WO2005014241A1 - Procede pour programmer un mouvement de deplacement d'un dispositif de deplacement - Google Patents

Procede pour programmer un mouvement de deplacement d'un dispositif de deplacement Download PDF

Info

Publication number
WO2005014241A1
WO2005014241A1 PCT/DE2003/002521 DE0302521W WO2005014241A1 WO 2005014241 A1 WO2005014241 A1 WO 2005014241A1 DE 0302521 W DE0302521 W DE 0302521W WO 2005014241 A1 WO2005014241 A1 WO 2005014241A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
contour
handling device
virtual
status data
Prior art date
Application number
PCT/DE2003/002521
Other languages
German (de)
English (en)
Inventor
Erwin Rothballer
Original Assignee
Erwin Rothballer
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 Erwin Rothballer filed Critical Erwin Rothballer
Priority to AU2003254635A priority Critical patent/AU2003254635A1/en
Priority to PCT/DE2003/002521 priority patent/WO2005014241A1/fr
Publication of WO2005014241A1 publication Critical patent/WO2005014241A1/fr

Links

Classifications

    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/40503—Input design parameters of workpiece into path, trajectory planner
    • 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
    • G05B2219/40517—Constraint motion planning, variational dynamic programming
    • 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

Definitions

  • the present invention relates to a method for programming a movement of a handling device.
  • the handling device guides a processing unit depending on the programmed traversing movement along a contour of a workpiece.
  • the commands for the traversing movement are generated automatically based on the desired dimensions of the workpiece, at least in the area of the contour.
  • the handling device is programmed with the generated commands.
  • the handling device can be designed as any robot (e.g. articulated arm robot, portal robot or Scara robot), as a parallel kinematic machine (e.g. tripod, quadrapod or hexapod) or as a robot that can move freely in space.
  • the processing unit can be designed for any form of contact or non-contact processing of a workpiece.
  • the machining unit is designed as a deburring tool for deburring the workpiece along the contour.
  • Corresponding deburring tools are known as thread milling cutters from EP 0 925 163 B1 and as so-called knife heads from EP 1 075 364 B. known.
  • the contour along which the processing unit is guided by the handling device is not restricted to any particular shape or extension in three-dimensional space.
  • CAD computer aided design.
  • the CAD data contain information about the target dimensions of the workpiece.
  • the actual actual dimensions of the workpiece depend on parameters that are not part of the CAD data and are therefore not taken into account when generating the programming commands.
  • Such parameters are, for example, the temperature or the hardness of the material of the workpiece and are referred to below as status data.
  • the present invention is therefore based on the object, on the one hand, to program a handling device quickly and easily, on the other hand, but also with the greatest possible accuracy.
  • the commands for the movement additionally be generated automatically on the basis of status data of the workpiece, which contain information about the status of the workpiece at least in the area of the contour become.
  • the programming commands automatically, as a function of the desired dimensions of the workpiece and also as a function of certain status data of the workpiece.
  • the status data contain information about the status of the workpiece, such as the temperature or material of the workpiece, as well as tensile or compressive stresses that act in the workpiece.
  • the target dimensions can be corrected on the basis of these status data; in the ideal case, the actual dimensions of the workpiece can even be determined.
  • the handling device can be programmed, while maintaining the fully automatic sequence, such that the handling device can guide the processing unit along a much more precise trajectory along the contour of the workpiece.
  • the status data are stored, for example, in a data memory in the form of a map.
  • the state data it is also conceivable for the state data to be measured using suitable sensors.
  • the status data can also be modeled using other recorded variables. According to an advantageous development of the present invention, it is proposed that the status data contain information about the temperature of the workpiece, at least in the area of the contour.
  • the status data contain information about the material of the workpiece, at least in the area of the contour.
  • the status data contain information about the actual dimensions of the workpiece, at least in the area of the contour.
  • the actual dimensions can be captured, for example, by means of an optical image capturing and image processing device.
  • the status data are time-dependent.
  • a molded plastic part will have a continuously decreasing temperature immediately after removal from the mold.
  • the temperature profile of the individual parts over time will be almost identical. It is therefore conceivable to record a typical state curve over time for certain workpieces and under certain environmental conditions.
  • the current sizes of the state data can then be determined on the basis of the recorded state course as a function of time and can be taken into account when generating the programming commands. In this way, there is no need to constantly measure or model the status data during programming.
  • the status data are location-dependent.
  • the local temperature profile for freshly molded plastic parts is used for same parts are almost identical. It is therefore conceivable to record a typical local state course for certain workpieces.
  • the current sizes of the status data can then be determined on the basis of the recorded status profile as a function of the position of the processing unit and can be taken into account when generating the programming commands. In this way, location-dependent measurement or modeling of the status data during programming can be dispensed with.
  • the state data be measured or modeled.
  • suitable measuring devices are used to record the status data as a function of the time and / or the location of the processing unit.
  • the type of measuring devices used depends on the type of condition data to be recorded.
  • the status data be corrected for future programming, while the processing unit is guided along the contour of the workpiece by the handling device depending on the programmed traversing movements.
