[go: up one dir, main page]

WO2007041993A1 - Commande de machines d'usinage de pieces - Google Patents

Commande de machines d'usinage de pieces Download PDF

Info

Publication number
WO2007041993A1
WO2007041993A1 PCT/DE2006/001759 DE2006001759W WO2007041993A1 WO 2007041993 A1 WO2007041993 A1 WO 2007041993A1 DE 2006001759 W DE2006001759 W DE 2006001759W WO 2007041993 A1 WO2007041993 A1 WO 2007041993A1
Authority
WO
WIPO (PCT)
Prior art keywords
pointer
control method
machine control
machine
processing
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/DE2006/001759
Other languages
German (de)
English (en)
Inventor
Jörg SIEGERT
Bernhard Gottwald
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.)
Universitaet Stuttgart
Original Assignee
Universitaet Stuttgart
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 Universitaet Stuttgart filed Critical Universitaet Stuttgart
Publication of WO2007041993A1 publication Critical patent/WO2007041993A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37269—Ultrasonic, ultrasound, sonar
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40557—Tracking a tool, compute 3-D position relative to camera
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40609—Camera to monitor end effector as well as object to be handled

Definitions

  • the present invention relates to the generic term and is thus concerned with a machine control method.
  • Numerically controlled machines are playing an increasingly important role in industrial manufacturing today. They are used both for the production of individual parts as well as in series production, such as welding robots in automotive body construction. In many, but not all cases, there is a data record that describes the workpiece to be processed in detail, for example in the form of CAD data. Even with such data, however, the programming of the numerically controlled processing machine is often associated with considerable effort. It may also occur, especially in mass production, that in a number of components ad hoc changes must be made to individual, such as when quality or tolerance problems are observed and, for example, in the body shop, the optimal position of welds is no longer guaranteed ,
  • Patent abstract 63052203 A JP patent abstract 63245359 A, JP patent abstract 2002172575, JP patent abstract 56140414 A, JP patent abstract 0325591, JP patent abstract 10138182 A, JP patent abstract 60256802 A, JP patent abstract 61182106 A, JP patent abstract 04322305 A, JP patent abstract 62165213 , US Patent 6,352,354 Bl and textbooks such as "HANDBOOK OF INDUSTRIAL ROBOTICS", ISBN 0-471-17783- 0 by SY Nof, or "INDUSTRIAL BOOK OF INDUSTRY AND SCIENCE” edited by H. -J. Warnecke and RD Schraft.
  • the known arrangement comprises a camera for monitoring a working field and a laser pointer hand-held by an operator for marking object points in the working field.
  • the laser pointer is designed in such a way that it emits radiation at at least two different emission frequencies, and the camera is provided with a filter which is transparent to at least one of the emission frequencies of the laser pointer, but the ambient light is suppressed.
  • an operator command a robot by means of a computer to the robot a command and then or simultaneously directs the laser pointer to a selected location in the storage area, the visible beam of the laser pointer exactly to the operator indicates the point in space to which the laser pointer is directed.
  • the operator must press a release button when he has aligned the laser pointer to a desired location, whereby a laser pointer positioned on the laser pointer Radio transmitter emits a radio signal; This radio signal is picked up by the radio receiver connected to the computer unit of the robot and triggers an image acquisition by the camera.
  • the operator should receive an acoustic feedback when the laser spot has been detected.
  • the operator also receives feedback that an image capture was triggered but no laser spot could be detected by the camera (indicating that the laser spot was out of the camera's field of view). The operator can then be asked to correct or repeat the marking of the desired location. Furthermore, it is mentioned as advantageous to make a check in the computer unit as to whether the desired storage location, a marked room zone, etc. is permissible and, if appropriate, output an error message for the operator.
  • the semi-autonomous system in addition to commanding the semi-autonomous system, where this system is interactively managed by the operator, who gives interactive commands to the system depending on the tasks being processed, the semi-autonomous system is also operated in a computer-aided mode can be, in which the semi-autonomous system receives from a control station in which a (fixed) work program for the semi-autonomous system is stored, which is then processed by the system sequentially.
  • mixed forms of commanding are to be possible, in which certain tasks are carried out fully automatically, but others are commanded interactively.
  • This system does not solve the problem of how an existing programming can be optimally changed.
  • a method and assistance system for supporting the work planning for a manufacturing process is known. This is intended to support a multi-level decision process for the generation of a work plan for a production process.
  • the decision-making process is based on a task which should clearly characterize the initial situation underlying the decision-making process.
  • the decision-making process should start from a feature-based CAD model of the workpiece to be manufactured.
  • the decision-making process should comprise hierarchically individual decisions that are linked together in the form of a decision tree.
  • an assistance system is to be used, which is linked to a database in which the individual decisions made in the past are stored as cases, whereby those cases which correspond to hierarchically consecutive individual assignments are relationally linked to one another .
