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
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).
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 (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017004367A1 (de) | 2017-05-05 | 2017-11-23 | Daimler Ag | Messeinrichtung zum Überprüfen eines Flügelelements, insbesondere einer Tür, eines Fahrzeugs |
EP3410260B1 (de) | 2017-05-11 | 2023-08-09 | Günther Battenberg | Verfahren zur haptischen prüfung eines objektes |
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 |
WO2024123536A1 (en) * | 2022-12-07 | 2024-06-13 | Lucomm Technologies, Inc. | Robotic post |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2512766B2 (ja) | 1987-09-30 | 1996-07-03 | マツダ株式会社 | 自動車ドア開閉装置 |
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 |
SE509736C2 (sv) | 1997-05-28 | 1999-03-01 | Autofill Patent Ab | Anordning för positionering vid automattankning av fordon |
US6062079A (en) * | 1997-08-19 | 2000-05-16 | Becs Technology, Inc. | Apparatus for automatically verifying the installation and alignment of an automotive door |
WO2000041155A1 (en) * | 1999-01-08 | 2000-07-13 | Meritor Light Vehicle Systems (Uk) Limited | Apparatus for the simulation and measurement of one or more operation characteristics of a device |
WO2006035259A1 (en) | 2004-09-30 | 2006-04-06 | Abb As | Door opener arrangement for use with an industrial robot |
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 |
UA98567C2 (ru) | 2011-03-11 | 2012-05-25 | Анатолий Анатолиевич Новиков | Устройство перемещения двери автомобиля |
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 |
DE102013212433A1 (de) * | 2013-06-27 | 2014-12-31 | Kuka Roboter Gmbh | Verfahren zum Nullpunktabgleichen eines Drehmomentsensors aneinem Manipulator |
DE102014009269B4 (de) * | 2014-06-25 | 2017-06-08 | Thyssenkrupp Ag | Vorrichtung zur räumlichen Ausrichtung eines berührungslosen Messkopfes |
US9427874B1 (en) * | 2014-08-25 | 2016-08-30 | Google Inc. | Methods and systems for providing landmarks to facilitate robot localization and visual odometry |
JP5927259B2 (ja) * | 2014-09-30 | 2016-06-01 | ファナック株式会社 | 力制御を実行するロボットシステム |
DE102014114277A1 (de) * | 2014-10-01 | 2016-04-07 | Yaskawa Europe Gmbh | Effektor und Verfahren zum Bewegen bewegbarer Anbauteile einer Fahrzeugkarosserie |
CN105364934B (zh) * | 2015-11-30 | 2017-06-16 | 山东建筑大学 | 液压机械臂遥操作控制系统和方法 |
-
2016
- 2016-04-08 DE DE102016106488.2A patent/DE102016106488C5/de active Active
-
2017
- 2017-04-05 EP EP17716500.8A patent/EP3439832B1/de active Active
- 2017-04-05 WO PCT/EP2017/058108 patent/WO2017174655A1/de active Application Filing
- 2017-04-05 CN CN201780035561.7A patent/CN109476022B/zh active Active
- 2017-04-05 US US16/092,280 patent/US11525748B2/en active Active
- 2017-04-05 MX MX2018012304A patent/MX2018012304A/es unknown
Also Published As
Publication number | Publication date |
---|---|
WO2017174655A1 (de) | 2017-10-12 |
DE102016106488C5 (de) | 2020-07-30 |
DE102016106488B3 (de) | 2017-02-09 |
CN109476022A (zh) | 2019-03-15 |
US20200355566A1 (en) | 2020-11-12 |
US11525748B2 (en) | 2022-12-13 |
EP3439832B1 (de) | 2020-12-02 |
CN109476022B (zh) | 2022-05-13 |
EP3439832A1 (de) | 2019-02-13 |
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