Path correction method for a coating system
The disclosure relates to a path correction method for correcting paint tracks when coating a component (e.g., motor vehicle body component) with a coating agent (e.g., paint). The path correction method includes: Defining a reference path, applying a first paint track of the coating agent to the component, where the first paint track and the reference path run adjacent to one another and ideally adjoin one another without a path error at a seam, determining the interfering path error at the seam between the first paint track and the adjacent reference path, and determining path correction values for correcting the course of the first paint track in a subsequent coating operation, the path correction values being determined as a function of the path error. Furthermore, the disclosure comprises a corresponding coating method and a correspondingly adapted coating system.
1 . A path correction method that corrects paint tracks during the coating of a component with a coating agent, comprising:
defining a reference path,
applying a first coating track of the coating agent to the component, the first coating track and the reference path running adjacent to one another,
determining a path error at a seam between the first paint track and the adjacent reference path,
determining path correction values for correcting the course of the first coating track in a subsequent coating operation, the path correction values being determined as a function of the path error,
applying a subsequent first coating track of the coating agent in a subsequent coating operation using the determined path correction values which reduces the path error at a seam between the subsequent first coating track and the reference path,
applying a second coating track of the coating agent to the component alongside the first coating track,
wherein during the application of the first coating track and the second coating track a path gap is generated to distinguish the first coating track from the second coating track on the component, and a subsequent path error is measured when the first coating track and the second coating track are both applied to the component,
wherein the path gap is produced by controlling an applicator which applies the coating agent by switching off individual nozzles of the applicator,
determining subsequent path correction values as a function of the subsequent path error, and
applying a subsequent coating track of the coating agent to the component, without generating a path gap between the subsequent coating track and an adjacent coating track, using the determined subsequent path correction values which reduces the path error at a seam between the subsequent coating track and the adjacent coating track.
2 . The path correction method according to claim 1 , wherein the reference path is predetermined independently of the coating by the shape of the component.
3 . The path correction method according to claim 2 , wherein the reference path is a component edge or a design edge.
4 . The path correction method according to claim 1 , wherein further path correction values are also determined for further adjacent coating tracks next to the first coating track and/or next to the second coating track, so that the path error does not migrate on to the further adjacent coating tracks.
5 . The path correction method according to claim 1 , wherein
the first coating track is applied by a first coating robot which guides a first application device over the component, and
the second coating track is applied by a second coating robot which guides a second application device over the component.
6 . The path correction method according to claim 1 , wherein
the first coating track and the second coating track are both applied by the same coating robot, which guides an application device over the component to be coated, and the coating robot applies the two coating tracks differently.
7 . The path correction method according to claim 6 , wherein the coating robot applies the two coating with opposite directions of movement of the applicator device.
8 . The path correction method according to claim 1 , wherein determining the path error at the seam between the first paint track and the adjacent reference path is carried out by means of a stationary measurement system.
9 . The path correction method according to claim 8 , wherein the stationary measurement system is a light-section measurement system having at least one light source for projecting a light line onto the component and at least one camera for detecting the light line on the component.
10 . The path correction method according to claim 1 , wherein determining the path error at the seam between the first paint track and the adjacent reference path is carried out by a mobile measurement system which is attached to the respective coating robot.
11 . The path correction method according to claim 1 , wherein
the first coating track is applied by a first coating robot that guides a first application device and a first mobile measurement system over the component, and
the second coating track is applied by a second coating robot which guides a second application device and a second mobile measurement system over the component.
12 . The path correction method according to claim 1 , wherein
the first coating track is applied by a first coating robot that guides a first application evice over the component but does not guide a mobile measurement system, and
the second coating track is applied by a second coating robot which guides a second application device and a second mobile measurement system over the component.