresponds to the representations according to FIGS. 6 and 7, so that to avoid repetition, reference is again made to the above description, with the same reference symbols being used for corresponding details.
  • a special feature here is that a component 10 to be coated is also shown.
  • an optical sensor 11 is shown, which is guided over the component 10 by the painting robot 5 , the sensor 11 being attached next to the application device 7 .
  • the optical sensor 11 can be a camera.
  • a first step S1 the coating line 1 (partial area) is first applied.
  • a step S2 the paint run 2 (partial area) is applied, with an artificial offset being produced.
  • an artificial offset for example, a nozzle of a print head can be switched off.
  • a measuring program is then created, with the path error being measured at a large number of measuring points 9 along the interface between the adjacent coating paths 1, 2.
  • a step S4 the path errors are then measured and corresponding measured values are transmitted to a robot controller or to a PC.
  • Correction values for the movement program are then calculated in a step S5.
  • the actual coating operation then takes place with the movement program corrected in this way.
  • FIG. 12 shows a modification of the inventor's measured coating method including the path correction method.
  • a first step S1 the coating track 1 is first applied to the component.
  • the measured values are then transmitted to a robot controller or to a PC.
  • a step S4 the first coating line 1 is then removed again.
  • the coating track 2 is applied.
  • the painting line 2 is then measured in a step S6.
  • the measured values from the measurement of the painting line 2 are then transmitted to a robot controller or to a PC.
  • step S10 the actual coating operation can then take place with a correspondingly corrected movement program.
  • FIG. 3 shows an example of a pattern that can be applied to a component, the pattern being sensitive to incorrect positioning of the respective application device.
  • the invention is not limited to the preferred embodiments described above. Rather, the invention also includes variants and modifications, which are also of make use of the idea of the invention and therefore fall within the scope of protection.
  • the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to in each case and in particular also without the features of the main claim. The invention thus comprises various aspects of the invention which are protected independently of one another.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Spray Control Apparatus (AREA)
  • Coating Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

L'invention concerne un procédé de correction de trajectoire destiné à corriger des trajectoires d'enduction lors de l'enduction d'un élément (par exemple un élément carrosserie de véhicule automobile) avec un agent d'enduction (par exemple de la peinture). Le procédé de correction de trajectoire comprend les étapes suivantes : - la détermination d'une trajectoire de référence (2), - l'application d'une première trajectoire d'enduction (1) de l'agent d'enduction sur l'élément, la première trajectoire d'enduction (1) et la trajectoire de référence (2) s'étendent côte à côte et sont idéalement adjacentes l'une à l'autre sans erreur de trajectoire au niveau d'une interface (3), - la détermination de l'erreur de trajectoire perturbatrice au niveau de l'interface (3) entre la première trajectoire d'enduction (1) et la trajectoire de référence adjacente (2), et – la détermination de valeurs de correction de trajectoire pour corriger le parcours de la première trajectoire d'enduction (1) pendant l'action d'enduction suivante, les valeurs de correction de trajectoire étant déterminées sur la base de l'erreur de trajectoire. L'invention concerne également un procédé d'enduction correspondant et un système d'enduction adapté de manière correspondante.
EP22720648.9A 2021-04-07 2022-04-04 Procédé de correction de trajectoire pour un système d'enduction Pending EP4319945A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021108563.2A DE102021108563A1 (de) 2021-04-07 2021-04-07 Bahnkorrekturverfahren für eine Beschichtungsanlage
PCT/EP2022/058883 WO2022214431A1 (fr) 2021-04-07 2022-04-04 Procédé de correction de trajectoire pour un système d'enduction

Publications (1)

Publication Number Publication Date
EP4319945A1 true EP4319945A1 (fr) 2024-02-14

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EP22720648.9A Pending EP4319945A1 (fr) 2021-04-07 2022-04-04 Procédé de correction de trajectoire pour un système d'enduction

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EP (1) EP4319945A1 (fr)
JP (1) JP2024513475A (fr)
KR (1) KR20230167368A (fr)
CN (1) CN117042932A (fr)
DE (1) DE102021108563A1 (fr)
WO (1) WO2022214431A1 (fr)

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DE102012006370A1 (de) 2012-03-29 2013-10-02 Heidelberger Druckmaschinen Aktiengesellschaft System zum Bedrucken eines Objekts
DE102014221103A1 (de) 2013-11-19 2014-12-18 Heidelberger Druckmaschinen Ag Verfahren zum Erzeugen eines Aufdrucks auf einem Objekt mit einer gekrümmten Oberfläche
US9452616B1 (en) 2015-05-29 2016-09-27 The Boeing Company System and method for printing an image on a surface
US10308039B2 (en) * 2015-05-29 2019-06-04 The Boeing Company System for printing images on a surface and method thereof
FR3048368A1 (fr) * 2016-03-04 2017-09-08 Exel Ind Applicateur de produit de revetement, robot multiaxes comprenant un tel applicateur et procede d'application d'un produit de revetement
DE102016014944A1 (de) * 2016-12-14 2018-06-14 Dürr Systems Ag Beschichtungsverfahren und entsprechende Beschichtungseinrichtung
JP7285502B2 (ja) * 2017-12-08 2023-06-02 パナソニックＩｐマネジメント株式会社 検査システム、及び、検査方法
DE102019119730A1 (de) 2019-07-22 2021-01-28 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Applikator zum Drucken von Mustern und Verfahren hierfür

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DE102021108563A1 (de) 2022-10-13
CN117042932A (zh) 2023-11-10
KR20230167368A (ko) 2023-12-08
WO2022214431A1 (fr) 2022-10-13
JP2024513475A (ja) 2024-03-25

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