  • the known assistance system should provide a user-defined measure of similarity for each individual decision, with the aid of which it is assessed how well a case stored in the database for this individual decision should be suitable as a solution for this individual decision.
  • the adaptation of this case to the current one-time decision should be made by means of specific rules.
  • the object of the present invention is to provide new products for commercial use.
  • the present invention thus proposes, in a first aspect, a machine control method for controlling a workpiece-processing machine, wherein a position is determined and a desired processing determined using a contact-free detected pointer, and it is provided that in response to the detected Pointer coordinates a list of possible processing steps is automatically generated and / or made available for selection.
  • the first finding of significance for the present invention is thus to be seen in that the programming of a machine control is significantly improved by not waiting for a respective acquired pointer coordinate until a user determines a desired processing, but rather accessing a database where most likely edits are made for specific positions, or by experience values predicted possible processing steps to generate from this a list of possible processing steps on the acquired pointer coordinate and available for selection. chen.
  • a list of possible processing steps from which a user can select an actual programming which can be carried out in a very simple manner becomes possible, so that the programming of the machine control can no longer be performed exclusively by highly specialized experts. but also, for example, by qualified skilled workers who observe a problem in a production line, which can easily be remedied by slightly changing a machining program.
  • Examples include minor displacements of a weld, changes in a weld line pattern in current production, changes in spray directions and orbits, etc. that are recognized by a worker on the assembly line.
  • the generation of lists of possible processing steps makes it possible to make such changes even without knowledge of programming languages, is fast and thus permits an almost instantaneous improvement and reaction to maladjustments and the like.
  • the overall start-up times of a production line with a large number of controlled, workpiece-processing machines until they run smoothly can thus be shortened considerably.
  • the workpiece-processing machine is a CNC, assembly, handle,
  • workpiece machining in the sense of the invention is understood to mean not only a shape-changing, surface-altering, separating, mounting and / or joining, but possibly also treatment or handling by measurement or analysis. It is also possible with the process not only mass production in larger
  • the machine will have at least one tool-carrying robot arm for machining the workpiece.
  • the tool can be changed preferably.
  • the list to be generated is preferably a macro list for complete robot arm part movements, eg. "Drive at speed v to xyz and drill there.” This is especially preferred because the use of The use of macrolists for complete part-motion operations allows a considerable simplification of programming.
  • a list may be generated based on the determination that a pointer position is at or near the weld line, including one or more weld step variants, and may be selected upon selection of another offered one Welding along the line the complete machining program will be changed automatically.
  • This change in the control can be done once, ie for a single execution, or several times in a series, to bring about a permanent change of the machining program. Although this change can also take place only once, that is, for a single execution, it is typically effected several times in a series. to bring about a particular permanent change in the machining program.
  • not only the pointer position, but also the pointer orientation is determined. It is accordingly preferred if not only the end point of the pointer is detected, but instead also the position of the pointer in space is referred to. Its orientation, rotation, etc. can therefore also be taken into account, whereby either only two orientation coordinates are detected, for example because the pointer is generally pin-shaped and its orientation about the pin axis is ignored, or all three rotational degrees of freedom can be detected by suitable sensor means become.
  • the position of the pointer is in a particularly preferred variant using ultrasound signals, which are provided by phase measurement with a plurality of transmitters and / or receivers, which are respectively provided on the pointer and fixed-referenced to the processing cell and / or machine, the necessary measurements are feasible.
  • an alternating on and off a transmitter or different transmitters can be used to differentiate the individual transmitters.
  • the time multiplex method has the advantage over the frequency division multiplex method to be relatively simple and it can be shown that at suitable measurement frequencies, transmitter changes, etc., the inaccuracy of a single measurement is not, at least not significantly increased.
  • a processing cell is understood to mean the volume within which a workpiece machining can take place. This volume may, as for example in the case of CNC machines already for reasons of noise generation in a production hall, be closed by sound-insulating walls or the like which delimit the actual processing area; It should be noted, however, that this is not necessary.
  • the position and / or position determination of the pointer can also take place using electromagnetic waves.
