MX395009B - Metodo de optimizacion para un robot de revestimiento y sistema de revestimiento correspondiente - Google Patents

Metodo de optimizacion para un robot de revestimiento y sistema de revestimiento correspondiente

Info

Publication number
MX395009B
MX395009B MX2019002127A MX2019002127A MX395009B MX 395009 B MX395009 B MX 395009B MX 2019002127 A MX2019002127 A MX 2019002127A MX 2019002127 A MX2019002127 A MX 2019002127A MX 395009 B MX395009 B MX 395009B
Authority
MX
Mexico
Prior art keywords
robot
path
configurations
calculating
quality value
Prior art date
Application number
MX2019002127A
Other languages
English (en)
Other versions
MX2019002127A (es
Inventor
Sven Schweigler
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 MX2019002127A publication Critical patent/MX2019002127A/es
Publication of MX395009B publication Critical patent/MX395009B/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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 three-dimensional [3D] surfaces
    • B05B13/0433—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 three-dimensional [3D] surfaces the work being vehicle components, e.g. 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
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces
    • B05B5/0403—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces characterised by the rotating member
    • B05B5/0407—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces characterised by the rotating member with a spraying edge, e.g. like a cup or a bell
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Landscapes

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

Abstract

La invención se refiere a un método de optimización para calcular una ruta de movimiento optimizada de un robotde revestimiento (1), que comprende los siguientes pasos: - definir puntos de ruta consecutivos de la ruta de movimiento utilizando datos de puntos de ruta, en donde los datos de puntos de ruta definen la posición espacial y orientación del dispositivo de aplicación en cada punto de ruta; - calcular configuraciones de robot posibles para los puntos de ruta individuales de la ruta de movimiento, en donde cada configuración de robot incluye todas las posiciones axiales de todos los ejes de robot (A1-A7) y al menosalgunos de los puntos de ruta se pueden alcanzar opcionalmente a través de múltiples configuraciones de robot diferentes; - calcular un valor de calidad relacionado con punto de ruta y de manera preferente también relacionado con secuencia de forma individual para las diferentes configuraciones de robot posibles de los puntos de ruta individuales, de tal forma que a cada configuración de robot se le asigna un valor de calidad respectivo; y - seleccionar una de las configuraciones de robot posibles para los puntos de ruta individuales de acuerdo con el valor de calidad de las diferentes configuraciones de robot posibles. La invención también comprende un sistema de revestimiento correspondiente.
MX2019002127A 2016-09-09 2017-09-04 Metodo de optimizacion para un robot de revestimiento y sistema de revestimiento correspondiente MX395009B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016010945.9A DE102016010945B3 (de) 2016-09-09 2016-09-09 Optimierungsverfahren für einen Beschichtungsroboter und entsprechende Beschichtungsanlage
PCT/EP2017/072087 WO2018046434A1 (de) 2016-09-09 2017-09-04 Optimierungsverfahren für einen beschichtungsroboter und entsprechende beschichtungsanlage

Publications (2)

Publication Number Publication Date
MX2019002127A MX2019002127A (es) 2019-05-16
MX395009B true MX395009B (es) 2025-03-19

Family

ID=59761975

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2019002127A MX395009B (es) 2016-09-09 2017-09-04 Metodo de optimizacion para un robot de revestimiento y sistema de revestimiento correspondiente

Country Status (9)

Country Link
US (1) US11230008B2 (es)
EP (1) EP3509802B1 (es)
JP (1) JP6991201B2 (es)
CN (1) CN109689309B (es)
DE (1) DE102016010945B3 (es)
ES (1) ES2934783T3 (es)
HU (1) HUE061171T2 (es)
MX (1) MX395009B (es)
WO (1) WO2018046434A1 (es)

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Also Published As

Publication number Publication date
JP6991201B2 (ja) 2022-01-12
WO2018046434A1 (de) 2018-03-15
CN109689309A (zh) 2019-04-26
WO2018046434A9 (de) 2019-03-07
MX2019002127A (es) 2019-05-16
JP2019529132A (ja) 2019-10-17
US11230008B2 (en) 2022-01-25
ES2934783T3 (es) 2023-02-27
HUE061171T2 (hu) 2023-05-28
EP3509802B1 (de) 2022-11-30
CN109689309B (zh) 2022-10-28
DE102016010945B3 (de) 2017-10-26
EP3509802A1 (de) 2019-07-17
US20190217473A1 (en) 2019-07-18

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