Unlock instant, AI-driven research and patent intelligence for your innovation.

Method for machining a contour on at least one workpiece by means of a robot

A technology of manipulators and contour lines, applied in computer control, general control systems, instruments, etc., can solve problems such as inaccurate ends of manipulators

Active Publication Date: 2010-06-16
ABB (SCHWEIZ) AG
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This can have the consequence that the tip of the manipulator does not follow the contour exactly, when in fact the movement of the tip of the manipulator will not deviate too much from the contour

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for machining a contour on at least one workpiece by means of a robot
  • Method for machining a contour on at least one workpiece by means of a robot
  • Method for machining a contour on at least one workpiece by means of a robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0036] A workpiece 10 , for example a car body or the like, is depicted here as a rectangular flat part which is to be welded at a longitudinal edge 11 to a longitudinal edge 12 of another workpiece 13 . The two workpieces 10 and 13 have straight, linear edges 11 and 12 and, accordingly, they can also be referred to as so-called ideal workpiece parts.

[0037] Robotic arms, not depicted here, travel along routes 11 and 12 together with sensors, which may be, for example, cameras, and from a starting point 14 form images at predetermined positions 15, 16, 17, 18 and 19, the signals of which are stored in in memory.

[0038] The difference between the actual workpiece 20 and the ideal workpiece 10 is that the real edge 21 corresponding to the edge 11 has been changed compared with the ideal edge 11', the real edge 21 has an S-shape within a certain range, and the S-shape is in a certain range. Points 11" and 11"' intersect ideal edge 11'.

[0039] The manipulator travels along...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a method for machining a contour on at least one workpiece, particularly for welding or sealing a seam between two workpieces, particularly between two body components, by means of a robot, characterized by the following process steps: positioning the workpiece to be machined at the robot and / or determining the actual position of the workpiece, determining the real path of the contour on the workpiece at the predetermined or other points by means of at least one sensor, actuating the robot corresponding to the individual vectors for correcting the motion of the robot while machining the contour.

Description

【Technical field】 [0001] The invention relates to a method according to the preamble of claim 1 . 【Background technique】 [0002] For the purpose of producing eg a car body, the body parts are positioned relative to each other in the receptacle such that the locations to be processed, eg edges to be welded to each other, are within the processing range of a robot arm. The robot arm moves together with the tool, in this case the welding tip, along the path on which the two workpieces are to be welded to each other. Usually, these paths are often not straight, but curved according to the shape of the vehicle body, so that the robot control system is programmed for this, and the robot end can follow this curved path. [0003] In conjunction with this it should be noted that no one body part is exactly like another due to tolerances, deformations, etc. [0004] For this purpose, for the machining of body parts, an ideal body is firstly produced, which is machined and processed...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/408
CPCG05B2219/35408G05B2219/45104G05B2219/37617G05B2219/40057G05B2219/37555G05B19/4083
Inventor S·奎特A·霍夫曼J·雷格
Owner ABB (SCHWEIZ) AG