Adapting the dynamics of at least one robot

Abstract

A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.

Claims

1. A method, comprising: running two multi-axial paint application robots through a plurality of positioning ranges along respective first and second meandrous paths; determining as an operating constraint of a first robot a first maximum permissible speed of the first robot representing a maximum permissible loading in a first positioning range; determining as an operating constraint of a second robot a second maximum permissible speed of the second robot representing a maximum permissible loading in a second positioning range; wherein the first maximum permissible speed is greater than the second maximum permissible speed, allowing the first robot to operate at higher speeds and accelerations than the second robot; adapting the second maximum permissible speed as the operating constraint of the first robot such that both robots traverse a workpiece at the second maximum permissible speed for a whole of the paths; and applying paint with the robots operating at the second maximum permissible speed.

2. The method of claim 1, wherein: each of the one or more workpieces is one of a motor vehicle body and a part for a motor vehicle body.

3. The method of claim 1, further comprising adapting a first paint application result in the first positioning range to a second paint application result in the second positioning range.

4. The method of claim 1, wherein the meandrous paths are one of mirrored symmetrical paths and mirror-inverted symmetrical paths.

5. The method of claim 1, wherein a load characteristic value of the first positioning range and a load characteristic value of the second positioning range is at least one of: a maximum permissible load limit value, an electrical load characteristic value, a mechanical load characteristic value, a dynamic load characteristic value, a moment or stress characteristic value, a positive or negative acceleration characteristic value, a speed characteristic value, a current or voltage characteristic value of a drive motor for at least one of the robots, at least one control parameter of the drive system for at least one of the robots, and a value referring to at least one axle of at least one of the robots.

6. The method of claim 1, wherein at least one of a non-adapted dynamic behavior and a non-adapted load characteristic value of the first positioning range provides at least one of a greater speed, positive acceleration, and negative acceleration than at least one of a dynamic behavior and a load characteristic value of the second positioning range.

7. The method of claim 1, wherein the robots execute a robot program to determine at least one of the maximum permissible speed of the first positioning range and the second positioning range.

8. The method of claim 1, wherein the first maximum permissible speed of the first positioning range and the second maximum permissible speed of the second positioning range are determined using a simulation tool.

9. The method of claim 1, wherein the first robot is configured to measure itself to determine the first maximum permissible speed of the first positioning range.

10. The method of claim 9, wherein at least one of the robots is configured to measure itself to determine differences between the first maximum permissible speed in the first positioning range and the second maximum permissible speed in the second positioning range.

11. The method of claim 1, wherein the maximum permissible speeds of the first positioning range and the second positioning range are one of cyclically and essentially continuously determined during operation of the robots.

12. The method of claim 1, wherein the first maximum permissible speed of the first positioning range is one of cyclically and essentially continuously adapted during operation of the robots to the second maximum permissible speed of the second positioning range.

13. The method of claim 1, wherein an at least approximate service life of at least one of the robots, or at least individual parts thereof, is determined according to the first maximum permissible speed of the first positioning range being adapted to the second maximum permissible speed of the second positioning range.

14. The method of claim 1, wherein the first maximum permissible speed of the first positioning range is adapted to the second maximum permissible speed of the second positioning range in order to influence an at least approximate service life of at least one of the robots.

15. The method of claim 1, wherein the first positioning range and the second positioning range are essentially corresponding with each other.

16. A system comprising a control system that is configured to: run two multi-axial paint application robots through a plurality of positioning ranges along respective first and second meandrous paths; determine as an operating constraint of a first robot a first maximum permissible speed of the first robot representing a maximum permissible loading in a first positioning range; determine as an operating constraint of a second robot a second maximum permissible speed of the second robot representing a maximum permissible loading in a second positioning range; wherein the first maximum permissible speed is greater than the second maximum permissible speed, allowing the first robot to operate at higher speeds and accelerations than the second robot; adapt the second maximum permissible speed as the maximum permissible speed of the first robot such that both robots traverse a workpiece at the second maximum permissible speed for a whole of the paths; and apply paint with the robots operating at the second maximum permissible speed.

