COATING PROCESS AND CORRESPONDING COATING SYSTEM

Description

[0001] The invention relates to a coating method for coating a component (e.g., a motor vehicle body component) with a coating agent (e.g., paint). Furthermore, the invention relates to a corresponding coating system.

[0002] In modern painting systems for painting motor vehicle body components, rotary atomizers are usually used as application devices, which emit a spatially extended spray jet of the paint to be applied.

[0003] A more recent development, however, envisages the use of nozzle applicators, also known as print heads, as application devices. These are described, for example, in DE 10 2013 002 412 A1. In contrast to conventional rotary atomizers, such nozzle applicators do not emit a spatially extended spray jet of paint, but rather a spatially confined jet of coating agent. This has the advantage that the applied paint is deposited almost completely on the component to be coated, thus resulting in little or no overspray. A further advantage of these conventional nozzle applicators is that patterns can also be applied to the component surface, such as graphics or lettering. However, the problem here is that the contours of the patterns are not sharply defined.

[0004] When a droplet jet is applied, the coating agent droplets initially form circular coatings on the component surface, which then merge into a continuous coating film due to the cohesive force of the applied paint. However, a droplet structure is still visible on the outer contour of the pattern, which is distracting.

[0005] The same problem occurs in a similar form when, instead of a droplet jet, a coating agent jet is applied that is continuous in the jet direction. In this case, the coating agent jets form continuous coating agent paths on the component surface, which are usually adjacent to one another and then converge due to the cohesive force of the applied paint. However, a structure is also visible at the ends of the paths, so that the contour is not sharply defined on all sides of the surface or pattern.

[0006] Regarding the technical background of the invention, reference should also be made to DE 198 54 760 A1, DE 10 2013 006 868 A1, EP 0 282 599 A1, DE 199 36 790 A1, EP 2 770 322 A1, FAVRE-BULLE, B.: "Automation of complex industrial processes - systems, methods and information management", Springer-Verlag GmbH, 2004, ISBN 978-3-7091-0562-7, DE 10 2016 014 944 A1, DE 10 2014 017 707 A1, DE 198 54 760 A1, WO 2010 / 046064 A1 and DE 101 50 826 A1.

[0007] Finally, DE 10 2010 019 612 A1 discloses a coating process.

[0008] However, this known coating process is not yet completely satisfactory.

[0009] The invention is therefore based on the object of creating a correspondingly improved coating method and a corresponding coating system.

[0010] This object is achieved by a coating method according to the invention or a corresponding coating system according to the independent claims.

[0011] The coating method according to the invention initially provides for the definition of a pattern to be created on the surface of the component to be coated. The pattern is a surface area surrounded by a contour. The term "pattern" used within the scope of the invention is to be understood generally and includes, for example, graphics, lettering, images, letters, numbers, and other possible designs as well as partial surfaces of a coating object (e.g., roof rail, fender, etc. of a motor vehicle body).

[0012] The pattern is divided into contour and surface components by an operator in a suitable manner and using tools such as software, either semi-automatically or fully automatically. In a subsequent step, path programs are created manually, semi-automatically, or fully automatically from the information thus obtained (sub-surfaces).

[0013] Furthermore, the coating method according to the invention, in accordance with the known coating methods, provides that the component surface is coated over the entire area within the predetermined contour of the desired pattern, preferably using a nozzle applicator (e.g. print head) as already mentioned above in relation to the prior art.

[0014] The coating method according to the invention is characterized by a sharp-edged coating of the component surface with a coating agent along at least part of the contour of the pattern. Within the scope of the invention, the pattern is thus filled within the contour, while the contour or parts of the contour (e.g., the front edge) of the pattern are traced with sharp edges.

[0015] It should be noted that different sequences of these two coating steps are possible within the scope of the invention. One variant of the invention provides for the first, flat coating of the component surface within the contour, followed by the sharp-edged coating along the contour of the pattern. However, it is also possible to first draw the contour of the pattern, followed by the flat coating within the contour.