  • the electromagnetic waves may be optical signals, in particular radar signals, wherein in turn a plurality of transmitters and / or receivers are provided on the pointer and / or firmly referenced to the processing cell.
  • the selection of the next processing step is preferably made available either on a close to the cell and easily accessible to the operator touch panel and / or it can also be a selection on the pointer pin itself.
  • the last variant is particularly preferred if only very few processing options are available, so that the possibilities generated by the list can be made selectable by simply displaying by means of LED or LCD displays or even a small TFT display on the pointer pen.
  • Fig. 1 shows a machine for the implementation of a
  • 1 is a generally designated 1 machine 1 for machining a workpiece 2 by means of a robot formed with 3 and has to their control by an electronic control unit 4 on a non-contact detectable pointer 5, whose position can be detected by sensors 6 to generate in response to the detected pointer coordinates a list of possible processing steps and make available for selection.
  • the machine is shown as welding, milling and drilling robot, wherein the controlled robot arm can move in a direction indicated by dotted lines cell Ia to weld a workpiece 2 as required, drill or milled it out.
  • Workpiece 2 can be obtained on the machine 1 within the processing cell Ia, in the illustrated embodiment, stops Ib, Ic, Id provided on the base plate Ie, against which the workpiece can be fixed.
  • the robot arm 3 shown only schematically is capable of any of the machining operations desired, ie ⁇ Milling, drilling and welding in the present case and to reach each point on the workpiece 2 as required.
  • the robot arm 3 is under the control of the control electronics 4 configured as a process computer, specifically via a line 7, via which its movements and actions can be controlled by the control electronics 4.
  • the sequence of the individual working steps to be performed by the robot arm 3 will be described with reference to FIG. 4, in particular 4g, from which it can be seen that initially three holes of equal size are to be drilled on the upper side, then one
  • Weld seam on the upper front edge is provided, then a weld on the right front edge and then a milling on the front.
  • the manner in which the robotic arm is controlled per se to effect such operations is known per se.
  • the controller 4 includes a plurality of stages, interfaces, and the like. While not all of them need to be described, the following are to be mentioned in view of their particular meaning, it being understood that the stages have been chosen for a clearer disclosure, but in a practical embodiment, other than as described for illustrative purposes only , executed and / or summarized, in particular with respect to the functionality of individual stages and / or the respective implementation, as long as the essential aspects of the present invention, as they emerge for the skilled person from the overall text, are not deviated significantly.
  • the control electronics 4 initially comprises a sensor signal conditioning stage 4aO, with which the sensors 6 signals indicative of a reception of measurement signals 5a, which are emitted by signal sources 5b on the pointer 5.
  • the sensor signal conditioning stage 4aO which receives sensor signals from the sensors 6, conditions them with respect to signal levels, etc., and feeds the conditioned signals to a pointer coordinate and attitude detection stage 4a arranged from the conditioned position and position signals of the pointer 5 determine.
  • the pointer coordinate and position detection stage 4a follows here in the illustrated embodiment, a concordance stage 4b, which is intended to real coordinates and positions of the pointer 5 to an existing and existing workpiece 2 corresponding virtual positions and possibly positions on an idealized, for example, ideally smooth workpiece determine. This is illustrated in the step 4b by the transition of the real coordinates x, y, z, o ⁇ , ß, ⁇ on the real workpiece 2 to virtual coordinates X ⁇ VIR, Y "VIR # Z" VIR /
  • the determined virtual coordinates which correspond to a position on the workpiece 2 stored and assumed to be known, are then used in a processing stage 4c to determine whether it is close to that of the operator based on the already stored older programming, see arrow 8 of box 4g touched point of the real work piece a certain processing is provided.
  • a processing stage 4c only four different different operations in the form of macros are provided for workpiece 2, namely two for the production of welds, one for a series of holes and one for a cutout.
  • the concordance stage 4c is designed here z.
  • step 4d Based on the distances of the virtual point X "VIR, Y" VIR, z% IR of the coordinates at which the respective different machining operations are to take place, which are in each case an indicative (heavy) point x1, y1, z1 for the macro of the first weld seam, x2, y2, z2 for the macro of the bore series, x3, _y3 , z3 is indicated for the second weld and x4, y4, z4 for the macro of the milling, to determine that the hole row near the coordinates x2, y2, z2 is closest to the point indicated on the real workpiece by the pointer 5. This is shown in step 4d. It will be understood that, in fact, the exact wellbore that was probed is also identifiable, but the use of too large an amount of coordinates has been omitted in the disclosure for the sake of clarity.
  • Stage 4e displays in graphic form the list of possible processing operations proposed by the generation stage 4d, on the one hand an enlargement or reduction of the borehole and, on the other hand, its displacement. Shown in step 4e is a section of a touchscreen on which different changes of the preprogrammed processing are indicated.