  • the force that must be used to move the processing unit on the programmed trajectory is absorbed during the traversing movement.
  • an increase in this force can be an indication that the machining unit is arranged too close to the workpiece and cuts too deep into the workpiece. If the force or the gradient of the force increase exceeds a predeterminable value, the programmed traversing movement or the commands can be corrected.
  • the correction can be done either automatically or after an inquiry with an operator of the processing unit. This applies to the next workpiece to be machined
  • the handling device then returns to the corrected commands and guides the processing unit along the corrected trajectory.
  • the processing unit is initially guided in the virtual space by the handling device depending on the programmed movement movements along the contour of the workpiece.
  • the movement in virtual, preferably 3-dimensional space can be displayed on a screen of a computer.
  • This embodiment has the advantage that the programmed trajectory can be checked without actually machining workpieces.
  • the virtual simulation is faster than the real traversing of the track, and no rejects are produced.
  • the handling devices can then be programmed with the commands for the automatically programmed and simulatively corrected trajectory. In the case of decentralized handling devices, the commands can be transmitted to the handling devices via the Internet, for example.
  • the implementation of the method according to the invention in the form of a computer program, which is based on a computing device, in particular a microprocessor that is executable.
  • the computer program is suitable for executing the method according to the invention if it runs on the computing device.
  • the invention is therefore implemented by a computer program, so that this computer program represents the invention in the same way as the method, for the execution of which it is suitable.
  • the computer program is preferably stored on a storage element, in particular on an electrical storage medium. Random access memory, read-only memory or flash memory can be used as the storage element, for example.
  • FIG. 1 shows a handling device which guides a processing unit on a programmable trajectory along a contour of a workpiece, the trajectory being programmed according to a method according to the invention
  • FIG. 2 shows a structure diagram of the method according to the invention for programming the path of the handling device from FIG. 1.
  • a handling device designed as an articulated arm robot is designated in its entirety with reference number 1.
  • the handling device 1 comprises an articulated arm 2, at the distal end of which a processing unit 3 in the form of a Deburring tool, in particular a deburring knife, is arranged.
  • the processing unit 3 is guided by the handling device 1 on a programmable travel path along a contour of a workpiece 4 designed as a plastic slide.
  • the plastic slide 4 To produce the plastic slide 4, it is molded at high temperatures and removed from the molds at relatively high temperatures. In order to save processing time and thus manufacturing costs, it is processed further immediately after demolding.
  • the further processing includes, for example, deburring or removing the closing edges of the molds that were used to produce the plastic part.
  • the deburring tool 3 For deburring, the deburring tool 3 is guided along the contour of the closure edges with high accuracy.
  • the plastic slide 4 slowly cools down, which results in shrinking dimensions.
  • the trajectory along which the processing unit 3 is guided by the handling device 1 is programmed fully automatically according to the invention and taking into account state data of the workpiece 4, for example the temperature or the dimensions.
  • state data for example the temperature or the dimensions.
  • the trajectory is programmed in a computer 5, which is connected to the handling device 1 via a data transmission line 6.
  • the computer 5 comprises a memory element 7 in the form of a flash memory, on which a computer program is stored.
  • the computer program is executable on a computing device 8 of the computer 5 designed as a microprocessor and for Execution of the method according to the invention is suitable if it runs on the computing device 8.
  • To execute the computer program it is either transferred as a whole or by command from the memory element 7 to the computing device 8 via a data line 9.
  • the computing device 8 is connected via an output line 10 to a screen 11, which represents an interface to an operator of the computer 5 for outputting information.
  • FIG. 2 The structure of the method according to the invention for programming the trajectory of the handling device 1 is shown in FIG. 2. Based on an idea of a workpiece 4 to be machined by the machining unit 3 at a customer 20, commands 21 for the travel path to be traversed are determined in a method explained in more detail below and a handling device 1 is programmed at the customer 20 with the determined commands 21.
  • the idea of the workpiece 4 can be present, for example, in the form of an abstract task 22, as CAD (Computer Aided Design) data 23 and / or as a prototype 24.
  • the idea 22, 23, 24 of the workpiece 4 to be machined is made available to it via a corresponding interface.
  • the idea 22, 23, 24 is entered into the computer 5 in the form of a concrete solution 25 or CAD data 26. There they are made available to the computer program that runs on the computing device 8 to implement the method according to the invention.
  • the concrete solution 25 and the CAD data 26 contain information about the target dimensions of the workpiece 4 at least in the area of the contour.
  • the travel commands for the handling device 1 are generated automatically in a design area 27 on the basis of these target dimensions 25, 26.
  • the nominal dimensions 25, 26 are supplemented by status data 28 of the workpiece 4.
  • the status data 28 contain information about the State of the workpiece 4 at least in the area of the contour.
  • the state relates, for example, to the temperature or material properties of the workpiece 4, as well as tensile or compressive stresses which act in the workpiece 4.
  • the target dimensions 25, 26 can be corrected on the basis of the status data 28; in the ideal case, the actual dimensions of the workpiece 4 can even be determined.
