WO2010010214A8 - Cabezal posicionador de herramienta sobre superficies irregulares - Google Patents

Cabezal posicionador de herramienta sobre superficies irregulares Download PDF

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Publication number
WO2010010214A8
WO2010010214A8 PCT/ES2009/000387 ES2009000387W WO2010010214A8 WO 2010010214 A8 WO2010010214 A8 WO 2010010214A8 ES 2009000387 W ES2009000387 W ES 2009000387W WO 2010010214 A8 WO2010010214 A8 WO 2010010214A8
Authority
WO
WIPO (PCT)
Prior art keywords
tool
positioning
head
irregular surfaces
robot arm
Prior art date
Application number
PCT/ES2009/000387
Other languages
English (en)
French (fr)
Other versions
WO2010010214A1 (es
Inventor
Enric Vila Papell
Original Assignee
Estudios De Ingenieria Adaptada, S.L.
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 Estudios De Ingenieria Adaptada, S.L. filed Critical Estudios De Ingenieria Adaptada, S.L.
Priority to US13/055,069 priority Critical patent/US8914153B2/en
Priority to BRPI0911691A priority patent/BRPI0911691A2/pt
Priority to CN200980128792.8A priority patent/CN102105277B/zh
Priority to EP09800093.8A priority patent/EP2329924B1/en
Priority to CA2731266A priority patent/CA2731266C/en
Publication of WO2010010214A1 publication Critical patent/WO2010010214A1/es
Publication of WO2010010214A8 publication Critical patent/WO2010010214A8/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Cabezal posicionador de herramienta sobre superficies irregulares, formado por un conjunto porta-herramienta que se acopla por medio de un soporte (3) a un brazo robot (4) portador, estando provisto el conjunto porta-herramienta con un sensor de fuerza (2) y detectores de distancia (7), mediante los cuales se establece un control que gobierna el accionamiento del brazo robot (4) para posicionar la herramienta de trabajo respecto de la superficie de operación.
PCT/ES2009/000387 2008-07-23 2009-07-23 Cabezal posicionador de herramienta sobre superficies irregulares WO2010010214A1 (es)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US13/055,069 US8914153B2 (en) 2008-07-23 2009-07-23 Head for positioning a tool on irregular surfaces
BRPI0911691A BRPI0911691A2 (pt) 2008-07-23 2009-07-23 cabeçote posicionador de ferramenta sobre superfícies irregulares
CN200980128792.8A CN102105277B (zh) 2008-07-23 2009-07-23 用于将刀具定位在不规则表面上的刀头
EP09800093.8A EP2329924B1 (en) 2008-07-23 2009-07-23 Head for positioning a tool on irregular surfaces
CA2731266A CA2731266C (en) 2008-07-23 2009-07-23 Head for positioning a tool on irregular surfaces

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200802192A ES2338622B1 (es) 2008-07-23 2008-07-23 Cabezal posicionador de herramienta sobre superficies irregulares.
ESP200802192 2008-07-23

Publications (2)

Publication Number Publication Date
WO2010010214A1 WO2010010214A1 (es) 2010-01-28
WO2010010214A8 true WO2010010214A8 (es) 2011-03-10

Family

ID=41570050

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2009/000387 WO2010010214A1 (es) 2008-07-23 2009-07-23 Cabezal posicionador de herramienta sobre superficies irregulares

Country Status (7)

