WO2008110559A2 - Système de support destiné à un dispositif de traitement - Google Patents

Système de support destiné à un dispositif de traitement Download PDF

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Publication number
WO2008110559A2
WO2008110559A2 PCT/EP2008/052889 EP2008052889W WO2008110559A2 WO 2008110559 A2 WO2008110559 A2 WO 2008110559A2 EP 2008052889 W EP2008052889 W EP 2008052889W WO 2008110559 A2 WO2008110559 A2 WO 2008110559A2
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WO
WIPO (PCT)
Prior art keywords
base element
actuator
support system
treatment device
free
Prior art date
Application number
PCT/EP2008/052889
Other languages
English (en)
Other versions
WO2008110559A3 (fr
Inventor
Claudio Raggi
Original Assignee
Azimut-Benetti S.P.A.
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 Azimut-Benetti S.P.A. filed Critical Azimut-Benetti S.P.A.
Publication of WO2008110559A2 publication Critical patent/WO2008110559A2/fr
Publication of WO2008110559A3 publication Critical patent/WO2008110559A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it

Definitions

  • the present invention relates to apparatus for treating an object, and in particular, but not exclusively, to a support arrangement for providing a base for a treatment device.
  • Manufacture and/or repair of goods may require various treatment stages where an object, or a workpiece, is subjected to treatment by a device such as a surface formation tool, finishing tool or a spaying tool.
  • a device such as a surface formation tool, finishing tool or a spaying tool.
  • a wide variety of objects may be treated by a tool or a plurality of tool attached to an actuator device.
  • the treatment may include operations where a tool is brought into a contact with or at least closely follows a surface or boundary of the object of the treatment.
  • Appropriate tools may be used, for example, for machining operations such as milling, tooling, boring, reaming, cutting, deburring, grinding, sanding, polishing, finishing and so on.
  • Appropriate processing devices may also be used for operations such as, extruding, spraying, washing, painting, welding, water jet or laser beam cutting or finishing, brushing, injecting, measuring, scanning and so on.
  • a tool or other treatment or processing device is typically attached to a holder assembly which may be moved by an actuator apparatus adapted to provide movement of the tool relative to the object.
  • the tool holder assembly typically comprises means for providing a firm grip of the tool so that a drive force that may be required for the treatment can be properly transmitted to the tool and the position of the tool relative to the holder assembly remains the unchanged.
  • the skilled person is aware of various possible alternatives for the gripping means, and thus they will not be explained in more detail.
  • Examples of appropriate actuator apparatus include industrial robots and manipulators and similar apparatus capable of moving the tool holder assembly.
  • the movement is typically provided in a three dimensional space, and is typically, although not necessarily, defined in x,y,z co-ordinates.
  • the actuator apparatus is typically arranged to provide movements along a predefined number of axis i.e. to provide a predefined number of degrees of freedom for a point of the processing device.
  • Robot-like actuators and similar manipulators may provide movements along six or even more axis i.e. they provide six or more degrees of freedom.
  • an object may be subjected to various treatment operations by a tool that is moved by an actuator, such as a six axis robot, and/or tool holder relative to the object.
  • an actuator such as a six axis robot, and/or tool holder relative to the object.
  • the actuator and/or tool holder typically operates in accordance with a predefined set of instructions. More particularly, the movement of the tool is typically controlled by a controller that follows a program code.
  • the controller instructs various components of the processing apparatus such that the tool is moved relative to the object in a predefined manner.
  • the program may be based, for example, on a prewritten program code and/or on other information obtained e.g. through a machine vision system.
  • the requirement of rigid positioning of the object and the robot may mean in certain applications that the current robot technologies may not be used for the treatment of the object, or at least the entire object. Instead, at least a part of the work may still need to be taken manually.
  • auxiliary means such as scaffolding may be needed in order to manually reach the surfaces on which the various operations need to be carried out and which are outside the working area of the robot system.
  • the current apparatuses cannot operate on the long ends, i.e. the bow and stern of the vessel. A reason for this is that the current arrangement may not offer enough rigidity. Also, system inaccuracies may be increased because of deformation of the apparatus.
  • the embodiments of the present invention aim to address one or several of the above problems.
  • a support system for supporting a treatment device configured to move in a three dimensional space relative an object.
  • the support system comprises a free-standing base element for supporting an actuator of the treatment device, at least one transfer element for enabling movement of the free-standing base element relative to the object upon activation of a transfer element actuator, and a control arrangement for controlling the position of the free-standing base element, wherein the control arrangement comprises at least one positioning tool for providing positioning information, the control arrangement being configured to adapt movements of the treatment device between successive positions of the free-standing base element based on the positioning information such that synchronised treatment of the object is provided.
