WO2008025577A1 - Procédé et dispositif destinés à surveiller les collisions d'un élément de machine avec un objet dans une machine-outil et/ou dans une machine de production et/ou dans une machine qui se présente sous le forme d'un robot - Google Patents

Procédé et dispositif destinés à surveiller les collisions d'un élément de machine avec un objet dans une machine-outil et/ou dans une machine de production et/ou dans une machine qui se présente sous le forme d'un robot Download PDF

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Publication number
WO2008025577A1
WO2008025577A1 PCT/EP2007/054347 EP2007054347W WO2008025577A1 WO 2008025577 A1 WO2008025577 A1 WO 2008025577A1 EP 2007054347 W EP2007054347 W EP 2007054347W WO 2008025577 A1 WO2008025577 A1 WO 2008025577A1
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WO
WIPO (PCT)
Prior art keywords
machine
geometry
machine element
collision
measuring device
Prior art date
Application number
PCT/EP2007/054347
Other languages
German (de)
English (en)
Inventor
Jochen Bretschneider
Thomas Menzel
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2008025577A1 publication Critical patent/WO2008025577A1/fr

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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
    • G05B19/406—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 monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39094—Interference checking between robot and fixture
    • 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
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles

Definitions

  • the invention relates to a method and a device for collision monitoring of a machine element with a subject in a machine tool, production machine and / or in a machine designed as a robot.
  • the collision ⁇ monitoring usually works with a tool clamp, the process-supplied measured force, vibration and Temperatursigna- Ie supplies the machining process. By comparing the measured values with threshold values, the collision is detected.
  • both methods for the preventive detection of collisions are based on static and possibly also idealized assumptions about the geometry and position of the various machine components and workpieces.
  • it is precisely the deviations from the assumed prerequisites, for example due to operator errors and input errors, which lead to a collision. Examples include incorrectly clamped tools, other or differently placed Aufspann ⁇ devices, incorrectly equipped tools, etc. All these commercial methods are thus not able to reliably avoid a collision or limit only the damage caused by the collision.
  • Object of the present invention is to provide a simple and reliable ⁇ collision monitoring, which detects a preventive possible collision of a machine component with an object.
  • This object is achieved by a method for collision monitoring of a machine element with an object in a machine tool, production machine and / or in a robot designed as a robot having the following method steps:
  • this object is achieved by means for collision monitoring of a machine element with a object in a machine tool, production machine and / or in a machine designed as a robot, the device comprising:
  • a measuring device for determining the geometry and polyvinyl sition of the machine element and the object be ⁇ write data of the machine element and the Jacobs ⁇ tands, wherein the measuring means detects the geometry and positi ⁇ on the machine element and the object, means for determining a geometry and the position descriptive model of the machine element and the
  • a protection area can be a ⁇ mediated.
  • the detection of an imminent collision when the machine element comes into contact with the protection area during a movement process, proves to be advantageous, since a collision can be detected particularly easily by this type of detection.
  • stopping the movement process in the case of a detected imminent collision proves to be advantageous, as this can avoid damage which would arise in the event of a collision.
  • the automation ⁇ catalyzed determination of the geometry and position of the machine element and the object data describing the ma- Machine element and the object by means of a Messein ⁇ direction, which detects the geometry and position of the Maschinenele ⁇ ment and the object, takes place immediately before the start of a machining operation. If the determination of the data it follows ⁇ immediately before the start of the machining process, ensures that the data is current and consistent with the actual situation on site at the machine.
  • the structure of the machine element and the object can be detected accurately.
  • a computer program product such as e.g. a floppy disk, flash card, CD or DVD containing code portions with which the method is executable is advantageous for the device.
  • FIG 1 shows a machine tool in the form of a schematic representation.
  • a work ⁇ generating machine 1 which is connected to a Steuereinrich ⁇ device 7 for controlling the machine tool and exchanges data with this, which is indicated by a double arrow 11.
  • the fortunema machine 1 comprises a spindle drive 5, the rotary-driving a tool that is in the embodiment in the form of a milling tool 4 before ⁇ .
  • the spindle drive 5 is movable in the vertical direction by means of a drive not shown for the sake of clarity, which is indicated by a double arrow 12.
  • the machine 1 has a Maschinenfabeinspannvorraum 2, in which a workpiece 3 is clamped.
  • the workpiece clamping device 2 is movable in the horizontal direction by means of a drive, not shown for the sake of clarity, which is represented by a double arrow 13.
  • the machine tool 1 has a measuring device, which consists in the context of the embodiment in the form of two left and right sides of the spindle drive 5 arranged optical cameras 6a and 6b. With the help of Messein ⁇ direction of the machine are detected structures located 3-dimensional in the working space. By means of the measuring device is an automatic determination of geometry and Posi ⁇ tion descriptive data of the machine elements and objects located in the working space.
  • a spindle drive and clamped into the machine tools, such as the cutter 4 are considered as machine elements.
  • the procedural ⁇ ren invention is used to collision monitoring a machine element with an object.
  • the article may, for example, in the form of the workpiece 3 or, for example in the form of a forgotten by an operator wrench (not shown) which is, present in the working space of the Maschi ⁇ ne.
  • the item is also in the form of a ren machine element such as the Maschinen Swisseinspannvorraum 2 may be present.
  • determining means 8 a determination of the geometry and position of descriptive model of the machine elements and objects on the basis of the Geomet ⁇ rie and position of the machine element and the object descriptive data.
  • the model determination means 8 thus constitutes a means for determining a geometry and position descriptive model of the machine elements and the objects based on the data describing the geometry and position of the machine element and the object.
  • the model thus consists of a virtual Nachbil ⁇ tion of the machine elements located in the working space and objects of the machine.
  • a measurement- technical (sensor-based) geometry and position data acquisition of the machine elements and objects in the work space takes place immediately before starting a machining operation, based on a real measurement of the machine elements and objects located in the working space of the machine.
  • This measure ensures that the model always coincides with the arrangement currently located on the real machine.
  • a protection range determination means 9 a determination of an individual or several protection areas is made on the basis of the model.
  • a protection area is preferably for each detected from the model machine element and the object determined in the example, the detected engine elements and objects an enveloping dreidimensi ⁇ -dimensional curve is calculated, which wraps around the geometric structure of the machine elements and objects in a defined distance, especially snuggles.
  • a collision detection means 10 is a He ⁇ detection of an imminent collision, if a single machine element at a moving operation comes into contact with the scope of an object. In an impending Col ⁇ lision the motion ⁇ operation is stopped in order to avoid damage from the collision detection means 10th
  • the measuring device is designed as an optical measuring device for detecting 3-dimensional structures in the form of two cameras 6a and 6b.
  • the measuring device can, however, e.g. also in the form of a physical-scan-based measuring device, i. in particular in the form of a scanner, e.g. in the run-up instead of the cutter 4 in the
  • the optical measuring device can also be designed as an optical measuring device for detecting 1-dimensional and / or 2-dimensional structures and / or 3-dimensional structures (eg fringe projection, photogrammetry, ESPI techniques (electronic tronic speckle-pattern interferometry).
  • the measuring device can also be embodied as an ultrasound-based measuring device, for example in the form of ultrasonic sensors, or as a radar-based measuring device, for example in the form of radar sensors.
  • the measuring device can also be designed as RFID-based (Radio Frequency Identification) measuring device or as Micro-GPS (Global Positioning System) based measuring devices.
  • RFID-based Radio Frequency Identification
  • Micro-GPS Global Positioning System
  • receivers are attached to corresponding objects and / or machine elements and the position and structure of the object in the working space of the machine are determined by measuring transit time differences of the radiated waves by means of a suitable transmission system operating in a very high frequency range ,
  • the measuring device can also be based on a combination of the above-mentioned techniques.

