CN103538382B - For the method and apparatus printed from the teeth outwards - Google Patents
For the method and apparatus printed from the teeth outwards Download PDFInfo
- Publication number
- CN103538382B CN103538382B CN201210593345.3A CN201210593345A CN103538382B CN 103538382 B CN103538382 B CN 103538382B CN 201210593345 A CN201210593345 A CN 201210593345A CN 103538382 B CN103538382 B CN 103538382B
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- China
- Prior art keywords
- pull
- existing object
- robots arm
- computer model
- control
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005094 computer simulation Methods 0.000 claims abstract description 79
- 238000007639 printing Methods 0.000 claims abstract description 79
- 230000003287 optical effect Effects 0.000 claims abstract description 7
- 239000000049 pigment Substances 0.000 claims description 37
- 238000005259 measurement Methods 0.000 claims description 27
- 230000037452 priming Effects 0.000 claims description 22
- 239000002966 varnish Substances 0.000 claims description 22
- 239000003973 paint Substances 0.000 claims description 18
- 239000011248 coating agent Substances 0.000 claims description 16
- 238000000576 coating method Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 4
- 230000018199 S phase Effects 0.000 claims 1
- 238000013461 design Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000000151 deposition Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002987 primer (paints) Substances 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 238000003854 Surface Print Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- 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
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
-
- 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
- G05B2219/45065—Sealing, painting robot
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to method and the corresponding device of one of the upper printing in a kind of surface (1) in object (2).Measuring existing object (2) by optical measuring device (4), to set up the computer model of this existing object, this object has surface, will print by least one robots arm and the printing equipment being fixed on this robots arm this surface according to pull；By the virtual pull (9a 9c) that superposition is corresponding with pull, set up the modified computer model corresponding with printed object；Based on this modified computer model, automatically set up and/or revise at least one at least one robots arm and the motion automatically of described printing equipment that is fixed thereon and the control program controlled；And by least one robots arm and the printing equipment that is fixed thereon, under the control of that set up or modified control program, according to pull, the surface of existing object is printed.
Description
Technical field
The present invention relates to a kind of method for printing on the surface of the object and a kind of for the table at object
The device of printing on face.
Background technology
Understood a kind of for printing on the surface of the object by patent documentation DE102010047808A1
Method.It discloses a kind of can multicolour ground, enduringly on product, such as car body component japanning
Method.
Summary of the invention
It is an object of the invention to, propose the precondition that can preferably print in subject surface.
The purpose of the present invention is achieved for the method for printing in subject surface by a kind of, the method
There is following step:
-particularly measure current object by means of optical measuring device, set up for this existing object and calculate
Machine model, this object has the printing utilizing at least one robots arm He being fixed on this robots arm
Device carries out the surface printed according to pull (Druckvorlage),
-by the superposition virtual pull corresponding with pull, set up the warp corresponding with printed object
Cross the computer model of amendment,
-based on the computer model revised, automatically set up and/or revise at least one at least
Automatically the motion of one robots arm being fixed with printing equipment on it and the control program controlled, and
-by means of this at least one robots arm and the printing equipment being fixed on this robots arm, in institute
Under that set up or the control of modified control program, according to the surface of pull printing existing object.
The purpose of the present invention is achieved for the device of printing in subject surface also by a kind of, this dress
Put and have:
-at least one robots arm, it includes multiple segmental appendage moved relative to each other,
-fixing printing equipment on the robotic arm, it is designed to, according to pull at existing object
On surface, print on the surface of particularly three-dimensional existing object,
-at least one controls device, it utilizes control program to make the segmental appendage of at least one robots arm move
And control printing equipment, thus according to the surface of pull printing existing object,
-measurement apparatus, particularly optical measuring device, be used for measuring existing object, and
-computer, it is designed to,
-data of measured existing object it are under the jurisdiction of according to those of measurement apparatus, it is the most right to set up
The computer model of elephant,
-superimposed with this computer model by would correspond to the virtual pull of pull, set up modified
Computer model, it is corresponding to printed existing object, and
-set up based on modified computer model and/or revise control program, thus pass through
At least one robots arm and the printing equipment being fixed on this robots arm, according to modified meter
Calculation machine model controllably prints the surface of existing object, or is transferred to by the computer model revised
At least one controls device, so that this at least one control device computer program after the modification
On the basis of set up or revise control program, thus make at least one robots arm and be fixed on this robot
Printing equipment on arm is according to the surface of amended computer model printing existing object.
Utilize and can perform the method according to the invention according to assembly of the invention.Printing equipment is e.g. beaten
Print head.
According to the present invention, it should according to pull and utilize at least one robots arm surface to existing object
Print.Preferably to liking three dimensional object.Preferably to liking automobile or automobile component, such as mud guard,
Door or hood.But, object can also be ball, footwear, house sidings, vehicle, aircraft or aircraft portion
Part.