  • a method for treating an object by a treatment device comprises supporting by a free-standing base element an actuator of the treatment device, moving by the actuator the treatment device relative the object in a first position of the free standing base element, moving the free-standing base element to a second position, providing information regarding the first and second positions of the free standing base element, and controlling the movements of the treatment device in the second position of the free standing base element based on the position information.
  • the at least one transfer element is actuated by pressurised fluid.
  • the at least one transfer element may be configured to provide an air film for moveably supporting the free-standing base element.
  • the control arrangement may be configured to process information regarding the relative position of the actuator and the object before and after a move of the base element.
  • the relative position may be determined based on at least one reference point.
  • the object may be treated in blocks, each block corresponding a work area of the treatment device.
  • the blocks may be arranged to overlap.
  • At least one reference point may be provided in the overlapping area.
  • Each block may correspond a work area in a position of the free standing base element.
  • a control processor of the control arrangement may be configured to treat a reference point to provide a finishing point of a previous block and a starting point of a consequent block.
  • a processor of the control arrangement may be configured to adapt control instructions for the actuator based on information of the at least one reference point obtained in two different position of the base element.
  • the control arrangement may comprise at least one measurement device for measuring at least one of vertical position, horizontal position, angular transformation, twisting and pending of the base element.
  • Adjustor elements that are responsive to measurement information from the at least one measurement device may also be provided.
  • the base element may be provided with at least one of an integrated air pressure generator, an integrated hydraulic pressure generator, an integrated electricity generator and an integrated controller unit for the actuator.
  • Information regarding the surface of the object may be provided by a scanning device.
  • a reference surface may be generated based on said information and movements of the treatment device may be controlled based on the reference surface.
  • the embodiments of the invention may enable good flexibility in treating large objects since the unit can efficiently operate in different locations relative to the object. For example workshops, building sites and/or shipyards may use the same unit without having to move the objects and/or the rebuild a fixed apparatus and hence waste resources or interrupt activities.
  • Figure 1 shows a system embodying the present invention
  • Figure 2 shows an another example of an embodiment of the present invention
  • Figure 3 shows division of an object into treatment blocks
  • Figure 4 shows generation of a reference surface in accordance with an embodiment
  • Figure 5 is a flowchart in accordance with an embodiment
  • Figure 6 shows a controller apparatus.
  • FIG. 1 shows a moveable treatment device unit 5 placed next to an object 9 to be treated.
  • the treatment device unit 5 comprises a supporting element 6 for providing support for an industrial robot 1.
  • the industrial robot in turn, is for actuating a tool holder assembly 3.
  • the robot 1 is assembled on a free-standing base element 6.
  • the base element 6 is provided with appropriate transfer elements 7 to facilitate moving thereof. Examples of the appropriate transfer elements will be given later after a brief explanation of other components of the apparatus shown in Figure 1.
  • a robot typically comprises a frame portion and one or several swivelling and/or rotational arms so that it is capable of providing different movements of a tool in the working area thereof.
  • the rotational and/or swivelling movements of the various components of the robot may be provided by suitable actuators, such as by servomotors and/or pneumatic or hydraulic cylinders.
  • An industrial robot is typically capable of actuating a tool mounted therein in a three dimensional space and to provided movements relative to a plurality of axis of freedom, typically 5 or 6 six.
  • controller unit 2 The operation of the movement and various components of the robot 1 are controlled by a controller unit 2.
  • the controller unit 2 is attached to the base element 6.
  • a controller unit may also be embedded into the base element.
  • at least a part of the control operation are provided by a remote control entity.
  • a data communication connection 12 is provided between the controller 2 and the robot 1 for transmission of data there between.
  • the controller typically controls the operation of the actuator apparatus based on an appropriate software code. That is, the control unit 2 is arranged to follow a set of instructions in the form of a software code, for example to process a reprogrammed processing program that has been prepared for treatment of the object 9 so that the object can be processed by means of the robot 1 in a desired manner.