  • the list can be displayed in alphanumeric or numerical form. conditions, but possibly other possibilities are given, such as by the projecting of different symbols on the pointer 5 itself to the workpiece, for example, the symbols can be changed, which can be done cyclically _ until a worker selects the processing desired by him.
  • step 4f After the selection, indicated in step 4f, in the present example, selection of a hole enlargement, a machine control program change is required, for which the previous program, indicated in 4g, lower area, is to be changed to a new program, through which an enlarged hole drill, as indicated at 4gl. If necessary, changes in the trajectory along which the robot arm moves are required.
  • the pointer 5 comprises five ultrasonic transmitters which are arranged non-planar and emit signals in a time division multiplex manner, that is to say one after the other.
  • 5a, 5b are receivable by ultrasonic sensors arranged in the corners of the processing cell 1a, in such a way that from the phase angle of the received ultrasonic signals to the distance of a respective arranged in a corner ultrasonic sensor to the straight active ultrasonic transmitter on the pointer 5 can be closed.
  • the number of five ultrasonic transmitters shown here on the pointer 5 is not absolutely necessary, just as the presence of a total of eight ultrasonic receivers on the cell is not required in order to detect the pointer 5 in its position and position;
  • the use of a plurality of transmitters and receivers, which goes beyond the absolutely necessary number, increases in an advantageous manner
  • the precision and reliability of the determination have been disclosed herein as a preferred variant, although it will be apparent to those skilled in the art that it is not absolutely necessary to provide such a large number of transmitter-receiver pairs, nor do they necessarily rely on ultrasonic signals and a phase measurement is required for position determination; rather, it is clear that other position determinations are also possible, for example, optical type by means of cameras, radar signals, modulated light signals. etc. It is also clear that the actual triangulation and position and orientation is not the core of the present invention and need not be explained in detail.
  • the pointer is designed to signal the probing of a point on the workpiece of the control electronics 4, which in the present case is done by suitable modulation of the ultrasonic transmitter on the pointer 5 and demodulation in the control electronics 4, but would also be realized differently.
  • the sensors 6 feed their respective signals to the output stage 4aO, which is also able to detect, possibly by respective different modulation of the respective transmitters on the pointer 5, which of the corresponding transmitters at the pointer 5 is currently active.
  • a machine control method can be carried out as follows:
  • a workpiece 2 is predetermined in its coordinates by means of a CAD program and a first machine control for carrying out a desired and required programmed workpiece machining.
  • a CAD program for carrying out a desired and required programmed workpiece machining.
  • the present invention can be resorted to.
  • the pointer 5 is shown on the corresponding hole. This can be done by pointing the pointer and determining its position, so that not necessarily the workpiece 2 must be touched, which is particularly advantageous when a real, extremely sensitive workpiece is processed. In the present case, however, when the contact sensor arranged on its tip touches the workpiece, the pointer will detect the contact of the workpiece and, in response thereto, modulate the ultrasonic signals which are preferably emitted continuously by the individual transmitters in such a way that the ultrasonic signals
  • the coordinates x, y, z which indicate the pointer position, as well as the position indicating data,
  • angle ⁇ , ⁇ , y determined and forwarded in step 4a, to determine therefrom in step 4b a position X'VIR, Y ' VIR, Z'VI R ZU, that is, to the real, detected coordinate one of the most probable Virtual coordinate is determined. Then in the concordance.
  • the concordance stage 4c has access to the processing data through a suitable connection to the actual processing program, wherein the connection in the present example is shown as line 8 and can be technically realized for example by a memory access in a machine control system to the processing program memory.
  • the pointer operator must be in In the preferred embodiment shown, it does not take care of the individual commands with which, for example, after drilling the first two holes of the series, the size of the hole is changed, that is, he is not concerned with the details that a drill change requires, nor does he have to a displacement of the borehole on the surface predetermine the exact coordinates of the displacement itself in the CAD program, which can lead to considerable difficulties in complex workpieces due to the oblique position of planes and the like in space.
  • the generation stage 4d offered different instruction macros, which consisted of a series of individual steps such as "move the drill to the drill change station, change the drill there, move the robot arm to the next location.” Macros recognized as eligible and identifiable according to a respective qualification of an operator are then selected in a step 4e, which may in particular be a touch screen on which the operator only has to briefly tap what he wishes the selection has been made, shown at 4f, the corresponding macro in the machine control stage 4g is changed and then immediately further processing of the workpiece 2 can be made, unless the user wishes to make further changes.
  • the present invention thus makes it possible to make and / or modify a programming of a machine very quickly and thereby supports the operation in an optimum manner.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

