MX2021013221A - Metodo de recubrimiento e instalacion de recubrimiento correspondiente. - Google Patents

Metodo de recubrimiento e instalacion de recubrimiento correspondiente.

Info

Publication number
MX2021013221A
MX2021013221A MX2021013221A MX2021013221A MX2021013221A MX 2021013221 A MX2021013221 A MX 2021013221A MX 2021013221 A MX2021013221 A MX 2021013221A MX 2021013221 A MX2021013221 A MX 2021013221A MX 2021013221 A MX2021013221 A MX 2021013221A
Authority
MX
Mexico
Prior art keywords
component
boundary point
coating
path
application device
Prior art date
Application number
MX2021013221A
Other languages
English (en)
Inventor
Harald Kunz
Manfred Bauder
Alexander Spiller
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 MX2021013221A publication Critical patent/MX2021013221A/es

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
    • 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
    • B05B13/04—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
    • 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
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • 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
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J9/1684—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
    • G05B2219/37—Measurements
    • G05B2219/37563—Ccd, tv camera
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37572—Camera, tv, vision
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
  • Finishing Walls (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La invención se refiere a un método de recubrimiento que comprende los siguientes pasos: a) especificación de al menos una trayectoria de recubrimiento para mover un punto de impacto de pintura de un dispositivo de aplicación a lo largo de al menos una trayectoria de recubrimiento preajustada sobre la superficie del componente que se va a recubrir, dicha al menos una trayectoria de recubrimiento corre a través de una región de superficie del componente que se va a recubrir el cual está delimitado por bordes, b) preajuste de los valores de referencia de las posiciones de punto de borde y/o las orientaciones de punto de borde espaciales para puntos de borde en los bordes de la región de superficie, c) medición espacial de la posición, orientación y/o forma del componente que se va a recubrir o de una parte del componente que se va a recubrir por medio de un sistema de medición, donde, en el transcurso del movimiento espacial, se miden los valores medidos de las posiciones de punto de borde y/o de las orientaciones de punto de borde de los puntos de borde en los bordes de la región de superficie, d) determinación de la desviación entre los valores medidos de las posiciones de punto de borde y/o las orientaciones de punto de borde por un lado y los valores de referencia de las posiciones de punto de borde y/o las orientaciones de punto de borde por el otro, y e) adaptación de la trayectoria de recubrimiento como función de la desviación entre los valores de referencia de las posiciones de punto de borde y los valores medidos de las orientaciones de unto de borde. Además, la invención comprende una instalación de recubrimiento correspondiente.
MX2021013221A 2019-05-07 2020-05-07 Metodo de recubrimiento e instalacion de recubrimiento correspondiente. MX2021013221A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019111760.7A DE102019111760A1 (de) 2019-05-07 2019-05-07 Beschichtungsverfahren und entsprechende Beschichtungsanlage
PCT/EP2020/062674 WO2020225350A1 (de) 2019-05-07 2020-05-07 Beschichtungsverfahren und entsprechende beschichtungsanlage

Publications (1)

Publication Number Publication Date
MX2021013221A true MX2021013221A (es) 2022-01-06

Family

ID=70775315

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2021013221A MX2021013221A (es) 2019-05-07 2020-05-07 Metodo de recubrimiento e instalacion de recubrimiento correspondiente.

Country Status (12)

Country Link
US (1) US20220193709A1 (es)
EP (1) EP3953113B1 (es)
JP (1) JP2022532133A (es)
KR (1) KR20220005558A (es)
CN (1) CN113784797B (es)
DE (1) DE102019111760A1 (es)
ES (1) ES2946462T3 (es)
HU (1) HUE062308T2 (es)
MX (1) MX2021013221A (es)
PL (1) PL3953113T3 (es)
WO (1) WO2020225350A1 (es)
ZA (1) ZA202110036B (es)

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CN113953158A (zh) * 2021-09-07 2022-01-21 沪东中华造船(集团)有限公司 一种液货围护系统绝缘箱胶条涂布方法
DE102021124215A1 (de) 2021-09-20 2023-03-23 linrob GmbH Verfahren zur Kompensation von Positionierungsungenauigkeiten eines Linearroboters und Linearroboter
FR3127428A1 (fr) 2021-09-30 2023-03-31 Exel Industries Procede de peinture d’une piece comprenant la generation d’une trajectoire adaptee a la piece reelle
WO2024064281A1 (en) * 2022-09-21 2024-03-28 3M Innovative Properties Company Systems and techniques for workpiece modification

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DE9001451U1 (es) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De
DE10039442A1 (de) * 2000-08-11 2002-02-21 Duerr Systems Gmbh Verfahren und Programmsteuersystem zum Beschichten oder Bearbeiten von Werkstücken längs toleranzbehafteter Pfade
CA2546852A1 (en) * 2004-06-01 2005-12-15 Abb K.K. Painting method
WO2007149183A2 (en) * 2006-05-25 2007-12-27 Braintech Canada, Inc. System and method of robotically engaging an object
DE102007062403A1 (de) * 2007-12-20 2009-06-25 Abb Ag Anordnung von Lackierrobotern
DE102011010505A1 (de) * 2011-02-07 2012-08-09 Dürr Systems GmbH Anpassung der Dynamik zumindest eines Roboters
US10427300B2 (en) * 2012-12-10 2019-10-01 Abb Schweiz Ag Robot program generation for robotic processes
EP2900921B1 (de) * 2012-12-14 2018-01-31 Siemens Aktiengesellschaft Verfahren zur bearbeitung eines bauteils mit geometrischer adaption
US9700908B2 (en) * 2012-12-27 2017-07-11 Kateeva, Inc. Techniques for arrayed printing of a permanent layer with improved speed and accuracy
DE102013002412A1 (de) 2013-02-11 2014-08-14 Dürr Systems GmbH Applikationsverfahren und Applikationsanlage
DE102013002413A1 (de) 2013-02-11 2014-08-14 Dürr Systems GmbH Lochplatte für ein Applikationsgerät und entsprechendes Applikations- und Herstellungsverfahren
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WO2016122416A1 (en) * 2015-01-30 2016-08-04 Agency for Science,Technology and Research Mobile manipulator and method of controlling the mobile manipulator for tracking a surface
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Also Published As

Publication number Publication date
PL3953113T3 (pl) 2023-07-24
EP3953113B1 (de) 2023-04-26
CN113784797A (zh) 2021-12-10
ES2946462T3 (es) 2023-07-19
DE102019111760A1 (de) 2020-11-12
EP3953113A1 (de) 2022-02-16
JP2022532133A (ja) 2022-07-13
HUE062308T2 (hu) 2023-10-28
ZA202110036B (en) 2023-07-26
CN113784797B (zh) 2023-05-02
US20220193709A1 (en) 2022-06-23
KR20220005558A (ko) 2022-01-13
WO2020225350A1 (de) 2020-11-12

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