CN103917343A - 包含具有可移动激光组件的机械臂的用于修复桶的系统和方法 - Google Patents

包含具有可移动激光组件的机械臂的用于修复桶的系统和方法 Download PDF

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CN103917343A
CN103917343A CN201180072505.3A CN201180072505A CN103917343A CN 103917343 A CN103917343 A CN 103917343A CN 201180072505 A CN201180072505 A CN 201180072505A CN 103917343 A CN103917343 A CN 103917343A
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assembly
plow
bucket
laser instrument
barrel
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布雷克·唐纳德·沃特曼
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Diverse Barrel Solutions Pty Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
    • B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
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    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
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    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
    • B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
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    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
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    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B27H5/00—Manufacture of tubes, coops, or barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B27H5/00—Manufacture of tubes, coops, or barrels
    • B27H5/08—Finishing barrels, e.g. cutting grooves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks
    • B08B9/0804—Cleaning containers having tubular shape, e.g. casks, barrels, drums
    • B08B9/0808—Cleaning containers having tubular shape, e.g. casks, barrels, drums by methods involving the use of tools, e.g. by brushes, scrapers
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    • B08—CLEANING
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    • B08B9/0821—Handling or manipulating containers, e.g. moving or rotating containers in cleaning devices, conveying to or from cleaning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0042—Devices for removing chips
    • B23Q11/005—Devices for removing chips by blowing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0042—Devices for removing chips
    • B23Q11/0067—Devices for removing chips chip containers located under a machine or under a chip conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

一种用于修复桶的系统，包括：机械臂；用于挖掘桶的内表面的槽刨总成；以及用于测量桶的内部轮廓的激光器总成，其中：该槽刨总成固定连接至该机械臂；并且该激光器总成可移动的连接至该槽刨总成，由此为了从空气悬浮颗粒和来自该槽刨的振动保护该激光器，允许当挖掘该桶时该激光器总成远离。