  • the program may have been prepared by means of an appropriate programming tool, for example a computer aided design / computer aided manufacturing (CAD/CAM) tool.
  • CAD/CAM computer aided design / computer aided manufacturing
  • the programming tool and/or the control software of the robot may be modified in accordance with the embodiments of the invention.
  • a part of the information on which the processing may be based on may be fetched/received from an internal or external database or from an imaging apparatus of a machine vision system or from an other measuring device (not shown in Figure 1 ) via an appropriate communication media.
  • the controller 2 typically includes required data processing and storage capability, such as an appropriate central processing unit (CPU) and necessary operating system for running the control applications in the processing unit.
  • the central processing unit may be based on microprocessor technology.
  • the controller unit may be based on a PentiumTM processor, even though a less or more powerful processor may also be employed depending on the requirements of the system and the objects to be handled.
  • the controller 2 may be provided with appropriate memory devices, drives, display means, a keyboard, a mouse or other pointing device and any adapters and interfaces that may be required.
  • the processing is based on information received from e.g. a camera of a machine vision system or other scanning device, an appropriate imaging or scanning software is typically required.
  • the controller may also be provided with a network card for installations where the machining system is connected to a data network, such as to a network that is based on use of Internet Protocol (IP) for data transportation.
  • IP Internet Protocol
  • a tool 11 can be mounted on the tool holder 3.
  • the tool 11 may be, for example, a rotating tool revolving around its axis. If a rotating tool is to be used, a suitable spindle apparatus may be used to provide the drive force for the rotating tool 11 .
  • the spindle may be driven by an appropriate motor.
  • the tool 11 may be attached to the spindle by means of a chuck, a mandrel or other appropriate clamping device (not shown).
  • the rotating tool may be for treatment such as deburring, grinding, milling, tooling, reaming, boring, cutting, polishing, finishing, brushing and so on. It is noted that the rotating tool is mentioned herein only as a non- limiting example and any kind of tool may be used.
  • the tool may be a scanning or measurement tool for preparing information about the features of the object, a welding tool, an extruder tool, a spraying tool for surface decoration, finishing and/or painting operations and so forth.
  • Some applications may require use of several different tools during the processing, for example a tool for rough machining, another for next stage of machining and at least one tool for finishing stages such as smoothing and/or painting.
  • the object 9 of Figure 1 does not denote any particular object but shall rather be understood as an example of any large object that can be processed by means of the mobile treatment device 1.
  • the object may have straight and/or curved surfaces, even double curved contours.
  • the object 9 may be supported by any appropriate supporting means, such as by an appropriate fixed support or by a support apparatus providing movement thereof, such as a rotating table or a conveyor.
  • the object may a free-standing structure, for example a building, a bridge or another construction, a piece of rock and so on.
  • a mobile robotic unit that allows performing a desired surface preparation operation on large surfaces.
  • the moveable robot unit assembly is moved to the most effective position in proximity of the surface to be prepared instead of positioning an object to be machined in front of a fixedly assembled robot unit.
  • the mobile system can provided a level of accuracy that is comparable with fixed robotic systems.
  • the term fixed system is understood to refer to a system which is mounted permanently, for example on a workshop floor or assembly base, mounted on fixedly mounted tracks or other guides and so on.
  • the mobile unit as a whole can be moved on appropriate transfer elements 7.
  • the transfer elements can be provide by air cushions 8 positioned in proximity of the corners of the base element.
  • Each of the air cushions 8 generates a thin film of air between it and the floor 4, thereby enabling moving of the unit 5 when activated.
  • the air cushions are actuated by appropriate pressurised air / compressor arrangement 18.
  • the actuating unit 18 is also shown to be provided in connection with the base element 6.
  • the actuating unit 18 and the transfer elements 7 are connected via appropriate conduits 17.
  • the operation of the transfer elements may be controlled by an appropriate controller.
  • the control system may be provided in a console attached to the base element.
  • a remote for example a handheld console 19 may be provided.
  • a remote controller may communicate with the actuator control system 18 via a wired or wireless connection.
  • the wireless connection may utilize, for example, radio or infrared signals and can be based on any appropriate wireless communication protocol.
  • the controller may be provided with appropriate manoeuvring interface, such as a joystick, a steering wheel or a graphical display.
  • the pressure of the air cushions, or air bearings can be controlled automatically and be responsive to various factors.
