ES2522921A1 - Cabezal y procedimiento de mecanizado automático con visión - Google Patents

Cabezal y procedimiento de mecanizado automático con visión Download PDF

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Publication number
ES2522921A1
ES2522921A1 ES201330713A ES201330713A ES2522921A1 ES 2522921 A1 ES2522921 A1 ES 2522921A1 ES 201330713 A ES201330713 A ES 201330713A ES 201330713 A ES201330713 A ES 201330713A ES 2522921 A1 ES2522921 A1 ES 2522921A1
Authority
ES
Spain
Prior art keywords
head
vision
precision
pressure
equipment
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.)
Granted
Application number
ES201330713A
Other languages
English (en)
Other versions
ES2522921B2 (es
Inventor
Jordi ANDUCAS AREGALL
Carlos GANCHEGUI ITURRIA
José Javier GALARZA CAMBRA
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.)
ENGINEERING FUTURE TECHNOLOGIES SL
ENGINEERING FUTURE TECHNOLOGIES S L
Loxin 2002 SL
Original Assignee
ENGINEERING FUTURE TECHNOLOGIES SL
ENGINEERING FUTURE TECHNOLOGIES S L
Loxin 2002 SL
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
Priority to ES201330713A priority Critical patent/ES2522921B2/es
Application filed by ENGINEERING FUTURE TECHNOLOGIES SL, ENGINEERING FUTURE TECHNOLOGIES S L, Loxin 2002 SL filed Critical ENGINEERING FUTURE TECHNOLOGIES SL
Priority to EP14797151.9A priority patent/EP2998080B1/en
Priority to US14/891,630 priority patent/US9919428B2/en
Priority to PT147971519T priority patent/PT2998080T/pt
Priority to CN201480037756.1A priority patent/CN105377513B/zh
Priority to CA2912589A priority patent/CA2912589C/en
Priority to KR1020157035546A priority patent/KR102271941B1/ko
Priority to ES14797151.9T priority patent/ES2671468T3/es
Priority to PCT/ES2014/070403 priority patent/WO2014184414A1/es
Priority to BR112015028755-7A priority patent/BR112015028755B1/pt
Publication of ES2522921A1 publication Critical patent/ES2522921A1/es
Application granted granted Critical
Publication of ES2522921B2 publication Critical patent/ES2522921B2/es
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • 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
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B25J11/007—Riveting
    • 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
    • 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
    • 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
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J9/1692—Calibration of manipulator
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y10S901/10—Sensor physically contacts and follows work contour

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

Cabezal y procedimiento de mecanizado automático con visión que comprende un pie de presión dotado de ventanas laterales con capacidad de apertura y cierre, envolviendo la herramienta de mecanizado, asociado con un dispositivo de desplazamiento vertical dotado de bloqueo mecánico, un equipo de visión conectado con un equipo informático y un módulo de comunicaciones. La invención que se presenta aporta la principal ventaja de dotar a un robot antropomórfico, pensado originalmente para la industria del automóvil y dotado de una precisión relativamente baja, de una precisión de mecanizado notablemente superior, equivalente a equipos de mucha mayor precisión o a robots de tipo de cinemática paralela, compensando asimismo, en tiempo real y de forma continua, el descentrado y la pérdida de la perpendicularidad por la presión del pie de presión, que son comunes en los cabezales convencionales y fuente de errores y falta de precisión.

Description

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Claims (1)

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ES201330713A 2013-05-17 2013-05-17 Cabezal y procedimiento de mecanizado automático con visión Expired - Fee Related ES2522921B2 (es)

Priority Applications (10)

