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 PDFInfo
- 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
- Authority
- FR
- France
- Prior art keywords
- rod
- ring
- implementation
- screwing
- crimping
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract 4
- 238000002788 crimping Methods 0.000 title abstract 3
- 238000005259 measurement Methods 0.000 abstract 3
Classifications
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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)
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 |
-
2019
- 2019-12-20 FR FR1915364A patent/FR3105053B1/fr active Active
-
2020
- 2020-12-17 WO PCT/EP2020/086608 patent/WO2021122872A1/fr active Application Filing
Also Published As
Publication number | Publication date |
---|---|
FR3105053A1 (fr) | 2021-06-25 |
WO2021122872A1 (fr) | 2021-06-24 |
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Effective date: 20210625 |
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