WO2017081130A1 - Procédé permettant d'usiner au moins une pièce - Google Patents

Procédé permettant d'usiner au moins une pièce Download PDF

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Publication number
WO2017081130A1
WO2017081130A1 PCT/EP2016/077220 EP2016077220W WO2017081130A1 WO 2017081130 A1 WO2017081130 A1 WO 2017081130A1 EP 2016077220 W EP2016077220 W EP 2016077220W WO 2017081130 A1 WO2017081130 A1 WO 2017081130A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
laser
processing head
handling device
processing device
Prior art date
Application number
PCT/EP2016/077220
Other languages
German (de)
English (en)
Inventor
Lars Ott
Günter Neumann
Original Assignee
Kuka Industries Gmbh & Co. Kg
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 Kuka Industries Gmbh & Co. Kg filed Critical Kuka Industries Gmbh & Co. Kg
Publication of WO2017081130A1 publication Critical patent/WO2017081130A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/035—Aligning the laser beam
    • B23K26/037—Aligning the laser beam by pressing on the workpiece, e.g. pressing roller foot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1278—Using mechanical means
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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

Definitions

  • the invention relates to a method for processing at least one workpiece by means of a processing device using a multi-axis handling device, in which at least forces and / or torque-receiving sensors are integrated, wherein the processing device relative to a contour of the at least one Workpiece is adjusted, along which extends the region to be machined of the at least one workpiece.
  • force or orientation optical detection system such as camera, light section, triangulation or even tactile sensors arrive Commitment.
  • the position or position of the component is detected by touching the stylus tip of the tactile sensor and used for path correction.
  • the tactile sensor is assigned a separate sensor, which is evaluated independently of the handling system.
  • a compromise between accessibility and necessary space for the sensor itself is to search for related sensor systems.
  • This in turn can lead to limitations in web programming.
  • special requirements for the clamping technology for the component or workpiece to be machined are necessary. Nevertheless, there is a risk that due to the exposed position of the sensors, a collision occurs and as a result there is damage or Fried Hermandlement.
  • DE 10 2007 063 099 A1 discloses a robot for monitoring the moments on such as to exclude a dangerous movement.
  • Moment detecting sensors are used, whereby sensor components detect moments redundant.
  • Further handling devices or robots with sensors for detecting the position and thus the movement can be taken from DE 10 2007 050 232 A1 or EP 1 503 196 A1.
  • DE 10 2007 006 1 15 AI relates to a device for joining workpiece parts by means of arc with a burner and a seam guiding device.
  • a movable connection is integrated in the burner, which is actuated by the seam guiding device as a function of the contour of a joint defined by the workpiece parts to be joined.
  • the position of the movable part of the burner is determined with a separate position or force sensor.
  • a guide finger leading the point of action of the energy beam is provided.
  • the position of the shock is determined by means of a sensor.
  • a camera system For monitoring a laser beam optics for material processing, a camera system is provided with which an image is taken of the optics or of a tool part to be processed, which is then evaluated by image processing (DE 10 2013 226 961 AI).
  • the present invention has the object, a method of the type mentioned in such a way that a high-precision guidance of the processing device when processing one or more workpieces is possible without the prior art to be taken disadvantages are given, especially in relation to the Machining device disadvantageous component enlargement is avoided. It should also be ruled out that a collision with the sensor system occurs during machining, which is required for guiding the at least one workpiece to be adjusted to the machining device.
  • the invention essentially provides that for the relative adjustment of the processing device to the contour at least some of the sensors integrated in the handling device are used, in which of these forces and / or moments are determined which act on at least one stationary member of the processing device associated element by the contact of the at least one workpiece.
