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1. WO2010010214 - HEAD FOR POSITIONING A TOOL ON IRREGULAR SURFACES

Publication Number WO/2010/010214
Publication Date 28.01.2010
International Application No. PCT/ES2009/000387
International Filing Date 23.07.2009
IPC
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
B24B 19/26 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
24GRINDING; POLISHING
BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
19Single purpose machines or devices for particular grinding operations not covered by any other main group
26for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
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
Applicants
  • ESTUDIOS DE INGENIERIA ADAPTADA, S.L. [ES]/[ES] (AllExceptUS)
  • VILA PAPELL, Enric [ES]/[ES] (UsOnly)
Inventors
  • VILA PAPELL, Enric
Agents
  • BUCETA FACORRO, Luis
Priority Data
P 20080219223.07.2008ES
Publication Language Spanish (ES)
Filing Language Spanish (ES)
Designated States
Title
(EN) HEAD FOR POSITIONING A TOOL ON IRREGULAR SURFACES
(ES) CABEZAL POSICIONADOR DE HERRAMIENTA SOBRE SUPERFICIES IRREGULARES
(FR) TÊTE DE POSITIONNEMENT D'OUTIL SUR DES SURFACES IRRÉGULIÈRES
Abstract
(EN)
The invention relates to a head for positioning a tool on irregular surfaces, formed by a tool-holder assembly which is coupled to a robot arm (4) by means of a supporting element (3), said tool-holder assembly being provided with a force sensor (2) and distance detectors (7) which form a control system that controls the operation of the robot arm (4) in order to position the tool in relation to the working surface.
(ES)
Cabezal posicionador de herramienta sobre superficies irregulares, formado por un conjunto porta-herramienta que se acopla por medio de un soporte (3) a un brazo robot (4) portador, estando provisto el conjunto porta-herramienta con un sensor de fuerza (2) y detectores de distancia (7), mediante los cuales se establece un control que gobierna el accionamiento del brazo robot (4) para posicionar la herramienta de trabajo respecto de la superficie de operación.
(FR)
L'invention concerne une tête de positionnement d'outil sur des surfaces irrégulières, comprenant un ensemble porte-outil accouplé au moyen d'un support (3) à un bras robotisé (4) porteur, ledit ensemble porte-outil étant pourvu d'un capteur de force (2) et de détecteurs de distance (7) au moyen desquels on établit une commande qui détermine l'actionnement du bras robotisé (4) en vue du positionnement de l'outil de travail par rapport à la surface d'utilisation.
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