  • the control may take into account factors such as the weight and position of the unit, position of the centre of gravity and so on.
  • An appropriate number of transfer elements may be provided as individual units in connection with the base element or in a load bearing chassis that is then attached to the base element.
  • Control of the moves and/or the moving force may be provided by an appropriate drive element.
  • at least one drive wheel or ball may be provided in connection with the base element 6 such that the wheel or ball is in contact with the floor 4 or other surface on which the base element is moved. Rotation speed and direction of movement of the wheel or ball may then be controlled by the manoeuvring interface.
  • At least a part, and in some embodiments all of the logistic components the robot 1 requires to perform the desired operations can be arranged in connection with the structure, and more particularly in connection with the base element 6.
  • the base element 6 can be dimensioned to create sufficient structural rigidity to allow optimised use of the robot.
  • the rectangular structure of Figure 1 may be about 10 to 20 m in length, about 2 to 10 m in height and about 1 to 5 m in width, depending on the application.
  • the weight of the base element depends also on the application. For example, in a system where substantially large objects are treated while the unit is moved by means of air cushions, the weight of the unit may be, for example, in the order of 35000 to 55000 Kg. It is appreciated that these measures are examples only and differently dimensioned and shaped base elements may also be provided.
  • the base element is provided such that it is heavy enough to provide steady support of the actuator while enabling movement thereof by appropriate transfer means.
  • the base element 6 may be constructed from a variety of materials and based on various principles.
  • the base element may be provided with a steel frame, a steel lattice structure or a steel body.
  • the body of the base element may comprise at least a portion that is filled with rigid and/or heavy material such as concrete. Composite materials may also be used in the base element.
  • the mobile treatment unit may be provided with an automatic adaptation system.
  • the adaptation system can be used to enable continuous positioning of the robot and hence the tool attached thereto relative to the object and thus continuous treatment of the object.
  • the adaptation between different locations of the unit may be provided by means of adjustments of various parameters.
  • the control software of the control unit may be configured to allow moving of the base element a particular distance at a time while maintaining references on the surface of the object as to allow continuous treatment of the object. For example, in the case of scanning, continuous acquisition and analysis of the surfaces may be provided by adjusting the control data based on position information regarding at least one reference point on the object.
  • a more particular example of the adaptation system configured to allow continuous operation in various positions of the base element will be described later with reference to Figure 3.
  • the mobile unit may be relatively self-sufficient.
  • the unit may be provided with air compressor and hydraulic systems to provide all required pressurised air and hydraulic pressures. It is even possible to provide the unit with a generator for producing the required electricity.
  • the position and shape of the base element in a given moment can be taken into account when generating and sending instructions to the actuator based on information from different measurement devices. For example, there horizontal and/or vertical position of the base element may be measured by means of appropriate angle sensors and control instructions to the actuator can be adapted accordingly.
  • the measurement devices are denoted by 26 in Figure 2.
  • the base unit may also be provided with appropriate adjusting means for adjusting the horizontal and/or vertical position thereof as required. These are denoted by 27 in Figure 2..
  • the adjustment may be provided automatically in response to signals from the measurement devices. For example, an end of the base element may be automatically raised or lowered in response to detection that it is in a too low or high level.
  • the adjustment may be provided e.g. by means of a hydraulic, pneumatic or mechanic height adjustment system.
  • appropriate measurement devices may be provided for monitoring that the base element is straight, i.e. that no twisting or other undesired deformation such as bending of the base element has occurred.
  • Appropriate adjustment means may be provided to correct any twisting and/or bending of the base element in response to signals from the measurement devices.
  • the measurement devices 26 and/or correcting adjustment means 27 may be provided, for example, in about every 2 to 3 metres over the length of the base element. These devices may be required in particular if the base element 6 is provided with guides such as the tracks 20 of figure 2.
  • the vertical and horizontal position, twisting and bending may be measured, for example, by means of angle sensors, laser beams, precision compasses and so on.
  • At least one base plate may be provided. The unit is then placed on the base plate or plates and moved on the plates rather than for example directly on ground.
  • a base element 6 is provided with a guide made up of two tracks 20.