The surface printing equipment to be passed through of existing object is printed.Printing equipment is fixed on robots arm
On, and the robots arm's motion controlled by controlled device.One can be used to be fixed with printing on it
The robots arm of device.But multiple robots arm can also be used, fixing on each robots arm
There is printing equipment.Can be designed as at this, each be fixed with the robots arm of printing equipment by respectively on it
From control device and control programme-control accordingly.But printing can also be fixed with for all of on it
The robots arm of device only arranges one and controls device.
But on it, the robots arm of fixing printing device prints existing object according to pull at least one
Before surface, need to utilize measurement apparatus that existing object is measured, to obtain the calculating of existing object
Machine model.Preferably this measurement apparatus is optical measuring device, such as laser scanner.Preferably computer mould
Type is three dimensional computer modeling.
According to the present invention, by virtual pull (the namely computerized model of pull) and existing object
Computer model superposition, to obtain modified computer model.Therefore, this amended computer
Model is the model of printed existing object, after namely utilizing the printing of one or more printing equipment
The model of existing object.Preferably computer model is stored in a computer, and utilize computer to set up
The computer model of amendment.
According to the present invention, amended computer model is used to set up or amendment control program.Therefore, pin
Each existing object is obtained the single control program belonging to this existing object, thus can the most extremely
Partially compensate the manufacturing tolerance of existing object.The object that different pull printings is different can also be utilized.
Therefore, the method according to the invention can also additionally include: from a lot of differences corresponding to surface
The virtual pull of pull is selected the virtual pull for amended computer model.
In the case, can have the input equipment being connected with computer according to assembly of the invention,
By means of this input equipment, can be from a lot of corresponding to the virtual pull of the different pulls on surface selects use
Virtual pull in amended computer model.This input equipment e.g. keyboard or computer mouse.Close
Explanation in multiple virtual pulls such as can illustrate on the display apparatus.But can also illustrate and these
The image of the image that virtual pull is corresponding, i.e. pull, such as by just can therefrom select with click
Go out pull.
One or more virtual pulls can be stored in a computer.But can also be by one or more
Virtual pull is stored in and is connected with computer or in attachable external data base.
According in a kind of deformation of the inventive method, additionally have steps of:
Show the image of computer model and the image of pull on the display apparatus,
By the image overlay of the image of pull Yu computer model, thus the image corresponding to pull will be current
The surface to be printed of object is apparent on the image of computer model, and
Set up the computer model of amendment.
Therefore, according to a kind of deformation of apparatus of the present invention, this device has the display being connected with computer
Device, for showing the image of computer model and the image of pull.
This can also manually superposition the two image, thus according to another embodiment, according to this
The device of invention can have the input equipment being connected with computer, utilizes this input equipment to move and is shown
The image of the pull shown and/or the image of computer model, make the image of pull as desired with
The image overlay of computer model, so that computer can set up amended computer model.
Utilize computer automatically to set up and/or revise the control for making at least one robots arm automatically move
Processing procedure sequence.In the case, control device, this control are given by that set up or amendment control program transportation
Device processed utilizes that set up or amendment the table controlling at least one robots arm's printing object of programme-control
Face.
But may be designed in, be transferred to amended computer model control device, thus make control
Device processed is automatically set up or revises control program.
Such as can be arranged such that measurement apparatus, make existing object be positioned at its measured zone.But at root
According in a kind of deformation of the inventive method, the method also includes: in order to measure existing object so that it is motion,
Particularly it is automatically moved in the measured zone of measurement apparatus.Existing object such as can fill by means of carrying
Put in the measured zone moving to measurement apparatus.
The most in one embodiment, can have carrying device according to assembly of the invention, it is set
It is calculated as, first makes existing object move to measurement apparatus, on it, be fixed with printing the most again at least one
Robots arm's motion of device.
As it has been described above, according to assembly of the invention can have just what a its on the machine of fixing printing device
Device robot arm or multiple robots arm being fixed with printing equipment on it.In the one according to assembly of the invention
In deformation, it has multiple robots arm being fixed with printing equipment on it, and these robots arms are controlled
The control of device is according to the surface of pull printing existing object, here, one of them robots arm can be made
With the printing equipment being fixed thereon for priming from the teeth outwards so that it is in another robots arm and solid
Due to printing equipment thereon for for the surface of existing object coat the pigment being consistent with pull and/or with
The paint that pull is consistent so that it is in yet another robots arm and the printing equipment that is fixed thereon at table
Varnish on face.
Therefore, the method according to the invention can have motion in succession, makes in particular with carrying device
Existing object moves automatically towards multiple printing stations, here, described in each station correspondence respectively extremely
At least one robots arm in a few robots arm, thus in set up or the control program of amendment
Under control, utilize relevant robots arm first to prime on the surface of existing object, be then coated with
Pigment that pull is consistent and/or the paint being consistent with pull, varnish the most again.
