PT2998080T - Cabeça e método mecanizado e automatizado com visão - Google Patents
Cabeça e método mecanizado e automatizado com visãoInfo
- Publication number
- PT2998080T PT2998080T PT147971519T PT14797151T PT2998080T PT 2998080 T PT2998080 T PT 2998080T PT 147971519 T PT147971519 T PT 147971519T PT 14797151 T PT14797151 T PT 14797151T PT 2998080 T PT2998080 T PT 2998080T
- Authority
- PT
- Portugal
- Prior art keywords
- vision
- head
- mechanized method
- automated mechanized
- automated
- Prior art date
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)
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 (1)
Publication Number | Publication Date |
---|---|
PT2998080T true PT2998080T (pt) | 2018-06-06 |
Family
ID=51894269
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PT147971519T PT2998080T (pt) | 2013-05-17 | 2014-05-15 | Cabeça e método mecanizado e automatizado com visão |
Country Status (9)
Country | Link |
---|---|
US (1) | US9919428B2 (pt) |
EP (1) | EP2998080B1 (pt) |
KR (1) | KR102271941B1 (pt) |
CN (1) | CN105377513B (pt) |
BR (1) | BR112015028755B1 (pt) |
CA (1) | CA2912589C (pt) |
ES (2) | ES2522921B2 (pt) |
PT (1) | PT2998080T (pt) |
WO (1) | WO2014184414A1 (pt) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11656597B2 (en) | 2020-12-07 | 2023-05-23 | Industrial Technology Research Institute | Method and system for recognizing deburring trajectory |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3083160A4 (en) * | 2013-12-17 | 2017-08-23 | Syddansk Universitet | Device for dynamic switching of robot control points |
EP3045989B1 (en) * | 2015-01-16 | 2019-08-07 | Comau S.p.A. | Riveting apparatus |
CN104708050B (zh) * | 2015-02-13 | 2017-03-29 | 深圳市圆梦精密技术研究院 | 柔性钻削系统 |
US9884372B2 (en) | 2015-05-04 | 2018-02-06 | The Boeing Company | Method and system for defining the position of a fastener with a peen mark |
JP6665450B2 (ja) * | 2015-08-31 | 2020-03-13 | セイコーエプソン株式会社 | ロボット、制御装置、及びロボットシステム |
CN105067046B (zh) * | 2015-09-15 | 2017-11-10 | 沈阳飞机工业(集团)有限公司 | 一种自动钻铆机校准方法 |
JP6710946B2 (ja) * | 2015-12-01 | 2020-06-17 | セイコーエプソン株式会社 | 制御装置、ロボットおよびロボットシステム |
US9981381B1 (en) * | 2016-06-08 | 2018-05-29 | X Development Llc | Real time generation of phase synchronized trajectories |
CN107876953B (zh) * | 2016-09-29 | 2022-04-22 | 福特环球技术公司 | 带有位置导向系统的接合机 |
KR101882473B1 (ko) * | 2016-12-08 | 2018-07-25 | 한국생산기술연구원 | 로봇을 이용한 가공상태 검사장치 및 이에 의한 검사방법 |
US10782670B2 (en) * | 2016-12-14 | 2020-09-22 | The Boeing Company | Robotic task system |
IT201700071176A1 (it) * | 2017-06-26 | 2018-12-26 | Proge Tec S R L | Sistema di rivettatura automatica di manici su pentole |
CN107472909B (zh) * | 2017-07-31 | 2019-04-30 | 浩科机器人(苏州)有限公司 | 一种具有激光检测功能的玻璃搬运机器人 |
US10571260B2 (en) * | 2017-09-06 | 2020-02-25 | The Boeing Company | Automated rivet measurement system |
US10786901B2 (en) * | 2018-02-09 | 2020-09-29 | Quanta Storage Inc. | Method for programming robot in vision base coordinate |
CN108972623B (zh) * | 2018-07-27 | 2021-07-20 | 武汉理工大学 | 基于力控传感器的机器人末端装夹误差自动修正方法 |
CN109211222B (zh) * | 2018-08-22 | 2022-06-07 | 扬州大学 | 基于机器视觉的高精度定位系统及方法 |
CN109352663B (zh) * | 2018-09-28 | 2020-11-20 | 航天材料及工艺研究所 | 一种面向复合材料舱段的机器人自动精确定位制孔装置及方法 |
JP7337495B2 (ja) * | 2018-11-26 | 2023-09-04 | キヤノン株式会社 | 画像処理装置およびその制御方法、プログラム |
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 |
US11911914B2 (en) * | 2019-01-28 | 2024-02-27 | Cognex Corporation | System and method for automatic hand-eye calibration of vision system for robot motion |
ES2788274B2 (es) * | 2019-04-17 | 2022-07-21 | Loxin 2002 Sl | Cabezal de mecanizado con correccion activa, procedimiento de operacion y uso |
CN110142372B (zh) * | 2019-06-14 | 2024-04-16 | 眉山中车紧固件科技有限公司 | 铆接机器人系统 |
