WO2019059790A1 - Method and device for automatic planing of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers - Google Patents

Method and device for automatic planing of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers Download PDF

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Publication number
WO2019059790A1
WO2019059790A1 PCT/PL2018/000088 PL2018000088W WO2019059790A1 WO 2019059790 A1 WO2019059790 A1 WO 2019059790A1 PL 2018000088 W PL2018000088 W PL 2018000088W WO 2019059790 A1 WO2019059790 A1 WO 2019059790A1
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WO
WIPO (PCT)
Prior art keywords
tube
base surface
planning
robot
pushrod
Prior art date
Application number
PCT/PL2018/000088
Other languages
French (fr)
Inventor
Rajmund POBEREŻNY
Original Assignee
Rma Spółka Z Ograniczoną Odpowiedzialnością
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 Rma Spółka Z Ograniczoną Odpowiedzialnością filed Critical Rma Spółka Z Ograniczoną Odpowiedzialnością
Publication of WO2019059790A1 publication Critical patent/WO2019059790A1/en

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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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B5/00—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B23B5/16—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for bevelling, chamfering, or deburring the ends of bars or tubes
    • B23B5/161—Devices attached to the workpiece
    • B23B5/162—Devices attached to the workpiece with an internal clamping device
    • 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
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • 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
    • G05B2219/40425—Sensing, vision based motion 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local