The method according to the invention or according to assembly of the invention, it is possible to use one or more industrial machines
Object or parts are printed by people and one or more printhead or one or more printing equipment, to enter
Row is primed, finishes pigment and is varnished.Even if passing through object or parts are had of a relatively high material
In the process device of amount, object or parts realize new color design and is also entirely possible to.
According to embodiment, utilize one or more industrial robot or robots arm or one or more beat
Parts or object are printed by print head or printing equipment.
According to embodiment, first parts or existing object can be positioned at measurement apparatus and (e.g. sweep
Retouch system or measurement system) measured zone in.Parts or existing object can also be positioned at parts carrier or
On coaster (carrying device).If the parts/existing object being positioned on parts carrier, the most preferably to portion
Part carrier positions, and makes parts be placed in the measured zone of measurement apparatus.Then survey can be utilized
Amount device detects, measures or scan the geometric profile of existing object.Can will be detected, measured or be scanned
To geometric profile record in computer system or computer and as virtual component (computer model)
Show in computer systems.
Hereafter, image to be printed, i.e. pull can be superimposed upon the most virtually detected,
In the parts data (computer model) of the geometry measured or scan, and as required by pull
Place in the component outline data of geometry in computer systems or be adjusted.Thus produce and repair
The computer model changed.
It is then possible to the most virtually by data set or with amended computer model phase
Corresponding data set forms one or more control program.Then can be by the one of computer system or many
Individual control program is loaded into industrial robot or controls on device.
Industrial robot or one or more control device can be started by one or more control programs, and
And one or more printhead can on parts or existing object primer coating or/and pigment is or/and varnish.
Preferably after primer coating, pigment or varnish, utilize one or more special light source pair immediately
It is coated in the priming paint on parts or existing object, pigment or varnish to be dried.This special light source can
To be one or more UV light sources.
The station that can also scan being used for or measure, prime, finish pigment and varnish is set to point
The station opened.In this case, the most always parts or existing object are positioned at scanning or measure work
Position and station of priming, the receiving station that to finish pigment station identical with the geometry of station of varnishing
(Aufnahmepunkten) on.
Such as, scanning station or measure in station utilize measurement apparatus detection, measure or sweep unit or
The geometric profile of existing object.The geometric profile being detected, measure or scanning such as is recorded in calculating
In machine and be shown as the image of computer model or computer model.
Parts or existing object can be transported to prime station positioning there.If being positioned at load
Parts on shipping unit or existing object, then position carrying device.
It is then possible to generated control by the data set corresponding to computer model the most virtually
Processing procedure sequence.Then by computer, this control program load can be filled to being positioned at the control priming in station
In putting.
Industrial robot or one or more control device can be started by one or more control programs,
And by one or more printheads (printing equipment), priming paint is coated on the surface of existing object.Preferably
Can utilize light source that the priming paint being coated on existing object is dried after coating immediately.
Then can be transported to finish pigment by existing object in station and position there.If use carrying
Device, then can position carrying device.Then by computer system, control program load can be put in place
On the one or more industrial robots finished pigment in station or one or more control device.One or
Multiple industrial robots or one or more control device and can start by controlling program, and by one
Or pigment is coated on parts (existing object) by multiple printhead.Can utilize immediately after coating
The pigment being coated on parts is dried by one or more special light sources.This special light source is permissible
It is one or more UV light sources.
Then can be transported to parts or existing object to varnish in station and position there.If
It is positioned at parts carrier/supratrochlear parts, then parts carrier can be positioned.Then can be by department of computer science
Unite and will control program load to the one or more industrial robots varnished in station or one or more control
In device processed.One or more industrial robots or one or more control device can be by controlling journey
Sequence start, and by one or more printheads by varnish application on parts (existing object).In coating
Can utilize one or more special light source that the varnish being coated on parts is dried afterwards immediately.
This special light source can be one or more UV light sources.
Accompanying drawing explanation
The most exemplified embodiments of the invention.Wherein:
Fig. 1 shows measurement station,
Fig. 2 shows station of priming,
Fig. 3 shows and finishes pigment station,
Fig. 4 shows station of varnishing,
Fig. 5 shows computer.
Detailed description of the invention
Fig. 1 to Fig. 4 shows for the various stations to the device that the surface of object is printed.Object
Particularly three dimensional object, such as automobile, aircraft, footwear etc..Object can also is that the portion of automobile or aircraft
Part, such as hood, mud guard or wing.
In the present embodiment, Fig. 1 shows existing object 2, and it has currently should utilize printing equipment
Carry out the surface 1 printed.Preferably existing object 2 is three-dimensional existing object, and in the present embodiment
It it is automobile.The surface to be printed 1 of existing object 2 is the surface of the hood of automobile in the present embodiment
Part.
