WO2019202482A1 - Procédé de commande d'un bras robotisé - Google Patents

Procédé de commande d'un bras robotisé Download PDF

Info

Publication number
WO2019202482A1
WO2019202482A1 PCT/IB2019/053104 IB2019053104W WO2019202482A1 WO 2019202482 A1 WO2019202482 A1 WO 2019202482A1 IB 2019053104 W IB2019053104 W IB 2019053104W WO 2019202482 A1 WO2019202482 A1 WO 2019202482A1
Authority
WO
WIPO (PCT)
Prior art keywords
robotized arm
coordinates
positions
correction function
support
Prior art date
Application number
PCT/IB2019/053104
Other languages
English (en)
Inventor
Emanuele Luca SCHIAVON
Marco Cantu'
Matteo Calderoni
Lorenzo AVANZINI
Original Assignee
Pirelli Tyre 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 Pirelli Tyre S.P.A. filed Critical Pirelli Tyre S.P.A.
Publication of WO2019202482A1 publication Critical patent/WO2019202482A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • 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
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration

Definitions

  • the present invention relates to a m ethod for controlling a robotized arm .
  • the present invention also relates to a control apparatus for controlling a robotized arm , operating in accordance with said m ethod.
  • the invention is advantageously applicable to the field of green tyre building.
  • a tyre for vehicle wheels generally com prises a carcass structure including at least one carcass ply having respectively opposite end flaps in engagem ent with respective annular anchoring structures, generally referred to as“bead cores”, identified in the zones usually referred to as “beads”, having an internal diam eter substantially m atching a so-called“fitting diam eter” of the tyre for fitting it on a respective rim .
  • the tyre also com prises a crown structure including at least one belt strip arranged in a radially outer position relative to the carcass ply, and a tread band which is radially external with respect to the belt strip.
  • elastom eric m aterial m Between the tread band and the belt strip(s) a so-called “underlayer” of elastom eric m aterial m ay be interposed, having properties suitable for providing a stable union between the belt strip(s) and the sam e tread band.
  • respective sidewalls of elastom eric m aterial are applied to the side surfaces of the carcass structure, each extending from one of the side edges of the tread band up to the respective annular anchoring structure to the beads.
  • the carcass ply is internally coated with a layer of elastom eric m aterial, preferably a butyl-based one, com m only referred to as “liner”, having optim al air tightness properties and extending from one bead to the other.
  • elastom eric m aterial refers to a com pound com prising at least one elastom eric polym er and at least one reinforcing filler.
  • said com pound also com prises additives such as, for exam ple, a cross-linking agent and/or a plasticizer. Due to the presence of the cross-linking agent, said m aterial can be cross-linked by heating to form the final product.
  • electroactiveary sem ifinished product refers to a continuous elongated elem ent m ade of elastomeric m aterial.
  • said continuous elongated elem ent com prises one or more reinforcing cords, preferably textile or metallic ones, disposed parallel to each other in the longitudinal direction of the elongated element itself. More preferably, said continuous elongated element is cut to size.
  • A“com ponent” or“structural com ponent” of a tyre is m eant to be any portion of the latter which can perform a specific function, or a part thereof.
  • Tyre com ponents include, for exam ple: liner, underliner, sidewall inserts, bead cores, filler inserts, anti-abrasive layer, sidewalls, carcass ply(ies) , belt layer(s) , tread band, tread band underlayer, underbelt inserts, etc. , or a part thereof.
  • A“correction function” associated with a robotized arm is a function that is indicative of a positioning error m ade by said robotized arm in a certain working zone, said positioning error being representative of a difference between positions that said robotized arm should take when executing determ ined movem ent com mands and corresponding positions actually taken by said robotized arm when executing said specific movem ent com m ands.
  • A“configuration” of a robotized arm refers to a set of parameters that define, for each position of the term inal of the robotized arm , the angles at which the sections or segments of said robotized arm are arranged and oriented. Typically, a given position of the term inal of a robotized arm can be obtained with two or more different configurations.
  • tyre m odel refers to a set of geometric characteristics of a tyre, i.e. , for exam ple, section width, sidewall height, fitting diam eter and/or outside diameter; structural characteristics, i.e. , for exam ple, presence of one or two carcass plies, presence or not of sidewall inserts for flat running, num ber of belt strips, presence of a sidewall-over-tread (“SOT”) or tread-over-sidewall (“TOS”) structure; and technological characteristics, i.e. , for exam ple, type of elastomeric m aterial used for each com ponent, material used for each reinforcing cord, formation of the same.
  • SOT sidewall-over-tread
  • TOS tread-over-sidewall
  • Document DE20201 3101 050U1 describes a m ethod and an apparatus for calibrating in real tim e and guiding a m ulti-axis robotized articulated arm that, with its term inal mem ber, m oves along a predefined path, stored in the controller of the robot itself.
  • the robotized articulated arm m oves the term inal m em ber along the path program m ed during a reference movem ent by an executed experim entally process by supporting a test elem ent belonging to an external control system .