Description

包含具有可移动激光组件的机械臂的用于修复桶的系统和方法
技术领域
本发明涉及用于修复桶的系统和方法，特别涉及包含具有可移动激光组件的机械臂的系统。
背景技术
用于修复桶的自动机械系统的细节已经由本申请人在诸如国际申请PCT/AU2008/001684和PCT/AU2011/000418中揭露。虽然与现有技术相比存在改进,但是对这些系统还能作进一步的改进。
现有技术的系统包括用于测绘桶的内部轮廓的激光扫描器，以及用于除去该桶的表面层的槽刨；该槽刨的轨迹通过所测得的该桶的轮廓来计算。为了最佳的修复桶，需要精确的测量和挖掘，使得该激光器和槽刨的校正很重要。
在第一现有技术系统中，该激光扫描器和槽刨两者都固定连接至机械臂的末端。虽然这种系统确保该激光器和槽刨校正良好，但是当挖掘时使该激光器与该槽刨位于同一处会引起问题。第一个问题是来自该槽刨的振动会损坏该激光扫描器的机械和电子元件，特别是诸如晶体振荡器的电动机械元件。第二个问题是来自该槽刨的碎片会使该激光扫描器的光路变暗。
在第二现有技术系统中，该激光扫描器和槽刨连接至隔开的机械臂。这种布置确保来自该槽刨的振动和碎片不影响该激光扫描器，然而其引起准确校正该激光扫描器和槽刨的问题。为了进一步妥协处理这种系统的准确性，其首先需要关于该激光扫描器设置该桶，并且然后关于该槽刨设置该桶。这样的系统还带来拥有两个机械臂的成本和复杂性。
本发明的目的在于提供一种缓解上述问题的用于修复桶的系统，或至少向公众提供一种有用的供替代的选择。
发明内容
因此，在本发明的一形式中提出了一种用于修复桶的系统，包括：机械臂；用于挖掘桶的内表面的槽刨总成；以及用于测量桶的内部轮廓的激光器总成，其中：该槽刨总成固定连接至该机械臂；并且该激光器总成可移动的连接至该槽刨总成。
优选的，该系统进一步包括用于当自该槽刨总成分离时接纳该激光器总成的支架。
优选的，该支架包含用于覆盖所述激光器总成的电性接触的可移动盖。
优选的，该系统进一步包括压缩空气线路，当所述激光器总成处于所述支架中时，所述空气线路负责在所述激光器总成的外部光学元件上吹空气。
优选的，该系统进一步包括使桶站立于其上的底面以及用于固定所述桶于固定位置中的夹紧机构；所述底面包括活动门，所述活动门可自该桶由所述活动门所支持的第一位置移动至该桶未由所述活动门所支持的第二位置。
在本发明的进一步形式中提出了一种用于修复桶的方法，包括步骤：可移动的连接激光扫描器至连接有槽刨的机械臂；用该激光扫描器扫描桶的内部轮廓；自该机械臂分离该激光器总成；并且用该槽刨根据从所扫描的该桶的该内部轮廓所确定的路径挖掘该桶的该内部。
优选的，该方法进一步包括在扫描该桶的该内部轮廓之前使用压缩空气清洁所述激光扫描器的步骤。
优选的，该方法进一步包括步骤：当该激光扫描器自该机械臂分离时覆盖该激光扫描器的电性接触；以及在连接该激光扫描器至该机械臂之前暴露所述电性接触。
可以理解，任一上述的技术方案，可以包括上述任意其它技术方案的任意特征，并且根据情况还可以包括下面所描述实施例的任意特征。
附图说明
下面结合附图，通过对本发明的具体实施方式详细描述，将使本发明的技术方案及其有益效果显而易见。附图中：
图1A为本发明优选实施例的桶修复系统的透视图；
图1B和1C为该系统的部分视图，绘示在待修复的桶下方的活板门在第一和第二位置的细节；
图2为连接有激光器总成的槽刨总成的细节视图；
图3为该激光器总成的细节视图；
图4为用于接纳该激光器总成的支架的视图；
图5为位于图4的支架中的激光器总成的视图；以及
图6为图5的支架连同保护性工具盖就位的视图。
元件列表
10桶修复系统
11机械臂
12控制系统
13槽刨总成
14激光器总成
15机器人旋转心轴
16支架
18桶
20激光位移传感器
21激光窗口
22传感器窗口
23激光器托架
24工具接口
25工具电性模块
26校正凸出物
27激光器电缆
28校正销
30主机接口
31主机电性模块
34底座角板
36心轴
37稳固
38电性滑环总成
40气动滑环
42槽刨驱动板
44槽刨马达
45槽刨刀
50支架腿部
51支架底脚
52支架平台
53工具架
54校正槽
55工具盖
56旋转致动器
70底面
71机器人支架
72活板门
73传送带
74夹紧柱
75夹紧机构
具体实施方式
下面结合附图来对本发明进行详细说明。在整个附图和下面的说明中，如果可能，相同的标号将用来指示相同或相近的部分。附图中所示特定部分的尺寸可能因清晰或图解的目的而被修改和/或夸大。
本发明涉及用于修复桶18的系统10和方法。如图1A所示，该桶修复系统10的主要特征是：在控制系统12控制下的多轴机械臂11；固定连接至该机械臂11的末端的槽刨总成13；可移动的连接至该槽刨总成13的激光器总成14以及用于接纳该激光器总成14的支架16。
该系统10安装于围绕物之中，为了清晰的缘故仅其底面70绘示于图中。该围绕物为封闭的以允许提取修复期间产生的木屑和刨花。该底面包含用于提升该机械臂11到适当工作高度的支架71。该系统还包含用于修复时牢牢设置桶的夹紧柱74和夹紧机构75。该底面70包含初始时安置桶于其上的两活板门72。一旦该桶由该夹紧机构75固定，该活板门72旋转离开该桶的底部以允许修复期间产生的任何木屑和刨花通过该桶的底部落下并到传送带73上以移除。通过在该桶下方具有空间，还向该激光器总成14提供了间隙，允许执行扫描至该桶的底部至始至终该激光器总成的末端不接触该底面。该活板门72的操作细节绘示于图1B和1C中，其中切掉了该底面。该活板门72沿一侧铰接至该底面并且依靠气压传动装置（未绘示）定位。
修复过程包括两个主要步骤，扫描和挖掘，两者都是在控制系统12的控制下在机械臂11的帮助下执行。
该扫描过程期间，该激光器总成14连接至该槽刨总成13并且穿过该桶18的内部以准确测量该桶的内部轮廓。轮廓信息由该控制系统12存储。在该扫描过程之前，在压缩空气的帮助下清洁该激光器总成以移除任何可能干扰该扫描的粉尘或颗粒。
扫描该桶后，该激光器总成14自该槽刨总成13分离并且贮存于该支架16上。这样确保该激光器总成14离开该挖掘过程期间产生的木屑和刨花并且不受该槽刨所产生的轭振动。
该挖掘过程期间，该槽刨总成13穿过由该控制系统12使用先前存储的该桶轮廓信息所计算的路径，以使该槽刨能够自该桶的内表面移除预定深度（一般为6-8mm）的材料。该围绕物中维持积极的空气流动以确保空气浮尘和刨花不停在该激光器总成14上。
该槽刨总成13连同所连接的该激光器总成14更详细的绘示于图2中。
该两个总成通过本领域技术所熟知的气动操作的机器人工具交换装置保持在一起。该工具交换装置包括在该槽刨总成侧的主机接口30和在该激光器总成侧的工具接口24。该主机接口30上的气动端口用于接合及释放将该两个接口保持在一起的闭锁机构。该接口30和24连接有当连接至该槽刨总成时允许电性连接至该激光器总成的电性模块31和25。
该槽刨总成13的心轴36连接至该机械臂11的末端的旋转心轴15（图1中可见）；允许该槽刨总成关于该机械臂旋转整个360度。该槽刨总成包含连接至该机械臂的非旋转部分的稳固37，以允许经由电性滑环总成38和气动滑环40连接至电性及气动线路，借助于将该些滑环总成的固定部分刚性连接至该稳固。该心轴36包括穿过该滑环38和40并且接合该槽刨驱动板42的轴（被掩盖），由此允许所连接的底座角板34关于该机械臂11旋转。连接至该底座角板34的是具有槽刨刀45的槽刨马达44以及该激光器总成14所可移动连接至的该主机接口30。
图3绘示自该槽刨总成13分离的激光器总成14。该激光器总成包括：用于连接至该槽刨总成的工具接口24；激光器托架23和激光位移传感器20。该工具接口24具有校正凸出物26以确保与该槽刨总成13准确校正以及如下面所讨论的允许该激光器总成保持于支架16上的校正销28。
该激光位移传感器20为用于测量距离的现成元件并且包括通过其发出激光的激光窗口21以及通过其检测反射自目标的激光光线的传感器窗口22。人们很容易理解为了该传感器执行测量保持该窗口21和22清洁的需求。
自该传感器20经由该槽刨总成13使用电性滑环38并且最终至该控制系统12的电性连接由电缆27（图5中可见）和工具电性模块25提供。
图4绘示当未连接至该槽刨总成时用于保持该激光器总成14的支架16。该支架16包括工具架53连接至其的平台52。该工具架53接纳该激光器总成14，该激光器总成的校正销28安置于校正槽54内。设有工具盖55以自挖掘该桶时所产生的空气悬浮颗粒保护该工具接口24和关联的电性模块25。该盖55依靠所连接的转而连接至该平台52的气动操作的旋转致动器56定位。该平台52由通过底脚51固定至该底面的腿部50支持离开该底面。
图5绘示放置于该支架16中的激光器总成14，并且图6绘示该盖55定位为保护该工具接口24和电性模块25。
该系统的进一步特征是邻近该支架16设置的空气线路（未绘示），用于鼓风清洁该激光位移传感器20的窗口21和22，并且由此移除任何可能干扰测量的尘埃。
在不偏离本发明的范围的情况下，可以使本发明具有进一步的优点和改进。尽管本发明已经通过被认为是最实用和优选的实施例来显示和描述，但其并不是限制本发明为所揭露的细节，而是为了与权利要求的全部范围一致，从而包括任一和所有的等同装置和设备，可以理解，在不脱离本发明精神和范围的情况下可以作出各种改变。整个说明书中任何现有技术的讨论绝不应认为是承认这样的现有技术是众所周知的或者形成本领域公知常识的一部分。
在本发明发明内容和权利要求中，除非上下文要求，否则由于明确的语言或必要的暗示，词语“包括”表示“包括但不仅限于”，也就是本发明各种实施例中所详细说明的特征可以与进一步的特征相联系。

