CA2919392C - Appareil de telemetrie servant a surveiller la position d'un outil de traitement robotique - Google Patents

Appareil de telemetrie servant a surveiller la position d'un outil de traitement robotique Download PDF

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Publication number
CA2919392C
CA2919392C CA2919392A CA2919392A CA2919392C CA 2919392 C CA2919392 C CA 2919392C CA 2919392 A CA2919392 A CA 2919392A CA 2919392 A CA2919392 A CA 2919392A CA 2919392 C CA2919392 C CA 2919392C
Authority
CA
Canada
Prior art keywords
processing tool
laser
robot processing
range finder
camera unit
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.)
Active
Application number
CA2919392A
Other languages
English (en)
Other versions
CA2919392A1 (fr
Inventor
Jean-Paul Boillot
Jacques-Andre Gaboury
Andrei Rusnac
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 CA2919392A priority Critical patent/CA2919392C/fr
Priority to JP2016098337A priority patent/JP6685832B2/ja
Priority to TW105115247A priority patent/TWI689388B/zh
Priority to CN201610361696.XA priority patent/CN107020471B/zh
Priority to DE102017101922.7A priority patent/DE102017101922A1/de
Publication of CA2919392A1 publication Critical patent/CA2919392A1/fr
Application granted granted Critical
Publication of CA2919392C publication Critical patent/CA2919392C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0252—Steering means
    • 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
    • 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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • 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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0953—Monitoring or automatic control of welding parameters using computing means
    • 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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • 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
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)

Abstract

Il est décrit un dispositif distancemètre servant à suivre la position tridimensionnelle dun outil de traitement robot par rapport à un dispositif de repérage monté à côté de loutil de traitement robot. Un corps pouvant sattacher au dispositif de repérage supporte une unité laser et une unité de caméra. Lunité laser projette un marqueur du laser de triangulation sur une zone cible située sur loutil de traitement. Le marqueur, un point central de loutil et une zone de traitement sont dans un champ de vision de lunité de caméra. Une unité de commande commande lopération de lunité laser et comprend un circuit danalyse dimages conçu pour recevoir un signal dimage transmis par lunité de caméra, produire des données de mesure du laser de triangulation à partir du marqueur du laser de triangulation provenant du signal dimage, produire un signal indiquant la position de loutil de traitement robot obtenu en fonction des données de mesure du laser de triangulation, puis transmettre le signal dimage produit par lunité de caméra.
CA2919392A 2016-02-01 2016-02-01 Appareil de telemetrie servant a surveiller la position d'un outil de traitement robotique Active CA2919392C (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CA2919392A CA2919392C (fr) 2016-02-01 2016-02-01 Appareil de telemetrie servant a surveiller la position d'un outil de traitement robotique
JP2016098337A JP6685832B2 (ja) 2016-02-01 2016-05-17 ロボット加工工具の位置を監視するための距離測定装置及びその方法
TW105115247A TWI689388B (zh) 2016-02-01 2016-05-18 用於監控機器人處理工具位置之測距儀裝置及其方法
CN201610361696.XA CN107020471B (zh) 2016-02-01 2016-05-26 用于监测机器人处理工具位置的测距仪装置及其方法
DE102017101922.7A DE102017101922A1 (de) 2016-02-01 2017-02-01 Messvorrichtung zur Erfassung der Position eines robotergesteuerten Werkzeugs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CA2919392A CA2919392C (fr) 2016-02-01 2016-02-01 Appareil de telemetrie servant a surveiller la position d'un outil de traitement robotique

Publications (2)

Publication Number Publication Date
CA2919392A1 CA2919392A1 (fr) 2017-08-01
CA2919392C true CA2919392C (fr) 2022-05-31

Family

ID=59327413

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2919392A Active CA2919392C (fr) 2016-02-01 2016-02-01 Appareil de telemetrie servant a surveiller la position d'un outil de traitement robotique

Country Status (5)

Country Link
JP (1) JP6685832B2 (fr)
CN (1) CN107020471B (fr)
CA (1) CA2919392C (fr)
DE (1) DE102017101922A1 (fr)
TW (1) TWI689388B (fr)

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GB2570100B (en) * 2017-11-15 2022-10-26 Mo Sys Engineering Ltd Tool positioning
CN108415000B (zh) * 2018-02-09 2021-10-12 山东国耀量子雷达科技有限公司 一种基于多关节机械臂的激光雷达
CN108527332A (zh) * 2018-06-11 2018-09-14 华南理工大学 一种基于结构光视觉传感器的焊缝轨迹离线校准方法
CN108994420B (zh) * 2018-08-20 2023-12-12 沃得精机(中国)有限公司 悬臂式自动寻位焊接机及其使用方法
US10961666B2 (en) * 2018-10-29 2021-03-30 Caterpillar Paving Products Inc. Determine sonic sensor angle using laser shape
CN109317883A (zh) * 2018-11-29 2019-02-12 合肥常青机械股份有限公司 一种环盘类零件机器人自动化焊接系统
IT201800020578A1 (it) * 2018-12-20 2020-06-20 Jasic Tech Europe S R L Sistema di saldatura
CN109909646B (zh) * 2019-02-02 2021-01-01 宁波吉利汽车研究开发有限公司 机器人焊枪工作点的修正方法、装置及电子设备
CN109752730B (zh) * 2019-02-25 2024-02-27 佛山市奇创自动化设备有限公司 一种基于v槽检测的激光定位方法及系统
JP2020203348A (ja) * 2019-06-18 2020-12-24 株式会社ダイヘン ロボット制御装置、及びロボット制御システム
CN110440733B (zh) * 2019-08-26 2021-01-05 上海鑫燕隆汽车装备制造有限公司 白车身线体焊接机器人相对工装位置的测量方法
CN112561952A (zh) * 2019-09-26 2021-03-26 北京外号信息技术有限公司 用于为目标设置可呈现的虚拟对象的方法和系统
WO2022254146A1 (fr) * 2021-06-04 2022-12-08 Serimax Holdings Système de soudage automatique de tubes comprenant une unité de contrôle, et une station de soudage comprenant au moins un robot comportant au moins un élément de soudage

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US4491719A (en) * 1982-12-20 1985-01-01 General Electric Company Light pattern projector especially for welding
US4568816A (en) * 1983-04-19 1986-02-04 Unimation, Inc. Method and apparatus for manipulator welding apparatus with improved weld path definition
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Also Published As

Publication number Publication date
CN107020471B (zh) 2019-04-05
TW201728422A (zh) 2017-08-16
CA2919392A1 (fr) 2017-08-01
JP6685832B2 (ja) 2020-04-22
TWI689388B (zh) 2020-04-01
CN107020471A (zh) 2017-08-08
DE102017101922A1 (de) 2017-08-03
JP2017138297A (ja) 2017-08-10

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