[0016] Furthermore, it should be noted that the surface coating within the contour of the specified pattern preferably requires a greater surface coating performance than the sharp-edged coating along the contour. The term "surface coating performance" used in the context of the invention defines the size of the surface area on the component coated within a specific time unit, i.e., the ratio of coated surface to required coating time.

[0017] With a nozzle applicator as the application device, this variation in the surface coating performance can be achieved, for example, by activating or deactivating multiple nozzles of the nozzle applicator. For example, surface coating within the contour can be achieved with a large number of activated nozzles, whereas edge-sharp coating along the contour of the pattern can be achieved with a smaller number of activated nozzles. For example, edge-sharp coating along the contour of the pattern can be achieved with fewer than 20, 10, 5, or even just a single nozzle of the nozzle applicator.

[0018] However, the variation in the surface coating performance for flat coating on the one hand and for sharp-edged coating on the other can also be achieved in other ways. For example, the flow rate of the applied coating agent can be changed, which can be achieved by varying the application pressure, for example.

[0019] It should also be mentioned that in the coating method according to the invention, the applicator (e.g., a nozzle applicator) is moved over the component surface by a manipulator. The manipulator is preferably a multi-axis coating robot with serial robot kinematics. Another possible manipulator is an xy or xyz linear axis system, in which the applicator is attached to one of the axes, and the axes are related to each other in such a way that the applicator can be moved to any location on the surface to be coated.

[0020] In the aforementioned sharp-edged coating along the contour of the pattern, the manipulator moves the applicator at a specific travel speed along the contour of the pattern, whereby the applicator applies a specific flow rate of the coating agent. Depending on the shape of the pattern and the shape of the contour, however, it is generally not possible to move the applicator at a constant travel speed over the component surface. For example, the applicator must be decelerated and accelerated again at corner points, generally at points on the contour with a discontinuous directional progression, turning points, or kinks. With a constant flow rate of the applied coating agent, this would lead to a corresponding variation in the layer thickness on the component surface due to the variation in travel speed.These undesirable variations in the coating thickness on the component surface can be prevented by adjusting the coating agent flow rate accordingly depending on the travel speed. Thus, a reduction in the travel speed leads to a corresponding reduction in the coating agent flow rate, while an increase in the travel speed also requires a corresponding increase in the coating agent flow rate.

[0021] However, the above-described adjustment of the mass flow of the coating agent as a function of the travel speed is not always sufficient to achieve a constant layer thickness on the component surface, or is not always technically feasible. For example, a coating robot with serial robot kinematics has difficulty creating right-angled bends in the robot path. The invention therefore provides for the contour not to be followed continuously, but in several path sections that can be easily followed by the manipulator because they do not have corners, bends, or turning points. Between the successive path sections, the applicator then interrupts the dispensing of the coating agent and starts on the next path section during this coating pause.

[0022] This division of the pattern contour to be traversed into several consecutive path sections is particularly useful at problem areas, such as contour kinks. The term "problem area" used in the context of the invention preferably refers to the fact that the manipulator used can only pass the respective problem area without interruption with a significant drop in travel speed, for example, with a drop in travel speed of more than 50%, 70%, 80%, or 90%.

[0023] Depending on the manipulator type, the rigidity of the manipulator and / or the overall system consisting of manipulator, travel axis, substrate and / or the capabilities of the applicator, the possible radii and / or acceleration distances may vary.

[0024] If the manipulator's trajectory program is to be created automatically, the above-mentioned parameters are entered or saved in the required software.

[0025] Furthermore, it should be mentioned that the manipulator carries out a kink-free application movement at the problem areas between the coating of the immediately successive track sections in order to re-apply to the immediately following track section.

[0026] In one variant of the invention, the contour is coated with a sharp edge using a coating agent jet that is continuous in the longitudinal direction of the jet, preferably along the entire contour.

[0027] In another variant of the invention, however, the contour is coated with sharp edges first with a coating agent jet that is continuous in the longitudinal direction of the jet and then with a droplet jet that consists of numerous droplets that are not continuous in the longitudinal direction of the jet.