  • provision is made in particular for a laser processing head with laser radiation emitted by this to be used as the processing device.
  • Pressure and / or tension, from which the sensors are detected during the relative displacement of the processing device to the workpiece, can be used to guide the processing device.
  • the exact positioning of the processing device in particular the laser processing head, instead of the use of external sensors, ie only the processing device associated sensors, the sensors used in the handling device used.
  • the invention provides that the processing device such as the laser processing head is fixedly connected to the handling device.
  • the at least one workpiece is adjusted by means of the handling device or a further independent handling device to the processing device such as the laser processing head.
  • the invention provides that the processing device such as the laser head emanates a holding element from which the at least one element emanates Distance to the Processing device, in particular for laser radiation, which contacts at least one workpiece.
  • an attachment of a laser processing head are used, which is penetrated by the laser radiation, wherein the attachment is supported on the contour limiting areas such as walls of a groove of the workpiece.
  • a sliding or rolling contact on the workpiece or the contour element is used, which may be formed as a pin or pinch roller.
  • An application of the teaching according to the invention is e.g. the machining of the edge of a turbine blade, which is adjusted by means of the handling device to the laser processing head. At least two stationary elements assigned to the laser processing head were supported on the turbine blade. As workmanship, the build-up welding comes into question.
  • the welding of trays to form a plastic tank is to be mentioned as an application example, wherein an element is supported, in particular rolling in the direction of movement of the machining head in front of this on the edge region of one of the shells in which the shells are to be welded.
  • a second element is supported on a transverse, in particular perpendicular to the region extending portion of the shells.
  • the movement of a machining device such as a laser machining head or the movement of a workpiece to be adjusted to the machining device or the laser machining head, is predetermined by the sensors integrated in the machining device, by virtue of the forces or moments detected during the movement as a result of touching the at least one element determined and depending on the thus determined values, a positioning of the processing device such as the laser processing head takes place.
  • the processing device or the laser processing head is adjusted along the contour and / or the workpiece to the processing device or the laser processing head.
  • the forces or moments acting on the element not the forces or moments acting on the element, but the forces and elements acting on the workpiece by the element are detected.
  • This alternative is covered by the teaching of the invention and is generally expressed by the fact that act on the element by touching the workpiece forces or moments.
  • this can be any process, in particular a laser welding process.
  • Other welding processes such as arc welding, combined laser and arc welding are covered by the invention.
  • cutting processes, surface treatment such as engraving or other processing methods are subsumed under Editing. Accordingly, the processing device can be designed differently.
  • the position of at least the handling device receiving the forces and / or moments can or should be determined by means of at least one integrated position detection sensor such as GPS sensor, inertial platform.
  • FIG. 1 shows a schematic diagram of a section of an arrangement for welding plastic tanks
  • FIG. 2 shows the illustration according to FIG. 1 in a position rotated by 90 °
  • 3 is a plan view of to be welded heat exchanger plates
  • FIG. 4 shows a section through the heat exchanger plate according to FIG. 3, FIG.
  • FIG. 5 is an enlarged view of a detail of Fig. 4,
  • Fig. 6 is a schematic representation of the processing of a blade
  • Fig. 7 shows a detail of Fig. 6 in an enlarged view.
