Adapting the dynamics of at least one robot

Patent metadata

Field	Value
Publication number	US-9703283-B2
Application number	US-201213982493-A
Country	US
Kind code	B2
Filing date	Feb 6, 2012
Priority date	Feb 7, 2011
Publication date	Jul 11, 2017
Grant date	Jul 11, 2017

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.

First claim

The invention claimed is:

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.

Assignees

• Herre Frank
• Duerr Systems Gmbh

Inventors

• Herre Frank

Classifications

• G05B2219/43203

  Limitation of speed, permissible, allowable, maximum speed · CPC title

• G05B2219/37252

  Life of tool, service life, decay, wear estimation · CPC title

• B05B13/0292

  devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers · CPC title

• G05B2219/39364

  Path, correction of path in function of load · CPC title

• G05B19/418 Primary

  Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] · CPC title