CN107020471B - 用于监测机器人处理工具位置的测距仪装置及其方法 - Google Patents

用于监测机器人处理工具位置的测距仪装置及其方法 Download PDF

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Publication number
CN107020471B
CN107020471B CN201610361696.XA CN201610361696A CN107020471B CN 107020471 B CN107020471 B CN 107020471B CN 201610361696 A CN201610361696 A CN 201610361696A CN 107020471 B CN107020471 B CN 107020471B
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CN
China
Prior art keywords
handling robot
range finder
laser
camera unit
tool handling
Prior art date
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Active
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CN201610361696.XA
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English (en)
Chinese (zh)
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CN107020471A (zh
Inventor
让-保罗·布瓦洛
雅克-安德烈·加保里
安德烈·鲁斯那科
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Racing Co
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Racing Co
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Publication date
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Publication of CN107020471A publication Critical patent/CN107020471A/zh
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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 for a procedure covered by only one of the other main groups of this subclass
    • 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 for a procedure covered by only one of the other main groups of this subclass
    • 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Geometry (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
CN201610361696.XA 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 Active CN107020471B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA2919392A CA2919392C (en) 2016-02-01 2016-02-01 Range finder device for monitoring robot processing tool position
CACA2919392 2016-02-01

Publications (2)

Publication Number Publication Date
CN107020471A CN107020471A (zh) 2017-08-08
CN107020471B true CN107020471B (zh) 2019-04-05

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610361696.XA Active 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

Country Status (5)

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

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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
CA3048300C (en) * 2019-06-27 2023-10-17 Servo-Robot Inc. Twin laser camera assembly
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
CN112561952B (zh) * 2019-09-26 2024-09-10 北京移目科技有限公司 用于为目标设置可呈现的虚拟对象的方法和系统
US12211718B2 (en) 2021-04-29 2025-01-28 Globalwafers Co., Ltd. Methods and systems of image based robot alignment
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
US20240351126A1 (en) * 2023-04-20 2024-10-24 Otos Wing Co., Ltd. Welding system

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CN204142199U (zh) * 2014-10-23 2015-02-04 武汉理工大学 一种便携式大曲面在线测量及拟合装置
CN105004324A (zh) * 2015-05-16 2015-10-28 上海砺晟光电技术有限公司 一种具有三角测距功能的单目视觉传感器

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JP2584344B2 (ja) * 1990-11-30 1997-02-26 三井造船株式会社 水中ロボットにおける距離測定方式及び表面凹凸測定方式
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DE102009042986B3 (de) * 2009-09-25 2011-03-03 Precitec Kg Schweißkopf und Verfahren zum Fügen eines Werkstücks
CN204142199U (zh) * 2014-10-23 2015-02-04 武汉理工大学 一种便携式大曲面在线测量及拟合装置
CN105004324A (zh) * 2015-05-16 2015-10-28 上海砺晟光电技术有限公司 一种具有三角测距功能的单目视觉传感器

Also Published As

Publication number Publication date
DE102017101922A1 (de) 2017-08-03
CN107020471A (zh) 2017-08-08
CA2919392A1 (en) 2017-08-01
TWI689388B (zh) 2020-04-01
JP6685832B2 (ja) 2020-04-22
TW201728422A (zh) 2017-08-16
JP2017138297A (ja) 2017-08-10
CA2919392C (en) 2022-05-31

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