  • Suitable measuring devices such as temperature measuring devices (e.g. thermometers) or voltage measuring devices (e.g. strain gauges) are used to determine the state data 28.
  • Any scanning device 29 for scanning the prototype 24 can be used to determine the actual dimensions.
  • the scanning device 29 is designed, for example, as an optical scanning device (so-called scanner) or as a measuring probe, which is connected to a device for determining the spatial coordinates of the measuring probe (so-called Faro arm).
  • a virtual workpiece 30 Using the desired dimensions 25, 26 and the status data 28, a virtual workpiece 30, a virtual workpiece 31 for producing the workpiece 4 (for example a molding tool for producing the plastic slide) and a virtual holder 32 (for example mold holder) for the workpiece 4 during the processing by the processing unit 3 (eg during deburring along the contour of the closing edges of the molds).
  • the data of the determined virtual tool 31 and the holder 32 are output and used to produce a real tool 33 (for example a molding tool) for producing the workpiece 4 and a real holder 34 in a tool shop 35.
  • the tool 33 produced in this way is, together with further elements 36 (eg injection molding extrusion elements), part of a system 37 for producing the workpiece 4 (eg an injection molding extrusion system for producing the plastic slide).
  • virtual programming 38 of a virtual processing cell 40 (for example a virtual deburring cell) takes place in a virtual area 39, which is part of a virtual space.
  • the programming 38 is also carried out as a function of the construction and construction of the virtual machining cell 40 and as a function of a virtual machining unit 41 (for example a virtual deburring knife).
  • (Virtual) programming of the virtual processing cell 40 takes place within the framework of the virtual programming 38.
  • the virtual recording 32 from the design area 27 is part of the virtual processing cell 40.
  • Further components of the virtual processing cell 40 are virtual cell elements 42 (for example struts or supports of a Processing cell 40) and a virtual handling device 43 (eg articulated arm robot).
  • the elements 40, 41, 42, 43 that only exist in virtual space can be output on the screen 11 of the computer 5. You can choose between a static output of the elements 40, 41, 42, 43, which is designated by the reference symbol 44, and a dynamic operating demonstration 45.
  • An important feature of the present invention is to be seen in that information and insights that have been obtained using the virtual programming 38 of the processing cell 40 are returned to the design area 27 (arrow 46). There they are used to correct the nominal dimensions 25, 26 and / or the state variables 28 of the workpiece 4 and ultimately to correct the automatically generated travel commands. As a result, the accuracy of the generated travel commands can be significantly increased again.
  • the virtual travel commands generated as part of the virtual programming 38 are used for the virtual operation 47 of a virtual processing cell 40.
  • a virtual force can be determined, for example, which is required to guide the virtual machining unit 41 along the virtual contour of the virtual workpiece 30. If the force or the gradient of this force exceeds a predefinable limit value, it can be assumed, for example, that the processing unit 41 has been brought too close to the workpiece 30.
  • This information is fed back to the virtual programming 38 and the virtual travel commands are corrected there.
  • the further virtual operation 47 of the virtual processing cell 40 then takes place taking into account the corrected travel commands.
  • the virtual travel commands can be corrected either automatically or on request from the operator of the computer 5.
  • the real receptacle 34 and the real processing unit 3 are used for the assembly 48 of a real processing cell 49.
  • 48 real cell elements 50 e.g. carriers, struts
  • the real handling device 1 are taken into account for the assembly.
  • the cell 49 is assembled according to the specifications from the function block 38 (function block 51) and set up at the customer 20.
  • the workpiece 4 produced is passed on to the processing cell 49 at the customer 20 and processed there (for example deburred).
  • the actual programming 21 of the processing cell 49 or of the handling device 1 as part of the processing cell 49 takes place at the very end of the method according to the invention, after the automatic generation and verification and, if necessary, correction of the travel commands in virtual space.
  • the programming 21 is carried out by transmitting the virtual travel commands, on the basis of which the virtual processing cell 40 is operated in the function block 47, from the virtual area 39 via the data transmission line 6 to the real processing cell 49 or the handling device 1.
  • the data transmission line 6 is interrupted in FIG. 1 shown to clarify that the data transmission is not limited by spatial distances between the computer 5 and the handling device 1. Rather, it is also conceivable for long distances to be bridged, for example via the Internet.
  • the functions from the different areas 27, 35 and 39 can be carried out by service providers, possibly also by different service providers. These offer and provide your services to the customer 20.
  • the design area 27 relates to the design and construction of the virtual tool 31 for producing the virtual workpiece 30 and the virtual receptacle 32 for the virtual workpiece 30 during processing. The design area 27 thus supplies data for the virtual tool 31 and / or the virtual holder 34.
  • the tool shop 35 relates to the manufacture of the real tool 33 for the manufacture of the real workpiece 4 and the real holder 34 for the workpiece 4 using the data of the virtual one Tool 31 and the virtual receptacle 32. The tool shop 35 thus delivers a finished real tool 33 and / or a finished real receptacle 34.
  • the virtual area 39 relates to the automatic generation, verification and, if necessary, correction of the travel commands for the processing cell 40 or that Handling device 43 in virtual space.
  • the virtual area 39 thus supplies the programming commands for the handling device 1 so that the handling device 3 travels the processing unit 3 on the trajectory along the predetermined contour.
  • processing cell 49 is not with the customer 20, but with a service provider who sells the service of the (further) processing of workpieces 4 produced at another location to external companies.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

