公开(公告)号：US20120156362A1

公开(公告)日：2012-06-21

申请号：US12974233

申请日：2010-12-21

申请人： Alexandr Sadovoy ,  Ramesh Subramanian ,  Dimitrios Thomaidis

发明人： Alexandr Sadovoy ,  Ramesh Subramanian ,  Dimitrios Thomaidis

IPC分类号： B05D1/02 ,  B05C11/00 ,  B05B1/00

CPC分类号： B25J9/1671 ,  B05B7/20 ,  B05B12/084 ,  B05B13/0431 ,  F01D5/288 ,  F05D2230/90 ,  F05D2300/611 ,  G05B2219/35343 ,  G05B2219/40518 ,  G05B2219/45013

摘要： A method for generating a motion path for a spray gun for coating a component is disclosed. Path templates for surface segments of the component are defined, the surface is analyzed, a first motion path is generated, a model of the spray profile is simulated, the coating thickness is simulated for the motion path based on the simulated model of the spray profile and the generated first motion path. The simulated coating thickness is compared with tolerances and when the simulated coating thickness does not achieve the tolerances, an adapted motion path is generated. The coating thickness is simulated for the motion path based on the simulated model of the spray profile and the generated adapted motion path. Repeating the comparing, the motion path generation, and the simulation of the coating thickness based on the generated adapted motion path until the simulated coating thickness achieves the tolerances.

摘要翻译： 公开了一种用于产生用于涂覆部件的喷枪的运动路径的方法。 定义了部件表面段的路径模板，分析了表面，生成了第一个运动路径，模拟了喷射轮廓的模型，基于喷射轮廓的模拟模型，为运动路径模拟了涂层厚度 和产生的第一运动路径。 将模拟涂层厚度与公差进行比较，并且当模拟涂层厚度不达到公差时，产生适应的运动路径。 基于喷雾轮廓和生成的适应运动路径的模拟模型，为运动路径模拟涂层厚度。 基于生成的适应运动路径重复比较，运动路径生成和涂层厚度的模拟，直到模拟涂层厚度达到公差。

公开(公告)号：US20150209960A1

公开(公告)日：2015-07-30

申请号：US14420100

申请日：2013-07-23

申请人： ABB TECHNOLOGY AG

发明人： Xiongzi Li ,  Oyvind A. Landsnes ,  Thomas A. Fuhlbrigge ,  Steinar Riveland ,  Carlos Martinez ,  Christoffer Apneseth

IPC分类号： B25J9/16 ,  G06F17/50

CPC分类号： B25J9/1671 ,  G05B2219/35343 ,  G05B2219/45065 ,  G06F17/5009 ,  Y10S901/43

摘要： A system for tuning robot trajectory to obtain optimal material thickness on an object includes at least one robot adapted to dispense material, a controller connected to the robot to control movement of the robot and to dispense material in relation to the object. A tuner is connected to the controller to iteratively simulate dispensing of the material on the object based on movement of the robot, and to adjust dispensing of the material and movement of the robot to obtain a desired material thickness on the object based on the iterative simulations. A related method to optimize dispensing material on an object includes simulating a path trajectory of a material dispensing robot in relation to an object is also disclosed.

摘要翻译： 用于调整机器人轨迹以在物体上获得最佳材料厚度的系统包括至少一个适于分配材料的机器人，连接到机器人的控制器以控制机器人的运动并且相对于物体分配材料。 调谐器连接到控制器以基于机器人的运动迭代地模拟物体上的材料的分配，并且基于迭代模拟来调整材料的分配和机器人的移动以获得物体上的期望的材料厚度 。 还公开了一种用于优化物体上的分配材料的相关方法，包括模拟材料分配机器人相对于物体的路径轨迹。

公开(公告)号：US06256597B1

公开(公告)日：2001-07-03

申请号：US09113742

申请日：1998-07-10

申请人： Hsin-Pang Wang ,  Erin Marie Perry ,  Michael Charles Ostrowski ,  Andrew James Worsey ,  Sharon Trombly Swede

发明人： Hsin-Pang Wang ,  Erin Marie Perry ,  Michael Charles Ostrowski ,  Andrew James Worsey ,  Sharon Trombly Swede

IPC分类号： G06F9455

CPC分类号： B25J9/1661 ,  B25J9/1671 ,  G05B2219/35343 ,  G05B2219/40518 ,  G05B2219/45013

摘要： A spray coating simulation for a robotic spray gun assembly imports a discretized model of an object geometry. Next, the simulator imports a numerically characterized spray pattern file and a robot motion file having a plurality of motion positions, dwell times and orientations defining a motion path of the spray gun. The individual motion positions within the motion file are read and a determination is made as to which portions of the object geometry are visible at each motion position. Next, a coating thickness at each visible portion of the object geometry is computed, based on the specified spray pattern data, the dwell time and the orientation of the robot motion path, for each motion position. Finally, the total coating thickness over the object geometry is calculated.