Definitions

  • the invention relates to a method and a device for automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers.
  • Tube faces planning is a mechanical working process, aimed for obtaining a proper linear dimension. So far, the tube faces planning process, particularly during manufacturing of tubular heat exchangers, has been carried out manually by the operator utilising cutting tools. The method is time-consuming and not very efficient.
  • Patent document RU 2163851 C2 describes an automated method for manufacturing of tubes, particularly hydraulic tubes, using a robot, and a device for realisation of the method.
  • the tube length is determined at a measurement station, where the tube is measured and cut to a given length.
  • the station comprises a unit for planning, equipped with two separate planning means for both tube ends, one of the means being fixed, while the other one being placed movably on guides.
  • Patent document JP 2004167647 A describes a method for tube end planning using a die and a punch, intended particularly for forming tube ends of an irregular shape.
  • the die and/or the punch may be movable.
  • the goal of the invention is to obtain a repeatable protrusion distance of the tubes from the tube sheet in the heat exchanger in a process of automatic tube faces planning without the operator's presence or interference.
  • a method of automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers, according to the present invention is characterised by the fact that first of all, a photograph is taken to define the placement of the tubes precisely in relation to the planning device, by proper programming of a vision system, and then, a probe determines a local base surface around the tube based on measurement points, next, the length of the tube section protruding beyond this determined base surface is measured by the probe from this base surface and the result is passed down to a control program, next, the tube axis position in relation to the cutting tool axis is stabilised, and then, the process of the tube edge planning to a given distance of the planned edge from the base surface is carried out, next, the length of the tube section protruding beyond the base surface is checked.
  • the local base surface around the tube is determined based on at least three measurement points.
  • chips from planning are being broken in a chip breaker.
  • a device for automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers, equipped with a means for measuring distance and a cutting tool is characterised in that it is installed on the end of arm of a robot and it comprises a motor-driven hollow shaft, inside which a pushrod is placed, which has a measurement probe for determination of the local base surface and for measurement of the tube protrusion distance beyond this base surface fixed to its one end, and is coupled with an actuator at its other end, the measurement probe being followed on the pushrod by an expanding element, on which the planned tube is being mounted, the element mating with a cam configured for changing the geometry of the expanding element and coupled with the actuator via the pushrod, and the cutting tool is constituted by a knife connected with the hollow shaft.
  • the measurement probe is coupled with a proximity sensor.
  • the device is equipped with a vision system comprising an illuminator and a camera, preferably shielded by a housing.
  • a vision system comprising an illuminator and a camera, preferably shielded by a housing.
  • the device is equipped with a chip breaker.
  • the pushrod is coupled with an actuator, preferably a pneumatic actuator, via a coupling.
  • an actuator preferably a pneumatic actuator
  • Fig. 1 shows a general view of a station for automatic planning of a tube face
  • Figs. 2 and 3 show a view of the device for automatic planning of a tube face
  • Fig. 4 shows a part section of the device as in Fig. 2;
  • Fig. 5 shows locations of the tubes
  • Figs. 6 and 7 show the determination of the base surface
  • Fig. 8 shows the process of planning of a tube face.
  • a device for automatic planning of a tube face for instance in the process of manufacturing of tubular heat exchangers, is installed on the end of arm of a robot 3.
  • the device comprises a hollow shaft 14 driven by an electric motor 10.
  • a pushrod 13 is placed, having a measurement probe 1 fixed to its one end and made of a hard material because of its direct contact with a tube sheet 18 of the heat exchanger, wherein the tubes 17 subject to the planning are installed.
  • the pushrod 13 is placed in a fixed hollow shaft positioned coaxially with the movable hollow shaft 14.
  • the measurement probe 1 serves the purpose of determination of the local base surface, in this case, the tube sheet 18 surface, and measurement of the protrusion distance of the tube 17 beyond this base surface (the tube sheet surface), the probe being coupled with a proximity sensor 16.
  • the pushrod 13 is coupled with a pneumatic actuator 12 via a coupling 15, and with the measurement probe 1.
  • an expanding element 3 is located, on which the planned tube 17 is being mounted.
  • the expanding element 3 mates with a cam 2 configured for changing the geometry of the expanding element 3.
  • the cam 2 is coupled, via the pushrod 13, with the pneumatic actuator 12, adjustment of which causes a change in the cam 2 position.
  • the change in the cam 2 position results in an increase of geometry of the expanding element 3 and, as a consequence, stabilisation of the tube 17 axis position in relation to the cutting knife 11 and tightening of the expanding element 3 inside the tube occur, fixing the tube 17 position.
  • the cutting knife 11 is connected with the hollow shaft 14, driven by the electric motor 10. The drive is transmitted to the cutting knife 11 via this hollow shaft 14.
  • the device is equipped with a vision system comprising an illuminator 6 and a camera 8 installed on a holder 7, and a housing 5. Moreover, the device is equipped additionally with a chip breaker 4.
  • a method for automatic planning of a tube face for instance in the process of manufacturing of tubular heat exchangers is carried out according to the following sequence: localisation of the placement of the tubes 17 (Fig. 5); determination of the base surface (Figs. 6 and 7), in this case, a surface of a tube sheet 18, in which the tubes 17 subject to planning are mounted; measurement of the protrusion distance of a tube 17 face beyond the base surface, in this case, the tube sheet 18 surface; stabilisation and bracing of the tube 17 axis position; planning of the tube 17 face to a defined dimension (Fig. 8); validation of execution of the tube 17 face planning process.
  • the robot 3 having the device for the tube face planning installed moves to a defined location.
  • a photograph is taken using the camera 8.
  • the vision system with a proper software allows for precise determining of locations of the tubes 17 in relation to the device for planning.
  • the base surface being the surface of the tube sheet 18, in which the tubes 17 are mounted.
  • the surface is determined locally around the tube 17.
  • the measurement probe 1 is moved towards the tube sheet 18, until a signal from the proximity sensor 16 is received. This process is repeated thrice. Based on the three measurements, three points are determined, and the local base surface is determined on their basis.
  • the device checks the distance of the tube 17 protrusion beyond this surface 18. At this step, the robot moves the device below the tube 17, and the measurement probe 1 checks the distance between the tube 17 edge and the defined local surface.
  • the proximity sensor 16 is used for this purpose, similarly as in the determination of the base surface 18. The information about the distance between the base surface 18 and the tube 17 edge is transmitted to the control program.
  • the robot 3 introduces the tip of the pushrod 13 with the expanding element 3 inside the tube 17, which will be planned.
  • An adjustment of the actuator 12 occurs, and the cam 2 increases the geometry of the expanding element 3 via the pushrod 13, the tube 17 axis becomes stabilised in relation to the cutting knife 11 and tightening of the expanding element 3 on the internal diameter of the tube 17. It allows for positioning of the tube 17 axis in relation to the axis of the cutting knife 11.
  • the hollow shaft 14 sets the cutting knife 11 into a rotary motion.
  • the drive is realised using the electric motor 10 and a transmission 9.
  • the process of planning of the tube 17 face occurs.
  • the chips formed during the planning are subjected to breaking in a chip breaker 4.
  • the planning is followed by a validation of its realisation.
  • the pneumatic actuator 12 changes its location again, the cam 2 is not pressing on the expanding element 3, and release of the tube 17 and removal of the device from the tube's 17 interior occur. The check of location of the tube 17 edge in relation to the tube sheet 18 by the probe 1 is repeated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