La présente invention concerne un procédé pour programmer un mouvement d'un dispositif de déplacement (1, 43) qui guide une unité de traitement (3, 41) le long du contour d'une pièce (4, 30) en fonction du mouvement programmé. Des ordres (21) permettant le mouvement de déplacement, sont produits automatiquement grâce à des dimensions théoriques (25, 26) de la pièce (4, 30) au moins au niveau du contour. Le dispositif de déplacement (1, 43) est programmé au moyen des ordres (21). L'invention a pour objet de permettre une programmation à la fois rapide, simple et avec une précision maximale du dispositif de déplacement (1, 43). A cet effet, les ordres (21) permettant le mouvement de déplacement, sont produits automatiquement en outre grâce à des données d'état (28) de la pièce (4) qui contiennent des informations relatives à l'état de la pièce (4) au moins au niveau du contour. Les données d'état (28) sont par exemple la température ou les dimensions réelles de la pièce (4).
PCT/DE2003/002521 2003-07-26 2003-07-26 Procede pour programmer un mouvement de deplacement d'un dispositif de deplacement WO2005014241A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2003254635A AU2003254635A1 (en) 2003-07-26 2003-07-26 Method for programming the displacement of a manipulation device
PCT/DE2003/002521 WO2005014241A1 (fr) 2003-07-26 2003-07-26 Procede pour programmer un mouvement de deplacement d'un dispositif de deplacement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/DE2003/002521 WO2005014241A1 (fr) 2003-07-26 2003-07-26 Procede pour programmer un mouvement de deplacement d'un dispositif de deplacement