In the present embodiment, this printing equipment has multiple station.These stations show the most in FIG
Go out measure station 10, station 20 of priming shown in figure 2, figure 3 illustrates finish pigment work
Position 30 and the station 40 of varnishing that figure 4 illustrates.
In the present embodiment, this printing equipment has carrying device 3, and it is by existing object 2 particularly certainly
Dynamicly it is transported to next station from a station.The principle of carrying device 3 is well known to professional,
And it is also sometimes referred to as parts carrier or coaster.
Measure station 10 and include the measurement apparatus 4 for measuring existing object 2.Measurement apparatus 4 is particularly
Optical measuring device, such as scanner or fringe projection sensor.Particularly measurement apparatus 4 is designed use
In the profile of detection existing object 2, wherein, the profile of existing object 2 is such as carried out by measurement apparatus 4
Gather.According to the data produced by means of measurement apparatus 4 or signal, (it is forwarded to as shown in Figure 5
Computer), computer 5 can utilize suitable computer program to set up the computer mould of existing object 2
Type.This computer model particularly three dimensional computer modeling.
In the present embodiment, existing object 2 is moved to the measurement of measurement apparatus 4 by carrying device 3 automatically
In region.
In the present embodiment, computer model is graphically shown aobvious by computer 5 with the form of image 7
On showing device 6.
In the present embodiment, existing object 2 is printed.Especially in accordance with pull to existing object 2
Print.Multiple pull particularly can be set, existing object 2 can be printed according to these pulls.
Can be that existing object 2 selects one of them pull.
For this purpose it is proposed, such as by the information about pull such as with virtual multiple pull 9a, 9b, 9c
Form is stored in data base 8, and these virtual pulls can be called by computer 5, thus at display dress
Put and on 6, demonstrate the image 10a-10c corresponding with these pulls.The operator not being shown specifically are permissible
Utilize input equipment 11(such as computer mouse) select one of them virtual pull 9a-9c, here,
Operator such as click on the corresponding image 10a-10c illustrated in display device 6.
Subsequently, operator such as can utilize input equipment 11 to move selected pull or with selected
The corresponding image 10a-10c of pull, make selected pull or its image 10a-10c as desired
Cover like that on the image 7 of computer model.Finally, computer 5 utilizes suitable computer program
Calculate the computer model revised of existing object 2, itself and the existing object corresponding to selected pull
2 are consistent.This such as superposes with computer model by would correspond to the virtual pull 9a-9c of selected pull
Realize.
But can also be according to selected pull or its image 10a-10c, computer 5 is automatically by computer
The image 7 of model covers on selected image 10a-10c, thus obtains modified computer
Model.
In the present embodiment, station 20 of priming has at least one robots arm 21 and controls device 22.
Therefore, robots arm 21 and affiliated control device 22 thereof represent industrial robot.
In the present embodiment, robots arm 21 includes multiple joint set gradually and be connected by means of joint
Limb.Here, segmental appendage particularly relates to support and can install rotationally around vertically extending axle relative to support
Rotating disk.In the present embodiment, other segmental appendages of robots arm 21 include rocking arm, cantilever and are preferably many
The robot of axle, robot has the fixing device being such as configured to flange, such as, be configured to print
The printing equipment 23 of head is fixed in this fixing device.Rocking arm be not such as shown specifically on bottom
Rocker arm shaft take the lead on be rockably mounted on rotating disk around the axle of preferably level.Upper end at rocking arm
In portion, the axle also around preferably level installs cantilever swingably.Cantilever is preferably with it in side
The axle supporting machine staff of three.
In order to make each segmental appendage of robots arm 21 move, robots arm 21 has and controls device 22 with it
The electric drive being connected.The power electronic device of driver is such as placed in switch board, controls device
22 can also be arranged in switch board.
In the present embodiment, the control device 22 be such as designed to computer runs control program,
Control device 22 utilization that is in operation and control programme-control machine robot arm 21 or its driver, make flange or
Therefore so-called tool center point also makes printing equipment 23 perform prespecified motion.Control device 22
The driver of robotic arm 21 when necessary.Electric drive can be controllable driver, and controls
Device 22 produces for controllable driver or the specified signal of its power electronic device.Control device 22 example
As controlled power electronic device by rights.Control device 22 and control programme-control by means of it equally
Printing equipment 23.
In the present embodiment, station 20 of priming has multiple robots arm.Figure 2 illustrates another
Individual robots arm 24, it is constituted in the way of identical with robots arm 21.Its fixing device is fixed
Another is such as set to the printing equipment 25 of another printhead.The driver of robots arm 24 and print
Brush device 25 is equally controlled by control device 22.But in the present embodiment, another controls dress
Put 26 and belong to robots arm 24, control device 26 runs another control program, so that robot
Arm 24 moves and controls another printing equipment 25.The two can be made if desired to control device 22,26
It is in communication with each other.
