FR3105053B1 - Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre - Google Patents

Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre Download PDF

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Publication number
FR3105053B1
FR3105053B1 FR1915364A FR1915364A FR3105053B1 FR 3105053 B1 FR3105053 B1 FR 3105053B1 FR 1915364 A FR1915364 A FR 1915364A FR 1915364 A FR1915364 A FR 1915364A FR 3105053 B1 FR3105053 B1 FR 3105053B1
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FR
France
Prior art keywords
rod
ring
implementation
screwing
crimping
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Active
Application number
FR1915364A
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English (en)
Other versions
FR3105053A1 (fr
Inventor
Damme Damien Van
Stéphane Morel
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.)
AKEO PLUS
Airbus Operations SAS
Original Assignee
AKEO PLUS
Airbus Operations SAS
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 AKEO PLUS, Airbus Operations SAS filed Critical AKEO PLUS
Priority to FR1915364A priority Critical patent/FR3105053B1/fr
Priority to PCT/EP2020/086608 priority patent/WO2021122872A1/fr
Publication of FR3105053A1 publication Critical patent/FR3105053A1/fr
Application granted granted Critical
Publication of FR3105053B1 publication Critical patent/FR3105053B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • 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
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
    • 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
    • G05B2219/40082—Docking, align object on end effector with target
    • 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
    • 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
    • G05B2219/45091—Screwing robot, tighten or loose bolt
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/12—Acquisition of 3D measurements of objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre L'invention a pour objet un procédé de vissage ou de sertissage d’une bague sur une tige (16), caractérisé en ce qu’il comprend : - une étape de prise de mesures, - une étape de reconstitution d’au moins une partie d’une enveloppe extérieure virtuelle à partir des mesures obtenues à l’étape de prise de mesures, - une étape de détermination de la position réelle et de l’orientation réelle de l’axe de révolution (A16) de la tige (16) à partir de l’enveloppe extérieure virtuelle reconstituée, - des étapes de positionnement et de déplacement de la bague par rapport à la tige (16) en fonction de l’axe de révolution (A16) de la tige (16) déterminé, la bague étant supportée par un outil (22) déplacé de manière automatique et autonome par des systèmes de commande et de déplacement lors des étapes de positionnement et de déplacement de la bague. Ce procédé permet d’insérer une bague sur une tige (16) avec une efficacité accrue à l’aide d’un bras robotisé de précision « standard ». Figure 3
FR1915364A 2019-12-20 2019-12-20 Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre Active FR3105053B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1915364A FR3105053B1 (fr) 2019-12-20 2019-12-20 Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre
PCT/EP2020/086608 WO2021122872A1 (fr) 2019-12-20 2020-12-17 Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1915364 2019-12-20
FR1915364A FR3105053B1 (fr) 2019-12-20 2019-12-20 Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre

Publications (2)

Publication Number Publication Date
FR3105053A1 FR3105053A1 (fr) 2021-06-25
FR3105053B1 true FR3105053B1 (fr) 2022-09-09

Family

ID=70228182

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1915364A Active FR3105053B1 (fr) 2019-12-20 2019-12-20 Procédé de vissage ou de sertissage automatisé et dispositif pour sa mise en œuvre

Country Status (2)

Country Link
FR (1) FR3105053B1 (fr)
WO (1) WO2021122872A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10002431B2 (en) * 2015-11-03 2018-06-19 The Boeing Company Locating a feature for robotic guidance
CN106524945B (zh) * 2016-10-13 2019-07-12 无锡科技职业学院 一种基于机械臂和结构光视觉的平面夹角在线测量方法
US10435179B2 (en) * 2017-04-18 2019-10-08 Electroimpact, Inc. Camera assisted robotic system for locating the end of a fastener extending through an aircraft part during manufacture thereof
US11358290B2 (en) * 2017-10-19 2022-06-14 Canon Kabushiki Kaisha Control apparatus, robot system, method for operating control apparatus, and storage medium

Also Published As

Publication number Publication date
FR3105053A1 (fr) 2021-06-25
WO2021122872A1 (fr) 2021-06-24

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