Coating method and corresponding coating installation

1. A coating method for coating a component with a coating agent, comprising:

a) specifying at least one coating path for moving a paint impact point of an application device along the specified at least one coating path over the surface of the component to be coated, the at least one coating path running through a surface region of the component to be coated which is bounded by edges,

b) presetting one of a plurality of reference values for a plurality of spatial edge point positions on the edges of the surface region,

c) measuring one of a plurality of spatial end point positions of the component to be coated with a measuring system to create a plurality of measured values,

d) determining a deviation between the measured values and the reference values, and

e) adapting the coating path as a function of the deviation between the reference values of the edge points and the measured values of the edge points, wherein

f) the surface region on the component is coated by a first coating robot and a second coating robot,

g) the surface region on the component is divided into a first sub-region and a second sub-region which are directly adjacent to one another,

h) the first coating robot applies a delimiting application path between the first and second sub-regions,

i) the second coating robot measures the second sub-region, including the delimiting application path, and

j) the second coating robot coats the second sub-region with the coating agent.

2. The coating method according to claim 1 , further comprising:

a) moving an application device along the at least one adapted coating path over the surface of the component to be coated as part of an application movement, and

b) application of the coating agent by the application device onto the surface of the component to be coated during the movement of the application device along the at least one adapted coating path,

c) specifying a measuring path for moving the measuring system over the surface of the component to be coated, the measuring path corresponding essentially to the coating path,

d) moving the measuring system along the predetermined measuring path as part of a measuring movement, the paint impact point of the application device following the predetermined measuring path, and

e) measuring the spatial end points during the measuring movement along the measuring path.

3. The coating method according to claim 2 , wherein the deviations between the spatial position of the paint impact point during the measuring movement and the spatial position of the paint impact point during the application are smaller than 40 mm.

4. The coating method according to claim 2 , wherein the application device has essentially the same spatial orientation during the measuring movement as during the application movement.

5. The coating method according to claim 2 , wherein

a) the angular deviations between the orientation of the application device during the measuring movement and the orientation of the application device during the application movement are smaller than 20°, and

b) the angular deviations between an orientation of at least one individual robot axis during the measuring movement and the orientation of the at least one individual robot axis during the application movement are smaller than 20°.

6. The coating method according to claim 2 , wherein

a) the application movement along the at least one coating path takes place with a specific movement dynamics,

b) the measuring movement along the coating path takes place with a certain movement dynamics, and

c) the measuring movement takes place with essentially the same movement dynamics as the application movement.

7. The coating method according to claim 6 , wherein

a) the movement dynamics in the measuring movement and in the application movement are essentially the same with regard to the path speed of the paint impact point of the application device, and

b) the movement dynamics in the measuring movement and in the application movement are essentially the same with regard to the path acceleration of the paint impact point of the application device, and

c) the movement dynamics in the measurement movement and in the application movement are essentially the same with regard to the axis positions of the robot axes of the first coating robot, and

d) the movement dynamics in the measurement movement and in the application movement are essentially the same with regard to the axis speeds of the robot axes of the first coating robot, and

e) the movement dynamics during the measuring movement and during the application movement are substantially the same with respect to the axis accelerations of the robot axes of the first coating robot.

8. The coating method according to claim 7 , wherein

a) the deviations between the path speed of the paint impact point during the measuring movement and the path speed of the paint impact point during the application movement are smaller than

a1) 30%, and

a2) 500 mm/s,

b) the deviations between the path acceleration of the paint impact point during the measurement movement and the path acceleration of the paint impact point during the application movement are smaller than 10%, and

c) the deviations between the axis speeds of the robot axes during the measuring movement and the axis speeds of the robot axes during the application movement are smaller than 10%, and

d) the deviations between the axis accelerations of the robot axes during the measuring movement and the axis accelerations of the robot axes during the application movement are smaller than 10%.

9. The coating method according to claim 1 , wherein

a) the number of measured edges of the surface region is between 2 and 8, and

b) the coating path is adapted as a function of the deviation between the reference values and the measured values along the individual edges with at least one of the following:

b1) an n th -order polynomial with n of 1-6,

b2) a cubic spline,

b3) a quintic spline,

b4) a cubic Bezier curve,

b5) a quintic Bezier curve.

10. The coating method according to claim 1 , wherein the reference values of the edge point positions are determined on the basis of a CAD model of the component.