In the present embodiment, existing object 2 is brought to linging lacquerer after utilizing measurement apparatus 4 to measure
Position 20, to utilize robots arm 21,24 and printing equipment 23,25 to prime for surface 1.To this end,
In the present embodiment, use carrying device 3 that existing object 2 is automatically moved to station 20 of priming especially
In and to its position, think to prime in surface 1.
Being set to by computer 5 in the present embodiment, it generates according to the computer model of amendment and is used for being coated with
The control program controlling device 22,26 of priming paint station 20, and the surface 1 of existing object 2 is being coated with
The program transportation control device 22,26 to station 20 of priming will be controlled before priming paint.That is, these controls
Processing procedure sequence is loaded into by computer 5 on the control device 22,26 of station 20 of priming, in order to according to repairing
Primed in surface 1 by the computer model corrected one's mistakes.
It is also possible to control device 22,26 is designed as, modified according to transmitted by computer 5
Computer model is autonomously generated its control program, or according to modified computer model to already depositing
It is placed on control program based on the computer model revised therein to modify.
In the present embodiment, the robots arm 21,24 of station 20 of priming is fixed with such as designs
For the light source 27,28 of UV light source, in order under controlling the control of control program of device 22,26,
Preferably implement to be dried to the priming paint being coated on existing object 2 immediately after coating priming paint.
In the present embodiment, finish pigment station 30 there is at least one robots arm 31 and control device 32.
Therefore, robots arm 31 and affiliated control device 32 thereof represent an industrial robot.Finish pigment station
The robots arm 31 of 30 is constituted in the way of the robots arm 21,24 of the station 20 that is similar to prime.
The fixing device of robots arm 31 finishing pigment station 30 is fixed with and is such as set to printhead
Printing equipment 33.The driver of robots arm 31 and printing equipment 33 can be by means of controlling device 32
It is controlled by.In the present embodiment, control program and controlling operation on device 32, control device 32 and exist
Operation utilizes and controls programme-control machine robot arm 31 or its driver, make flange or so-called tool focus
Therefore point also makes printing equipment 33 realize prespecified motion.Control device 32 and control machine when necessary
The driver of device robot arm.Electric drive can be controllable driver, and controls device 32 and produce for this
Controllable driver or the specified signal of its power electronic device.Control device 32 to control the most by rights
Power electronic device processed.Control device 32 and control programme-control printing equipment 33 by means of it equally.
In the present embodiment, finish pigment station 30 and there is multiple robots arm.Figure 3 illustrates another
Individual robots arm 34, it is constituted in the way of identical with robots arm 31.Its fixing device is fixed
Another is had such as to be set to the printing equipment of another printhead 35.The driver of robots arm 34 and
Printing equipment 25 is equally controlled by control device 32.But in the present embodiment, another controls
Device 36 belongs to the robots arm 34 finishing pigment station 30, runs another control on control device 36
Processing procedure sequence, so that robots arm 34 moves and controls another printing equipment.Can make if desired to finish pigment
The two of station 30 controls device 32,36 and is in communication with each other.
In the present embodiment, on the surface 1 of existing object 2 in station 20 of priming coated priming paint it
After, it is brought to finish pigment in station 30, in order to according to selected pull, utilize robots arm 31,
34 and printing equipment 33,35 be surface 1 coating pigment or paint.To this end, in the present embodiment, carrying
Existing object 2 is particularly automatically moved into painting face after being primed by station 20 of priming by device 3
Position in material station 30 and to it, in order to coating pigment and/or paint.
Being set to by computer 5 in the present embodiment, it generates according to the computer model of amendment and is used for being coated with
The control program controlling device 32,36 of pigment station 30, and will control before coating pigment or paint
Program transportation is on the control device 32,36 finishing pigment station 30.That is, these control programs are by calculating
Machine 5 is loaded on the control device 32,36 finishing pigment station 30, in order to according to the computer mould of amendment
Type is to surface 1 coating pigment and/or paint.
It is also possible to control device 32,36 is designed as, according to revising of being transmitted by computer 5
Computer model is autonomously generated its control program, or according to modified computer model to already depositing
It is placed on control program based on the computer model revised therein to modify.
In the present embodiment, the robots arm 31,34 finish pigment station 30 is fixed with such as designs
For the light source 37,38 of UV light source, in order under controlling the control of control program of device 32,36,
Preferably immediately the pigment being coated on existing object 2 and/or paint are carried out after coating pigment and/or paint
It is dried.
In the present embodiment, station 40 of varnishing has at least one robots arm 41 and controls device 42.