A method for automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers, consists in a precise determination of the placement of the tubes in relation to the device for tube edge planning, determination of a local base surface around the tube, measurement of the length of the tube section protruding beyond this base surface, stabilising the tube axis location in relation to a cutting tool and stabilising the tube in relation to the cutting tool axis, realisation of the tube edge planning to a given height and check of the length of the tube section protruding beyond the base surface after planning. A device for automatic planning of a tube face comprises a vision system, a measurement probe (1), a pushrod (13) on which the tube is being mounted (17), coupled with an actuator (12), a cutting knife (11), and a chip breaker (4).

Description

METHOD AND DEVICE FOR AUTOMATIC PLANING OF A TUBE FACE USING A ROBOT, PARTICULARLY IN A PROCESS OF MANUFACTURING OF TUBULAR
HEAT EXCHANGERS
The invention relates to a method and a device for automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers.
Tube faces planning is a mechanical working process, aimed for obtaining a proper linear dimension. So far, the tube faces planning process, particularly during manufacturing of tubular heat exchangers, has been carried out manually by the operator utilising cutting tools. The method is time-consuming and not very efficient.
Patent document RU 2163851 C2 describes an automated method for manufacturing of tubes, particularly hydraulic tubes, using a robot, and a device for realisation of the method. The tube length is determined at a measurement station, where the tube is measured and cut to a given length. The station comprises a unit for planning, equipped with two separate planning means for both tube ends, one of the means being fixed, while the other one being placed movably on guides.
Patent document JP 2004167647 A describes a method for tube end planning using a die and a punch, intended particularly for forming tube ends of an irregular shape. In this method, the die and/or the punch may be movable.
The goal of the invention is to obtain a repeatable protrusion distance of the tubes from the tube sheet in the heat exchanger in a process of automatic tube faces planning without the operator's presence or interference.
The goal was achieved by developing a method for automatic planning of a tube face and a special device installed on an industrial robot for the realisation of the method. A method of automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers, according to the present invention, is characterised by the fact that first of all, a photograph is taken to define the placement of the tubes precisely in relation to the planning device, by proper programming of a vision system, and then, a probe determines a local base surface around the tube based on measurement points, next, the length of the tube section protruding beyond this determined base surface is measured by the probe from this base surface and the result is passed down to a control program, next, the tube axis position in relation to the cutting tool axis is stabilised, and then, the process of the tube edge planning to a given distance of the planned edge from the base surface is carried out, next, the length of the tube section protruding beyond the base surface is checked.
Preferably, the local base surface around the tube is determined based on at least three measurement points.
Preferably, chips from planning are being broken in a chip breaker.
A device for automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers, equipped with a means for measuring distance and a cutting tool, according to the present invention, is characterised in that it is installed on the end of arm of a robot and it comprises a motor-driven hollow shaft, inside which a pushrod is placed, which has a measurement probe for determination of the local base surface and for measurement of the tube protrusion distance beyond this base surface fixed to its one end, and is coupled with an actuator at its other end, the measurement probe being followed on the pushrod by an expanding element, on which the planned tube is being mounted, the element mating with a cam configured for changing the geometry of the expanding element and coupled with the actuator via the pushrod, and the cutting tool is constituted by a knife connected with the hollow shaft. Preferably, the measurement probe is coupled with a proximity sensor.
Preferably, the device is equipped with a vision system comprising an illuminator and a camera, preferably shielded by a housing.
Additionally, the device is equipped with a chip breaker.
Preferably, the pushrod is coupled with an actuator, preferably a pneumatic actuator, via a coupling.
Further benefits and advantages of the present invention will become apparent after a careful reading of the detailed description with appropriate reference to the accompanying drawings.
In the drawings:
Fig. 1 shows a general view of a station for automatic planning of a tube face;
Figs. 2 and 3 show a view of the device for automatic planning of a tube face;
Fig. 4 shows a part section of the device as in Fig. 2;
Fig. 5 shows locations of the tubes;