  • Figure 2 also shows a rotary upright 22 that may be supported on the tracks. The rotary upright may then, in its turn, hold a rigid arm 24 where the robot is positioned. The arm may be moved in vertical direction and/or rotated relative to the upright. It is noted that upright is not always necessary, and therefore the robot 1 may also be supported on the tracks.
  • Figure 2 also shows a cavity 25 within the base element. At lest a part of the integrated equipment such as a generator of a pneumatic pressure and/or hydraulic pressure, a controller unit and so on may be located therein.
  • a part of the integrated equipment such as a generator of a pneumatic pressure and/or hydraulic pressure, a controller unit and so on may be located therein.
  • a work area can be divided in appropriately sized blocks, each block representing the work area of a moveable treatment unit in one position.
  • Figure 3 shows en example of the use of scanning blocks 30, 32, 34 and 36 on a hull for a vessel.
  • the hull of a vessel may be of a relatively big size, for example from 50 to 150 metres long, and is therefore a good example of an object that may be treated by means of a mobile unit of the present invention.
  • the hull may also have a curved and/or otherwise complicated surface, and especially the front end thereof may be of double curved contour.
  • the scanning system described herein may be used to provide reliable data also on such shapes.
  • the blocks overlap such that there is always an overlapping area 31 , 33 and 33 between two subsequent blocks.
  • Each of the overlapping areas is provided with targets 38.
  • the targets can be provided for example by painting, magnetic markers, tape marking or otherwise on the surface of the object.
  • the targets provide reference points for the control system and are used in synchronising the treatment of the object in subsequent blocks to provide continuity of the treatment.
  • the reference point markers do not necessarily be provided on the surface of the object. They can also be provided, for example, on the floor or other fixed or other point or points that are known to the control system and have been measured earlier. A requirement is that the relative position of the object and the markers remains unchanged, or at least is known.
  • a three dimensional (3D) scanning system is used to measure the surfaces.
  • the scanning system is denoted by scanning devices 39' and 39". It is noted that scanning device 39" may be provided by the scanning device 39' which has been moved to a second position.
  • the scanning system can be integrated with the control system of the robot or work independently.
  • the scanning device 39' may be mounted on the robot arm
  • An automatic tool changer of a tool holder of the robot maybe used to accommodate the scanning device.
  • a separate scanning device or devices may be provided.
  • the scanning device may be a stand-alone device, for example a device standing on the floor 4 or a device mounted in connection with the base element 6. A requirement for the scanning device nevertheless is that it can be used to position the base element relative to the object to be treated in a reliable manner.
  • control system may provide position information in X, Y, Z coordinate system and any required orientation information for use in the scanning process.
  • a distance measurement device (not shown) can be introduced into the system to ensure that the distance between the scanning device and the surface to be scanned is within a predefined distance.
  • the distance measurement device can be provided, for example, as a stand-alone device.
  • each block can be scanned by the scanning device. Therefore each scan overlaps with the neighbouring scans.
  • the reference points 38 on the overlapping areas 31 , 33, 34 are measured in each position of the block to synchronise the various positions. For example, in Figure 3 the reference points
  • FIG. 1 when the base element 6 is in a corresponding to block 32 where after the base element is moved to a position corresponding block 34.
  • the same scanning device, now denoted 39" may then be turned to provide image data of the reference points from the second position, where after the processing instructions for block 34 can be adapted accordingly.
  • the reference points can be used to merge the two work areas 32 and 34 together.
  • Control instructions for the actuator can be adapted accordingly so that continuous processing of the object can be provided.
  • the adaptation of the control instructions may be made semi automatic or automatic.
  • the software may perform filtering and adaptation operation after each scan so as to avoid double processing of any area.
  • a reference surface can be created in a coordinate system of the actuator and can be used for the programming of the instructions for the treatment processes.
  • Figure 4 illustrates an embodiment where the scanning process may be used to create a new reference surface 29 which follows generally the original surface 28.
  • the control system may, after scanning by a scanning device, generate the reference surface 29 under which all scanned points are.
  • the reference surface 29 can be advantageously used to compensate variations in the form and dimensions in the object.
  • the surface of a large object may expand, move, retract, shrink, reshape and so on depending on the temperature conditions the object is subjected to.
  • Parts of the surface may be subjected to sunlight and/or draught. Such conditions may heat or cool the surface locally in area.
