CA2002513A1 - Methode et dispositif de detection automatique du profil d'une surface et en vue d'effectuer un travail - Google Patents

Methode et dispositif de detection automatique du profil d'une surface et en vue d'effectuer un travail

Info

Publication number
CA2002513A1
CA2002513A1 CA2002513A CA2002513A CA2002513A1 CA 2002513 A1 CA2002513 A1 CA 2002513A1 CA 2002513 A CA2002513 A CA 2002513A CA 2002513 A CA2002513 A CA 2002513A CA 2002513 A1 CA2002513 A1 CA 2002513A1
Authority
CA
Canada
Prior art keywords
robot member
working
control circuit
working arm
effecting
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CA2002513A
Other languages
English (en)
Other versions
CA2002513C (fr
Inventor
Jean-Luc Fihey
Bruce Hazel
Antonio Di Vicenzo
Mark Tinkler
Scott Mcnabb
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ontario Hydro
Hydro Quebec
Original Assignee
Ontario Hydro
Hydro Quebec
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 Ontario Hydro, Hydro Quebec filed Critical Ontario Hydro
Publication of CA2002513A1 publication Critical patent/CA2002513A1/fr
Application granted granted Critical
Publication of CA2002513C publication Critical patent/CA2002513C/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the program medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39468—Changeable hand, tool, code carrier, detector
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49362—Tool, probe at constant height to surface during machining
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50153—Mount machining unit on workpiece, move unit on it
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50214—Refurbish, refinish, reprofile, recondition, restore, rebuild profile
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50356—Tool perpendicular, normal to 3-D surface

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

METHODE ET DISPOSITIF DE DETECTION
AUTOMATIQUE DU PROFIL D'UNE SURFACE
ET EN VUE D'EFFECTUER UN TRAVAIL

ABREGE DESCRIPTIF
Une méthode et un dispositif de détection automatique du profil de la surface d'un objet permettant d'y effectuer un travail. Un rail est fixé par rapport à la surface et un élément robotique motorisé peut se déplacer sur le rail par l'entremise d'un élément motorisé auquel il est accouplé. L'élément robotique est muni d'un bras manipulateur lequel est rattaché à l'élément robotique de façon à pouvoir se déplacer, et possède un ou plusieurs instruments de travail qu'on peut lui rattacher. Un circuit de contrôle est associé à l'élément robotique permettant de faire déplacer ce dernier et de manier le bras manipulateur et l'instrument de travail. Un capteur est relié au bras manipulateur et possède une sonde permettant de détecter une distance mesurée le long d'une normale à la surface ou à
toute surface, calculée par le circuit de contrôle et présumée être représentative de la surface dans une zone de travail circonscrite de l'élément robotique et du bras manipulateur. Le capteur transmet des données d'informations au circuit de contrôle ce qui permet de déterminer les endroits ayant subi des dommages et qui requièrent qu'un ou plusieurs des instruments de travail procèdent à des travaux.
La trajectoire de l'instrument est alors automatiquement établie par le système robotique pour déterminer l'emplacement requis de l'instrument par rapport à la surface.
CA002002513A 1988-11-18 1989-11-08 Methode et dispositif de detection automatique du profil d'une surface et en vue d'effectuer un travail Expired - Lifetime CA2002513C (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/273,075 US4959523A (en) 1988-11-18 1988-11-18 Method and apparatus for automatically sensing the configuration of a surface area and effecting a work function thereon
US07/273,075 1988-11-18

Publications (2)

Publication Number Publication Date
CA2002513A1 true CA2002513A1 (fr) 1990-05-18
CA2002513C CA2002513C (fr) 1994-10-11

Family

ID=23042442

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002002513A Expired - Lifetime CA2002513C (fr) 1988-11-18 1989-11-08 Methode et dispositif de detection automatique du profil d'une surface et en vue d'effectuer un travail

Country Status (8)

Country Link
US (1) US4959523A (fr)
EP (1) EP0369891B1 (fr)
JP (1) JPH02237726A (fr)
AT (1) ATE112642T1 (fr)
BR (1) BR8905820A (fr)
CA (1) CA2002513C (fr)
DE (1) DE68918670T2 (fr)
MX (1) MX165384B (fr)

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Also Published As

Publication number Publication date
EP0369891A3 (fr) 1991-09-04
US4959523A (en) 1990-09-25
EP0369891B1 (fr) 1994-10-05
DE68918670D1 (de) 1994-11-10
JPH02237726A (ja) 1990-09-20
ATE112642T1 (de) 1994-10-15
CA2002513C (fr) 1994-10-11
EP0369891A2 (fr) 1990-05-23
MX165384B (es) 1992-11-06
DE68918670T2 (de) 1995-05-24
BR8905820A (pt) 1990-06-12

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