Abstract

La présente invention concerne un procédé destiné à surveiller les collisions d'un élément de machine (4, 5) avec un objet (2, 3) dans une machine-outil et/ou dans une machine de production et/ou dans une machine qui se présente sous la forme d'un robot, le procédé comprenant les opérations suivantes : détermination automatique de données décrivant la géométrie et la position de l'élément de machine (4, 5) et de l'objet (2, 3) au moyen d'un dispositif de mesure (6a, 6b) qui détecte la géométrie et la position de l'élément de machine (4, 5) et de l'objet (2, 3); détermination d'un modèle décrivant la géométrie et la position de l'élément de machine (4, 5) et de l'objet (2, 3) grâce aux données décrivant la géométrie et la position de l'élément de machine et de l'objet. L'invention concerne également un dispositif correspondant. Elle permet une surveillance simple et fiable des collisions et permet de reconnaître de façon préventive une collision qui pourrait avoir lieu entre des éléments de machine et un objet.
PCT/EP2007/054347 2006-05-30 2007-05-04 Procédé et dispositif destinés à surveiller les collisions d'un élément de machine avec un objet dans une machine-outil et/ou dans une machine de production et/ou dans une machine qui se présente sous le forme d'un robot WO2008025577A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006025166 2006-05-30
DE102006025166.0 2006-05-30

Publications (1)

Publication Number Publication Date
WO2008025577A1 true WO2008025577A1 (fr) 2008-03-06

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PCT/EP2007/054347 WO2008025577A1 (fr) 2006-05-30 2007-05-04 Procédé et dispositif destinés à surveiller les collisions d'un élément de machine avec un objet dans une machine-outil et/ou dans une machine de production et/ou dans une machine qui se présente sous le forme d'un robot