  • conditions such as exposure to sunlight may occur in different locations on the surface at different times, and may vary for example as the day progresses. As a result the surface may not necessarily be in conformity with the design data.
  • the required process instructions may then be based on the reference surface rather than on the original surface.
  • a known deviation between the scanned surface 28 and the reference surface 29 or an estimate thereof can be used to cont4l operation relative to the object, for example to optimize dispensing of filler material thereon.
  • This adjustment process can be provided automatically by the controller. In certain applications manual or semi-automatic adjustment operations may be preferred.
  • GPS global positioning system
  • Galileo Galileo
  • Precision compasses, laser beams and so on may also be used in the system.
  • Figure 5 shows a treatment operation in accordance with an embodiment.
  • a free-standing base element may support at 100 an actuator of a treatment device in a first position.
  • the actuator moves at 102 the treatment device relative the object in a first position of the free standing base element in accordance with control instruction from a controller thereof.
  • the freestanding base element is then moved at 104 to a second position.
  • Information regarding the first and second positions of the free standing base element is provided at 106, for example based on the reference points as described above.
  • the controller then adapts at 108 the control instructions such that the treatment can continue synchronously at the second position.
  • the movement of the treatment device is then controlled at 110 in the second position of the free standing base element based on the adapted control instructions.
  • the adaptation may be provided by adapting the coordinate system of the actuator system in the new position to be in conformity with the coordinate system thereof in the old position.
  • individual points on the movement paths of the actuators may be adjusted based on data of the new relative position.
  • Data relating to a reference surface may also be taken into account when generating treatment control instructions and treating the object.
  • the required data processing functions of the controller may be provided by means of one or more data processor entities. All required processing may be provided in the controller 2 of Figure 1.
  • Appropriately adapted computer program code product may be used for implementing the embodiments, when loaded to a computer, for example for computations required when processing information from a scanning device and adapting the control instructions for the actuator.
  • the program code product for providing the operation may be stored on and provided by means of a carrier medium such as a carrier disc, card or tape. A possibility is to download the program code product via a data network. Implementation may be provided with appropriate software in a server.
  • the contour of the surface of the object may need to be defined to a certain degree so that it is possible to generate a set of instructions for the actuator apparatus for the treatment of the surface of the object.
  • the initial information may be obtained e.g. based on the drawings for the object or other information prepared for the manufacture of the object, by means of a machine vision system or other system capable of producing the required object information and so on.
  • the correction of the parameters between different positions of the free standing base unit may be accomplished after or during the generation of the initial instructions.
  • Figure 6 shows a schematic presentation of a controller apparatus for generation and processing of the instructions for the actuator.
  • the apparatus 40 is shown to comprise an input 42 for data.
  • the data may be provided by a scanning device and/or any of the measurement devices discussed above and/or comprise other data regarding the object for generation instructions for the actuator.
  • a processor 41 is adapted to generate the control instructions based on the input data. This process may involve various tasks such as determination of optimised movements relative to the object, determination of a desired orientation of the processing device relative to the object, determination of at least one reference parameter that associates with at least one reference point on the object, and to modify the control instructions based on data from the scanning and/or measurement devices.
  • the apparatus 40 may comprise a processor entity for accomplishing all the required data processing or that the processor functions may be distributed for several processor units. This is an implementation issue.
  • the apparatus 40 is shown to interface the actuator via a data communication connection 46.
  • the apparatus 40 may also include a database 43 for storing any information that may be required for the program generation. Additional input means, such as a keyboard 44 and a display 45 may also be provided.
  • the mobile treatment unit provides various advantages. For example, good flexibility is provided since the unit can efficiently operate in different locations.
  • object may be treated in workshops, building sites and/or shipyards by a single unit without having to move the objects and hence waste resources or interrupt activities. There is no need to move the objects, and therefore even fixedly located objects such as buildings, bridges, damns and other constructions may be treated by means of automatic or semi-automatic processing devices such as the robots.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)

