MX370826B - Dispositivo y método para revisar y corregir la posición de un dispositivo operativo con respecto a una pieza. - Google Patents

Dispositivo y método para revisar y corregir la posición de un dispositivo operativo con respecto a una pieza.

Info

Publication number
MX370826B
MX370826B MX2017009173A MX2017009173A MX370826B MX 370826 B MX370826 B MX 370826B MX 2017009173 A MX2017009173 A MX 2017009173A MX 2017009173 A MX2017009173 A MX 2017009173A MX 370826 B MX370826 B MX 370826B
Authority
MX
Mexico
Prior art keywords
piece
operating device
respect
sensors
correcting
Prior art date
Application number
MX2017009173A
Other languages
English (en)
Other versions
MX2017009173A (es
Inventor
Di Stefano Giovanni
Navarria Filippo
Original Assignee
Comau Spa
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
Application filed by Comau Spa filed Critical Comau Spa
Publication of MX2017009173A publication Critical patent/MX2017009173A/es
Publication of MX370826B publication Critical patent/MX370826B/es

Links

Classifications

    • 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
    • G05B19/402—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 positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • 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
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/10—Spot welding; Stitch welding
    • B23K11/11—Spot welding
    • B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/24—Electric supply or control circuits therefor
    • B23K11/25—Monitoring devices
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/311—Electrode holders and actuating devices therefor the actuating device comprising an electric motor
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/314—Spot welding guns, e.g. mounted on robots
    • B23K11/315—Spot welding guns, e.g. mounted on robots with one electrode moving on a linear path
    • 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
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
    • B23Q15/22—Control or regulation of position of tool or workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/10—Spot welding; Stitch welding
    • B23K11/11—Spot welding
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/314—Spot welding guns, e.g. mounted on robots
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37582—Position, angle of workpiece surface
    • 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
    • G05B2219/40555—Orientation and distance
    • 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
    • G05B2219/45088—Riveting robot
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49113—Align elements like hole and drill, centering tool, probe, workpiece

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

La posición de un dispositivo operativo (2) con respecto a una pieza (P) se revisa y corrige asociando al dispositivo operativo (2) un dispositivo de medición (5) que lleva una pluralidad de sensores (505) situados en posiciones determinadas con respecto al dispositivo operativo (2), los sensores (505) estando adaptados para medir, por medio de una tecnología sin contacto, las distancias de los propios sensores desde una superficie (p) de la pieza (P) a lo largo de las direcciones respectivas (l, r, s) que tienen orientaciones determinadas. Los valores de medición detectados por los sensores sin contacto (505) se procesan para obtener el valor de al menos un ángulo que indica la orientación de un eje operativo principal (X1) del dispositivo operativo (2) con respecto a un eje de operación (X2) definido por la superficie (p) de la pieza (P). La información obtenida por medio de la etapa de procesamiento se usa para generar, si es necesario, una señal para controlar el aparato de posicionamiento (1) con el fin de posicionar el dispositivo operativo (2) de acuerdo con una orientación deseada con respecto a la pieza (P).
MX2017009173A 2015-01-16 2016-01-11 Dispositivo y método para revisar y corregir la posición de un dispositivo operativo con respecto a una pieza. MX370826B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP15151387.6A EP3045989B1 (en) 2015-01-16 2015-01-16 Riveting apparatus
PCT/IB2016/050103 WO2016113660A1 (en) 2015-01-16 2016-01-11 Apparatus for applying rivets on a piece comprising a device for checking and correcting the position of a riveting operating device with respect to said piece

Publications (2)

Publication Number Publication Date
MX2017009173A MX2017009173A (es) 2017-10-16
MX370826B true MX370826B (es) 2020-01-08

Family

ID=52484327

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017009173A MX370826B (es) 2015-01-16 2016-01-11 Dispositivo y método para revisar y corregir la posición de un dispositivo operativo con respecto a una pieza.

Country Status (10)

Country Link
US (1) US10654142B2 (es)
EP (1) EP3045989B1 (es)
KR (1) KR102471348B1 (es)
CN (1) CN107530819B (es)
BR (1) BR112017014106B1 (es)
CA (1) CA2971123A1 (es)
ES (1) ES2753441T3 (es)
MX (1) MX370826B (es)
RU (1) RU2698238C2 (es)
WO (1) WO2016113660A1 (es)

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CN109127987B (zh) * 2018-09-26 2024-01-26 天津七所高科技有限公司 半自动铆接设备
CN109746377A (zh) * 2019-01-15 2019-05-14 同济大学 热辅助热熔自攻单面铆接装置及方法
DE102019103073A1 (de) * 2019-02-07 2020-08-06 Eckold Gmbh & Co. Kg Fügeeinrichtung mit einem Rahmen und Verfahren zu ihrer Ausrichtung
CN110587096B (zh) * 2019-08-29 2022-02-15 中车青岛四方机车车辆股份有限公司 电阻点焊电极工作姿态在线监测装置及监测方法
DE102021121314B3 (de) 2021-08-17 2022-12-15 Audi Aktiengesellschaft System zum Fügen von Bauteilen

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EP3045989B1 (en) 2019-08-07
RU2017127712A (ru) 2019-02-20
US20180001429A1 (en) 2018-01-04
WO2016113660A1 (en) 2016-07-21
CA2971123A1 (en) 2016-07-21
KR102471348B1 (ko) 2022-11-29
BR112017014106B1 (pt) 2023-01-24
CN107530819B (zh) 2020-09-01
RU2698238C2 (ru) 2019-08-23
EP3045989A1 (en) 2016-07-20
RU2017127712A3 (es) 2019-05-24
ES2753441T3 (es) 2020-04-08
KR20170106394A (ko) 2017-09-20
BR112017014106A2 (pt) 2018-03-06
US10654142B2 (en) 2020-05-19
MX2017009173A (es) 2017-10-16
CN107530819A (zh) 2018-01-02

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