Country Link
US (1) US8914153B2 (es)
EP (1) EP2329924B1 (es)
CN (1) CN102105277B (es)
BR (1) BRPI0911691A2 (es)
CA (1) CA2731266C (es)
ES (1) ES2338622B1 (es)
WO (1) WO2010010214A1 (es)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8573070B2 (en) * 2011-02-22 2013-11-05 The Boeing Company Force and normality sensing for end effector clamp
US8747188B2 (en) * 2011-02-24 2014-06-10 Apple Inc. Smart automation of robotic surface finishing
US9971339B2 (en) 2012-09-26 2018-05-15 Apple Inc. Contact patch simulation
JP6136337B2 (ja) * 2013-02-15 2017-05-31 株式会社Ihi 姿勢検知制御装置、研磨装置、および、姿勢検知制御方法
FR3033511B1 (fr) * 2015-03-09 2019-08-16 Gebe2 Productique Systeme de traitement de surface
DK201600053U3 (da) * 2015-08-12 2016-11-25 Senex As Slibehoved til et slibearrangement
DE202017006214U1 (de) * 2017-12-02 2019-03-06 Philipp Ossner Reinigungs-Poliervorrichtung
DE102018102994B4 (de) * 2018-02-09 2020-01-23 Haux Maschinenbau Gmbh Vorrichtung zur gegenseitigen positionierung eines werkstücks und eines werkzeugs
JP6708675B2 (ja) * 2018-02-22 2020-06-10 ファナック株式会社 ロボット
US11590661B2 (en) * 2020-04-30 2023-02-28 The Boeing Company Robotic sanding systems and methods
DK180696B1 (en) * 2020-09-02 2021-12-02 Onrobot As Procedure for replacing sandpaper
CN112223283B (zh) * 2020-09-29 2024-06-25 腾讯科技（深圳）有限公司 机械臂、机器人、机械臂的控制方法、处理设备及介质
JP7563103B2 (ja) * 2020-10-16 2024-10-08 新東工業株式会社 自動研磨システム及び自動研磨装置

Family Cites Families (21)

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Publication number Priority date Publication date Assignee Title
CA582993A (en) * 1959-09-08 C. Perry Robert Plate glass polishing apparatus
US4310958A (en) * 1977-12-07 1982-01-19 Regie Nationale Des Usines Renault Production-line automatic machine
US4531192A (en) * 1982-09-23 1985-07-23 Crc Welding Systems, Inc. Apparatus and method for sensing a workpiece with an electrical arc
US4611377A (en) * 1984-06-04 1986-09-16 Eoa Systems, Inc. Interchangeable robot end-of-arm tooling system
JPS6347058A (ja) * 1986-08-13 1988-02-27 Daikin Ind Ltd ロボツトの制御装置
US4823618A (en) * 1986-09-17 1989-04-25 Jr3, Inc. Force-moment sensors
US5077941A (en) * 1990-05-15 1992-01-07 Space Time Analyses, Ltd. Automatic grinding method and system
US5331770A (en) * 1991-07-26 1994-07-26 Hitachi, Ltd. Method for scraping off excessive portion of workpiece
KR100312437B1 (ko) * 1992-11-10 2001-12-28 제임스 이. 미러 도장막연마방법및그장치
JPH0810949A (ja) * 1994-06-23 1996-01-16 Fanuc Ltd 多層盛り溶接における溶接ロボットシステムの制御方法
JP3930914B2 (ja) * 1997-03-24 2007-06-13 ウィリアム アンソニー ブリスコー 表面処理装置
JP3761344B2 (ja) * 1998-12-01 2006-03-29 トヨタ自動車株式会社 溶接ガンとそれを用いたセンサー校正方法、溶接制御方法、溶接打点位置精度変化管理方法
ES2218120T3 (es) * 1999-01-11 2004-11-16 Thyssenkrupp Technologies Ag Dispositivo para sujetar y soldar chapas.
JP2000301479A (ja) * 1999-04-19 2000-10-31 Denso Corp ロボット制御装置
SE516877C2 (sv) * 1999-12-01 2002-03-19 Abb Ab Ett förfarande och ett vridorgan för dragning av ett kablage för en industrirobot
JP3715537B2 (ja) * 2001-02-19 2005-11-09 本田技研工業株式会社 多関節ロボットの干渉回避方法およびプログラム
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Also Published As

Publication number Publication date
CN102105277B (zh) 2014-08-27
CN102105277A (zh) 2011-06-22
US8914153B2 (en) 2014-12-16
ES2338622B1 (es) 2011-07-01
EP2329924A1 (en) 2011-06-08
WO2010010214A1 (es) 2010-01-28
ES2338622A1 (es) 2010-05-10
US20110130878A1 (en) 2011-06-02
CA2731266A1 (en) 2010-01-28
EP2329924A4 (en) 2013-01-09
CA2731266C (en) 2016-07-19
EP2329924B1 (en) 2017-03-01
BRPI0911691A2 (pt) 2015-10-06

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