17. The system of claim 16, further comprising at least one of the robots, wherein the at least one robot is configured to include the control system.

18. The system of claim 16, wherein the robots include at least two application robots, wherein each of the robots is configured to include the control system.

19. A non-transitory computer-readable medium tangibly embodying instructions executable by a computer processor, the instructions including instructions to: run two multi-axial paint application robots through a plurality of positioning ranges along respective first and second meandrous paths; determine as an operating constraint of a first robot a first maximum permissible speed of the first robot representing a maximum permissible loading in a first positioning range; determine as an operating constraint of a second robot a second maximum permissible speed of the second robot representing a maximum permissible loading in a second positioning range; wherein the first maximum permissible speed is greater than the second maximum permissible speed, allowing the first robot to operate at higher speeds and accelerations than the second robot; adapt the second maximum permissible speed as the operating constraint of the first robot such that both robots traverse a workpiece at the same speeds and accelerations to apply paint to one or more workpieces at the second maximum permissible speed for a whole of the paths; and apply paint with the robots operating at the second maximum permissible speed.

Description

(1) The above features can be combined with one another in any desired manner. Other advantageous developments of the present subject matter is disclosed in the claims or are evident from the following description of preferred exemplary embodiments in conjunction with the attached figures. The figures show as follows:

(2) FIG. 1 an exemplary painting robot,

(3) FIGS. 2a to 2c schematic representations of a painting robot according to FIG. 1 in a first positioning range according to a first exemplary embodiment,

(4) FIGS. 3a to 3c schematic representations of a painting robot according to FIGS. 2a to 2c in a second positioning range according to the first exemplary embodiment,

(5) FIG. 4 a flow diagram of a method according to an exemplary embodiment,

(6) FIG. 5a, 5b schematic representations of a first painting robot according to FIG. 1 in a first positioning range and a second painting robot according to FIG. 1 in a second positioning range according to a second exemplary embodiment,

(7) FIG. 6 a flow diagram of a method according to an exemplary embodiment, and

(8) FIG. 7 a schematic representation of a first painting robot in a first positioning range and a second painting robot in a second positioning range according to a further exemplary embodiment.

(9) FIG. 1 shows a perspective view of a conventional exemplary multi-axial painting robot LR. The painting robot LR comprises a basic body 1, a drive housing 2, comprising a first axle and a second axle, a first arm 3, a transmission unit 4, including a third axle, a transmission unit 5, including a fourth axle, a fifth axle and a sixth axle, a second arm 6 and a hand axle 7. The painting robot LR can be mounted in a fixed position or movable longitudinally. Further, a docking slide and paint lines can be seen on the second arm 6. An application element AE (for example a rotary atomizer) is mounted on the hand axle 7 to apply paint.

(10) FIGS. 2a and 3a are schematic side views of the painting robot LR shown in FIG. 1 and workpieces 11 (for example bumper bars) to be painted, which are positioned on a workpiece carrier 10. A workpiece 11 that is subjected to a painting process shown in FIGS. 2a to 2c and 3a to 3c is denoted with an apostrophe following the reference number.

(11) FIG. 2a shows a side view of the painting robot LR during operation in a first positioning range SB1, in order to paint a workpiece 11 positioned in the near area of the painting robot LR. FIG. 2b shows a view from above of the painting robot LR according to FIG. 2a. FIG. 2c shows a painting path section of a schematic exemplary painting path LB which should be traversed by the painting robot LR shown in FIGS. 2a and 2b and/or the application element AE mounted on it.

(12) When traversing the painting path LB for painting the workpiece 11 in close proximity to the painting robot LR (FIGS. 2a, 2b, 2c), the painting robot LR runs through a plurality of positions and/or positioning ranges, for example, in which it is swiveled or moved around one or more axes. One of these positioning ranges can be seen schematically in FIGS. 2a to 2c and is identified with the reference sign SB1.

(13) One particular painting path point can be assigned to a certain position of the painting robot LR while a certain painting path section can, e.g., be assigned to a certain positioning range of the painting robot LR.