11. The coating method according to claim 1 , wherein the reference values of the edge point positions are measured by a measurement on a reference component.

12. The coating method according to claim 1 , wherein

a) the edged surface region on the component to be coated is measured and coated by the first and the second coating robots, the first and the second coating robots arranged on opposite sides of the surface region,

b) the first coating robot measures the entire surface region or one of the first or the second sub-regions spatially with its measuring system,

c) the path of movement is adapted as a function of the spatial measurement by the first coating robot

d) the first coating robot coats the first sub-region with the coating agent.

13. The coating method according to claim 1 , wherein at least one boundary of the second sub-region is defined by the outer edge of a coating path.

14. The coating method according to claim 1 , wherein the coating path is adapted in such a way that the following tolerances are at least partially compensated for at least one of the following:

a) static positioning inaccuracy of the first coating robot,

b) dynamic positioning inaccuracy of the first coating robot, or

c) temperature-related positioning inaccuracy of the first coating robot.

15. A coating installation for coating a component with a coating agent, having

a) a first multi-axis coating robot,

b) a first application device which is moved by the first coating robot along a predetermined coating path over the surface of the component to be coated,

c) a measuring system for spatial measurement of the component to be coated,

d) a control unit

d1) for controlling the first application device, and

d2) for controlling the first coating robot according to the predetermined coating path, so that the application device moves along the predetermined coating path and coats the component on the coating path, and

d3) for interrogating the measuring system to determine the spatial position of the component to be coated,

e) wherein the control unit controls the first multi-axis coating robot and the first application device and interrogates the measuring system to:

e1) specify at least one coating path for moving a paint impact point of an application device along the specified at least one coating path over the surface of the component to be coated, the at least one coating path running through a surface region of the component to be coated which is bounded by edges,

e2) preset one of a plurality of reference values for a plurality of spatial edge point positions on the edges of the surface region,

e3) measure one of a plurality of spatial end point positions of the component to be coated with the measuring system to create a plurality of measured values,

e4) determine a deviation between the measured values and the reference values, and

e5) adapt the coating path as a function of the deviation between the reference values of the edge points and the measured values of the edge points,

f) a second coating robot,

g) a second application device which is moved by the second coating robot,

h) wherein the surface region is divided into a first sub-region and a second sub-region which are directly adjacent to one another,

i) wherein the control unit controls the first coating robot and the first application device to apply a delimiting application path between the first and second sub-regions, and

j) wherein the control unit controls the second coating robot to measure the second sub-region, including the delimiting application path, and coat the second sub-region with the coating agent.

16. The coating installation according to claim 15 , wherein the measuring system is mounted on the coating robot and is moved by the coating robot over the surface of the component to be coated.

17. The coating installation according to claim 15 , wherein the measuring system comprises a light section sensor or a camera.

18. The coating installation according to claim 15 , wherein the first or second application device is an atomizer.

19. The coating installation according to claim 15 , wherein the first or second application device is a substantially overspray-free application device which, in contrast to an atomizer, does not atomize the coating agent but a spatially narrowly limited coating agent jet.

20. The coating installation according to claim 15 , wherein the first or second application device is an atomizer and the coating agent is a paint.

21. A coating method for coating a component with a coating agent, comprising:

a) specifying at least one coating path for moving a paint impact point of an application device along the specified at least one coating path over the surface of the component to be coated, the at least one coating path running through a surface region of the component to be coated which is bounded by edges,

b) presetting one of a plurality of reference values for a plurality of spatial edge point positions on the edges of the surface region,

c) measuring one of a plurality of spatial end point positions of the component to be coated with a measuring system to create a plurality of measured values,

d) determining a deviation between the measured values and the reference values,

e) adapting the coating path as a function of the deviation between the reference values of the edge points and the measured values of the edge points, and

f) adapting the coating path in such a way that temperature-related positioning inaccuracies of the coating robot are at least partially compensated, wherein

g) the surface region on the component is coated by a first coating robot and a second coating robot,

h) the surface region on the component is divided into a first sub-region and a second sub-region which are directly adjacent to one another,

i) the first coating robot applies a delimiting application path between the first and second sub-regions,

j) the second coating robot measures the second sub-region, including the delimiting application path, and

k) the second coating robot coats the second sub-region with the coating agent.