La présente invention concerne un procédé de commande de machine qui sert à commander une machine d'usinage de pièce (1), une position étant déterminée par utilisation d'un indicateur (5) détecté sans contact, et un usinage souhaité étant déterminé pour cette position. Selon l'invention, en réponse aux coordonnées détectées de l'indicateur, une liste d'étapes d'usinage possibles (4e), est produite automatiquement, et mise à disposition pour permettre une sélection.
PCT/DE2006/001759 2005-10-10 2006-10-09 Commande de machines d'usinage de pieces Ceased WO2007041993A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200510048812 DE102005048812B4 (de) 2005-10-10 2005-10-10 Steuerung werkstückbearbeitender Maschinen
DE102005048812.9 2005-10-10

Publications (1)

Publication Number Publication Date
WO2007041993A1 true WO2007041993A1 (fr) 2007-04-19

Family

ID=37663375

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2006/001759 Ceased WO2007041993A1 (fr) 2005-10-10 2006-10-09 Commande de machines d'usinage de pieces

Country Status (2)

Country Link
DE (1) DE102005048812B4 (fr)
WO (1) WO2007041993A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009039896A1 (fr) * 2007-09-19 2009-04-02 Abb Ag Système et procédé de mesure de vitesse et/ou de distance pour des processus robotisés de production et de fabrication
WO2009036816A1 (fr) * 2007-09-22 2009-03-26 Abb Ag Système et procédé pour déterminer et/ou reconnaître des objets lors de processus de fabrication et de production robotisés
DE102014226766A1 (de) * 2014-12-22 2016-06-23 Windmöller & Hölscher Kg Rotationsdruckmaschine

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4326338C2 (de) * 1993-08-05 1996-07-18 Daimler Benz Aerospace Ag Schweißroboter
DE10237724A1 (de) * 2002-08-17 2004-03-11 Bayerische Motoren Werke Ag Vorrichtung zur punktgenauen Zuordnung eines Werkzeugs zu einem Werkstück

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5828602B2 (ja) * 1981-03-23 1983-06-17 工業技術院長 ロボット制御のためのティ−チング方法
JPS60256802A (ja) * 1984-06-01 1985-12-18 Aisin Seiki Co Ltd ロボツトの位置補正システム
JPS61182106A (ja) * 1985-02-07 1986-08-14 Matsushita Electric Ind Co Ltd 教示装置
JPS62165213A (ja) * 1986-01-17 1987-07-21 Agency Of Ind Science & Technol 作業環境教示装置
JPS6352203A (ja) * 1986-08-21 1988-03-05 Sharp Corp ロボツトの教示装置
JP2542615B2 (ja) * 1987-03-31 1996-10-09 三菱電機株式会社 加工線テイ−チング方法
JPH0769144B2 (ja) * 1990-03-07 1995-07-26 株式会社神戸製鋼所 三次元位置測定方式
JPH04322305A (ja) * 1991-04-23 1992-11-12 Citizen Watch Co Ltd 教示装置
SE504846C2 (sv) * 1994-09-28 1997-05-12 Jan G Faeger Styrutrustning med ett rörligt styrorgan
JPH10138182A (ja) * 1996-11-08 1998-05-26 Toyoda Mach Works Ltd ロボットの教示装置
CA2244037A1 (fr) * 1998-09-09 2000-03-09 Servo-Robot Inc. Appareil pour eduquer un robot
DE10023668B4 (de) * 2000-05-16 2006-03-09 Daimlerchrysler Ag Verfahren und Assistenzsystem zur Unterstützung der Arbeitsplanung für einen Fertigungsprozeß
JP2002172575A (ja) * 2000-12-07 2002-06-18 Fanuc Ltd 教示装置
DE10215167C1 (de) * 2002-04-05 2003-06-18 Daimler Chrysler Ag Anordnung und Laserpointer zur Kommandierung eines semiautonomen Systems
DE10246783A1 (de) * 2002-10-08 2004-04-22 Stotz-Feinmesstechnik Gmbh Verfahren und Vorrichtung zum Handhaben von Objekten
US6907313B2 (en) * 2003-01-17 2005-06-14 Dp Technology Corp. Method and system for computer aided manufacturing