Application Number Priority Date Filing Date Title
ES201330713A ES2522921B2 (es) 2013-05-17 2013-05-17 Cabezal y procedimiento de mecanizado automático con visión
PCT/ES2014/070403 WO2014184414A1 (es) 2013-05-17 2014-05-15 Cabezal y procedimiento de mecanizado automático con visión
PT147971519T PT2998080T (pt) 2013-05-17 2014-05-15 Cabeça e método mecanizado e automatizado com visão
CN201480037756.1A CN105377513B (zh) 2013-05-17 2014-05-15 具有视觉的自动机加工头及方法
CA2912589A CA2912589C (en) 2013-05-17 2014-05-15 Automated machining head with vision and procedure
KR1020157035546A KR102271941B1 (ko) 2013-05-17 2014-05-15 비전을 갖는 자동화 기계가공 헤드 및 방법
EP14797151.9A EP2998080B1 (en) 2013-05-17 2014-05-15 Head and automated mechanized method with vision
US14/891,630 US9919428B2 (en) 2013-05-17 2014-05-15 Head and automated mechanized method with vision
BR112015028755-7A BR112015028755B1 (pt) 2013-05-17 2014-05-15 cabeça de processamento automatizada com visão e procedimento de operação da cabeça
ES14797151.9T ES2671468T3 (es) 2013-05-17 2014-05-15 Cabezal y método de mecanizado automatizado con visión

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201330713A ES2522921B2 (es) 2013-05-17 2013-05-17 Cabezal y procedimiento de mecanizado automático con visión

Publications (2)

Publication Number Publication Date
ES2522921A1 true ES2522921A1 (es) 2014-11-19
ES2522921B2 ES2522921B2 (es) 2015-07-30

Family

ID=51894269

Family Applications (2)

Application Number Title Priority Date Filing Date
ES201330713A Expired - Fee Related ES2522921B2 (es) 2013-05-17 2013-05-17 Cabezal y procedimiento de mecanizado automático con visión
ES14797151.9T Active ES2671468T3 (es) 2013-05-17 2014-05-15 Cabezal y método de mecanizado automatizado con visión

Family Applications After (1)

Application Number Title Priority Date Filing Date
ES14797151.9T Active ES2671468T3 (es) 2013-05-17 2014-05-15 Cabezal y método de mecanizado automatizado con visión

Country Status (9)

Country Link
US (1) US9919428B2 (es)
EP (1) EP2998080B1 (es)
KR (1) KR102271941B1 (es)
CN (1) CN105377513B (es)
BR (1) BR112015028755B1 (es)
CA (1) CA2912589C (es)
ES (2) ES2522921B2 (es)
PT (1) PT2998080T (es)
WO (1) WO2014184414A1 (es)

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WO2020212631A1 (es) 2019-04-17 2020-10-22 Loxin 2002, S.L. Cabezal de mecanizado con corrección activa, procedimiento de operación de dicho cabezal, así como su uso
CN112894573A (zh) * 2021-04-02 2021-06-04 配天机器人技术有限公司 末端打磨机构以及打磨设备
CN115416078A (zh) * 2022-07-29 2022-12-02 北航歌尔(潍坊)智能机器人有限公司 镜片加工控制方法、控制装置、镜片加工设备及介质

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CN111251290A (zh) * 2018-11-30 2020-06-09 汉翔航空工业股份有限公司 机械手臂可选择式路径补偿系统及其方法
WO2020212631A1 (es) 2019-04-17 2020-10-22 Loxin 2002, S.L. Cabezal de mecanizado con corrección activa, procedimiento de operación de dicho cabezal, así como su uso
CN112894573A (zh) * 2021-04-02 2021-06-04 配天机器人技术有限公司 末端打磨机构以及打磨设备
CN115416078A (zh) * 2022-07-29 2022-12-02 北航歌尔(潍坊)智能机器人有限公司 镜片加工控制方法、控制装置、镜片加工设备及介质

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WO2014184414A1 (es) 2014-11-20
PT2998080T (pt) 2018-06-06
ES2522921B2 (es) 2015-07-30
BR112015028755A2 (pt) 2017-07-25
KR102271941B1 (ko) 2021-07-02
CA2912589C (en) 2021-06-08
EP2998080B1 (en) 2018-03-07
US9919428B2 (en) 2018-03-20
EP2998080A4 (en) 2017-05-03
CN105377513A (zh) 2016-03-02
BR112015028755B1 (pt) 2021-02-02
CN105377513B (zh) 2018-05-15
ES2671468T3 (es) 2018-06-06
KR20160010868A (ko) 2016-01-28
CA2912589A1 (en) 2014-11-20
EP2998080A1 (en) 2016-03-23

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