WO2021048579A1 (ja) * | 2019-09-11 | 2021-03-18 | Dmg森精機株式会社 | システム及び工作機械 |
KR102281544B1 (ko) * | 2019-11-18 | 2021-07-27 | 한국생산기술연구원 | 부품 외곽 가공 오차를 고려한 홀 가공 방법 및 이를 적용한 홀 가공 장치 |
ES2843739B2 (es) * | 2020-01-20 | 2021-11-24 | Omicron 2020 Sl | Procedimiento de montaje basado en un sistema robotico colaborativo con aplicaciones intercambiables para operaciones automatizadas de taladrado, avellanado y remachado |
US11192192B2 (en) * | 2020-02-10 | 2021-12-07 | The Boeing Company | Method and apparatus for drilling a workpiece |
US11511443B2 (en) * | 2020-02-10 | 2022-11-29 | The Boeing Company | Method and apparatus for drilling a workpiece |
US11079748B1 (en) * | 2020-04-29 | 2021-08-03 | Grale Technologies | In-process digital twinning |
US11243507B2 (en) * | 2020-04-29 | 2022-02-08 | Grale Technologies | Morphic manufacturing |
CN111570712A (zh) * | 2020-06-17 | 2020-08-25 | 沈阳凌云瓦达沙夫汽车工业技术有限公司 | 拉铆设备 |
CN112975955B (zh) * | 2021-02-03 | 2024-02-02 | 浙江明泉工业涂装有限公司 | 一种涂装生产线机器人视觉集成系统 |
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 |
CN117529270A (zh) * | 2021-06-07 | 2024-02-06 | 爱尔康公司 | 机器人相机系统的光轴校准 |
FR3130181B1 (fr) * | 2021-12-09 | 2024-01-12 | Seti Tec | Dispositif multi-tâche comprenant une caméra et une broche unique apte à placer la caméra dans une position de mise au point |
CN114378814B (zh) * | 2021-12-23 | 2024-07-19 | 唐山松下产业机器有限公司 | 机器人重复定位精度实时监测系统 |
CN114986393B (zh) * | 2022-06-14 | 2023-04-04 | 广东天太机器人有限公司 | 一种自动纠偏的抛光打磨机械臂控制系统及方法 |
CN115416078B (zh) * | 2022-07-29 | 2024-09-03 | 北歌(潍坊)智能科技有限公司 | 镜片加工控制方法、控制装置、镜片加工设备及介质 |
CN115608907B (zh) * | 2022-12-20 | 2023-03-28 | 山西天宝集团有限公司 | 一种基于风电法兰锻造用油压机自动对中装置及其方法 |
CN117533245B (zh) * | 2024-01-09 | 2024-03-08 | 绵阳师范学院 | 一种多向视觉覆盖的巡检机器人 |
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CN101726296B (zh) | 2009-12-22 | 2013-10-09 | 哈尔滨工业大学 | 空间机器人视觉测量、路径规划、gnc一体化仿真系统 |
KR20110095700A (ko) * | 2010-02-19 | 2011-08-25 | 현대중공업 주식회사 | 작업대상물 픽업을 위한 산업용 로봇 제어방법 |
EP2711142B1 (en) * | 2012-09-20 | 2014-09-17 | Comau S.p.A. | Industrial robot having electronic drive devices distributed on the robot structure |
-
2013
- 2013-05-17 ES ES201330713A patent/ES2522921B2/es not_active Expired - Fee Related
-
2014
- 2014-05-15 CN CN201480037756.1A patent/CN105377513B/zh active Active
- 2014-05-15 EP EP14797151.9A patent/EP2998080B1/en active Active
- 2014-05-15 ES ES14797151.9T patent/ES2671468T3/es active Active
- 2014-05-15 PT PT147971519T patent/PT2998080T/pt unknown
- 2014-05-15 KR KR1020157035546A patent/KR102271941B1/ko active IP Right Grant
- 2014-05-15 US US14/891,630 patent/US9919428B2/en active Active
- 2014-05-15 BR BR112015028755-7A patent/BR112015028755B1/pt not_active IP Right Cessation
- 2014-05-15 CA CA2912589A patent/CA2912589C/en active Active
- 2014-05-15 WO PCT/ES2014/070403 patent/WO2014184414A1/es active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11656597B2 (en) | 2020-12-07 | 2023-05-23 | Industrial Technology Research Institute | Method and system for recognizing deburring trajectory |
Also Published As
Publication number | Publication date |
---|---|
KR102271941B1 (ko) | 2021-07-02 |
CN105377513A (zh) | 2016-03-02 |
EP2998080B1 (en) | 2018-03-07 |
CA2912589C (en) | 2021-06-08 |
BR112015028755A2 (pt) | 2017-07-25 |
ES2522921B2 (es) | 2015-07-30 |
BR112015028755B1 (pt) | 2021-02-02 |
US20160082598A1 (en) | 2016-03-24 |
CA2912589A1 (en) | 2014-11-20 |
WO2014184414A1 (es) | 2014-11-20 |
EP2998080A4 (en) | 2017-05-03 |
EP2998080A1 (en) | 2016-03-23 |
ES2522921A1 (es) | 2014-11-19 |
KR20160010868A (ko) | 2016-01-28 |
CN105377513B (zh) | 2018-05-15 |
ES2671468T3 (es) | 2018-06-06 |
US9919428B2 (en) | 2018-03-20 |
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