SE9300829L - Automatic finishing of blades for rotary machines - Google Patents

Automatic finishing of blades for rotary machines

Info

Publication number
SE9300829L
SE9300829L SE9300829A SE9300829A SE9300829L SE 9300829 L SE9300829 L SE 9300829L SE 9300829 A SE9300829 A SE 9300829A SE 9300829 A SE9300829 A SE 9300829A SE 9300829 L SE9300829 L SE 9300829L
Authority
SE
Sweden
Prior art keywords
robot
programmed
force
contact force
carry out
Prior art date
Application number
SE9300829A
Other languages
Swedish (sv)
Other versions
SE508216C2 (en
SE9300829D0 (en
Inventor
Dan Jonsson
Leif Sundin
Original Assignee
Abb Stal Ab
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 Abb Stal Ab filed Critical Abb Stal Ab
Priority to SE9300829A priority Critical patent/SE508216C2/en
Publication of SE9300829D0 publication Critical patent/SE9300829D0/en
Priority to PCT/SE1994/000205 priority patent/WO1994020262A1/en
Publication of SE9300829L publication Critical patent/SE9300829L/en
Publication of SE508216C2 publication Critical patent/SE508216C2/en

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
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • 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
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36495—Recording position and other parameters, current, tool diameter, voltage
    • 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
    • G05B2219/45151—Deburring
    • 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
    • G05B2219/49356—Tool with constant force against workpiece during machining

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Manipulator (AREA)

Abstract

In workshop engineering production of a part (1), a robot is instructed to carry out subsequent machining (grinding, deburring) of the part by handling the part via an arm provided with a force sensor and, according to a program stored into the robot, operating the part to adopt a definite position in space in a converting machine in such a way that the machine within given tolerances machines the surface of the part. The outer contour (S) of the part, in sweeps across the surface of the part selected by the operator, is read and stored into the program of the robot at few points (P) per sweep. A given contact force (Fn), the magnitude and direction in space of which are determined, between the part handled by the robot and the tool of the converting machine is programmed for each point (P), whereby the programmed contact force, the force and direction of which are determined, forces the robot, instead of compensating for the deviation of the contact point from the outer contour of the part, to uninterruptedly carry out the machining along the actual contour (S) of the part with the programmed contact force.
SE9300829A 1993-03-12 1993-03-12 Automatic finishing of blades for rotary machines SE508216C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE9300829A SE508216C2 (en) 1993-03-12 1993-03-12 Automatic finishing of blades for rotary machines
PCT/SE1994/000205 WO1994020262A1 (en) 1993-03-12 1994-03-11 Automatic subsequent machining of blades for rotating machines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9300829A SE508216C2 (en) 1993-03-12 1993-03-12 Automatic finishing of blades for rotary machines

Publications (3)

Publication Number Publication Date
SE9300829D0 SE9300829D0 (en) 1993-03-12
SE9300829L true SE9300829L (en) 1994-09-13
SE508216C2 SE508216C2 (en) 1998-09-14

Family

ID=20389211

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9300829A SE508216C2 (en) 1993-03-12 1993-03-12 Automatic finishing of blades for rotary machines

Country Status (2)

Country Link
SE (1) SE508216C2 (en)
WO (1) WO1994020262A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100561491C (en) 2005-02-25 2009-11-18 Abb研究有限公司 The method and apparatus of automated path learning
DE102006061752A1 (en) * 2006-12-28 2008-07-03 Kuka Roboter Gmbh Method for programming robot, involves manual starting of space points with robot, which carries determined force or torque in started space point, where force or torque is stored
CN111531413A (en) * 2020-05-11 2020-08-14 无锡中车时代智能装备有限公司 Wind power blade multi-robot collaborative polishing system and method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD273224A1 (en) * 1987-05-04 1989-11-08 Fortschritt Veb K METHOD AND CIRCUIT ARRANGEMENT FOR SENSOR-CONTROLLED CONTROL OF AN INDUSTRIAL ROBOT
JP2719345B2 (en) * 1988-03-30 1998-02-25 豊田工機株式会社 Processing control device using force sensor
JP2676793B2 (en) * 1988-06-30 1997-11-17 トヨタ自動車株式会社 Copy control robot
DE3906438A1 (en) * 1989-03-01 1990-09-13 Daimler Benz Ag Robot grinding tool

Also Published As

Publication number Publication date
WO1994020262A1 (en) 1994-09-15
SE508216C2 (en) 1998-09-14
SE9300829D0 (en) 1993-03-12

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