WO2016145472A1 - Procédé et dispositif permettant le traitement de surface assisté par robot - Google Patents

Procédé et dispositif permettant le traitement de surface assisté par robot Download PDF

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Publication number
WO2016145472A1
WO2016145472A1 PCT/AT2016/050068 AT2016050068W WO2016145472A1 WO 2016145472 A1 WO2016145472 A1 WO 2016145472A1 AT 2016050068 W AT2016050068 W AT 2016050068W WO 2016145472 A1 WO2016145472 A1 WO 2016145472A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
contact force
tool
force
actuator
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.)
Ceased
Application number
PCT/AT2016/050068
Other languages
German (de)
English (en)
Inventor
Ronald Naderer
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.)
Ferrobotics Compliant Robot Technology GmbH
Original Assignee
Ferrobotics Compliant Robot Technology GmbH
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 Ferrobotics Compliant Robot Technology GmbH filed Critical Ferrobotics Compliant Robot Technology GmbH
Publication of WO2016145472A1 publication Critical patent/WO2016145472A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/08—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving liquid or pneumatic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • G05B2219/39321—Force control as function of position of tool
    • 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
    • G05B2219/39343—Force based impedance control

Definitions

  • the force control is realized in a conventional manner with the aid of a control valve 406, a regulator 410 and a compressed air reservoir 405.
  • the compressed air reservoir 405 can also be replaced by a compressor.
  • the control valve 406 is configured to control the air supply to the actuator 401.
  • the controller 410 controls the valve 406 depending on a measurement value representing the contact force FK such that the actuator force FA corresponds to a desired value.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

L'invention concerne un procédé pour le traitement de surface automatisé d'une pièce (301). Selon un exemple de l'invention, le procédé comprend les étapes consistant à générer une force de contact (FK) entre un outil en rotation (202) et une pièce (301) au moyen d'un actionneur linéaire (400) et à mesurer la force de contact (FK) entre l'outil en rotation (202) et la pièce (301). Un moteur (204) entraînant l'outil (202) est commandé en fonction d'une valeur de mesure (FA, p) représentant la force de contact (FK), afin de régler une vitesse de rotation de l'outil (202) en fonction de la force de contact (FK).
PCT/AT2016/050068 2015-03-19 2016-03-18 Procédé et dispositif permettant le traitement de surface assisté par robot Ceased WO2016145472A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015104164.2A DE102015104164B4 (de) 2015-03-19 2015-03-19 Verfahren und Vorrichtung zur robotergestützten Oberflächenbearbeitung
DE102015104164.2 2015-03-19

Publications (1)

Publication Number Publication Date
WO2016145472A1 true WO2016145472A1 (fr) 2016-09-22

Family

ID=55858722

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2016/050068 Ceased WO2016145472A1 (fr) 2015-03-19 2016-03-18 Procédé et dispositif permettant le traitement de surface assisté par robot

Country Status (2)

Country Link
DE (1) DE102015104164B4 (fr)
WO (1) WO2016145472A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018055189A1 (fr) * 2016-09-26 2018-03-29 Ferrobotics Compliant Robot Technology Gmbh Machine-outil servant au traitement de surfaces assisté par ordinateur
WO2018193040A1 (fr) * 2017-04-20 2018-10-25 Ferrobotics Compliant Robot Technology Gmbh Rectifieuse pour rectification assistée par robot
WO2019175251A1 (fr) * 2018-03-15 2019-09-19 Ferrobotics Compliant Robot Technology Gmbh Régulation de vitesse avec rectification assistée par robot
CN113319687A (zh) * 2020-02-28 2021-08-31 奥腾工业自动化(廊坊)有限公司 控制机床中的接触力
CN116551564A (zh) * 2023-04-28 2023-08-08 万晖五金（深圳）有限公司 一种砂带打磨机用夹具组件及砂带打磨机
US11897083B2 (en) 2018-10-25 2024-02-13 3M Innovative Properties Company Robotic paint repair systems and methods
US12208481B2 (en) 2018-10-25 2025-01-28 3M Innovative Properties Company Multiple degree of freedom compliant actuator force control systems and methods used in robotic paint repair

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11759961B2 (en) 2019-05-07 2023-09-19 Ati Industrial Automation, Inc. Pneumatic robotic finishing tool
DE102020111921B4 (de) 2019-05-07 2022-04-14 Ati Industrial Automation, Inc. Pneumatisches roboterbearbeitungswerkzeug
DE102021106990A1 (de) 2021-03-22 2022-09-22 Ferrobotics Compliant Robot Technology Gmbh Kraftgeregelte Handhabungsvorrichtung für die robotergestützte Oberflächenbearbeitung
US12397421B2 (en) 2021-12-22 2025-08-26 Ati Industrial Automation, Inc. Contact force overshoot mitigation in pneumatic force control devices
DE102023208842A1 (de) 2023-09-12 2025-03-13 Robert Bosch Gesellschaft mit beschränkter Haftung Arbeitsrobotersystem