Claims (8)

1.一种用于修复桶的系统，其特征在于，包括：
机械臂；
用于挖掘桶的内表面的槽刨总成；以及
用于测量桶的内部轮廓的激光器总成，
其中：
该槽刨总成固定连接至该机械臂；并且该激光器总成可移动的连接至该槽刨总成。
2.如权利要求1所述的系统，其特征在于，进一步包括用于当自该槽刨总成分离时接纳该激光器总成的支架。
3.如权利要求2所述的系统，其特征在于，所述支架包含用于覆盖所述激光器总成的电性接触的可移动盖。
4.如权利要求2所述的系统，其特征在于，进一步包括压缩空气线路，当所述激光器总成处于所述支架中时，所述空气线路负责在所述激光器总成的外部光学元件上吹空气。
5.如权利要求1所述的系统，其特征在于，进一步包括使桶站立于其上的底面以及用于固定所述桶于固定位置中的夹紧机构；所述底面包括活动门，所述活动门可自该桶由所述活动门所支持的第一位置移动至该桶未由所述活动门所支持的第二位置。
6.一种用于修复桶的方法，其特征在于，包括步骤：可移动的连接激光扫描器至连接有槽刨的机械臂；用该激光扫描器扫描桶的内部轮廓；自该机械臂分离该激光器总成；并且用该槽刨根据从所扫描的该桶的该内部轮廓所确定的路径挖掘该桶的该内部。
7.如权利要求6所述的方法，其特征在于，进一步包括在扫描该桶的该内部轮廓之前使用压缩空气清洁所述激光扫描器的步骤。
8.如权利要求6所述的方法，其特征在于，进一步包括步骤：当该激光扫描器自该机械臂分离时覆盖该激光扫描器的电性接触；以及在连接该激光扫描器至该机械臂之前暴露所述电性接触。
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Application publication date: 20140709