  • the position and orientation of the test element are stored by an external measuring device, in particular an optical one, and by a control com puter belonging to the control system .
  • orientation and path errors are detected in real time and correction values are determ ined which are supplied to the robot controller.
  • the external control system and/or the robot controller store the correction values, and m ovem ents are made in subsequent operations along the program m ed path thus corrected, possibly without using the external control system .
  • the Applicant observes, in particular, that precision and accuracy are especially required in contexts wherein the robotized arm is used for manipulating item s having small dim ensions, following trajectories that change over tim e.
  • the Applicant observes that precision and accuracy are necessary whenever a robotized arm , preferably of the anthropom orphic type, is used for deposition of an elementary semifinished product on a forming drum, in order to make components for green tyres.
  • control systems for robotized arms in particular of the anthropomorphic type, permit movements characterized by a high degree of repeatability, while however lacking some precision.
  • control systems make movements that may be, over time, substantially identical to one another, but the final position may be different from the expected one.
  • the Applicant has also verified that the difference between the actual position taken by the robotized arm and the expected one is not the same for all positions, but varies depending on the position considered.
  • DE202013101050U1 describes a system for correcting the movement of a robotized arm based on“online” detection, through a dedicated measuring device, of the position of the terminal member of the robotized arm.
  • the Applicant believes that such an approach cannot be effectively implemented in industrial contexts, such as, for example, deposition of elementary semifinished products on a forming drum for building tyres, because of the physical and computational complexity of the systems necessary to ensure continuous monitoring.
  • document DE202013101050U1 teaches to operate on individual paths repeated over time in an identical manner, so that any different paths, even developing in the same working zone, will require the execution of a phase for detecting and storing path correction values, which is a time- consum ing and resource-intensive process.
  • the Applicant has thus perceived that, in order to be able to attain the required level of precision and accuracy while using less time and resources, the adopted correction technique m ust be operational and effective starting from the very first m ovements effected through the robotized arm . Furtherm ore, said control technique m ust not be bound to a single path to be followed, so that it can be applied to different paths developing within the sam e working zone.
  • the Applicant has found that the positions taken by the robotized arm can be m odified in advance by m eans of a previously stored correction function, associated with the robotized arm and with one working zone.
  • target coordinates for the robotized arm in the working zone, can be modified by m eans of said correction function, thereby obtaining corresponding processed coordinates, which are then used for sending movem ent com mands to the same robotized arm , so as to attain the required precision.
  • said correction technique can be used, once it has been set up, for building different tyre m odels, m anufactured by m eans of the sam e robotized arm operating in said working zone.
  • the invention relates to a m ethod for controlling a robotized arm .
  • said correction function is associated with said robotized arm .
  • said correction function is associated with said working zone.
  • the Applicant believes that, in this m anner, the movem ents of the robotized arm can be effected with precision, repeatability and less tim e and resources.
  • the invention relates to a control system for controlling a robotized arm .
  • a control apparatus is provided.
  • said control apparatus is configured for determ ining target coordinates for m oving said robotized arm in a working zone.
  • said control apparatus is configured for retrieving from a mem ory area a correction function associated with said robotized arm and said working zone.
  • said control apparatus is configured for m odifying said target coordinates by means of said correction function, thereby obtaining processed coordinates.
  • said control apparatus is configured for using said processed coordinates in order to send m ovem ent com m ands to said robotized arm .
  • the present invention may have at least one of the following preferred features.
  • a step is envisaged for defining said correction function.
  • defining said correction function com prises defining a plurality of known positions having known coordinates.
  • defining said correction function com prises m oving said robotized arm in a m anner such that said robotized arm will com e to be, in succession, in determ ined positions, each one corresponding to a respective one of said known positions.
  • defining said correction function com prises, when said robotized arm is in each one of said determ ined positions, detecting acquired coordinates of said robotized arm .
  • defining said correction function com prises com paring the coordinates of each one of said known positions with the acquired coordinates associated with the respective determ ined position.