  • a Abtriebsfiansch 1 of a multi-axis handling device is shown in principle, which should also be referred to as a manipulator or robot.
  • a laser processing head 2 with imaging optics 5 goes out.
  • a laser radiation 3 by means of which in the embodiment of FIGS. 1 and 2 shells 7, 8 to be welded to a tank.
  • the shells 7, 8 are made of plastic, the shell 8 is transparent to the laser radiation 3 and the shell 7 absorbing.
  • the laser processing head 2 designed as pinch rollers elements 4 and 6 assigned to determine when touching the shell 8 occurring forces or moments of the integrated in the handling device sensors or integrated sensors and thus the relative position of the output flange 1 and thus the laser processing head 12 to the shell 8 pretend. This ensures that the laser processing head 12 extends at a defined distance from the edge portions 17, 18 of the shells 7, 8 to be welded during the process of the output flange 1 and thus proper welding is carried out.
  • the pinch rollers 4 and 6 touch the shell 8 or the edge 18 with respect to the laser beam in the radial or axial direction, so that a clear alignment of the laser processing head 2 takes place.
  • the outer contour of the shell 8 is used in the areas for contacting the pressure rollers 4, 6, which extends along the weld seam to be formed.
  • the pinch rollers 4 and 6 are stationarily positioned relative to the laser processing head 2.
  • the pinch roller 4 is connected via a holder 19 with the housing of the laser processing head 2.
  • the pinch roller 6 is fixedly connected to the laser processing head 2.
  • a laser beam 30 of a laser processing head projects from the laser processing head the boundary walls or edge regions of the groove 9 is supported, as is apparent from Figs. 4 and 5.
  • the laser processing head is moved to the groove 9, so that a clear alignment of the laser beam 30 to the groove 9 and thus to the area in which the plates 20, 21 are to be welded.
  • the relative movement of the attachment 10 and thus of the laser processing head to the workpieces 20, 21 to be welded is predetermined according to the invention by the sensors integrated in the handling device.
  • the laser processing head takes place due to the touch of the attachment 10 with the Nutbegrenzung and the resulting forces and moments and their detection by the sensor unambiguous alignment of the laser processing head and thus the laser beam 30, without the need for additional sensors.
  • the laser processing head is moved to the workpiece to be machined, then of course there is also the possibility that the workpiece is moved to the laser processing head, ie the latter is arranged stationary. This will be clarified with reference to FIGS. 6 and 7.
  • an edge of a blade 13 is to be processed by means of a laser beam 3. For example, a build-up welding is to be carried out.
  • the elements are guided along areas of the workpiece to be machined, which run parallel to those in which the processing is to take place.
  • the areas touched by the elements which are referred to as contour, thus run parallel to the processing area.
  • the pinch roller 14 contacts a side surface of the blade 13, which is bounded by the edge to be machined frontally. The further pressure element would then be supported on the edge itself.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Geometry (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un procédé permettant d'usiner au moins une pièce (13) au moyen d'un dispositif d'usinage (2) utilisé en combinaison avec un appareil de manipulation multi-axial, dans lequel des capteurs enregistrant au moins des forces et/ou des couples sont intégrés, le dispositif de traitement (2) étant déplacé par rapport à un contour de la ou des pièces (13) le long duquel s'étend la zone à usiner de la ou des pièces (13). Pour le déplacement relatif du dispositif d'usinage (2) par rapport au contour, au moins certains des capteurs intégrés dans l'appareil de manipulation sont utilisés, par le fait que les forces et/ou couples, qui agissent sur au moins un élément (14) associé fixement au dispositif d'usinage (2) une fois ledit élément entré en contact avec la ou les pièces (13), sont identifiés.
PCT/EP2016/077220 2015-11-11 2016-11-10 Procédé permettant d'usiner au moins une pièce WO2017081130A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015119424.4 2015-11-11
DE102015119424.4A DE102015119424A1 (de) 2015-11-11 2015-11-11 Verfahren zum Bearbeiten zumindest eines Werkstücks