摘要翻译： 机器人喷枪组件的喷涂模拟输入物体几何的离散模型。 接下来，模拟器输入数字表征的喷雾图案文件和具有限定喷枪的运动路径的多个运动位置，停留时间和取向的机器人运动文件。 读取运动文件内的各个运动位置，并确定对象几何的哪个部分在每个运动位置可见。 接下来，基于针对每个运动位置的指定的喷雾图案数据，停留时间和机器人运动路径的取向来计算物体几何的每个可见部分处的涂层厚度。 最后，计算出物体几何的总涂层厚度。

公开(公告)号：US20060100786A1

公开(公告)日：2006-05-11

申请号：US10981812

申请日：2004-11-05

申请人： Michael Choi

发明人： Michael Choi

IPC分类号： G06G7/58 ,  G06F19/00

CPC分类号： G05B19/4069 ,  G05B2219/35343 ,  G05B2219/45013

摘要： A method and computer program product for simulating a pan coating process estimates at least one of tablet coating uniformity or coated tablet weight uniformity for tablets within a tablet bed of a pan. The simulation includes obtaining a plurality of parameters associated with the pan coating process, selecting tablet paths for each cycle of a simulation tablet in the tablet bed, determining a coating amounts for the tablet based on selected tablet paths, determining cycle times for the tablet, and summing the determined coating amounts and cycle times for the tablet. The simulation is repeated for each of a defined number of simulation tablets representing the tablets within the tablet bed to determine tablet coating uniformity and/or coated tablet weight uniformity for the tablets. Tablet paths and/or cycle times are determined randomly, e.g., in accordance with a Monte Carlo method.

公开(公告)号：US20230234088A1

公开(公告)日：2023-07-27

申请号：US17926720

申请日：2021-05-10

申请人： Dürr Systems AG

发明人： Hans-Jürgen Nolte ,  Christoph Heckeler ,  Tjark Bringewat ,  Andreas Fischer ,  Oliver Herrmann

IPC分类号： B05B13/04 ,  B25J9/16 ,  B05B12/08

CPC分类号： B05B13/0431 ,  B25J9/1664 ,  B25J9/1671 ,  B05B12/084 ,  G05B2219/35343 ,  G05B2219/45065

摘要： The disclosure relates to a method for programming a program-controlled coating installation with a coating robot and an application device for coating components, in particular for programming a painting installation with a painting robot for painting motor vehicle body components, with the following steps (S1-S3):



a) Presetting or determining geometry data of the component to be coated (S1),
b) presetting of robot path data of the robot path to be traversed (S2), and
c) determination of suitable spray pattern data (S3) which represent a layer thickness profile and are determined by a simulation which takes into account the robot path data and the geometry data of the component to be coated.




Furthermore, the disclosure comprises an appropriately adapted coating installation.

公开(公告)号：US07634390B2

公开(公告)日：2009-12-15

申请号：US10981812

申请日：2004-11-05

申请人： Michael Choi

发明人： Michael Choi

IPC分类号： G06G7/58 ,  G01N33/15 ,  A61K9/54

CPC分类号： G05B19/4069 ,  G05B2219/35343 ,  G05B2219/45013

摘要： A method and computer program product for simulating a pan coating process estimates at least one of tablet coating uniformity or coated tablet weight uniformity for tablets within a tablet bed of a pan. The simulation includes obtaining a plurality of parameters associated with the pan coating process, selecting tablet paths for each cycle of a simulation tablet in the tablet bed, determining a coating amounts for the tablet based on selected tablet paths, determining cycle times for the tablet, and summing the determined coating amounts and cycle times for the tablet. The simulation is repeated for each of a defined number of simulation tablets representing the tablets within the tablet bed to determine tablet coating uniformity and/or coated tablet weight uniformity for the tablets. Tablet paths and/or cycle times are determined randomly, e.g., in accordance with a Monte Carlo method.

摘要翻译： 用于模拟平底锅涂布方法的方法和计算机程序产品估计在平板的片剂床内的片剂的片剂包衣均匀性或包衣片剂重量均匀性中的至少一种。 所述模拟包括获得与所述锅包衣过程相关联的多个参数，为所述片剂床中的模拟片剂的每个循环选择片剂路径，基于所选择的片剂路径确定所述片剂的涂布量，确定所述片剂的循环时间， 并且对于片剂的确定的涂布量和循环时间求和。 对于定义数量的代表片剂内的片剂的模拟片剂重复模拟，以确定片剂的片剂包衣均匀性和/或包衣片剂重量均匀性。 片剂路径和/或循环时间是随机确定的，例如，根据蒙特卡洛方法。