(14) FIG. 3a shows a side view of the painting robot LR during operation in a second positioning range SB2, in order to paint a workpiece 11 positioned in the remote area of the painting robot LR. FIG. 3b shows a view from above of the painting robot LR according to FIG. 3a. FIG. 3c shows a painting path section of a schematic exemplary painting path LB which should be traversed by the painting robot LR shown in FIGS. 3a and 2b and/or the application element AE mounted on it.

(15) The painting path LB shown in FIG. 3c corresponds to the painting path LB shown in FIG. 2c. The painting path LB shown in FIG. 3c is identical to the painting path LB shown in FIG. 2c, but is traversed offset upwards.

(16) When traversing the painting path LB for painting the workpiece 11 in the remote area of the painting robot LR (FIGS. 3a, 2b, 2c), the painting robot LR runs through a plurality of positioning ranges, for example in which it is swiveled or moved around one or more axes. One of these positioning ranges can be seen schematically in FIGS. 3a to 3c, and is identified with the reference sign SB2.

(17) The painting robot LR comprises a first dynamic behavior, for example in the first positioning range SB1, and at least one first load characteristic value that represents a maximum permissible loading of the painting robot LR in the first positioning range SB1.

(18) The painting robot LR comprises a second dynamic behavior, for example in the second positioning range SB2, and at least one second load characteristic value that represents a maximum permissible loading of the painting robot LR in the second positioning range SB2.

(19) Higher speeds and accelerations are usually possible in the near area of the painting robot LR based on lower loads (for example torques, stresses, etc.) than in the remote area. Different painting results will be achieved if these are actually used.

(20) To avoid this disadvantage, the load characteristic values, loads and/or the dynamic behavior of the painting robot LR that occur during painting of the workpieces 11 are determined. The painting robot LR can execute the painting program or run through the individual painting path sections for this purpose and in this way, for example, measure and calculate the first and second load characteristic value. This can occur online or off-line, for example through use of a simulation tool. It is furthermore possible that the painting robot LR is measured or measures itself in order to determine the load characteristic values. Measurement of the painting robot LR in particular allows differences in the dynamic behavior of the painting robot LR to be determined.

(21) The first dynamic behavior and/or the first load characteristic value of the painting robot LR, which are assigned to the first positioning range SB1, is/are adapted to the second dynamic behavior and/or the second load characteristic value, which are assigned to the second positioning range SB2. In this way, it is possible that the workpieces 11 are traversed and painted with the same dynamic, in particular corresponding painting paths LB, LB, i.e., identical painting paths but to be traversed offset, at the same speeds and the same accelerations.

(22) The above-mentioned exemplary embodiment describes one case in which a robot is in particular extended in a vertical direction (upwards or downwards).

(23) There are, however, also exemplary embodiments in which a robot has to extend, e.g., in a depth direction, that is, for example, right across a workpiece lying transverse to the travelling direction (in particular attachment parts such as bumpers, bumper bars, etc. or an engine hood of a vehicle body). In this case the dynamic loading is usually even greater than for the case in which a robot has to extend in a vertical direction (upwards or downwards).

(24) FIG. 4 shows a flow diagram of an operating method of a painting robot according to an exemplary embodiment, for example, the painting robot LR from the FIGS. 2a to 2c and 3a to 3c.

(25) The dynamic behavior and/or the load characteristic values of the painting robot LR is determined in a step S1 during execution of a painting program and/or traversing of one or more painting paths to paint the workpieces 11.

(26) Different dynamic behaviors and/or load characteristic values of the painting robot LR are equalized in a step S2 (at least the dynamic behavior and/or the load characteristic values of the first positioning range SB1 is adapted to the dynamic behavior and/or the load characteristic values of the second positioning range SB2).

(27) In step S3 the workpieces 11 are traversed and painted using the equalized dynamic behavior and/or the equalized load characteristic values, in particular corresponding painting paths, at the same speeds and the same accelerations, whereby the same painting results are obtained on the workpieces 11.

(28) The exemplary embodiment according to FIGS. 5a and 5b partially conforms with the exemplary embodiment described above, wherein similar or identical parts are provided with the same reference signs and, to avoid repetitions, reference is also made to the exemplary embodiment described above for an explanation about them.