[0028] Within the scope of the invention, the surface coating of the pattern and / or the sharp-edged coating of the contour can be carried out alternately with a continuous coating agent jet in the longitudinal direction of the jet and with a droplet jet consisting of numerous droplets that are not continuous in the longitudinal direction of the jet. This alternation between the different jet shapes (droplet jet or continuous jet) can be temporal or can alternate between the pattern within the contour and the contour itself.

[0029] As briefly mentioned above, the invention allows for the pattern to first be applied over the entire surface of the contour, and only then to trace the contour. The invention also allows for the spatial alignment and position of the initially blurred contour to be determined using a measuring system (e.g., optical measuring system) after the pattern has been coated over the entire surface, so that the contour can then be traced with precision.

[0030] However, it is also possible to first pre-draw the contour and then apply a full-surface coating to the pattern within the contour. In this case, after pre-drawing the contour, the spatial position and orientation of the contour can be determined using a measuring system so that the pattern can then be applied precisely within the pre-drawn contour.

[0031] The aforementioned measuring system can be attached to the manipulator and then moved with the manipulator. Alternatively, however, it is also possible for the measuring system to be stationary and separate from the manipulator.

[0032] The measuring system preferably works optically and has at least one camera and an image evaluation unit.

[0033] In one variant of the invention, the surface coating within the contour is carried out with the same coating agent as the edge-sharp coating along the contour.

[0034] However, in another variant of the invention, different coating agents are used for this purpose, in particular coating agents with different colors.

[0035] Furthermore, within the scope of the invention, it is possible for the surface coating to be carried out with different coating agents for different patterns. Furthermore, it is also possible for the edge-sharp coating to be carried out with different coating agents for different contours.

[0036] It was already briefly mentioned above that the coating agent droplets or coating agent webs applied to the component converge to form a continuous coating agent film after application due to the cohesive force of the coating agent, which is fundamentally desirable. However, this convergence is only possible within a certain flow time after the coating agent has been applied. If the same coating agent is used for the contour and for the surface coating, it is fundamentally desirable for the contour and inner surface to converge. In this case, the surface coating of the pattern and the sharp-edged coating along the contour are preferably carried out at a time interval that is shorter than the flow time so that the coating agent of the contour and the surface can converge.

[0037] However, with different coating materials for the contour and inner surface, and especially with different colored coating materials for the contour and inner surface, this merging of the coating materials is not desirable. In this case, the flat coating of the pattern and the sharp-edged coating along the contour should preferably be carried out at a time interval greater than the flow time to prevent the different coating materials for the contour and the inner surface from merging.

[0038] In general, it should be noted that the coating agent is preferably applied by an applicator that emits a narrowly defined jet of coating agent rather than a spray jet. The applicator can therefore be a print head, as is generally known from the prior art.

[0039] For example, the coating agent jet can consist of coating agent droplets that are separated from each other in the longitudinal direction of the jet. Alternatively, however, it is also possible for the coating agent jet to be continuous in the longitudinal direction of the jet.

[0040] It has already been briefly mentioned above that the applicator is preferably moved over the component surface by a manipulator, which is preferably a multi-axis coating robot with serial robot kinematics or a linear axis system.

[0041] It is advantageous if the manipulator has a high spatial positioning accuracy and / or repeatability, preferably more precise than 5 mm, 2 mm, or even 0.5 mm. This is useful so that the contour and the inner surface of a pattern can be applied with a precise fit.

[0042] With regard to the type of coating agent applied, the invention is not limited to paints, such as one-component paints, two-component paints, water-based paints, or solvent-based paints. Rather, the coating agent can also be an adhesive, an adhesion promoter, a primer, a paste-like material, a sealant, or an insulating material.

[0043] Furthermore, it should be mentioned that the coating agent is preferably applied with a certain application distance between the applicator and the component surface, wherein the application distance is preferably in the range of 1 mm - 80 mm, 5 mm - 50 mm or 10 mm - 50 mm.