Figs. 6 and 7 show the determination of the base surface;
Fig. 8 shows the process of planning of a tube face.
A device for automatic planning of a tube face, for instance in the process of manufacturing of tubular heat exchangers, is installed on the end of arm of a robot 3. The device comprises a hollow shaft 14 driven by an electric motor 10. Inside the hollow shaft, a pushrod 13 is placed, having a measurement probe 1 fixed to its one end and made of a hard material because of its direct contact with a tube sheet 18 of the heat exchanger, wherein the tubes 17 subject to the planning are installed. The pushrod 13 is placed in a fixed hollow shaft positioned coaxially with the movable hollow shaft 14. The measurement probe 1 serves the purpose of determination of the local base surface, in this case, the tube sheet 18 surface, and measurement of the protrusion distance of the tube 17 beyond this base surface (the tube sheet surface), the probe being coupled with a proximity sensor 16. At its other end, the pushrod 13 is coupled with a pneumatic actuator 12 via a coupling 15, and with the measurement probe 1. On the pushrod 13, an expanding element 3 is located, on which the planned tube 17 is being mounted. The expanding element 3 mates with a cam 2 configured for changing the geometry of the expanding element 3. The cam 2 is coupled, via the pushrod 13, with the pneumatic actuator 12, adjustment of which causes a change in the cam 2 position. The change in the cam 2 position results in an increase of geometry of the expanding element 3 and, as a consequence, stabilisation of the tube 17 axis position in relation to the cutting knife 11 and tightening of the expanding element 3 inside the tube occur, fixing the tube 17 position. The cutting knife 11 is connected with the hollow shaft 14, driven by the electric motor 10. The drive is transmitted to the cutting knife 11 via this hollow shaft 14. The device is equipped with a vision system comprising an illuminator 6 and a camera 8 installed on a holder 7, and a housing 5. Moreover, the device is equipped additionally with a chip breaker 4.
A method for automatic planning of a tube face for instance in the process of manufacturing of tubular heat exchangers is carried out according to the following sequence: localisation of the placement of the tubes 17 (Fig. 5); determination of the base surface (Figs. 6 and 7), in this case, a surface of a tube sheet 18, in which the tubes 17 subject to planning are mounted; measurement of the protrusion distance of a tube 17 face beyond the base surface, in this case, the tube sheet 18 surface; stabilisation and bracing of the tube 17 axis position; planning of the tube 17 face to a defined dimension (Fig. 8); validation of execution of the tube 17 face planning process.
The robot 3 having the device for the tube face planning installed, moves to a defined location. A photograph is taken using the camera 8. The vision system with a proper software allows for precise determining of locations of the tubes 17 in relation to the device for planning.
After the pre-localisation of the tubes 17, determination of the base surface occurs, in this case, the base surface being the surface of the tube sheet 18, in which the tubes 17 are mounted. The surface is determined locally around the tube 17. To this end, the measurement probe 1 is moved towards the tube sheet 18, until a signal from the proximity sensor 16 is received. This process is repeated thrice. Based on the three measurements, three points are determined, and the local base surface is determined on their basis. After the determination of the local base surface of the tube sheet 18, the device checks the distance of the tube 17 protrusion beyond this surface 18. At this step, the robot moves the device below the tube 17, and the measurement probe 1 checks the distance between the tube 17 edge and the defined local surface. The proximity sensor 16 is used for this purpose, similarly as in the determination of the base surface 18. The information about the distance between the base surface 18 and the tube 17 edge is transmitted to the control program.
Then, the robot 3 introduces the tip of the pushrod 13 with the expanding element 3 inside the tube 17, which will be planned. An adjustment of the actuator 12 occurs, and the cam 2 increases the geometry of the expanding element 3 via the pushrod 13, the tube 17 axis becomes stabilised in relation to the cutting knife 11 and tightening of the expanding element 3 on the internal diameter of the tube 17. It allows for positioning of the tube 17 axis in relation to the axis of the cutting knife 11. The hollow shaft 14 sets the cutting knife 11 into a rotary motion. The drive is realised using the electric motor 10 and a transmission 9. The process of planning of the tube 17 face occurs. The chips formed during the planning are subjected to breaking in a chip breaker 4. The planning is followed by a validation of its realisation. The pneumatic actuator 12 changes its location again, the cam 2 is not pressing on the expanding element 3, and release of the tube 17 and removal of the device from the tube's 17 interior occur. The check of location of the tube 17 edge in relation to the tube sheet 18 by the probe 1 is repeated.