Abstract

L'invention concerne un système de support destiné à servir de support à un dispositif de traitement. Ce système de support est conçu pour se déplacer dans un espace tridimensionnel par rapport à un object. L'invention concerne un procédé destiné à traiter des objets en fonction d'un système de support. Le système de support de l'invention comprend un élément de base autonome destiné à servir de support à un actionneur du dispositif de traitement et au moins un élément de transfert permettant de déplacer l'élément de base autonome par rapport à l'objet, lors de l'activation d'un actionneur de l'élément de transfert. Un système de commande permet de commander la position de l'élément de base autonome. Le système de commande comprend au moins un instrument de positionnement permettant de fournir des informations de positionnement. Le système de commande est conçu pour s'adapter aux déplacements du dispositif de traitement entre les positions successives de l'élément de base autonome, en fonction des informations de positionnement, de sorte à obtenir un traitement synchronisé de l'objet.
PCT/EP2008/052889 2007-03-12 2008-03-11 Système de support destiné à un dispositif de traitement WO2008110559A2 (fr)

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Application Number Priority Date Filing Date Title
GB0704733A GB2447455A (en) 2007-03-12 2007-03-12 A support arrangement for a treatment device
GB0704733.5 2007-03-12

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WO2008110559A2 true WO2008110559A2 (fr) 2008-09-18
WO2008110559A3 WO2008110559A3 (fr) 2008-11-13

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DE102010005446A1 (de) * 2010-01-24 2011-07-28 A2 Anlagentechnik Automation GmbH, 73240 Vorrichtung zum Bearbeiten von großen Werkstücken mit einem Roboter
CN105397812A (zh) * 2015-12-28 2016-03-16 青岛海通机器人系统有限公司 移动机器人及基于移动机器人更换产品的方法
CN108994851A (zh) * 2018-08-07 2018-12-14 王保山 一种机械手的智能打磨方法及智能打磨机械手系统
CN112859787A (zh) * 2021-01-20 2021-05-28 大连海事大学 一种智慧船厂的船舶智能化生产车间
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
US11656357B2 (en) 2017-08-17 2023-05-23 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
US11842124B2 (en) 2016-07-15 2023-12-12 Fastbrick Ip Pty Ltd Dynamic compensation of a robot arm mounted on a flexible arm
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
US12073150B2 (en) 2017-07-17 2024-08-27 Fastbrick Ip Pty Ltd Dynamic path for end effector control

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CA2734683C (fr) * 2008-10-09 2013-07-09 Leica Geosystems Ag Dispositif de marquage ou de traitement d'une surface, outil, et bras articule
DE102012003663A1 (de) * 2012-02-23 2013-08-29 Kuka Roboter Gmbh Mobiler Roboter, Bearbeitungsstation und Verfahren zum Betreiben eines mobilen Roboters
DE102013221431A1 (de) * 2013-10-22 2015-04-23 Freese Ag Schleifroboter für einen Schiffsrumpf und Verfahren zum Schleifen eines Schiffsrumpfes
CN106573373B (zh) * 2014-08-14 2019-10-18 库卡罗伯特有限公司 对机器人的定位
DE102015219412A1 (de) * 2015-10-07 2017-04-13 Hanseatic Rohr Gmbh Anordnung zum Zerteilen von großformatigen, Faserverbundmaterialanteile enthaltenden Sperrgut
JP6325509B2 (ja) * 2015-11-11 2018-05-16 ファナック株式会社 工作機械
DE102016201687A1 (de) * 2016-02-04 2017-08-10 Robomotion Gmbh System sowie Verfahren zum Positionieren einer Roboterzelle relativ zu einem Arbeitsplatz

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EP0341134A1 (fr) * 1988-05-02 1989-11-08 AEROSPATIALE Société Nationale Industrielle Système pour réaliser des opérations sur des objets de grandes dimensions, notamment pour peindre un aéronef
JPH04238668A (ja) * 1990-12-28 1992-08-26 Ishikawajima Harima Heavy Ind Co Ltd 溶接装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010005446A1 (de) * 2010-01-24 2011-07-28 A2 Anlagentechnik Automation GmbH, 73240 Vorrichtung zum Bearbeiten von großen Werkstücken mit einem Roboter
CN105397812A (zh) * 2015-12-28 2016-03-16 青岛海通机器人系统有限公司 移动机器人及基于移动机器人更换产品的方法
CN105397812B (zh) * 2015-12-28 2017-07-18 青岛海通机器人系统有限公司 移动机器人及基于移动机器人更换产品的方法
US11842124B2 (en) 2016-07-15 2023-12-12 Fastbrick Ip Pty Ltd Dynamic compensation of a robot arm mounted on a flexible arm
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
US12073150B2 (en) 2017-07-17 2024-08-27 Fastbrick Ip Pty Ltd Dynamic path for end effector control
US11656357B2 (en) 2017-08-17 2023-05-23 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
CN108994851A (zh) * 2018-08-07 2018-12-14 王保山 一种机械手的智能打磨方法及智能打磨机械手系统
CN108994851B (zh) * 2018-08-07 2020-07-24 王保山 一种机械手的智能打磨方法及智能打磨机械手系统
CN112859787A (zh) * 2021-01-20 2021-05-28 大连海事大学 一种智慧船厂的船舶智能化生产车间

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WO2008110559A3 (fr) 2008-11-13
GB0704733D0 (en) 2007-04-18
GB2447455A (en) 2008-09-17

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