Therefore, robots arm 41 and affiliated control device 42 thereof represent an industrial robot.Varnish station
The robots arm 41 of 40 is constituted in the way of the robots arm 21,24 of the station 20 that is similar to prime.
The fixing device of the robots arm 41 of station 40 of varnishing is fixed with and is such as set to printhead
Printing equipment 43.The driver of robots arm 41 and printing equipment 43 can be by means of controlling device 42
It is controlled by.In the present embodiment, controlling to run on device 42 control program, controlling device 32 and exist
Operation utilizes this control programme-control machine robot arm 41 or its driver, makes in flange or so-called instrument
Therefore heart point also makes printing equipment 43 realize prespecified motion.Control device 42 to control when necessary
The driver of robots arm 41.Electric drive is controllable driver when necessary, and controls device 42
Produce for this controllable driver or the specified signal of its power electronic device.Control device 42 such as with suitable
When mode control power electronic devices.Control device 42 and control programme-control printing dress by means of it equally
Put 43.
In the present embodiment, station 40 of varnishing has multiple robots arm.Figure 4 illustrates another
Individual robots arm 44, it is constituted in the way of identical with robots arm 41.Its fixing device is fixed
Another is had such as to be set to the printing equipment of another printhead 45.Another robots arm 44 drives
Dynamic device and another printing equipment 45 equally utilize control device 42 to control.But at the present embodiment
In, another controls device 46 and belongs to another robots arm 44 of station 40 of varnishing, and is controlling dress
Put and on 46, run another control program, so that another robots arm 44 moves and controls another print
Brush device 45.The two that can make varnishers position 40 if desired controls device 42,46 and is in communication with each other.
In the present embodiment, on the surface 1 of existing object 2 in finishing pigment station 30 coated pigment it
After, existing object 2 is brought to varnish in station 40, in order to utilize robots arm 41,44 and printing
Device 43,45 is its surface 1 varnish coating.To this end, in the present embodiment, carrying device 3 will be current
Object 2 is being particularly automatically moved into after station 30 prints in station 40 of varnishing also by finishing pigment
It is positioned, in order to varnish coating.
Being set to by computer 5 in the present embodiment, it generates according to the computer model of amendment and is used for being coated with
The control program controlling device 42,46 of varnish station 40, and program will be controlled before varnish coating
Be transferred to varnish station 40 control device 42,46 on.That is, these control program by computer 5
It is loaded on the control device 42,46 of station 40 of varnishing, thinks surface 1 varnish coating.
It is also possible to control device 42,46 is designed as, according to revising of being transmitted by computer 5
Computer model is autonomously generated its control program, or according to modified computer model to already depositing
It is placed on control program based on the computer model revised therein to modify.
In the present embodiment, the robots arm 41,44 of station 40 of varnishing is fixed with such as designs
For the light source 47,48 of UV light source, in order under controlling the control of control program of device 42,46,
Preferably immediately varnish is dried after coating varnish.
Claims (17)
1., for the method printed on the surface of the object, the method has steps of:
Existing object (2) is measured, to set up this existing object (2) by means of optical measuring device (4)
Computer model, this existing object (2) includes surface (1), will be by extremely to this surface (1)
A few robots arm (21,24,31,34,41,44) and the printing being fixed on this robots arm
Device (23,25,33,35,43,45) prints according to pull,
By the virtual pull (9a-9c) that superposition is corresponding with pull, set up and printed existing object
Corresponding modified computer model,
Based on this modified computer model, automatically set up and/or revise at least one for described at least
One robots arm (21,24,31,34,41,44) and the described printing equipment being fixed thereon
Automatically the motion of (23,25,33,35,43,45) and the control program of control, and
By means of described at least one robots arm (21,24,31,34,41,44) and be fixed on
Described printing equipment (23,25,33,35,43,45) thereon, that set up or modified
Under the control of control program, according to described pull, the surface (1) of described existing object (2) is printed
Brush.
2. the method for claim 1, has steps of:
At the upper image (7) showing described computer model of display device (6) and the image of described pull
(10a-10c),
The image (10a-10c) of described pull is superposed with the image (7) of described computer model, from
And with the surface (1) to be printed of described existing object (2) correspondingly by the image of described pull
(10a-10c) it is apparent on the image (7) of described computer model, and
Set up modified computer model.
3. the method for claim 1, has steps of:
Described computer model is stored in computer (5), and
Modified computer model is set up by means of this computer (5).
4. method as claimed in claim 3, has steps of:
Automatically set up by described computer (5) and/or amendment is provided for making at least one machine described
The control program of robot arm (21,24,31,34,41,44) motion automatically, and
By that set up or modified control program transportation give control device (22,26,32,36,42,
46), this control device utilizes at least one machine described in that set up or modified control programme-control
The surface (1) of described existing object (2) is printed by robot arm (21,24,31,34,41,44)
Brush.