Claims

Claims
1. A method of automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers, characterised by the fact that first of all, a photograph is taken to define the placement of the tubes precisely in relation to the planning device, by proper programming of a vision system, and then, a probe determines a local base surface around the tube based on measurement points, next, the length of the tube section protruding beyond this determined base surface is measured by a probe from this base surface and the result is passed down to a control program, next, the tube axis position in relation to the cutting tool axis is stabilised, and then, the process of the tube edge planning to a given distance of the planned tube edge from the base surface is carried out, next, the length of the tube section protruding beyond the base surface is checked.
2. The method according to claim 1 , characterised in that the local base surface around the tube is determined based on at least three measurement points.
3. The method according to claim 1, characterised in that the chips from planning are being broken in a chip breaker.
4. A device for automatic planning of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers, equipped with a means for measuring distance and a cutting tool, characterised in that it is installed on the end of arm of a robot and comprises a hollow shaft (14) driven by a motor (10), and in the mentioned hollow shaft (14), a pushrod (13) is placed, which has a measurement probe (1) for determination of the local base surface and for measurement of the tube protrusion distance beyond this base surface fixed to its one end, and is coupled with an actuator (12) at its other end, the measurement probe (1) being followed on the pushrod (13) by an expanding element (3), on which the planned tube is being mounted, the element mating with a cam (2) configured for changing the geometry of the expanding element (3) and coupled with the actuator (12) via the pushrod (13), and the cutting tool is constituted by a knife (11) connected with the hollow shaft (14).
5. The device according to claim 4, characterised in that the measurement probe (1) is coupled with a proximity sensor (16).
6. The device according to claim 4, characterised in that it is equipped with a vision system comprising an illuminator (6) and a camera (8).
7. The device according to claim 6, characterised in that the vision system is shielded by a housing (5).
8. The device according to claim 4, characterised in that it is equipped with a chip breaker (4).
9. The device according to claim 4, characterised in that the pushrod (13) is coupled with the actuator (12) via a coupling (15).
10. The device according to claim 4 or 9, characterised in that the actuator (12) is a pneumatic actuator.
PCT/PL2018/000088 2017-09-22 2018-09-13 Method and device for automatic planing of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers WO2019059790A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PL422951A PL239924B1 (en) 2017-09-22 2017-09-22 Device and method for automatic pipe head end facing, using a robot, preferably in the process of production of tubular heat exchangers
PLP.422951 2017-09-22

Publications (1)

Publication Number Publication Date
WO2019059790A1 true WO2019059790A1 (en) 2019-03-28

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WO (1) WO2019059790A1 (en)

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WO2019115618A1 (en) * 2017-12-15 2019-06-20 General Electric Technology Gmbh System and method for manipulating a workpiece

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RU2163851C1 (en) 1999-06-15 2001-03-10 Самарский государственный аэрокосмический университет им. акад. С.П. Королева Method for making heat exchange tubes
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US4483522A (en) * 1982-08-09 1984-11-20 Tri Tool Inc. Adjustable mandrel for supporting tubular workpieces
RU2163851C1 (en) 1999-06-15 2001-03-10 Самарский государственный аэрокосмический университет им. акад. С.П. Королева Method for making heat exchange tubes
JP2004167647A (en) 2002-11-21 2004-06-17 Toyota Motor Corp Trimming method of pipe end
US20060018728A1 (en) * 2004-07-20 2006-01-26 Hall J R Multi-functional tube milling head
WO2011077693A1 (en) * 2009-12-21 2011-06-30 Canon Kabushiki Kaisha Robot system for reorienting a held workpiece
EP2570241A2 (en) * 2011-09-15 2013-03-20 Kabushiki Kaisha Yaskawa Denki Robot system and imaging method
US9089970B2 (en) * 2012-01-23 2015-07-28 General Electric Company Robotic appartus and system for removal of turbine bucket covers
ES2391678A1 (en) * 2012-06-01 2012-11-28 Tecnatom, S. A. Procedure for obtaining calibrated images of the position of tube centers of a system with regular distribution of tubes (Machine-translation by Google Translate, not legally binding)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019115618A1 (en) * 2017-12-15 2019-06-20 General Electric Technology Gmbh System and method for manipulating a workpiece

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Publication number Publication date
PL239924B1 (en) 2022-01-24
PL422951A1 (en) 2019-03-25

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