[0044] Furthermore, it should be noted that the invention not only claims protection for the coating method according to the invention described above. Rather, the invention also claims protection for a corresponding coating system that carries out the coating method according to the invention.

[0045] Thus, the coating system according to the invention firstly has an applicator for applying the coating agent, which is preferably a nozzle applicator or a print head.

[0046] Furthermore, the coating system according to the invention comprises a manipulator for moving the applicator over the component surface, which is preferably a multi-axis coating robot with serial robot kinematics or a linear axis unit.

[0047] Furthermore, the coating system according to the invention comprises a control system for controlling the manipulator and the applicator. The control system can comprise hardware components and software components and can be distributed across various parts and components. The control system is designed such that the coating system executes the coating method according to the invention described above.

[0048] The coating system according to the invention can also comprise the measuring system already mentioned above.

[0049] Finally, the invention also claims protection for a corresponding control program which, when executed on the control system, causes the application system to carry out the coating method according to the invention. The control program can be stored on a computer-readable medium (e.g., computer memory, USB stick, CD-ROM, DVD, memory card, etc.), so that the computer-readable medium with the control program stored thereon is also protected.

[0050] Other advantageous developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred embodiments of the invention with reference to the figures. They show: Figure 1A a schematic representation of the conventional application of a pattern with a nozzle applicator which emits a continuous coating agent jet in the longitudinal direction of the jet, Figure 1B the pattern according to Figure 1Aafter the coating agent webs converge on the component surface, Figure 2A a modification of Figure 1A for a nozzle applicator that emits a droplet jet, Figure 2B a modification of Figure 1B for the nozzle applicator which emits a droplet jet, Fig. 3A-3D various schematic representations for the inventive application of a pattern with a nozzle applicator which emits a continuous coating agent jet in the longitudinal direction of the jet, Fig. 4A-4D modifications of the Fig. 3A-3D for a nozzle applicator which emits a droplet jet, Figure 5 shows a flow diagram to illustrate the coating method according to the invention, and Figure 6 shows a highly simplified schematic representation of a coating system according to the invention.

[0051] The Figures 1A and 1Bshow schematic representations of the conventional application of a pattern in the shape of the letter D to a component surface of a component, such as a motor vehicle body component. In this case, a nozzle applicator applies a continuous jet of coating agent in the longitudinal direction of the jet to the component surface, so that elongated coating agent webs 1 are initially created on the component surface, which are delimited by a contour 2. After impacting the component surface, the coating agent webs 1 then converge due to the cohesive force of the applied paint and then form a continuous pattern 3. With this known type of pattern application, however, the outlines of the coating agent webs 1 are still recognizable along the contour 2. The contour 2 therefore does not have particularly sharp edges, which is undesirable.

[0052] The Figures 2A and 2Bshow corresponding representations for the sample application with a nozzle applicator that emits a droplet jet, ie a coating agent jet consisting of coating agent droplets that are not connected in the longitudinal direction of the jet.

[0053] Instead of the coating agent strips 1, coating agent droplets 4 are formed on the component surface, which then also converge to form the continuous pattern 3 due to the cohesive force of the applied coating agent. Here, too, the contour 2 of the pattern 3 is not particularly sharp-edged.

[0054] The Figures 3A-3D show illustrations of the pattern application according to the invention, whereby these illustrations basically Figures 1A and 1Bcorrespond, ie here too the pattern 3 is applied by a nozzle applicator which emits continuous coating agent jets in the longitudinal direction of the jet, so that the coating agent webs 1 are created on the component surface. It should be noted that the reference number 3 in Figure 3A the desired pattern, i.e. the specification that is included in the entire process.

[0055] Here, the pattern 3 has an inner contour 5 and an outer contour 6, which are painted with sharp edges to create the desired edge sharpness of the pattern 3. For this purpose, the nozzle applicator is guided along the inner contour 5 and along the outer contour 6 and then coats the inner contour 5 or the outer contour with sharp edges, whereby only a single nozzle or only a few nozzles of the nozzle applicator are used to achieve the desired edge sharpness.