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4326338C2 (de) * 1993-08-05 1996-07-18 Daimler Benz Aerospace Ag Schweißroboter
DE10237724A1 (de) * 2002-08-17 2004-03-11 Bayerische Motoren Werke Ag Vorrichtung zur punktgenauen Zuordnung eines Werkzeugs zu einem Werkstück

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
"MACHINE VISION REGION SELECTION", IBM TECHNICAL DISCLOSURE BULLETIN, IBM CORP. NEW YORK, US, vol. 31, no. 4, 1 September 1988 (1988-09-01), pages 182 - 183, XP000021637, ISSN: 0018-8689 *
STOPP A ET AL: "The manufacturing assistant: safe, interactive teaching of operation sequences", ROBOT AND HUMAN INTERACTIVE COMMUNICATION, 2002. PROCEEDINGS. 11TH IEEE INTERNATIONAL WORKSHOP ON SEPT. 25-27, 2002, PISCATAWAY, NJ, USA,IEEE, 25 September 2002 (2002-09-25), pages 386 - 391, XP010611675, ISBN: 0-7803-7545-9 *
TROUVAIN B A ET AL: "Integrating a multimodal human-robot interaction method into a multi-robot control station", PROCEEDINGS 10TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION. ROMAN 2001 (CAT. NO.01TH8591) IEEE PISCATAWAY, NJ, USA, 2001, pages 468 - 472, XP002417232, ISBN: 0-7803-7222-0 *

Also Published As

Publication number Publication date
DE102005048812B4 (de) 2011-02-10
DE102005048812A1 (de) 2007-04-19

Similar Documents

Publication Publication Date Title
DE102019006800B4 (de) Robotersteuerung und Anzeigevorrichtung unter Verwendung von erweiterter Realität und gemischter Realität
DE102015105687B4 (de) Roboter
EP1931503B1 (fr) Procede pour determiner un point central virtuel d'outil
EP1447770B1 (fr) Procédé et système de visualisation d'information assisté par ordinateur
EP2285537B1 (fr) Dispositif et procédé de génération assistée par ordinateur d' une bande de manipulateur
DE102015012961B4 (de) Robotersystem
DE102010036499B4 (de) Werkzeugvektor-Anzeigevorrichtung für eine Werkzeugmaschine mit Drehachse
DE102015012962B4 (de) Robotersystem
DE102020110252B4 (de) Vibrationsanzeigeeinrichtung, Betriebsprogrammerstellungseinrichtung und System
DE102016107397B4 (de) Bahnanzeigevorrichtung zur darstellung der bahn einer werkzeugachse
DE102019134794B4 (de) Handgerät zum Trainieren mindestens einer Bewegung und mindestens einer Tätigkeit einer Maschine, System und Verfahren.
DE102004020099A1 (de) Verfahren und Vorrichtung zum Beeinflussen eines mehrachsigen Handhabungsgeräts
DE102015012763A1 (de) Roboterlehrvorrichtung zum Einlernen eines Roboters offline
DE102007048578A1 (de) Werkzeugmaschinensteuerung
DE102014017307A1 (de) Verfahren und System zum Bearbeiten eines Bauteils mit einem robotergeführten Werkzeug
DE112015001511T5 (de) Plasmasystem mit integrierter zentralisierter Steuereinheit für Stromversorgung, Bewegunssteuerung, Gassteuerung und Brenner
DE202019107044U1 (de) Handgerät zum Trainieren mindestens einer Bewegung und mindestens einer Tätigkeit einer Maschine, und System
EP2835702B1 (fr) Procédé de mesure d'au moins un axe rotatif d'une machine-outil
DE112022000384T5 (de) Lehrvorrichtung und lehrverfahren zum lehren der bedienung einer laserbearbeitungsvorrichtung
DE102015214857A1 (de) Verfahren und System zum Erstellen eines dreidimensionalen Modells einer Produktionsumgebung
DE102007048587A1 (de) Werkzeugmaschinensteuerung
DE102019105820A1 (de) Verfahren, System sowie nichtflüchtiges Speichermedium
EP3471928B1 (fr) Configuration et/ou commande d'un ensemble de robots
EP1078305A1 (fr) Appareil de mesure de coordonnees et procede pour en assurer la commande
DE102015117306B4 (de) Mehrachs-Maus für einen Mehrachsroboter

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: DE

WWW Wipo information: withdrawn in national office

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 06805378

Country of ref document: EP

Kind code of ref document: A1