(29) FIG. 5a shows a schematic side view of a first painting robot LR1 and a second painting robot LR2 and a workpiece 12 to be painted (for example a motor vehicle body), which is arranged on a conveyor belt 13. The painting robots LR1 and LR2 can be identically constructed painting robots as shown in FIG. 1. It is also possible for the painting robots LR1 and LR2 to be from different manufacturers. Reference sign 6 identifies the second arm and the reference sign AE the application element of the first painting robot LR1, while reference sign 6 identifies the second arm and the reference sign AE the application element of the second painting robot LR2.

(30) In FIG. 5a, the first painting robot LR1 can be seen in operation in a first positioning range SB11 in order to paint one side of the workpiece 12. In FIG. 5b, one can see a view from above of the first painting robot LR1 according to FIG. 5a.

(31) In FIG. 5a, the second painting robot LR2 can be seen in operation in a second positioning range SB22 in order to paint the other side of the workpiece 12. In FIG. 5b, one can see a view from above of the second painting robot LR2 according to FIG. 5a.

(32) The first painting robot LR1 and the second painting robot LR2 are positioned opposite to each other, in particular axle-symmetric or mirror-inverted, in order to paint both sides of the workpiece 12.

(33) When traversing a painting path for painting the workpiece 12 on the one side, the first painting robot LR1 runs through a plurality of positioning ranges, for example in which it is swiveled or moved around one or more axes. One of these positioning ranges can be seen schematically in FIGS. 5a and 5b and is identified with the reference sign SB11.

(34) One particular painting path point can be assigned to a certain position of the first painting robot LR1 while a certain painting path section can, e.g., be assigned to a certain positioning range of the first painting robot LR1.

(35) When traversing a painting path for painting the workpiece 12 on the other side, the second painting robot LR2 runs through a plurality of positioning ranges, for example, in which it is swiveled or moved around one or more axes. One of these positioning ranges can be seen schematically in FIGS. 5a and 5b and is identified with the reference sign SB22.

(36) One particular painting path point can be assigned to a certain position of the second painting robot LR2 while a certain painting path section can, e.g., be assigned to a certain positioning range of the second painting robot LR2.

(37) The painting path of the first painting robot LR1 corresponds to the painting path of the second painting robot LR2. The painting path of the first painting robot LR1 and the painting path of the second painting robot LR2 are formed axle-symmetrically and/or mirror-inverted to each other.

(38) The first positioning range SB11 of the first painting robot LR1 and the second positioning range SB22 of the second painting robot LR2 also correspond with one another as can be seen from FIGS. 5a and 5b. The first positioning range SB11 of the first painting robot LR1 and the second positioning range SB22 of the second painting robot LR2 are axle-symmetric and/or mirror-inverted to each other.

(39) The first painting robot LR1 comprises a certain first dynamic behavior in the first positioning range SB11, and at least one certain first load characteristic value which represents a maximum permissible loading of the painting robot LR1 in the first positioning range SB11.

(40) The second painting robot LR2 comprises a certain second dynamic behavior in the second positioning range SB22, and at least one certain second load characteristic value which represents a maximum permissible loading of the painting robot LR2 in the second positioning range SB22.

(41) The first dynamic behavior and/or the first load characteristic value at least slightly deviate from the second dynamic behavior and/or the second load characteristic value due, for example, to uneven wear, in particular however due to tolerances in the mechanical components (for example axles, transmission, guides, bearing points, etc.).

(42) To avoid this disadvantage, the load characteristic values, loads and/or the dynamic behavior of the first painting robot LR1 and the second painting robot LR2 are determined. This can occur as for the first exemplary embodiment, the description of which is referred to in order to avoid repetition.

(43) It is possible within the context of the invention to adapt the dynamic behavior and/or the load characteristic value of the first painting robot LR1 in the first positioning range SB11 to the dynamic behavior and/or the load characteristic value of the second painting robot LR2 in the second positioning range SB22. In this way, it is possible that both sides of the workpiece 12 can be traversed and painted with the same and/or corresponding dynamics, in particular mirror-inverted painting paths, at the same speeds and the same accelerations.