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5355631A (en) * 1992-11-19 1994-10-18 Robotics And Automation Corporation Regulated force and speed control of a surface treating wheel
US5427564A (en) * 1993-08-02 1995-06-27 Robotics And Automation Corp. Controlled surface treating work device
DE102011006679A1 (de) * 2011-03-16 2012-09-20 Ferrobotics Compliant Robot Technology Gmbh Aktive Handhabungsvorrichtung und Verfahren für Kontaktaufgaben

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE376907T1 (de) * 2005-07-11 2007-11-15 Puhla Harald Regelung des anpressdrucks in einer werkzeugmaschine
DE102006049956A1 (de) * 2006-10-19 2008-04-24 Abb Ag System und Verfahren zur automatisierten Ver- und/oder Bearbeitung von Werkstücken
DE102010003697B4 (de) * 2010-04-07 2012-12-06 Ferrobotics Compliant Robot Technology Gmbh Aktive Handhabungsvorrichtung und Verfahren für Kontaktaufgaben

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5355631A (en) * 1992-11-19 1994-10-18 Robotics And Automation Corporation Regulated force and speed control of a surface treating wheel
US5427564A (en) * 1993-08-02 1995-06-27 Robotics And Automation Corp. Controlled surface treating work device
DE102011006679A1 (de) * 2011-03-16 2012-09-20 Ferrobotics Compliant Robot Technology Gmbh Aktive Handhabungsvorrichtung und Verfahren für Kontaktaufgaben

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11260537B2 (en) 2016-09-26 2022-03-01 Ferrobotics Compliant Robot Technology Gmbh Machine tool for robot-assisted surface finishing
CN109789528A (zh) * 2016-09-26 2019-05-21 菲尔罗伯蒂克斯顺从式机器人技术有限公司 用于机器人辅助加工表面的机床
WO2018055189A1 (fr) * 2016-09-26 2018-03-29 Ferrobotics Compliant Robot Technology Gmbh Machine-outil servant au traitement de surfaces assisté par ordinateur
CN109789528B (zh) * 2016-09-26 2021-06-04 菲尔罗伯蒂克斯顺从式机器人技术有限公司 用于机器人辅助加工表面的机床的设备
WO2018193040A1 (fr) * 2017-04-20 2018-10-25 Ferrobotics Compliant Robot Technology Gmbh Rectifieuse pour rectification assistée par robot
EP4681876A3 (fr) * 2017-04-20 2026-04-15 Ferrobotics Compliant Robot Technology GmbH Machine de meulage pour meulage assisté par robot
US11707814B2 (en) 2017-04-20 2023-07-25 Ferrobotics Compliant Robot Technology Gmbh Grinding machine for robot-supported grinding
KR20200125928A (ko) * 2018-03-15 2020-11-05 페로보틱스 컴플라이언트 로봇 테크놀로지 게엠베하 로봇-보조 연마에 있어서 회전 속도 제어
JP2021517520A (ja) * 2018-03-15 2021-07-26 フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハーＦｅｒｒｏｂｏｔｉｃｓ Ｃｏｍｐｌｉａｎｔ Ｒｏｂｏｔ Ｔｅｃｈｎｏｌｏｇｙ ＧｍｂＨ ロボット支援研削における回転数の制御
JP7340536B2 (ja) 2018-03-15 2023-09-07 フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハー ロボット支援研削における回転数の制御
KR102642762B1 (ko) 2018-03-15 2024-02-29 페로보틱스 컴플라이언트 로봇 테크놀로지 게엠베하 로봇-보조 연마에 있어서 회전 속도 제어
WO2019175251A1 (fr) * 2018-03-15 2019-09-19 Ferrobotics Compliant Robot Technology Gmbh Régulation de vitesse avec rectification assistée par robot
US11897083B2 (en) 2018-10-25 2024-02-13 3M Innovative Properties Company Robotic paint repair systems and methods
US12208481B2 (en) 2018-10-25 2025-01-28 3M Innovative Properties Company Multiple degree of freedom compliant actuator force control systems and methods used in robotic paint repair
CN113319687A (zh) * 2020-02-28 2021-08-31 奥腾工业自动化(廊坊)有限公司 控制机床中的接触力
CN113319687B (zh) * 2020-02-28 2023-10-20 奥腾工业自动化(廊坊)有限公司 控制机床中的接触力
CN116551564A (zh) * 2023-04-28 2023-08-08 万晖五金（深圳）有限公司 一种砂带打磨机用夹具组件及砂带打磨机

Also Published As

Publication number Publication date
DE102015104164B4 (de) 2019-05-29
DE102015104164A1 (de) 2016-09-22

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