[0056] The surface coating of pattern 3 within contour 2 is then carried out in a separate processing step, for example with a higher surface coating performance.

[0057] It should be noted that the nozzle applicator is guided over the component surface by a multi-axis coating robot with serial robot kinematics. While such a coating robot enables highly precise positioning of the nozzle applicator, kinks with an angle (greater than a critical angle), particularly right-angled ones, in the robot path are problematic. Thus, the outer contour 6 has two problem areas 7, 8 where the outer contour 6 exhibits a rectangular kink. Accordingly, the inner contour 5 also has problem areas 9, 10 where the inner contour 5 exhibits a rectangular kink. Therefore, it is difficult to guide the nozzle applicator precisely over problem areas 7-10 using a coating robot with serial robot kinematics, as the travel speed would have to be significantly reduced (limit value zero) for this.

[0058] The coating method according to the invention therefore provides that the outer contour 6 is divided into two path sections BA1, BA4, just as the inner contour 5 is divided into two path sections BA2, BA3. For the sharp-edged coating of the outer contour 6, the path section BA1 is coated first, starting from an approach point P1A and ending at a departure point P1E. No large angles (sharp bends) occur on the path section BA1, so that the coating robot can guide the nozzle applicator along the path section BA1 at a nearly constant travel speed.

[0059] The path section BA2 of the inner contour 5 is painted accordingly, starting from an approach point B2A and ending with a departure point P2E. Here, too, no kinks occur on the path section BA2, which enables a nearly constant travel speed within the path section BA2.

[0060] The path section BA3 starts at the approach point P3A and ends at the departure point P3E and is completely linear, which also enables a constant travel speed on the path section BA3.

[0061] Finally, path section BA4 begins at the approach point P4A and ends at the departure point P4E. Path section BA4 is also completely linear and therefore allows for a constant travel speed.

[0062] The Figures 4A-4D show variations of the Figures 3A-3D for a nozzle applicator that emits a droplet jet. To avoid repetition, please refer to the description of the Figures 3A-3D referred to.

[0063] Figure 5 shows a flow chart to illustrate the coating process according to the invention.

[0064] After the program starts, the manipulator type is first specified in step S1, i.e., the type of multi-axis coating robot used or, for example, the type of linear axis system. Depending on the manipulator type, an associated parameter set is then loaded, which reflects the properties of the respective manipulator.

[0065] In a step S2, the applicator type is then determined and a corresponding parameter set is loaded, which reflects the properties of the respective applicator type, as well as optional parameters such as the distance between the nozzles, the nozzle diameter and the number of nozzles.

[0066] In a step S3, parameters for a path program algorithm are then defined, such as maximum and / or minimum painting path width, minimum possible curve radius, minimum and / or maximum paint volume flow and maximum path speed.

[0067] In step S4, a graphic is then read in to be applied as a pattern.

[0068] In a step S5, the graphic is then analyzed, for example with regard to the inner area, the contour, the assigned colors and the comparison with the available colors.

[0069] In step S6, a path program is then calculated that defines approach and departure paths as well as switch-on and switch-off points.

[0070] In step S7, the path program is then visualized and simulated. The program operator can then evaluate the results. If the path program is unacceptable, appropriate adjustments are made in step S3. Otherwise, the path program is released for control.

[0071] Figure 6shows a highly simplified schematic representation of a coating system according to the invention with a measuring system 11, a manipulator 12, an applicator 13 and a control system 14. The control system 14 can comprise hardware components and software components and can be distributed across various parts and components.

[0072] The control system 14 controls the manipulator 12 and the applicator 13 in the manner described above so that the monitoring method according to the invention is carried out.

