MX2018012304A - Metodo para detectar un parametro de un elemento obturador. - Google Patents

Metodo para detectar un parametro de un elemento obturador.

Info

Publication number
MX2018012304A
MX2018012304A MX2018012304A MX2018012304A MX2018012304A MX 2018012304 A MX2018012304 A MX 2018012304A MX 2018012304 A MX2018012304 A MX 2018012304A MX 2018012304 A MX2018012304 A MX 2018012304A MX 2018012304 A MX2018012304 A MX 2018012304A
Authority
MX
Mexico
Prior art keywords
closure element
detecting
parameter
movement
sensor
Prior art date
Application number
MX2018012304A
Other languages
English (en)
Inventor
Battenberg Günther
Original Assignee
Battenberg Robotic Gmbh & Co Kg
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=57854106&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=MX2018012304(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Battenberg Robotic Gmbh & Co Kg filed Critical Battenberg Robotic Gmbh & Co Kg
Publication of MX2018012304A publication Critical patent/MX2018012304A/es

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • 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
    • 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
    • B25J9/0081—Programme-controlled manipulators with master teach-in 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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0038—Force sensors associated with force applying means applying a pushing force
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40062—Door opening
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45089—Testing robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Manipulator (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

La invención se refiere a un método para detectar al menos un parámetro característico de un elemento obturador (12) que cierra una abertura. Por medio de un dispositivo de manipulación (10) se le impone un movimiento al elemento obturador (12), siendo que durante el movimiento se determina al menos la fuerza de interacción entre el elemento obturador y el dispositivo de manipulación por medio de un primer detector (20) integrado en el dispositivo de manipulación, y los cambios de posición del elemento obturador durante la secuencia de movimiento se detectan por medio de un segundo detector (26).
MX2018012304A 2016-04-08 2017-04-05 Metodo para detectar un parametro de un elemento obturador. MX2018012304A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016106488.2A DE102016106488C5 (de) 2016-04-08 2016-04-08 Verfahren zum Erfassen eines Parameters eines Verschlusselementes
PCT/EP2017/058108 WO2017174655A1 (de) 2016-04-08 2017-04-05 Verfahren zum erfassen eines parameters eines verschlusselementes

Publications (1)

Publication Number Publication Date
MX2018012304A true MX2018012304A (es) 2019-03-28

Family

ID=57854106

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2018012304A MX2018012304A (es) 2016-04-08 2017-04-05 Metodo para detectar un parametro de un elemento obturador.

Country Status (6)

Country Link
US (1) US11525748B2 (es)
EP (1) EP3439832B1 (es)
CN (1) CN109476022B (es)
DE (1) DE102016106488C5 (es)
MX (1) MX2018012304A (es)
WO (1) WO2017174655A1 (es)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
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DE102017004367A1 (de) 2017-05-05 2017-11-23 Daimler Ag Messeinrichtung zum Überprüfen eines Flügelelements, insbesondere einer Tür, eines Fahrzeugs
ES2963497T3 (es) 2017-05-11 2024-03-27 Battenberg Guenther Procedimiento para la prueba háptica de un objeto
DE102017216276A1 (de) 2017-09-14 2019-03-14 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Ermitteln einer Schwenkstellung eines an einem Aufbau eines Fahrzeugs gehaltenen Flügelelements, insbesondere einer Tür oder einer Klappe
CN109238736A (zh) * 2018-08-14 2019-01-18 凌迅信息科技（上海）有限公司 一种关门能量测试装置
CN110186695A (zh) * 2019-07-01 2019-08-30 通标标准技术服务(上海)有限公司 一种便携式汽车关门能量测试系统及方法
CN112903303B (zh) * 2019-11-18 2023-11-03 广州汽车集团股份有限公司 车辆开闭件测试系统及其方法
DE102019133125A1 (de) * 2019-12-05 2021-06-10 Bayerische Motoren Werke Aktiengesellschaft Betätigungseinrichtung zur Initiierung und/oder zum Ausführen einer Bewegung eines beweglich, insbesondere an einem Fahrzeuggrundkörper, gelagerten Fahrzeugbauteils
CN111702766B (zh) * 2020-07-07 2021-10-22 西南科技大学 一种基于力觉引导的机械臂自适应开门旋拧方法

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DE4312565C2 (de) * 1993-04-17 2001-12-13 Trumpf Maschinen Austria Gmbh Biegemaschine zum Biegen flächiger Werkstücke
US5627767A (en) * 1995-02-24 1997-05-06 Atoma International, Inc. Testing device for manually movable components of a motor vehicle
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US6062079A (en) * 1997-08-19 2000-05-16 Becs Technology, Inc. Apparatus for automatically verifying the installation and alignment of an automotive door
AU1884100A (en) * 1999-01-08 2000-07-24 Meritor Light Vehicle Systems (Uk) Limited A method of determining whether a movable component of an apparatus meets predetermined movement characteristics
DE602004027960D1 (de) 2004-09-30 2010-08-12 Abb As Türöffnungsanordnung zur verwendung mit einem industrieroboter
US20070107193A1 (en) * 2005-10-28 2007-05-17 Milojevic Dragoslav K Positioning device for moveable portion of workpiece
DE102006006246A1 (de) * 2006-02-10 2007-08-16 Battenberg, Günther Verfahren und Vorrichtung zur vollautomatischen Endkontrolle von Bauteilen und/oder deren Funktionseinheiten
DE102007048530A1 (de) * 2007-10-10 2009-04-16 Zf Friedrichshafen Ag Antriebseinheit zur Prüfung von Getrieben und Vorrichtung zur Prüfung von Getrieben
US20090293614A1 (en) * 2008-05-30 2009-12-03 Gm Global Technology Operations, Inc. Apparatus and method for determining the closing velocity of a vehicle door
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WO2012142587A1 (en) * 2011-04-15 2012-10-18 Irobot Corporation Method for path generation for an end effector of a robot
DE102012017393A1 (de) 2012-09-01 2014-03-06 Volkswagen Ag Verfahren und Vorrichtung zum automatischen Betätigen eines Schließelements eines Kraftfahrzeugs
US9694495B1 (en) * 2013-06-24 2017-07-04 Redwood Robotics Inc. Virtual tools for programming a robot arm
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Also Published As

Publication number Publication date
US20200355566A1 (en) 2020-11-12
EP3439832A1 (de) 2019-02-13
CN109476022B (zh) 2022-05-13
DE102016106488B3 (de) 2017-02-09
WO2017174655A1 (de) 2017-10-12
CN109476022A (zh) 2019-03-15
US11525748B2 (en) 2022-12-13
DE102016106488C5 (de) 2020-07-30
EP3439832B1 (de) 2020-12-02

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