(44) It is furthermore possible that the load characteristic values, loads and/or the dynamic behavior of the first painting robot LR1 and of the second painting robot LR2 are determined essentially continuously or cyclically during operation of the first painting robot LR1 and the second painting robot LR2. It is then possible that the first load characteristic value and/or the first dynamic behavior of the first painting robot LR1 is adapted cyclically or essentially continuously during operation to the second load characteristic value and/or the second dynamic behavior of the second painting robot LR2.

(45) FIG. 6 shows a flow diagram of an operating method for painting robots according to an exemplary embodiment, for example the first and the second painting robots LR1 and LR2 from FIGS. 5a and 5b.

(46) The dynamic behavior and/or the load characteristic values of the first painting robot LR is determined in a step S4 during execution of a painting program and/or traversing of one or more painting paths or at least sections thereof for painting one side of the workpiece 12. Furthermore the dynamic behavior and/or the load characteristic values of the second painting robot LR2 is determined during execution of a painting program and/or traversing of one or more painting paths or at least sections thereof for painting the other side of the workpiece 12.

(47) Different dynamic behaviors and/or load characteristic values existing between the first painting robot LR1 and the second painting robot LR2 are equalized to one another in a step S5 (at least the dynamic behavior and/or the load characteristic values of the first positioning range SB11 of the first painting robot LR1 is adapted to the dynamic behavior and/or the load characteristic values of the second positioning range SB22 of the second painting robot LR2).

(48) In a step S6, both sides of the workpiece 12 are traversed and painted with the equalized dynamic behavior and/or the equalized load characteristic values, in particular corresponding (mirror-inverted) painting paths, at the same speeds and the same accelerations, by the first painting robot LR1 and the second painting robot LR2, whereby corresponding (identical and/or symmetrical) painting results are achieved on both sides of the workpiece 12.

(49) The exemplary embodiment according to FIG. 7 partially conforms with the exemplary embodiments described above according to the FIGS. 5a, 5b and 6, wherein similar or identical parts are provided with the same reference sign and, to avoid repetitions, reference is also made to the exemplary embodiment described above for an explanation about them.

(50) The exemplary embodiment shown in the FIGS. 5a and 5b describes a case for which mirrored painting programs and/or robot paths can be executed/traversed, e.g., one painting robot paints on the left side of the workpiece 12 and one further opposing painting robot paints on the right side of the workpiece 12. Here the first positioning range and the second positioning range are axle-symmetric with respect to each other.

(51) On the other hand, the exemplary embodiment shown in the FIG. 7 illustrates a case for which the same painting program and/or robot paths can be executed/traversed, in particular a painting robot LR1 initially, for example, applies 50% of the final painting layer thickness on the right-hand side of the workpiece 12 and then (temporally and physically one after the other) the second painting robot LR2 applies the remaining 50% of the final painting layer thickness on the right-hand side of the workpiece 12. Thus, the painting robots LR1 and LR2 shown in FIG. 7 execute, one after the other, the substantially same painting task.

(52) The painting path of the first painting robot LR1 corresponds with and/or is identical to the painting path of the second painting robot LR2. The first positioning range SB11 of the first painting robot LR1 and the second positioning range SB22 of the second painting robot LR2 also correspond with one another as can be seen in FIG. 7. The first positioning range SB11 of the first painting robot LR1 is the same as the second positioning range SB22 of the second painting robot LR2.

(53) Arrow P identifies the direction of travel of the conveyor belt 13.

(54) It is also possible to paint again in a further painting cabin (for example Basecoat 1, Basecoat 2 or a wet-in-wet Primer, Basecoat, Clearcoat). In this case, at least three painting robots, and if required even more than three painting robots, execute the same path program, for example also for bumpers and paint shops with a high painting capacity or a plurality of lines with the same painting task.

(55) The invention is not limited to the preferred exemplary embodiments described above. Instead, a plurality of variants and modifications is possible, which also make use of the concept of the invention and therefore fall within the scope of protection. The objects of the sub-claims can, in particular, also be realized independently of the features of the preceding and referred to claims.