[0073] The measuring system 11 can determine the spatial position and orientation of the contour and the inner surface of the pattern so that the contour and inner surface can be applied with a precise fit to one another. List of reference symbols:

[0074] 1Coating agent paths 2Contour 3Pattern 4Coating agent droplets 5Inner contour 6Outer contour 7, 8Problem areas of the outer contour 6 9, 10Problem areas of the inner contour 5 11Measuring system 12Manipulator 13Applicator 14Control system BA1-BA4Path sections P1A-P4AApproach points P1E-P4EAdeparture points

Claims

1. Coating method for coating a component with a coating agent, having the following steps: a) defining a pattern (3) on the component surface of the component to be coated, the pattern (3) being a surface region which is bordered by a contour (2; 5, 6), and b) areal coating the component surface with the coating agent within the contour (2; 5, 6), c) sharp-edged coating of the component surface with the coating agent along at least part of the contour (2; 5, 6) of the pattern (3), c1) wherein the sharp-edged coating along the contour (2; 5, 6) of the pattern (3) is carried out by means of an applicator (13) which is moved along the contour (2; 5, 6) by a manipulator (12), c2) wherein the manipulator (12) moves the applicator (13) along the contour (2; 5, 6) at a specific speed over the component surface during the sharp-edged coating, and characterized in d) that the manipulator (12) does not traverse the contour (2; 5, 6) contiguously, but in several path sections (BA1-BA4), and e) that the applicator (13) interrupts the delivery of the coating agent between the coating of the immediately successive path sections (BA1-BA4) of the contour (2; 5, 6). f) that the directly successive path sections (BA1-BA4) adjoin one another at problem points (7-10) of the contour (2; 5, 6), the problem points (7-10) being characterized in that the manipulator (12) could pass the problem points (7-10) without an interruption only with a sharp drop in the traversing speed, and g) that the manipulator (12) executes a kink-free start movement at the problem points (7-10) between the coating of the immediately successive path sections (BA1-BA4) in order to start again at the immediately successive path section.

2. Coating method according to claim 1, characterized in a) that the areal coating within the contour (2; 5, 6) is carried out with a greater area coating performance than the sharp-edged coating along the contour (2; 5, 6), or b) that the applicator (13) has a plurality of nozzles which can be activated or deactivated individually or in groups for coating, and that for the areal coating within the contour (2; 5, 6), a larger number of nozzles are activated for the coating than in the case of sharp-edged coating along the contour (2; 5, 6), and that for the sharp-edged coating along the contour (2; 5, 6), preferably fewer than 20, 10, 5 or only a single nozzle of the applicator (13) is activated for the coating.

3. Coating method according to one of the preceding claims, characterized in a) that the applicator (13) applies the coating agent during the sharp-edged coating along the contour (2; 5, 6) with a certain flow rate, and b) that during the sharp-edged coating along the contour (2; 5, 6) b1) the flow rate of the coating agent is adjusted as a function of the traversing speed in order to achieve a coating thickness on the component surface which is as constant as possible, or b2) the flow rate of the coating agent remains constant.

4. Coating method according to one of the preceding claims, characterized in a) that the sharp-edged coating of the contour (2; 5, 6) is carried out with a coating agent jet which is contiguous in the longitudinal direction of the jet, or that the sharp-edged coating of the contour (2; 5, 6) is first carried out with a coating agent jet which is contiguous in the longitudinal direction of the jet and then with a droplet jet which consists of numerous droplets which are not contiguous in the longitudinal direction of the jet, or b) that the areal coating of the pattern (3) and the sharp-edged coating of the contour (2; 5, 6) are carried out alternately with a coating agent jet which is contiguous in the longitudinal direction of the jet and with a droplet jet which consists of numerous droplets which are not contiguous in the longitudinal direction of the jet, and in fact b1) alternating in time or b2) alternately between the pattern (3) and the contour (2; 5, 6).

5. Coating method according to any of the preceding claims, characterized by the following steps: a) that first the pattern (3) and only then the contour (2; 5, 6) is coated, or b) that first the contour (2; 5, 6) and then the pattern (3) is coated.

