CA2292372A1 - Dispositifs et methodes de suivi de fonctions robotiques - Google Patents

Dispositifs et methodes de suivi de fonctions robotiques Download PDF

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Publication number
CA2292372A1
CA2292372A1 CA 2292372 CA2292372A CA2292372A1 CA 2292372 A1 CA2292372 A1 CA 2292372A1 CA 2292372 CA2292372 CA 2292372 CA 2292372 A CA2292372 A CA 2292372A CA 2292372 A1 CA2292372 A1 CA 2292372A1
Authority
CA
Canada
Prior art keywords
tool
sensor
feature
robot
sliding element
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.)
Abandoned
Application number
CA 2292372
Other languages
English (en)
Inventor
Jean-Paul Boillot
Denis Villemure
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Servo Robot Inc
Original Assignee
Servo Robot Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Servo Robot Inc filed Critical Servo Robot Inc
Priority to CA 2292372 priority Critical patent/CA2292372A1/fr
Publication of CA2292372A1 publication Critical patent/CA2292372A1/fr
Abandoned legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • 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
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37572—Camera, tv, vision
    • 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
    • G05B2219/47—Tracing, tracking
    • G05B2219/4704—Store actual edge, seam in memory before machining, compare with detected

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
CA 2292372 1999-12-17 1999-12-17 Dispositifs et methodes de suivi de fonctions robotiques Abandoned CA2292372A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA 2292372 CA2292372A1 (fr) 1999-12-17 1999-12-17 Dispositifs et methodes de suivi de fonctions robotiques

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CA 2292372 CA2292372A1 (fr) 1999-12-17 1999-12-17 Dispositifs et methodes de suivi de fonctions robotiques

Publications (1)

Publication Number Publication Date
CA2292372A1 true CA2292372A1 (fr) 2001-06-17

Family

ID=4164893

Family Applications (1)

Application Number Title Priority Date Filing Date
CA 2292372 Abandoned CA2292372A1 (fr) 1999-12-17 1999-12-17 Dispositifs et methodes de suivi de fonctions robotiques

Country Status (1)

Country Link
CA (1) CA2292372A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104002051A (zh) * 2014-06-03 2014-08-27 湖南大学 一种用于激光焊接的垂直检测装置和检测方法
CN106216814A (zh) * 2016-09-08 2016-12-14 肇庆市小凡人科技有限公司 一种弧焊机器人
CN108788394A (zh) * 2018-05-22 2018-11-13 江苏理工学院 一种激光扫描焊缝跟踪装置及其跟踪方法
CN108838513A (zh) * 2018-06-20 2018-11-20 中国民航大学 一种激光加工定位方法
CN108942021A (zh) * 2018-08-20 2018-12-07 合肥工业大学 一种具有多角度自动焊接的机器人
CN110320071A (zh) * 2019-07-29 2019-10-11 东南大学 一种全自动密闭液压油取样装置
WO2020135608A1 (fr) * 2018-12-28 2020-07-02 深圳市越疆科技有限公司 Procédé et système de démonstration de récurrence de trajectoire de robot industriel et robot
CN111844011A (zh) * 2020-06-16 2020-10-30 天津大学 一种机器人末端刀具补偿机构
CN112059366A (zh) * 2020-08-26 2020-12-11 郑州煤矿机械集团股份有限公司 药芯焊丝在液压支架结构件立向上自动焊接的方法
CN112894152A (zh) * 2021-03-29 2021-06-04 多普施激光科技(上海)有限公司 智能变焦标识系统
CN117021058A (zh) * 2023-10-08 2023-11-10 中东供应链科技集团有限公司 用于建筑检测材料搬运的智能机器人
CN117415566A (zh) * 2023-10-27 2024-01-19 浙江畅轮实业有限公司 轮辋生产线及生产工艺

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104002051A (zh) * 2014-06-03 2014-08-27 湖南大学 一种用于激光焊接的垂直检测装置和检测方法
CN106216814A (zh) * 2016-09-08 2016-12-14 肇庆市小凡人科技有限公司 一种弧焊机器人
CN108788394B (zh) * 2018-05-22 2020-11-20 江苏理工学院 一种激光扫描焊缝跟踪装置及其跟踪方法
CN108788394A (zh) * 2018-05-22 2018-11-13 江苏理工学院 一种激光扫描焊缝跟踪装置及其跟踪方法
CN108838513A (zh) * 2018-06-20 2018-11-20 中国民航大学 一种激光加工定位方法
CN108942021A (zh) * 2018-08-20 2018-12-07 合肥工业大学 一种具有多角度自动焊接的机器人
WO2020135608A1 (fr) * 2018-12-28 2020-07-02 深圳市越疆科技有限公司 Procédé et système de démonstration de récurrence de trajectoire de robot industriel et robot
CN110320071A (zh) * 2019-07-29 2019-10-11 东南大学 一种全自动密闭液压油取样装置
CN110320071B (zh) * 2019-07-29 2024-04-30 东南大学 一种全自动密闭液压油取样装置
CN111844011A (zh) * 2020-06-16 2020-10-30 天津大学 一种机器人末端刀具补偿机构
CN111844011B (zh) * 2020-06-16 2022-07-15 天津大学 一种机器人末端刀具补偿机构
CN112059366A (zh) * 2020-08-26 2020-12-11 郑州煤矿机械集团股份有限公司 药芯焊丝在液压支架结构件立向上自动焊接的方法
CN112894152A (zh) * 2021-03-29 2021-06-04 多普施激光科技(上海)有限公司 智能变焦标识系统
CN117021058A (zh) * 2023-10-08 2023-11-10 中东供应链科技集团有限公司 用于建筑检测材料搬运的智能机器人
CN117021058B (zh) * 2023-10-08 2023-12-19 中东供应链科技集团有限公司 用于建筑检测材料搬运的智能机器人
CN117415566A (zh) * 2023-10-27 2024-01-19 浙江畅轮实业有限公司 轮辋生产线及生产工艺

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