Publications (1)

Publication Number Publication Date
WO2017081130A1 true WO2017081130A1 (fr) 2017-05-18

Family

ID=57326364

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/077220 WO2017081130A1 (fr) 2015-11-11 2016-11-10 Procédé permettant d'usiner au moins une pièce

Country Status (2)

Country Link
DE (1) DE102015119424A1 (fr)
WO (1) WO2017081130A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017116004A1 (de) * 2017-07-17 2019-01-17 Kuka Industries Gmbh Roboter und Verfahren zum Behandeln von Flächen
AT524328B1 (de) * 2021-01-13 2022-05-15 Martin Unterberger Vorrichtung zum Schweißen mit einem eine Schweißkopfmündung aufweisenden, entlang einer Schweißrichtung verlagerbaren Schweißkopf

Citations (7)

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DE2261388A1 (de) * 1971-12-30 1973-07-05 American Can Co Verfahren zum anschweissen eines endstueckes aus kunststoff an einem kunststoffkoerper
DE20112023U1 (de) * 2001-07-19 2002-04-04 BIAS - Bremer Institut für angewandte Strahltechnik GmbH, 28359 Bremen Rollenandruckkopf mit integriertem taktilen Nahtverfolgungssystem
EP1762328A1 (fr) * 2005-09-09 2007-03-14 Highyag Lasertechnologie GmbH Optique d'usinage laser guidé de manière tactile
EP2248636A1 (fr) * 2009-04-15 2010-11-10 KUKA Roboter GmbH Système et un procédé de mesure d'un manipulateur
US20100332032A1 (en) * 2009-06-01 2010-12-30 Kawasaki Jukogyo Kabushiki Kaisha Displacement correcting method and displacement correcting program in automatic operation system
US20110259857A1 (en) * 2010-04-23 2011-10-27 Johnson Jeffrey D Rotating laser welding pressure unit
EP2611567A1 (fr) * 2010-08-31 2013-07-10 Lufthansa Technik AG Procédé pour recontourer une ailette de compresseur ou de turbine pour une turbine à gaz

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DE10317304A1 (de) 2002-04-12 2003-12-11 Deutsch Zentr Luft & Raumfahrt Verfahren und Einrichtung zum Bestimmen eines Abtriebsdrehmoments eines Elektromotors
DE202006002160U1 (de) 2006-02-09 2007-03-22 Kuka Schweissanlagen Gmbh Robotertaugliche Bearbeitungseinrichtung
DE102006056252B4 (de) * 2006-09-26 2009-06-10 Scansonic Mi Gmbh Vorrichtung zur Führung eines Energiestrahls
DE102007006115A1 (de) * 2007-02-02 2008-08-14 Scansonic Mi Gmbh Vorrichtung zum Fügen von Werkstückteilen mittels Lichtbogen mit einer Nahtführungseinrichtung
DE102007050232B4 (de) 2007-10-20 2024-05-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Handhabungsroboter und Verfahren zur Steuerung eines Handhabungsroboters
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
DE102013226961B4 (de) * 2013-12-20 2019-02-21 Lessmüller Lasertechnik GmbH Prüfvorrichtung und Verfahren zur rechnergestützten Überwachung eines an einer Bearbeitungsoptik angebrachten Werkzeugteils einer Vorrichtung zur Materialbearbeitung sowie Vorrichtung zur rechnergestützten Materialbearbeitung

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2261388A1 (de) * 1971-12-30 1973-07-05 American Can Co Verfahren zum anschweissen eines endstueckes aus kunststoff an einem kunststoffkoerper
DE20112023U1 (de) * 2001-07-19 2002-04-04 BIAS - Bremer Institut für angewandte Strahltechnik GmbH, 28359 Bremen Rollenandruckkopf mit integriertem taktilen Nahtverfolgungssystem
EP1762328A1 (fr) * 2005-09-09 2007-03-14 Highyag Lasertechnologie GmbH Optique d'usinage laser guidé de manière tactile
EP2248636A1 (fr) * 2009-04-15 2010-11-10 KUKA Roboter GmbH Système et un procédé de mesure d'un manipulateur
US20100332032A1 (en) * 2009-06-01 2010-12-30 Kawasaki Jukogyo Kabushiki Kaisha Displacement correcting method and displacement correcting program in automatic operation system
US20110259857A1 (en) * 2010-04-23 2011-10-27 Johnson Jeffrey D Rotating laser welding pressure unit
EP2611567A1 (fr) * 2010-08-31 2013-07-10 Lufthansa Technik AG Procédé pour recontourer une ailette de compresseur ou de turbine pour une turbine à gaz

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Publication number Publication date
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