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公开(公告)号：US11230008B2
公开(公告)日：2022-01-25
申请号：US16330187
申请日：2017-09-04
Applicant: Dürr Systems AG
Inventor： Sven Schweigler
Abstract: The disclosure relates to an optimisation method for calculating an optimised movement path of a coating robot (1), including the following steps: defining consecutive path points of the movement path using path point data, wherein the path point data defines the spatial position and orientation of the application device (7) at each path point; calculating possible robot configurations for the individual path points of the movement path, wherein each robot configuration includes all axial positions of all robot axes (A1-A7) and at least some of the path points can be reached optionally via multiple different robot configurations; calculating a path point-related and preferable also sequence-related quality value individually for the different possible robot configurations of the individual path points, such that each robot configuration is assigned a respective quality value; and—selecting one of the possible robot configurations for the individual path points according to the quality value of the different possible robot configurations. The disclosure also comprises a corresponding coating system.
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公开(公告)号：US20190217473A1
公开(公告)日：2019-07-18
申请号：US16330187
申请日：2017-09-04
Applicant: Dürr Systems AG
Inventor： Sven Schweigler
CPC classification number: B25J9/1676 , B25J11/0075 , G05B2219/45013 , G05B2219/50391
Abstract: The disclosure relates to an optimisation method for calculating an optimised movement path of a coating robot (1), including the following steps: defining consecutive path points of the movement path using path point data, wherein the path point data defines the spatial position and orientation of the application device (7) at each path point; calculating possible robot configurations for the individual path points of the movement path, wherein each robot configuration includes all axial positions of all robot axes (A1-A7) and at least some of the path points can be reached optionally via multiple different robot configurations; calculating a path point-related and preferable also sequence-related quality value individually for the different possible robot configurations of the individual path points, such that each robot configuration is assigned a respective quality value; and selecting one of the possible robot configurations for the individual path points according to the quality value of the different possible robot configurations. The disclosure also comprises a corresponding coating system.
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公开(公告)号：US20250042041A1
公开(公告)日：2025-02-06
申请号：US18717011
申请日：2023-01-10
Applicant: Dürr Systems AG
Inventor： Sven Schweigler , Tobias Kleinhans , Arved Hess
Abstract: The disclosure concerns a robot hand, preferably for carrying an application apparatus preferably comprising a print head device, with a first joint structure which is rotatable about a first axis, a second joint structure which is rotatable about a second axis, and a third joint structure which is rotatable about a third axis, a line feed-through which extends through the first joint structure and through the third joint structure and preferably in which at least one line runs, and an offset between the first axis and the second axis.
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公开(公告)号：US20250041889A1
公开(公告)日：2025-02-06
申请号：US18718973
申请日：2023-01-10
Applicant: Dürr Systems AG
Inventor： Sven Schweigler , Heiko Kamp
Abstract: The disclosure relates to a joint device, preferably a robot hand, preferably for carrying an application apparatus in particular comprising a print head device, with a first joint structure which is rotatable about a first axis, and a line feed-through preferably in which at least one line runs, wherein the joint device comprises a forced guidance device, having a rotary part, for forced guidance of the line feed-through, and the rotary part is rotatable about a central axis of the forced guidance device.
