EP 3411196 A1 20181212 - MULTI-AXIS ROBOT AND METHOD FOR CONTROLLING THE SAME FOR PAINTING OBJECTS
Title (en)
MULTI-AXIS ROBOT AND METHOD FOR CONTROLLING THE SAME FOR PAINTING OBJECTS
Title (de)
MEHRACHSROBOTER SOWIE VERFAHREN ZU DESSEN STEUERUNG BEI DER LACKIERUNG VON GEGENSTÄNDEN
Title (fr)
ROBOT À PLUSIEURS AXES AINSI QUE PROCÉDÉ DE COMMANDE DUDIT ROBOT POUR PEINDRE DES OBJETS
Publication
Application
Priority
- DE 102016001073 A 20160202
- EP 2017051445 W 20170124
Abstract (en)
[origin: WO2017133929A1] The invention relates to a multi-axis robot, in particular a painting robot (18), comprising a kinematic chain with a tool member (36, 38) and at least one additional member (22, 24, 26, 28, 30, 32, 34), the tool member (36, 38) supporting a first tool (40), in particular an application device (40). The associated robot control mechanism (50) comprises a kinematic control mechanism (51) designed to receive the movement path of the first tool (40) using a parmeterizable tool centre point (44) and to control members (22, 24, 26, 28, 30, 32, 34, 36, 38) of the kinetic chain in such a way that the tool centre point (44) follows the movement path. Also, the robot control mechanism (50) maintains all the members (32, 34, 36, 38) along the kinematic chain of the tool member (36, 38) of another member (28, 30) which supports the second tool (42, 43) in a fixed position, it parameterizes the tool center point (44) on a working point of the second tool (42, 43), and transfers the movement path of the second tool (42, 43) to the kinematic control mechanism (51) so that said latter, under the condition that the fixed position of the members (32, 34, 36, 38) is maintained, controls the remaining members (22, 24, 26, 28, 30) of the kinematic chain using the newly parameterised tool centre point (44) so that the tool centre point (44) follows the movement path of the second tool (42, 43).
IPC 8 full level
B25J 9/16 (2006.01); B25J 11/00 (2006.01)
CPC (source: EP US)
B05B 13/0292 (2013.01 - EP US); B05B 13/0452 (2013.01 - EP US); B25J 9/003 (2013.01 - US); B25J 9/1664 (2013.01 - US); B25J 9/1679 (2013.01 - EP US); B25J 11/0075 (2013.01 - EP US); G05B 2219/39562 (2013.01 - EP US); G05B 2219/40062 (2013.01 - EP US); G05B 2219/45013 (2013.01 - EP US); G05B 2219/45065 (2013.01 - EP US)
Citation (search report)
See references of WO 2017133929A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
WO 2017133929 A1 20170810; CN 108698226 A 20181023; DE 102016001073 A1 20170817; DE 102016001073 B4 20181025; EP 3411196 A1 20181212; US 2019039249 A1 20190207
DOCDB simple family (application)
EP 2017051445 W 20170124; CN 201780008486 A 20170124; DE 102016001073 A 20160202; EP 17701479 A 20170124; US 201716074610 A 20170124