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WO (1) WO2008025577A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010025969A1 (fr) * 2008-09-04 2010-03-11 Dr. Johannes Heidenhain Gmbh Dispositif et procédé pour le contrôle de collision sur une machine-outil
EP2216697A1 (fr) 2009-02-10 2010-08-11 Siemens Aktiengesellschaft Machine outil et procédé pour éviter une collision dans une machine outil
EP2372477A1 (fr) * 2010-03-22 2011-10-05 Otto Martin Maschinenbau GmbH & Co. KG Machine de traitement du bois et procédé destiné à l'évitement de collisions entre des parties de la machine et/ou de l'outil sur une telle machine
DE102010025900A1 (de) * 2010-07-02 2012-01-05 Ott-Jakob Spanntechnik Gmbh Vorrichtung zum Schutz einer Arbeitsspindel
CN102749886A (zh) * 2011-04-18 2012-10-24 西门子公司 用于在机床中避免工具和工件之间不期望的碰撞的方法
EP2849014A3 (fr) * 2013-09-13 2015-03-25 Liebherr-Verzahntechnik GmbH Procédé de commande d'une machine à tailler les engrenages et machine à tailler les engrenages
EP2853354A1 (fr) * 2013-09-27 2015-04-01 Siemens Aktiengesellschaft Régulation de position avec prévention de collision et adaptation d'un modèle de machine à la machine réelle
EP2839925A4 (fr) * 2012-04-17 2016-11-16 Makino Milling Machine Procédé de détermination d'interférence et dispositif de détermination d'interférence pour machine-outil

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0450113A1 (fr) * 1990-04-02 1991-10-09 Dr. Johannes Heidenhain GmbH Méthode de digitalisation avec test de collision
EP0697639A1 (fr) * 1994-08-15 1996-02-21 Toshiba Kikai Kabushiki Kaisha Méthode de vérification d'interférence, méthode de vérification de programme d'usinage et méthode de vérification de propriété d'usinage
WO2002020213A2 (fr) * 2000-09-07 2002-03-14 P & L Gmbh & Co. Kg Machine-outil
EP1256860A2 (fr) * 2001-05-09 2002-11-13 Fanuc Ltd Dispositif pour éviter des collisions
EP1428634A2 (fr) * 2002-12-13 2004-06-16 Fanuc Ltd Robot pour prendre des pièces équipé d'un capteur optique tridimensionnel
DE102004030144A1 (de) * 2004-06-22 2006-01-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Nahbereichsdetektion um eine Robotereinheit

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0450113A1 (fr) * 1990-04-02 1991-10-09 Dr. Johannes Heidenhain GmbH Méthode de digitalisation avec test de collision
EP0697639A1 (fr) * 1994-08-15 1996-02-21 Toshiba Kikai Kabushiki Kaisha Méthode de vérification d'interférence, méthode de vérification de programme d'usinage et méthode de vérification de propriété d'usinage
WO2002020213A2 (fr) * 2000-09-07 2002-03-14 P & L Gmbh & Co. Kg Machine-outil
EP1256860A2 (fr) * 2001-05-09 2002-11-13 Fanuc Ltd Dispositif pour éviter des collisions
EP1428634A2 (fr) * 2002-12-13 2004-06-16 Fanuc Ltd Robot pour prendre des pièces équipé d'un capteur optique tridimensionnel
DE102004030144A1 (de) * 2004-06-22 2006-01-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Nahbereichsdetektion um eine Robotereinheit

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010025969A1 (fr) * 2008-09-04 2010-03-11 Dr. Johannes Heidenhain Gmbh Dispositif et procédé pour le contrôle de collision sur une machine-outil
EP2216697A1 (fr) 2009-02-10 2010-08-11 Siemens Aktiengesellschaft Machine outil et procédé pour éviter une collision dans une machine outil
EP2372477A1 (fr) * 2010-03-22 2011-10-05 Otto Martin Maschinenbau GmbH & Co. KG Machine de traitement du bois et procédé destiné à l'évitement de collisions entre des parties de la machine et/ou de l'outil sur une telle machine
US9089942B2 (en) 2010-07-02 2015-07-28 Ott-Jakob Spanntechnik Gmbh Device for protecting a work spindle
DE102010025900A1 (de) * 2010-07-02 2012-01-05 Ott-Jakob Spanntechnik Gmbh Vorrichtung zum Schutz einer Arbeitsspindel
CN102749886A (zh) * 2011-04-18 2012-10-24 西门子公司 用于在机床中避免工具和工件之间不期望的碰撞的方法
EP2839925A4 (fr) * 2012-04-17 2016-11-16 Makino Milling Machine Procédé de détermination d'interférence et dispositif de détermination d'interférence pour machine-outil
EP2849014A3 (fr) * 2013-09-13 2015-03-25 Liebherr-Verzahntechnik GmbH Procédé de commande d'une machine à tailler les engrenages et machine à tailler les engrenages
CN104460519A (zh) * 2013-09-13 2015-03-25 利勃海尔-齿轮技术有限责任公司 控制切齿机的方法和切齿机
US9983561B2 (en) 2013-09-13 2018-05-29 Liebherr-Verzahntechnik Gmbh Method of controlling a gear cutting machine and gear cutting machine
EP2853354A1 (fr) * 2013-09-27 2015-04-01 Siemens Aktiengesellschaft Régulation de position avec prévention de collision et adaptation d'un modèle de machine à la machine réelle
CN104516313A (zh) * 2013-09-27 2015-04-15 西门子公司 防碰撞的位置调整和机器模型到实际机器的适配
US10126729B2 (en) 2013-09-27 2018-11-13 Siemens Aktiengesellschaft Position control of machine axes with collision avoidance and adaption of a machine model to a real machine

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