5. method as claimed in claim 3, has steps of:
It is transferred to described modified computer model control device (22,26,32,36,42,46),
This control device utilizes at least one robot described in described foundation or modified control programme-control
The surface (1) of described existing object (2) is printed by arm (21,24,31,34,41,44),
And
Automatically set up by means of described control device (22,26,32,36,42,46) and/or amendment is used
In the control journey making described at least one robots arm (21,24,31,34,41,44) motion automatically
Sequence.
6. the method as according to any one of claim 1 to 5, has steps of:
In order to measure described existing object (2), make this existing object (2) by means of carrying device (3)
Move in the measured zone of described measurement apparatus (6).
7. the method as according to any one of claim 1 to 5, has steps of:
In order to measure described existing object (2), make this existing object (2) by means of carrying device (3)
It is automatically moved in the measured zone of described measurement apparatus (6).
8. the method as according to any one of claim 1 to 5, has a step:
Make described existing object (2) by means of carrying device (3) to multiple printing stations (20,30,
40) move continuously, wherein, the most corresponding at least one robots arm described of each station (21,24,
31,34,41,44) at least one robots arm in, with described foundation or amendment control journey
Under sequence controls, relevant robots arm (21,24,31,34,41,44) is utilized first to work as described
Prime on the surface (1) of front object (2), be then coated with the pigment corresponding with described pull and/
Or the paint corresponding with pull, varnish coating the most again.
9. the method as according to any one of claim 1 to 5, has a step:
Make described existing object (2) by means of described carrying device (3) to multiple printing stations (20,
30,40) the most automatically move, wherein, the most corresponding at least one robots arm described of each station
At least one robots arm in (21,24,31,34,41,44), with described foundation or repair
Under the control programme-control changed, utilize relevant robots arm (21,24,31,34,41,44) first
First prime on the surface (1) of described existing object (2), be then coated with corresponding with described pull
Pigment and/or the paint corresponding with pull, varnish coating the most again.
10. the method as according to any one of claim 1 to 5, has steps of: from multiple with
Select for described modified in the virtual pull that the different pulls of described surface (1) are corresponding
The virtual pull (9a-9c) of computer model.
11. 1 kinds, for the device printed on the surface of the object, have:
At least one robots arm (21,24,31,34,41,44), it include multiple can phase each other
Segmental appendage to motion,
The printing equipment that is fixed on described robots arm (21,24,31,34,41,44) (23,
25,33,35,43,45), it is designed to, corresponding to pull on the surface of existing object (2)
(1) print on,
At least one controls device (22,26,32,36,42,46), and it makes institute by control program
The segmental appendage stating at least one robots arm (21,24,31,34,41,44) moves and controls described print
Brush device (23,25,33,35,43,45), to be printed on described existing object (2) corresponding to pull
Surface (1) on print,
Measurement apparatus (4), is used for measuring described existing object (2), and
Computer (5), it is designed to,
According to the data corresponding to measured existing object (2) of described measurement apparatus (4), set up
The computer model of described existing object (2),
By by superimposed with described computer model for the virtual pull (9a-9c) corresponding with described pull,
Set up the modified computer model corresponding with printed existing object (2), and
Based on described modified computer model set up and/or amendment control program, thus by described extremely
A few robots arm (21,24,31,34,41,44) and described printing equipment fixed thereon
(23,25,33,35,43,45), controllably print institute according to described modified computer model
State the surface (1) of existing object (2), or described modified computer model is transferred to described
At least one controls device (22,26,32,36,42,46), so that at least one control described
Device (22,26,32,36,42,46) is set up based on described modified computer program or amendment
Described control program, thus makes described at least one robots arm (21,24,31,34,41,44)
With described printing equipment (23,25,33,35,43,45) fixed thereon according to described modified
Computer model print described existing object (2) surface (1).
12. devices as claimed in claim 11, wherein, described in be fixed on described robots arm (21,
24,31,34,41,44) printing equipment (23,25,33,35,43,45) on is designed to,
Print on the surface (1) of three-dimensional existing object corresponding to pull, and described measurement apparatus
(4) it is optical measuring device.
13. devices as claimed in claim 11, have the display being connected with described computer (5)
Device (6), for showing the image (7) of described computer model and the image (10a-10c) of described pull.
14. devices as claimed in claim 13, have the input being connected with described computer (5)
Device (11), can move the image (10a-10c) of shown described pull by this input equipment
And/or the image (7) of described computer model, make the image (10a-10c) of described pull such as institute's phase
As prestige, the image (7) with described computer model superposes, and thus makes the described computer (5) can
Set up the computer model of amendment accordingly.