6. Coating method according to one of the preceding claims, characterized by the following steps: a) that first the pattern (3) and only then the contour (2; 5, 6) is coated, and that the pattern (3) applied to the component surface is detected with respect to its spatial position and extent by means of a measuring system (11), in particular by means of an optical measuring system (11), in order to determine the contour (2; 5, 6) after the areal coating of the pattern (3), or b) that first the contour (2; 5, 6) and then the pattern (3) is coated, and that the contour (2; 5, 6) applied to the component surface is detected by means of a measuring system (11), in particular by means of an optical measuring system (11), in order to determine the areal extent of the pattern (3).

7. Coating method according to claim 6, characterized in a) that the measuring system (11) is attached to the manipulator (12) and is moved with the manipulator (12), or b) that the measuring system (11) is arranged separately from the manipulator (12) in a stationary manner.

8. Coating method according to one of the preceding claims, characterized in a) that the areal coating within the contour (2; 5, 6) is carried out with a different coating agent than the sharp-edged coating along the contour (2; 5, 6), and / or b) that the areal coating of different patterns (3) is carried out with different coating means, and / or c) that the sharp-edged coating of different contours (2; 5, 6) is carried out with different coating means, in particular with differently colored coating means.

9. Coating method according to one of the preceding claims, characterized in a) that the coating agent, after application to the component surface, can only run within a certain running time in order to form a two-dimensional contiguous coating on the component surface, and b) that the areal coating of the pattern (3) and the sharp-edged coating along the adjacent contour (2; 5, 6) are effected at a time interval which is shorter than the travel time so that the coating agent of the contour (2; 5, 6) and of the surface can run together.

10. Coating method according to one of claims 1 to 8, characterized in a) that the areal coating within the contour (2; 5, 6) is carried out with a different coating agent than the sharp-edged coating along the contour (2; 5, 6), and b) that the coating agent, after application to the component surface, can only run within a certain flow time in order to form a contiguous coating over the entire area of the component surface, and c) that the areal coating of the pattern (3) and the sharp-edged coating along the adjacent contour (2; 5, 6) are carried out at a time interval which is greater than the travel time, so that the different coating agents of the contour (2; 5, 6) and of the surface do not run together.

11. Coating method according to any one of the preceding claims, characterized in a) that the applicator (13) does not emit a spray jet but a narrowly limited coating agent jet, and / or b) that the coating agent jet b1) consists of coating agent droplets which are separated from one another in the longitudinal direction of the jet, or b2) is contiguous in the longitudinal direction of the jet, and / or c) that the manipulator (12) has a spatial positioning accuracy and / or repeatability accuracy which is more precise than 5mm, 2mm or 0.5mm, and / or d) that the coating agent is a paint, and / or e) that the coating agent is applied with a certain application distance between the applicator (13) and the component surface, wherein the application distance is 1mm-80mm, 5mm-50mm or 10mm-25mm.

12. Coating method according to any one of the preceding claims, characterized by at least one of the following steps: a) determining the type of the manipulator for guiding the applicator, b) reading out a manipulator-specific parameter set from a memory, the manipulator-specific parameter set representing properties of the manipulator, c) defining a type of applicator, d) reading an applicator-specific parameter set from a memory, the applicator-specific parameter set representing properties of the applicator, e) defining a path program-specific parameter set, the path program-specific parameter set defining properties of a robot path, f) reading of the pattern from a memory, g) analysis of the read out pattern to determine the contour, h) calculation of a path program, i) visualization of the path program.

13. Coating installation for coating a component with a coating agent, having a) an applicator (13) for applying the coating agent, b) a manipulator (12) for moving the applicator (13) over the component surface, and c) a control system (14) for controlling the manipulator (12) and the applicator (13), characterized in d) that the control system (14) is configued to execute the coating method according to one of the preceding claims.

14. Coating installation according to claim 13, characterized by a measuring system (11) for detecting the spatial position and the extent of the pattern (3) and / or the contour (2; 5, 6), the measuring system (11) being in signal connection with the control system (14).

15. Computer-readable medium, with a computer program stored thereon which, when executed on a control system of an application system, causes the application system to execute the coating method according to one of claims 1 to 12.