Publications (1)

Publication Number Publication Date
WO2005014241A1 true WO2005014241A1 (fr) 2005-02-17

Family

ID=34122294

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2003/002521 WO2005014241A1 (fr) 2003-07-26 2003-07-26 Procede pour programmer un mouvement de deplacement d'un dispositif de deplacement

Country Status (2)

Country Link
AU (1) AU2003254635A1 (fr)
WO (1) WO2005014241A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009149805A1 (fr) * 2008-06-09 2009-12-17 Kuka Roboter Gmbh Dispositif et procédé de génération assistée par ordinateur d’une bande de manipulateur
US8504188B2 (en) 2008-06-09 2013-08-06 Kuka Laboratories Gmbh Device and method for the computer-assisted generation of a manipulator path

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2620242A1 (fr) * 1987-09-09 1989-03-10 Snecma Procede d'utilisation d'un robot d'ebavurage
US4887221A (en) * 1987-09-25 1989-12-12 Sunnen Products Company Computer controlled honing machine using look up table data for automatic programming
US4992948A (en) * 1987-10-14 1991-02-12 Ab Sandvik Coromant Process for the control of a machine tool
US5261768A (en) * 1992-09-23 1993-11-16 Sandia National Laboratories Automated edge finishing using an active XY table
US5394513A (en) * 1991-10-28 1995-02-28 Commissariat A L'energie Atomique Process for generating a trajectory for a robotized system
US5880956A (en) * 1994-08-12 1999-03-09 Minnesota Mining And Manufacturing Company Lead-through robot programming system
US6157873A (en) * 1998-04-09 2000-12-05 Motoman, Inc. Robot programming system and method
DE19930087A1 (de) * 1999-06-30 2001-01-11 Charalambos Tassakos Verfahren und Vorrichtung zur Regelung der Vorhalteposition eines Manipulators eines Handhabungsgeräts

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2620242A1 (fr) * 1987-09-09 1989-03-10 Snecma Procede d'utilisation d'un robot d'ebavurage
US4887221A (en) * 1987-09-25 1989-12-12 Sunnen Products Company Computer controlled honing machine using look up table data for automatic programming
US4992948A (en) * 1987-10-14 1991-02-12 Ab Sandvik Coromant Process for the control of a machine tool
US5394513A (en) * 1991-10-28 1995-02-28 Commissariat A L'energie Atomique Process for generating a trajectory for a robotized system
US5261768A (en) * 1992-09-23 1993-11-16 Sandia National Laboratories Automated edge finishing using an active XY table
US5880956A (en) * 1994-08-12 1999-03-09 Minnesota Mining And Manufacturing Company Lead-through robot programming system
US6157873A (en) * 1998-04-09 2000-12-05 Motoman, Inc. Robot programming system and method
DE19930087A1 (de) * 1999-06-30 2001-01-11 Charalambos Tassakos Verfahren und Vorrichtung zur Regelung der Vorhalteposition eines Manipulators eines Handhabungsgeräts