15. devices as according to any one of claim 11 to 14, have carrying device (3),
It is designed to, and first makes described existing object (2) move to described measurement apparatus (4), the most again
To described at least one its on be fixed with the robots arm (21,24,31,34,41,44) of printing equipment
Motion.
16. devices as according to any one of claim 11 to 14, have and multiple are fixed with print on it
The robots arm (21,24,31,34,41,44) of brush device, these robots arms are by described control
Device processed (22,26,32,36,42,46) controllably prints described existing object according to described pull
(2) surface (1), here, by one of described robots arm (21,24) and be fixed thereon
Printing equipment (23,25) be designed for priming, by another robots arm (31,34) and
The printing equipment (33,35) being fixed thereon is designed for the surface (1) in described existing object (2)
On coat the pigment being consistent with pull and/or the paint being consistent with pull, and by yet another robots arm (41,
44) and the printing equipment (43,45) that is fixed thereon is designed for being coated with described surface (1) is upper
Varnish.
17. devices as according to any one of claim 11 to 14, have and described computer (5)
The input equipment (11) being connected, can be from multiple and described surface (1) by this input equipment
The virtual pull that different pulls are corresponding selects the virtual print for described modified computer model
Sample.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012212469.1 | 2012-07-17 | ||
| DE102012212469.1A DE102012212469B4 (en) | 2012-07-17 | 2012-07-17 | Method for printing on a surface and device for printing on a surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103538382A CN103538382A (en) | 2014-01-29 |
| CN103538382B true CN103538382B (en) | 2016-10-12 |
Family
ID=49879842
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210593345.3A Expired - Fee Related CN103538382B (en) | 2012-07-17 | 2012-12-31 | For the method and apparatus printed from the teeth outwards |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103538382B (en) |
| DE (1) | DE102012212469B4 (en) |
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|---|---|---|---|---|
| DE102015200986A1 (en) | 2014-02-20 | 2015-08-20 | Heidelberger Druckmaschinen Ag Intellectual Property | Apparatus for printing and radiation treating a curved surface of an object |
| DE102015205631B4 (en) * | 2014-06-05 | 2024-06-20 | Heidelberger Druckmaschinen Ag | Method for automated printing of a curved surface of a three-dimensional object |
| DE102016014955A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Coating device and corresponding coating method |
| DE102016014943A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Printhead with tempering device |
| DE102016014948A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Printhead and related operating procedures |
| DE102016014956A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Coating device and associated operating method |
| DE102016014919A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Application device and method for applying a coating agent |
| DE102016014920A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Printhead with sliding and / or rotating mechanism for at least one row of nozzles |
| DE102016014952A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Coating device for coating components |
| DE102016014944A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Coating method and corresponding coating device |
| DE102016014953A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Painting plant and corresponding painting process |
| DE102016014947A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Printhead for applying a coating agent |
| DE102016014951A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Coating device and associated operating method |
| DE102016014946A1 (en) | 2016-12-14 | 2018-06-14 | Dürr Systems Ag | Printhead for applying a coating agent to a component |
| FR3080998B1 (en) | 2018-05-14 | 2020-04-24 | Reydel Automotive B.V. | PROCESS FOR SURFACE TREATMENT OF A PART AND ASSOCIATED INSTALLATION |
| FR3082780B1 (en) * | 2018-06-21 | 2020-07-24 | Reydel Automotive Bv | PRINTING OR COATING INSTALLATION OF SURFACES OF THREE-DIMENSIONAL PARTS |
| DE102018120813B4 (en) * | 2018-08-27 | 2020-03-05 | Meissner Ag Modell- Und Werkzeugfabrik | Computer-aided method for punching a surface of a workpiece and a corresponding device |
| DE102018121557A1 (en) * | 2018-09-04 | 2020-03-05 | ISP GmbH & Co. KG | Process for the distortion-free coating of workpieces with bidirectionally curved surfaces |
| DE102018121570A1 (en) * | 2018-09-04 | 2020-03-05 | ISP GmbH & Co. KG | Distortion-free coating of vehicle interior surfaces |
| US11285616B2 (en) * | 2018-09-11 | 2022-03-29 | Teradyne, Inc. | Robotic coating application system and method |
| CN108995396A (en) * | 2018-09-13 | 2018-12-14 | 立马车业集团有限公司 | Electric vehicle exterior trimming parts external surface treatment method |
| FR3096295B1 (en) * | 2019-05-20 | 2021-05-14 | Ivy Group Holding | System and method for the selective and localized surface treatment of parts, in particular by material deposition |
| IT201900008499A1 (en) | 2019-06-10 | 2020-12-10 | Nicola Cristiano Zonno | Process and system of production of decorated objects |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102012212469A1 (en) | 2014-01-23 |
| DE102012212469B4 (en) | 2022-10-06 |
| CN103538382A (en) | 2014-01-29 |
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