  • defining said correction function com prises calculating said correction function on the basis of said com parison.
  • com paring the coordinates of each one of said known positions with the acquired coordinates associated with the respective determ ined position com prises calculating a difference between the known coordinates of each one of said known positions and the acquired coordinates of the respective determ ined position.
  • moving said robotized arm com prises receiving displacem ent com m ands from a user.
  • said displacem ent com m ands are issued by m eans of an external m tract control device.
  • calculating said correction function on the basis of said differences com prises applying a fitting operation, m ore preferably by means of a m inim ization algorithm , executed on the differences between the acquired coordinates and the known coordinates.
  • said target coordinates are at least partially different from the known coordinates of said known positions.
  • one or m ore positions of said robotized arm associated with said target coordinates can be reached with two or m ore different configurations of said robotized arm .
  • defining said plurality of known positions com prises providing a calibration device.
  • defining said plurality of known positions com prises moving said calibration device so as to define said known positions.
  • said calibration device com prises a base plate.
  • said calibration device com prises a support rotatably mounted on said base plate.
  • said calibration device com prises a reference element translatably mounted on said support.
  • m oving said calibration device com prises rotating said support relative to said base plate.
  • m oving said calibration device com prises translating said reference element along said support.
  • m oving said calibration device com prises rotating said support relative to said base plate and translating said reference elem ent along said support.
  • said reference elem ent defines said known positions.
  • said correction function is independent of said target coordinates.
  • said correction function is a piecewise-defined function.
  • each one of said pieces is associated with a different portion of said working zone.
  • said correction function is defined differently in two or more of said pieces.
  • said robotized arm is an anthropom orphic robotized arm . More preferably, said anthropomorphic robotized arm has at least five axes of rotation. More preferably, said anthropom orphic robotized arm has at least six axes of rotation.
  • said robotized arm is a cartesian robot. More preferably, said robotized arm is a cartesian robot with at least three axes.
  • a calibration device is provided for calibrating said robotized arm .
  • said support can be positioned in a plurality of first positions relative to said base plate.
  • said reference elem ent can be positioned in a plurality of second positions relative to said support.
  • known positions are defined for calibrating said robotized arm .
  • said calibration device com prises first locking mem bers for rem ovably locking said support relative to said base plate.
  • said calibration device com prises second locking mem bers for rem ovably locking said reference elem ent relative to said support.
  • FIG. 1 schematically shows a working station, com prising an anthropomorphic robotized arm , wherein the invention can be im plemented;
  • FIG. 2 shows a schem atic representation of one aspect of the present invention
  • FIG. 3 shows a schematic representation of som e operations that can be executed when im plem enting the invention ;
  • FIG. 4 shows a front view of a calibration device that can be used when im plementing the invention ;
  • FIG. 5 shows a sectional view of the device of Figure 4, along the plane defined by line V-V in Figure 4;
  • FIG. 6 shows a front view of a com ponent of the device of Figure 4 in a given operating configuration
  • Figure 7 shows a sectional view of the device of Figure 6, along the plane defined by line VI I - VI I in Figure 6.
  • numeral 1 designates as a whole a working station for deposition of elementary sem ifinished products for building green tyres, wherein the present invention can be im plemented.
  • the working station 1 com prises at least one feeding apparatus 14 for feeding an elem entary sem ifinished product 8.
  • the feeding apparatus 14 is arranged to supply, through a respective feeding m em ber 14a, the elementary sem ifinished product 8.
  • a working zone WZ is defined ( Fig. 2) .
  • the working station 1 com prises also a form ing drum 3.
  • the form ing drum 3 has a substantially cylindrical or toroidal shape.
  • the form ing drum 3 has a radially outer surface 3a whereon the elementary sem ifinished product 8 is laid for m aking one or more com ponents of a green tyre.
  • the working station 1 com prises a robotized arm associated with the form ing drum 3.
  • said robotized arm is an anthropom orphic robotized arm 1 6. More preferably, the anthropom orphic robotized arm 1 6 has at least six axes of rotation.
  • the anthropomorphic robotized arm 1 6 shown in Figure 1 has seven axes of rotation:“A”,“B”,“C”,“D”,“E”,“F”,“X”.
  • the anthropomorphic robotized arm 1 6 com prises a first section 1 7 having a first end 1 7a rotatably connected to a supporting platform 1 8 according to a first axis of oscillation “A” arranged horizontally, and a second axis “B” arranged vertically or anyway perpendicular to the first axis of oscillation“A”.
  • the anthropom orphic robotized arm 1 6 further com prises a second section 1 9 constrained to a second end 1 7b of the first section 1 7, with the possibility of oscillating about a third axis“C”, preferably parallel to the first axis “A”, and also about a fourth axis of oscillation “D”, perpendicular to the third axis“C” and preferably arranged longitudinally relative to the second section 19 itself.
  • a terminal head 20 adapted to removably engage the forming drum 3 is operationally associated with the end of the second section 19.
  • the terminal head 20 is associated, for example, a motor (not shown) that rotates a gripping element (also not shown) adapted to removably engage the forming drum 3 at a fitting shank 3c coaxially protruding on opposite sides of the latter.
  • the terminal head 20 can also oscillate about a fifth axis “E”, perpendicular to the fourth axis of oscillation“D”.
  • the fifth axis “E” is coplanar to the fourth axis“D”, and the terminal head 20 can also oscillate, driven by a respective motor (not shown), about a sixth axis “F” oriented perpendicularly relative to the forming drum 3 and also relative to the fifth axis of oscillation“E”.
  • the motor for the movements about the fifth axis“E”, not shown in the drawing, can be implemented, just like the other motors, in any advantageous manner known to those skilled in the art.
  • the forming drum 3 is picked up by the anthropomorphic robotized arm 16 from a pick-up position 4.
  • the anthropomorphic robotized arm 16 then carries the forming drum 3 near the feeding apparatus 14 for the deposition of the semifinished product 8.
  • the forming drum 3 is finally laid into a deposition position 5.
  • the anthropomorphic robotized arm 16 is configured for moving the forming drum 3 in said working zone WZ while the feeding apparatus 14 is feeding the elementary semifinished product 8.
  • the elementary semifinished product 8 is laid onto the radially outer surface 3a of the forming drum 3 in coils arranged side by side and/or at least partially overlapping each other, for making the at least one component of the green tyre.
  • the forming drum 3 remains engaged with the anthropomorphic robotized arm 16, which provides for orienting it appropriately with respect to the feeding apparatus 14 and for rotating it about the geometric axis “X” synchronously with the feeding apparatus 14, so as to accomplish the deposition of the elementary semifinished product 8.
  • the mobility of the forming drum 3 about the six axes of oscillation “A”, “B”, “C”, “D”, “E”, “F” and the rotation of the same about the geometric axis “X” allow the correct deposition of the elementary semifinished product 8 coming from the feeding apparatus 14.
  • the working station 1 comprises a control apparatus 30 (Fig.2).
  • the control apparatus 30 is configured for sending movement com mands MC to the anthropomorphic robotized arm 16.
  • the movement commands MC cause the forming drum 3, mounted on the terminal head 20 of the anthropomorphic robotized arm 16, to move, in particular in the working zone WZ, while the feeding apparatus 14 is feeding the elementary semifinished product 8.
  • the control apparatus 30 may be implemented, for example, as a conventional computer suitably programmed for executing the operations described herein.
  • Said movement commands MC are sent from the control apparatus 30 to the anthropomorphic robotized arm 16, i.e. to the internal control system of the anthropomorphic robotized arm 16, which then converts such movement commands MC into orientations of the individual tracts of the anthropomorphic robotized arm 16 about the respective axes of rotation.
  • control apparatus 30 is configured for managing target coordinates TC associated with the at least one component of the green tyre to be built.
  • the target coordinates TC are referred to a basic reference system integral with the feeding apparatus 14 and the outlet area OUT thereof.
  • the target coordinates TC are the coordinates where the anthropomorphic robotized arm 16 should be for the elementary semifinished product 8 to be deposited in accordance with the design specification.
  • the target coordinates TC are determined a priori in the design phase depending on the tyre model to be manufactured, the specific component to be made, the relative positions of the anthropomorphic robotized arm and the feeding apparatus, etc.
  • the target coordinates TC may be acquired by the control apparatus 30 by retrieving them from a respective memory area (not shown) or by receiving them from another electronic device.
  • the target coordinates TC define a succession of positions in which the anthropomorphic robotized arm 16 must be, while the feeding apparatus 14 is feeding the elementary semifinished product 8, in order to make said at least one component of the green tyre.
  • control apparatus 30 is configured to use a correction function CF, in order to bring the anthropomorphic robotized arm 16 into the actually desired positions.
  • control apparatus 30 is configured for retrieving the correction function CF from a memory area M.
  • the memory area M may be either integrated into the control apparatus 30 or connected to the control apparatus 30.
  • the correction function CF is associated with the anthropom orphic robotized arm 1 6 and the working zone WZ.
  • the correction function CF is descriptive of a difference between the target coordinates TC and the coordinates (different from the coordinates TC due to the above reasons) where the anthropom orphic robotized arm 1 6 would com e to be if it received m ovem ent com m ands based on the target coordinates TC.
  • the control apparatus 30 is preferably configured for applying the correction function CF to the target coordinates TC, thereby obtaining corresponding processed coordinates PC.
  • control apparatus 30 is configured to use the processed coordinates PC for sending the m ovem ent com m ands MC to the anthropom orphic robotized arm 1 6.
  • the processed coordinates PC are the coordinates that m ust be used for controlling the anthropom orphic robotized arm 1 6 in order to ensure that the latter will actually com e to be in the desired positions.
  • correction function CF it is preferably independent of the tyre m odel to be m anufactured.
  • the correction function CF is independent of the target coordinates TC.
  • the correction function CF is independent of the particular trajectory or m ovem ent that the anthropom orphic robotized arm 1 6 m ust follow while the feeding apparatus 14 is feeding the elem entary sem ifinished product 8.
  • the correction function CF is therefore valid for substantially any m ovem ent that the anthropom orphic robotized arm 1 6 m ay m ake within the working zone WZ.
  • the correction function CF is a piecewise- defined function .
  • each piece in which the correction function CF is defined is associated with a different portion of said working zone WZ, and the correction function CF is preferably defined differently in each piece.
  • the correction function CF Once the correction function CF has been defined, it can then be used as long as the anthropom orphic robotized arm 1 6 has to operate in the working zone WZ. I n other words, the correction function CF will not have to be re-defined at every change of tyre m odel to be m anufactured or com ponent to be m ade.
  • the correction function CF m ay be m odified, for exam ple, whenever the anthropom orphic robotized arm , which is inevitably subject to wear, will m ake unacceptable errors again.
  • said action of m odifying the correction function CF is carried out with a sm aller num ber of points than necessary for its first definition .
  • the correction function CF is defined prior to associating the form ing drum 3 with the anthropom orphic robotized arm 1 6.
  • a plurality of known positions KP having known coordinates KC are defined.
  • the known coordinates KC are defined with reference to said basic reference system associated with the outlet area OUT of the feeding apparatus 14 (Fig.3).
  • the known coordinates KC of the known positions KP are directly measured in space by means of instruments ensuring sufficient precision, e.g. with a maximum error equal to one third of the error that should be considered as tolerable during the use of the anthropomorphic robotized arm 16 for building said at least one component of the green tyre.
  • the precision of the known coordinates KC is guaranteed by the geometric precision with which the device has been made.
  • Each known position KP is defined in a respective definition operation.
  • the anthropomorphic robotized arm 16 is moved in a manner such that it will come to be in a determined position DP, corresponding to said known position KP.
  • the anthropomorphic robotized arm 16 is moved in a manner such that it will come to be, in succession, in the determined positions DP, each one corresponding to a respective known position KP.
  • the anthropomorphic robotized arm 16 is represented schematically by means of dashed lines when it is in the determined positions DP.
  • the anthropomorphic robotized arm 16 before it makes these movements, is fitted at its free end with a tip or another suitable element.
  • the anthropomorphic robotized arm 16 is then moved in a manner such that the point of said tip will come to be, in succession, in the determined positions DP, i.e. it will “touch” each one of the known positions KP.
  • the anthropomorphic robotized arm 16 preferably receives movement commands DC from a user.
  • movement commands DC may be issued by means of an external manual control device 40, such as, for example, a so-called “teach pendant”.
  • a difference is calculated between the known coordinates KC of each one of the known positions KP and the acquired coordinates AC associated with the respective determined position DP. Based on these differences, the correction function CF is then calculated.
  • the correction function CF is thus extrapolated starting from discrepancies, detected at discrete points - i.e. in said known positions KP - between the known coordinates KC and the acquired coordinates AC. Therefore, the correction function CF is preferably continuous within the working zone WZ.
  • the correction function CF is preferably substantially continuous in each piece.
  • the various pieces may be either contiguous or separate from one another.
  • correction function CF it is possible to apply, preferably by means of a minimization algorithm, a fitting operation executed on the differences between the acquired coordinates AC and the known coordinates KC.
  • the known coordinates KC of the known positions KP are at least partly different from the target coordinates TC that m ust be considered in operation .
  • the correction function CF operates also on points other than those used for the definition of the correction function CF itself, coherently with the fact that the correction function CF can be used throughout the working zone WZ.
  • said basic reference system is defined.
  • At least three points are defined in space. Said at least three points locate two axes and one origin in a plane in space, which define a three-dim ensional reference system (the third axis is univocally defined as a vector orthogonal to the first two axes) .
  • the anthropom orphic robotized arm 1 6 is guided in a m anner such that it will com e to “touch” each one of the points that define the basic reference system .
  • This operation can be advantageously carried out by m eans of the external m tract control device 40.
  • the anthropom orphic robotized arm 1 6 defines an internal reference system of its own , which reflects ( i.e. is a virtual copy of) said basic reference system .
  • the acquired coordinates AC are referred to the internal reference system of the anthropom orphic robotized arm 1 6.
  • the num ber of known positions KP that are used for defining the correction function CF may vary depending on several factors.
  • the known positions KP are distributed throughout the working zone WZ, e.g. according to a pattern substantially describing a grid.
  • one or more positions of the anthropomorphic robotized arm 16 associated with the target coordinates TC can be reached with two or more different configurations of the anthropomorphic robotized arm 16 itself.
  • a selection operation is preferably envisaged, wherein one of said two or more different configurations is selected.
  • the selection is made on the basis of configurations of the anthropomorphic robotized arm 16 used for bringing the anthropomorphic robotized arm 16 into the determined positions DP.
  • FIGS. 4-7 schematically show a calibration device 100 that can be used within the scope of the present invention.
  • the calibration device 100 is moved and configured in such a way as to define said known positions KP and, preferably, the points for the definition of said basic reference system.
  • the calibration device 100 comprises a base plate 110.
  • the base plate 110 may have a substantially semicircular profile.
  • the base plate 110 has first holes 111.
  • said first holes 111 are arranged according to a first sequence 111a and a second sequence 111b.
  • the first sequence 111a and the second sequence 111b follow respective arched profiles.
  • arched profiles are substantially parallel to each other.
  • the first holes 111 of the first sequence 111a are angularly equidistant from each other.
  • the first holes 111 of the second sequence 111b are angularly equidistant from each other.
  • the base plate 110 is also equipped with at least three seats 112a, 112b, 112c, each one adapted to receive a respective reference member 113a, 113b, 113c.
  • the reference members 113a, 113b, 113c can be removably mounted in said seats 112a, 112b, 112c.
  • the reference members 113a, 113b, 113c may be provided in the form of tips, as schematically shown in Figures 6-7.
  • the calibration device 100 further comprises a support 120.
  • the support 120 is rotatably mounted on the base plate 110.
  • the support 120 can thus take a plurality of first positions relative to the base plate 110.
  • the calibration device 100 comprises first locking means 100a, for removably locking the support 120 relative to the base plate 110.
  • the support 120 substantially has a plate-like shape, with a substantially rectangular profile.
  • the support 120 is hinged to the base plate 110 at a substantially central portion of a major side of said substantially rectangular profile.
  • the point where the support 120 is hinged to the base plate 110 preferably defines the centre of the arched profiles followed by the first sequence 111a and second sequence 111 b of first holes 111.
  • the support 120 has at least one second hole 121.
  • the second hole 121 is so positioned as to face towards the first holes 111 when the support 120 progressively rotates relative to the base plate 110, and takes different first positions.
  • the second hole 121 is so positioned as to face towards the first holes 111 of the first sequence 111a or the first holes 111 of the second sequence 111b.
  • the support 120 has at least one third hole 122.
  • the second hole 121 may face towards the first holes 111 of the first sequence 111a
  • the third hole 122 may face towards the first holes 111 of the second sequence 111b.
  • the support 120 also has a plurality of sixth holes 125.
  • the sixth holes 125 follow a substantially straight profile.
  • the sixth holes 125 are equidistant from each other.
  • a pin or a screw 100c, 100d is inserted through the second hole 121 and/or the third hole 122, until it also engages one of the first holes of the base plate 110.
  • respective screws 100d, 10Of are inserted into the third hole 122 and/or into the fifth hole 124, so as to lock the support 120 in rotation and also eliminate any slack in the axial direction (i.e. orthogonal to the planar extension of the base plate 110).
  • the axial constraint may be further reinforced by a fastening member mounted at the hinge between the support 120 and the plate 110.
  • pins are inserted, which contribute to the fixing in the radial direction.
  • Figure 4 shows, by way of example, the pin 100c inserted in the second hole 121.
  • the first locking members 100a may thus comprise the first holes 111, the second hole 121, the third hole 122, the fourth hole 124, the fifth hole 125 and the pins/ screws 100c, 100d, 10Of inserted therein.
  • the calibration device 100 further comprises a reference element
  • the reference element 130 is translatably mounted on the support 120.
  • the reference element 130 can take a plurality of second positions relative to the support 120.
  • the calibration device 100 comprises second locking means 100b, for removably locking the reference element 130 relative to the support 120.
  • a substantially straight guide 126 is fastened on the support 120, which guide preferably extends along a major side of the rectangular profile of the support 120.
  • the reference element 130 is slidably mounted on said guide 126.
  • the guide 126 is substantially parallel to the straight profile along which the sixth holes 125 extend.
  • the reference element 130 comprises a cursor 131, constrained to said guide 126, and a tip 132, integral with said cursor
  • the cursor 131 has one or more slots 131a.
  • the cursor 131 has three slots 131 a.
  • the slots 131a are equidistant from each other.
  • the distance between two adjacent slots 131a is different from the distance between two adjacent sixth holes 125.
  • the slots 131a are so arranged as to face towards the sixth holes 125 as the cursor progressively moves along the guide 126 and takes its second positions. This allows for a greater number of possible second positions, given a certain length of the guide 126. In other words, this allows increasing the density of second positions of the reference element 130 along the guide 126.
  • At least one pin or screw 100e is inserted into one of the slots 131a and into the sixth hole 125 that faces towards it.
  • the second locking members 100b may thus comprise the sixth holes 125, the slots 131a, and the pins/ screws 100e inserted therein.
  • the calibration device 100 comprises an auxiliary tip 127, which can be mounted at the hinge between the base plate 110 and the support 120.
  • the auxiliary tip 127 allows verifying that the reference element 130 is correctly sliding on the guide 126 - at least in a substantially central portion thereof.
  • anthropomorphic robotized arm 16 and the calibration device 100 are parts of a calibration system 200 ( Figure 3), which preferably constitutes one aspect of the present invention.
  • control apparatus 30 preferably in combination with the calibration device 100, forms a control system 300 ( Figure 3), which may constitute one aspect of the present invention.
  • the calibration device 100 When in use, the calibration device 100 can be fixed either at the outlet area OUT, thus being integral with the feeding apparatus 14, or at the free end of the anthropomorphic robotized arm 16.
  • the calibration device 100 is preferably used, during an initial phase, for defining said basic reference system.
  • the reference members 113a, 113b, 113c are mounted onto the base plate 110.
  • the anthropomorphic robotized arm 16 is fitted with a terminal element, such as, for example, a tip wholly similar to the reference members 113a, 113b, 113c.
  • the anthropomorphic robotized arm 16 is then moved manually, e.g. by means of said external manual control device 40, so that it will touch, with its terminal element, the point of each one of the reference members 113a, 113b, 113c.
  • the basic reference system is thus acquired, and the reference members 113a, 113b, 113c can then be removed from the base plate 110.
  • the support 120 stays rotated by about 180° relative to the position shown in Figure 4, so as to not interfere with the mounting/dismounting of the reference members 113a, 113b, 113c themselves and with the definition of the basic reference system.
  • the support 120 is not shown in Figures 6-7. Actually the support 120 is present, but, as aforesaid, it has been rotated so as to not interfere with the activities involving the reference members 113a, 113b, 113c.
  • the support 120 is brought into a position that is equal or similar to the one shown in Figure 4.
  • said known positions KP are defined.
  • such positions are located by the point of the tip 132, by combining the first positions of the support 120 and the second positions of the reference element 130.
  • the movement of the support 120 relative to the base plate 110 up to a given first position, and the movement of the reference element 130 relative to the support 120 up to a given second position are parts of a respective definition operation as previously described.
  • the spatial coordinates of the known positions KP are defined by the position (which is known) in which the calibration device 100 is mounted and by the geometry (which is also known) of the calibration device 100 itself.
  • the known positions KP thus defined can be used by the anthropomorphic robotized arm 16 to reach the corresponding determined positions DP, as previously described, so as to come to the definition of the correction function CF.
  • the calibration device 100 is removed, and the anthropomorphic robotized arm 16 is fitted with the operating member (the so-called“end effector”) necessary for establishing a constraint with the forming drum 3.
  • the calibration method i.e. the obtainment of the correction function CF
  • the calibration device 100 and the method for controlling the anthropomorphic robotized arm 16 on the basis of the correction function CF can also be used within other contexts, whenever it is necessary to operate an anthropomorphic robotized arm with particular precision along different trajectories.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Procédé de commande d'un bras robotisé (16), consistant à: déterminer des coordonnées cibles (TC) pour déplacer ledit bras robotisé (16) dans une zone de travail (WZ); récupérer, à partir d'une zone de mémoire (M), une fonction de correction (CF) associée audit bras robotisé (16) et ladite zone de travail (WZ); modifier lesdites coordonnées cibles (TC) au moyen de ladite fonction de correction (CF), ce qui permet d'obtenir des coordonnées traitées (PC); et utiliser lesdites coordonnées traitées (PC) pour envoyer des commandes de mouvement (MC) audit bras robotisé (16). L'invention concerne également un système de commande (300) pour commander un bras robotisé.
PCT/IB2019/053104 2018-04-18 2019-04-16 Procédé de commande d'un bras robotisé WO2019202482A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT201800004658 2018-04-18
IT102018000004658 2018-04-18

Publications (1)

Publication Number Publication Date
WO2019202482A1 true WO2019202482A1 (fr) 2019-10-24

Family

ID=63244690

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2019/053104 WO2019202482A1 (fr) 2018-04-18 2019-04-16 Procédé de commande d'un bras robotisé

Country Status (1)

Country Link
WO (1) WO2019202482A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
EP0353585A2 (fr) * 1988-08-04 1990-02-07 Siemens Aktiengesellschaft Méthode de correction de contour et de position d'un outil de robot
DE4110741A1 (de) * 1990-04-03 1991-12-05 Korea Inst Sci & Tech Leistungsmess- und eichvorrichtung fuer einen industriellen arbeitsautomaten
US20150375396A1 (en) * 2014-06-25 2015-12-31 Microsoft Corporation Automatic in-situ registration and calibration of robotic arm/sensor/workspace system
DE102015211406A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4362977A (en) * 1980-06-30 1982-12-07 International Business Machines Corporation Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot
EP0353585A2 (fr) * 1988-08-04 1990-02-07 Siemens Aktiengesellschaft Méthode de correction de contour et de position d'un outil de robot
DE4110741A1 (de) * 1990-04-03 1991-12-05 Korea Inst Sci & Tech Leistungsmess- und eichvorrichtung fuer einen industriellen arbeitsautomaten
US20150375396A1 (en) * 2014-06-25 2015-12-31 Microsoft Corporation Automatic in-situ registration and calibration of robotic arm/sensor/workspace system
DE102015211406A1 (de) * 2015-06-22 2016-12-22 Kuka Roboter Gmbh Verbesserung der Temperaturdriftkompensation durch Einlernen der Restdrift

Similar Documents

Publication Publication Date Title
US9784554B2 (en) Method for measuring a rotary axis of a machine tool system
US20170038760A1 (en) Machine toolpath compensation using vibration sensing
US20220297399A1 (en) Method and apparatus for controlling the laying down of components of tyres on forming drums
EP3727822B1 (fr) Procédé et installation de fabrication d'un composant supplémentaire à l'intérieur d'un pneumatique vulcanisé
EP3781390B1 (fr) Procédé de construction de pneus crus
WO2019202482A1 (fr) Procédé de commande d'un bras robotisé
JP5731898B2 (ja) ビードコア間の距離バラツキ判定方法
WO2019202483A1 (fr) Système d'étalonnage
US7620474B2 (en) Method for manufacturing a tyre
US10981640B2 (en) Method and system for verification of tow end placement
WO2012073144A1 (fr) Procédé pour gérer la formation de tambours dans une procédure de création de pneumatiques
JP5128807B2 (ja) タイヤコードを取付けるばね式の取付けヘッドおよびタイヤコードの取付け方法
EP4197755A1 (fr) Système et procédé de placement automatisé de fibres à têtes multiples
RU2330757C2 (ru) Способ изготовления шины и способ управления нанесением невулканизированного эластомерного материала при изготовлении шины
JP2023086527A (ja) シフト量制御システム、シフト量制御方法及びプログラム
JP2023086528A (ja) シフト量制御システム、シフト量制御方法及びプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19730537

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19730537

Country of ref document: EP

Kind code of ref document: A1