Processing

Please wait...

Settings

Settings

Goto Application

1. WO2008046620 - SYSTEM AND METHOD FOR CALIBRATING A HANDLING DEVICE

Publication Number WO/2008/046620
Publication Date 24.04.2008
International Application No. PCT/EP2007/009043
International Filing Date 18.10.2007
IPC
G05B 19/401 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical 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
401characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/1684
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1684Tracking a line or surface by means of sensors
B25J 9/1692
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1692Calibration of manipulator
B28B 11/18
BPERFORMING OPERATIONS; TRANSPORTING
28WORKING CEMENT, CLAY, OR STONE
BSHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
11Apparatus or processes for treating or working the shaped ; or preshaped; articles
18for removing burr
B29C 45/0055
BPERFORMING OPERATIONS; TRANSPORTING
29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
45Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
0053combined with a final operation, e.g. shaping
0055Shaping
G05B 19/401
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical 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
401characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
G05B 2219/37021
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37021Robot controls position of touch probe
Applicants
  • ABB AG [AT]/[AT] (AllExceptUS)
  • KOHLMAIER, Martin [AT]/[AT] (UsOnly)
  • KRAPPINGER, Rainer [AT]/[AT] (UsOnly)
Inventors
  • KOHLMAIER, Martin
  • KRAPPINGER, Rainer
Agents
  • MILLER, Toivo
Priority Data
10 2006 049 957.319.10.2006DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) SYSTEM UND VERFAHREN ZUR KALIBRIERUNG EINER HANDHABUNGSVORRICHTUNG
(EN) SYSTEM AND METHOD FOR CALIBRATING A HANDLING DEVICE
(FR) SYSTÈME ET PROCÉDÉ POUR ÉTALONNER UN DISPOSITIF DE MANIPULATION
Abstract
(DE)
System und Verfahren zur Kalibrierung einer Handhabungsvorrichtung (4), wobei mittels wenigstens einer an einer Handhabungsvorrichtung (4) angeordneten Messanordnung (8) sowie einem Werkzeug (6) wenigstens eine Regelgröße beim Abfahren eines Werkstückes (2) erfasst wird und im Zusammenwirken von Messanordnung (8), Werkzeug (6) und Werkstück (2) mittels einer Regeleinrichtung (10) anhand der erfassten Regelgrößenmesswerte wenigstens zwei Flächen (A1B) des Werkstückes (2) in einem mehrdimensionalen Raum bestimmt werden und aus der resultierenden Schnittlinie (S) Bahnkoordinaten eines optimierten Bahnverlaufs ermittelt und/oder zur Umsetzung bereitstellt werden.
(EN)
The invention relates to a system and method for calibrating a handling device (4). According to the invention, at least on control variable is detected when a workpiece (2) is moved by means of at least one measuring arrangement (8) arranged on the handling device (4) and a tool (6). At least two surfaces (A, B) of the workpiece (2) are determined in a multi-dimensional area, by means of a control device (10), using the detected control variable measurement value, interacting with the measuring arrangement (8), the tool (6) and the workpiece (2). Path coordinates of an optimum path course are determined and/or are prepared for conversion, from the resulting line of intersection (S).
(FR)
L'invention concerne un système et un procédé permettant d'étalonner un dispositif de manipulation (4). Selon le procédé, il est prévu de détecter au moins une grandeur de réglage lors du départ d'une pièce, au moyen d'au moins un système de mesure (8) monté sur un dispositif de manipulation (4) et d'un outil (6). Au moins deux surfaces (A1B) de la pièce (2) sont déterminées dans un espace multidimensionnel au moyen d'un dispositif de réglage (10), sur la base des valeurs de grandeurs de réglage mesurées, en interaction avec le système de mesure (8), de l'outil (6) et de la pièce (2). Des coordonnées de parcours du déroulement d'un parcours optimisé sont déterminées et/ou préparées en vue d'une conversion, sur la base de la ligne de coupe (S) qui en résulte.
Latest bibliographic data on file with the International Bureau