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SCHMIDT J ET AL: "DIE FEINBEARBEITUNG WIRD AUTOMATISIERBAR", TECHNISCHE RUNDSCHAU, HALLWAG VERLAG. BERN, CH, vol. 83, no. 22, 31 May 1991 (1991-05-31), pages 78 - 80, XP000234760, ISSN: 1023-0823 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009149805A1 (fr) * 2008-06-09 2009-12-17 Kuka Roboter Gmbh Dispositif et procédé de génération assistée par ordinateur d’une bande de manipulateur
US8504188B2 (en) 2008-06-09 2013-08-06 Kuka Laboratories Gmbh Device and method for the computer-assisted generation of a manipulator path

Also Published As

Publication number Publication date
AU2003254635A1 (en) 2005-02-25

Similar Documents

Publication Publication Date Title
DE112015004939B4 (de) Verfahren zum Optimieren der Produktivität eines Bearbeitungsprozesses einer CNC-Maschine
EP1894068B1 (fr) Procede permettant le controle de qualite pour une machine industrielle en fonction
EP2691824B1 (fr) Procédé d'usinage de pièces à l'aide d'un dispositif d'usinage de pièce à commande numérique et dispositif d'usinage de pièce à commande numérique
EP1086407B1 (fr) Procede de commande pour robot industriel
DE102017131032A1 (de) Verfahren zum Einstellen einer Formgebungsmaschine
DE102009057923A1 (de) Simulationsvorrichtung
DE102017116459B4 (de) Cad/cam-cnc-integriertes system
DE112009001797T5 (de) Verfahren und Systeme zur Herstellung einer Komponente
EP3671373A1 (fr) Méthode de prédiction pour prédire le résultat de l'usinage pour une méthode d'usinage à laser
EP3768448A1 (fr) Procédé de détermination d'instructions de construction pour un procédé de fabrication additive, procédé de création d'une base de données avec mesures de correction de la commande de processus d'un procédé de fabrication additive et produit programme informatique
DE102018218134A1 (de) Integriertes Bearbeitungssystem, integriertes Bearbeitungsverfahren und Programm
AT519253B1 (de) Steuer- oder Regeleinheit für eine Formgebungsmaschine
DE10214880A1 (de) Verfahren zum Programmieren einer Verfahrbewegung eines Handhabungsgeräts
EP2216697A1 (fr) Machine outil et procédé pour éviter une collision dans une machine outil
DE60320145T2 (de) Verfahren zur automatischen entfernung von steigern zur kompensation für gussabweichungen
DE102015109593B4 (de) Scannereinrichtung für einen Laserstrahl zur Lasermaterialbearbeitung, Werkzeugmaschine mit der Scannereinrichtung sowie Verfahren zum Ansteuern der Werkzeugmaschine mit der Scannereinrichtung
WO2005014241A1 (fr) Procede pour programmer un mouvement de deplacement d'un dispositif de deplacement
DE102008010982A1 (de) Verfahren zum endkonturnahen Schleifen bogenförmiger Konturen
EP3211550A1 (fr) Procédé de fabrication d'un modèle cao 3d, utilisation d'un modèle cao 3d, produit-programme d'ordinateur et système d'usinage à commande numérique
DE112014002120T5 (de) System und Verfahren zur Durchführung von Operationen zum Rückgängigmachen und Wiederherstellen während der Bearbeitungssimulation
DE112017003357T5 (de) Auswahlvorrichtung, Auswahlverfahren und Programm
DE4310126A1 (de) Verfahren und Vorrichtung zur numerischen Bahnsteuerung von Werkzeugmaschinen
DE102017108031A1 (de) Verfahren und Fertigungsvorrichtung zum lagenweisen Aufbau eines durch Geometriebeschreibungsdaten definierten Formkörpers
DE102017128332B4 (de) Mit einer Formungsmaschine und einer Formproduktentnahmevorrichtung versehenes Formungssystem
DE102022102395A1 (de) Verfahren und Vorrichtung zur Reduzierung des Nachbearbeitungsaufwands an Urform-Kavitäten vor deren Verwendung im Serienbetrieb

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AU AZ BA BB BG BR BY BZ CA CN CO CR CU CZ DM DZ EC EE GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LV MA MD MG MK MN MW MX MZ NO NZ OM PH PL RO RU SC SD SG SL TJ TM TN TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP