西班牙专利ES2668930A1 MARKING DEVICE FOR THE WORK PATH OF A ROBOT, A SYSTEM THAT INCLUDES SAID DEVICE AND PROCEDURE FOR ID

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专利摘要:
Marking device (3) of the working path of a robot (1), system incorporating said marking device (3) and procedure that allows identifying the path to follow the robot to perform a work operation on a part, comprising the marking device (3) a measuring means (6, 7, 8) to obtain first data of the position and spatial orientation of the marking device (3); a reference pattern (9) identifiable by a first computer vision means (4) to obtain a second data of the position and spatial orientation of the marking device (3); and communication means (10) for sending the first data of the position and spatial orientation of the marking device (3) obtained by the measuring means (6, 7, 8) to a control unit (5) connectable to the robot (one). (Machine-translation by Google Translate, not legally binding)
公开号:ES2668930A1
申请号:ES201631495
申请日:2016-11-22
公开日:2018-05-23
发明作者:Juan Ignacio FORCÉN CARVALHO；Enric Vila Papell
申请人:ESTUDIOS DE INGENIERIA ADAPTADA SL；
IPC主号:

专利说明:

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DEVICE FOR MARKING THE WORK TRAJECTORY OF A ROBOT, A SYSTEM THAT INCORPORATES SUCH DEVICE AND PROCEDURE FOR THE IDENTIFICATION OF THE ROBOT WORK HISTORY
Technical sector
The present invention is related to the automation of surface work, for cleaning, polishing, sanding, painting or similar operations, proposing a device that allows to identify and memorize in real time some work paths that must subsequently be reproduced by a robot, of so that the programming that the robot requires to perform work operations is simplified.
The simple programming of a robot is one of the challenges of industry 4.0 in which production tends to be increasingly flexible and able to respond to changes in customer design and requirements.
State of the art
In certain sectors, such as aeronautics or wind, and other similar, you have to perform surface cleaning, polishing, sanding, painting or similar work on pieces of a certain size, which generally have irregular surfaces, that is to say, not flat or simple, Therefore, the programming of robotic works is of a certain complexity, therefore, generally resorting to the manual execution of said works, with the inconvenience of human costs and risks that this entails.
However, when operations or surface work are required in the manufacture of parts in which the repetitiveness of the same, as well as the degree of quality in the finish is very important, the manual performance of these operations is not economically acceptable, requiring the intervention of a robot that performs said work operations.
The programming of the robot to carry out a work operation on a piece is done conventionally in several ways:
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• One is based on the fact that an operator with advanced robot programming knowledge generates a program with the trajectories that the robot must follow to perform the work operations on the part, but as indicated above this solution has the problem that the Programming is a complicated and laborious task that takes a lot of time and requires highly specialized personnel to perform it.
• Another way is based on a specialized operator programming the trajectories based on “offline” programming and simulation tools, by simulating the three-dimensional trajectories of the robot with respect to the three-dimensional representation of the part and generating through a post-operation. processed trajectories and operations in processable format by the robot. This procedure has the disadvantage of having to overcome the inaccuracies between the real geometry and the theoretically designed one, as well as the errors coming from the real positioning of the piece with respect to the one designed in the simulator.
• Another way is based on the robot incorporating sensors that help you navigate on the work piece, so a program with simple paths guides the robot on the part and the sensor means help it adapt to its surface, so that this option reduces the programming time of the paths that the robot must follow, however, it is not an adequate solution when precision work operations are required.
A solution is therefore necessary to simplify the programming of the paths that a robot must follow to be able to perform work operations on a part properly and accurately.
Object of the invention
The invention relates to a marking device of the working path of a robot, the marking device being for acquiring and generating data of said working path. Additionally, the invention relates to a system incorporating said marking device and a method that identifies the path that the robot must follow to perform a work operation on a piece, such as a sanding, painting, milling, polishing operation. or similar, allowing the invention to simplify the task of
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robot programming to perform said work operation.
The marking device of the invention comprises:
• measuring means for obtaining first data of the position and spatial orientation of the marking device;
• a reference pattern identifiable by first computer vision means to obtain a second data of the position and spatial orientation of the marking device; Y
• communication means for sending the first data of the position and spatial orientation of the marking device obtained by the measuring means to a control unit connectable to the robot.
The system for identifying the working path of a robot of the invention comprises:
• the marking device comprising the measuring means for obtaining the first data of the position and spatial orientation of the marking device, and the reference pattern;
• the first computer vision means that identify the reference pattern of the marking device to obtain the second data of the position and spatial orientation of the marking device;
• the control unit that receives the first and second data of the position and spatial orientation of the marking device; Y
• the robot that is connected to the control unit to carry out a work path according to the data of the position and spatial orientation of the marking device.
With all this, the procedure for the identification of the work path of the robot
Understand the steps of:
• move the marking device on a part according to a work path,
• obtain the position and spatial orientation of the marking device along the work path, and
• use the robot that reproduces the work path on the part according to the position and spatial orientation of the marking device.
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In this way, an operator can use the marking device to perform work on a piece, the path described by the marking device is identified and sent to the control unit connected to the robot, so that the robot can reproduce the path of work described by the marking device. Thus, the robot can be programmed quickly and easily, without requiring the intervention of an operator with advanced programming knowledge.
The measuring means obtains information on the linear speed, angular velocity and orientation of the marking device and preferably comprise an accelerometer for measuring the acceleration of the three-axis marking device, a gyroscope for measuring the angular velocity of the marking device on the three axes, and a magnetometer to measure the orientation of the marking device in the three axes with respect to the magnetic north. Additionally, a temperature sensor can be used to determine the magnetometer temperature. The temperature sensor is included in the marking device, and allows correction of magnetometer measurement errors due to excess temperature.
The marking device comprises a contact surface to contact the part on which the work path is made. Said contact surface can be replaced by a work tool, for which the marking device has locking means that allow the work surface or the work tool to be coupled. Thus, the work surface is used so that an operator can slide the marking device through the work piece simulating a work operation, while the work tool is used to perform a real work on the piece, so that using the work tool the robot has information that is more similar to the reality of the work operation that it must reproduce.
The marking device additionally comprises means for determining the pressure exerted by the marking device on the part. More specifically, these means determine the pressure exerted by the contact surface or the corresponding work tool on the part. Said means allow to obtain information of the pressures exerted on different points or continuous trajectories in the piece.
Said means comprise tilting arms that transmit the pressure exerted on the part to a pressure sensor. The swingarms are arranged according to a
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radial distribution in angular positions offset 120 ° to each other, where the pressure sensor is arranged in the center of the radial distribution, so that a uniform distribution of the pressure on the sensor is obtained.
The means for determining the pressure exerted by the marking device are especially advantageous when the contact surface is replaced by a work tool, since in addition to obtaining information on the position and spatial orientation of the marking device along the path For work, information is obtained on the pressures exerted on different parts of the part, for example when a motorized sandpaper is used as a work tool, the pressure that the operator is exerting on the part can be determined.
Additionally, the device of the invention comprises a handle arranged on the means that determine the pressure exerted by the marking device on the part. The marking device comprises a button to take and record the first data of the position and spatial orientation of the marking device. Preferably, the button is located on said handle to facilitate being operated.
The marking device additionally comprises warning means to indicate the location of the marking device outside the working area of the robot, so that the operator can know if the path that is marking by the device falls within the scope of the robot, and therefore if it can be reproduced later by the robot.
The system of the invention additionally comprises second computer vision means for scanning the part on which to carry out the work path, acquiring geometric and dimensional data of the piece. Additionally, the system comprises a mobile platform on which the robot is placed, the mobile platform being governable by the control unit to be moved together with the robot based on the first and second data of the position and spatial orientation of the robot. marking device and / or geometric and dimensional data of the piece. Additionally or alternatively to one or both options, the mobile platform is movable by the control unit depending on the robot's own characteristics.
The system of the invention additionally comprises an interface for modifying parameters of the data received by the control unit, such as for example the
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acquired through the marking device, both through the measurement means and the first computer vision means. Likewise, the interface allows to modify the geometric and dimensional data of the acquired piece.
The first computer vision means preferably comprise at least one camera, and more preferably at least two. By using two, three, four or more cameras, a larger surface area of the piece can be covered by which the marking device can be moved. Additionally, by using at least two cameras the marking device is focused from different points increasing the chances that the marking device is visualized by at least one of the cameras.
With all this, the invention results in a solution that allows a robot to be programmed quickly and easily without the need to perform complicated programming tasks, with the consequent saving in time and cost of specialized personnel to perform the programming.
Description of the figures
Figure 1 shows a perspective view of the system to identify the working path of a robot, according to an embodiment.
Figure 2 shows a perspective view of the system to identify the working path of a robot, according to another embodiment.
Figure 3 shows a perspective view of the system to identify the working path of a robot, according to another additional embodiment.
Figure 4 shows a block diagram with elements that make up the system to identify the robot's work path.
Figure 5 shows a perspective view of the marking device that allows to identify the work path that the robot must perform.
Figure 6 shows a longitudinal sectional view of the device of Figure 5.
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Figure 7 shows a cross-sectional view of the bottom of the device of Figure 5.
Detailed description of the invention
The invention relates to a system for identifying the work path that a robot (1) must perform on a part (2), such as sanding, milling, polishing, painting or similar work. The system of the invention comprises the robot (1) that performs surface work operations on the part (2), a marking device (3) that allows marking the work path that the robot (1) must reproduce on the part ( 2), first computer vision means (4) to identify the marking device (3) in the working environment of the robot (1) and a control unit (5) connected to the robot (1) to perform the operations working on the part (2) according to the trajectory referenced by the marking device (3). The control unit (5) is configured so that it generates the work paths to be performed by the robot (1), that is, to generate said paths in a format executable by the robot (1), and more specifically by a controller of the robot (1).
In Figure 2 it is observable that the system can additionally comprise a second computer vision means (20) for scanning the part (2) and acquiring geometric and dimensional data thereof, and therefore of the surface or area on which Work the robot (1). The second computer vision means (20) are connected to the control unit (5) for transmission of the data on the part (2). Said second computer vision means (20), by calculations made by the control unit (5), allow reducing the number of points to be acquired to define the surface by means of the marking device (3), especially on surfaces with pronounced curvatures The second computer vision means (20) are used by the system to, by means of the control unit (5), plan the work path avoiding obstacles in cases where the surface is discontinuous, for example by reinforcement beams, stringers, gaps, windows, etc. In this way, the control unit (5) is configured to generate the work paths to be performed by the robot (1) avoiding said obstacles detected in the scanning of the part (2).
In Figure 1 it is observable how the system can comprise the first computer vision means (4), without understanding the second computer vision means
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(twenty). In this case, the first computer vision means (4) can be configured to also perform the scanning function described in order to acquire the geometric and dimensional data of the piece (2), in addition to identifying the marking device (3) in the working environment of the robot (1).
Likewise, the first computer vision means (4) may comprise a single camera for displaying the marking device (3) in the working environment of the robot (1) or more than one, that is, two, three, four or more. . In figures 1 to 3 two cameras are appreciable. The first computer vision means (4) can comprise several cameras arranged according to different positions and viewing angles of the piece (2) to jointly cover a larger field of vision, that is to say a larger surface of the piece (2) and / or ensure the display of the marking device (3). When one of the cameras cannot visualize the marking device (3), it is visualized by another of the cameras, since the cameras are arranged focusing from different points. The location and orientation of all cameras is known or not. When the marking device (3) is displayed in a common display area of one of the cameras of known location and orientation and of another of the cameras of unknown location and orientation, the position and orientation of the camera are determined by mathematical calculations of location and unknown orientation.
The control unit (5) is additionally configured to generate operation data that is sent to a post-processing set, either off-line simulation or path generation in executable format by the robot (1), with the In order for the robot (1) to perform work operations on the part (2) according to the trajectory referenced by the marking device (3).
The marking device (3) has two different units that allow obtaining accurate and real-time information on the position and spatial orientation of the marking device (3) in the robot's working environment (1). Specifically, the marking device (3) comprises measuring means (6, 7, 8) that allow obtaining first data of the position and spatial orientation of the marking device (3) and a reference pattern (9) identifiable by the computer vision means (4) which allows to obtain a few seconds data of the position and spatial orientation of the marking device (3).
The marking device (3) has communication means (10), preferably
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wireless, to send the first data of the position and spatial orientation of the marking device (3) obtained by the measuring means (6, 7, 8) to the control unit (5), while the second position data and spatial orientation of the marking device (3), obtained by the identification of the reference pattern (9), are sent by the first computer vision means (4) to the control unit (5).
The marking device (3) additionally comprises a processor (21) connected to the measuring means (6, 7, 8), which is configured to receive and process the first data of the position and spatial orientation of the marking device ( 3) so that they are interpretable by the control unit (5). Also, the processor (21) is connected to the communication means (10), so that it sends the first data of the position and spatial orientation of the marking device (3) to said communication means (10) after being processed. Additionally, the processor (21) is configured to manage the general operation of the marking device (3), its on and off, lighting, sounds, etc.
The marking device (3) additionally comprises an interface (HMI), not shown in the figures, to modify or edit the parameters of the information or data acquired by means of the marking device (3) referring to the work path to be followed. by the robot (1). The interface is preferably connected to the control unit (5) for modification of the information or data it receives. In this way, through the interface, the first and second data of the position and spatial orientation of the marking device (3) are modifiable or editable, in addition to the geometric and dimensional data of the piece (2).
Preferably, the reference pattern (9) is a code in a visible outside area of the marking device (3), so that it can be remotely recognized by the first computer vision means (4) to identify the position and orientation of the marking device (3) in the working environment of the robot (1). According to this, the code can be a non-symmetrical and / or flat image. Alternatively, the reference pattern (9) may be a form of the marking device itself (3) recognizable by the first computer vision means (4). Visualizing the marking device (3) involves the display and identification of the reference pattern (9). In this way, the control unit (5) defines for example positions, angles and inclinations of the marking device (3), and more specifically of the reference pattern (9).
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The measuring means (6, 7, 8) allow obtaining information on the linear speed, angular speed and orientation of the marking device (3) with respect to a 3-axis reference system, such as for example a Cartesian system of three axes, such as a vertical axis, a horizontal axis and a transverse axis. Preferably, the measuring means (6, 7, 8) is an inertial measuring unit (IMU), wherein the measuring means (6, 7, 8) have an accelerometer (6) for measuring the acceleration of the marking device (3) in the three axes, a gyroscope (7) to measure the angular speed of the marking device (3) in the three axes, and a magnetometer (8) to measure the orientation of the marking device (3) in the three axes with respect to magnetic north. It is possible that instead of using triaxial devices, uniaxial devices are used, such as an accelerometer for each axis, a gyroscope for each axis and a magnetometer for each axis, without altering the concept of the invention.
The use of the magnetometer (8) makes it possible to reference the marking device (3) with respect to an absolute reference system, that is, it allows geolocation of the marking device (3) and to reference it with respect to the terrestrial magnetic north pole, that is, to orient it; while the reference pattern (9) identified by the first computer vision means (4) allows the marking device (3) to be referenced with respect to a relative reference system, that is, with respect to the robot reference system (1) ), whereby the joint use of the measuring means (6, 7, 8) and the reference standard (9) identified by the first computer vision means (4) allows to obtain an accurate identification of the position and orientation of the marking device (3) in the working environment of the robot (1). Thus, for each measurement obtained by the measurement means (6, 7, 8), or the first computer vision means (4), the consistency of the data obtained by one or the other means can be verified and combined to ensure the final precision, calibrate the marking device (3) to reference the absolute coordinate system with the reference system of the robot (1), preventing errors from accumulating the accelerometer measurement, (6), or the gyroscope ( 7), and therefore improving the accuracy in the data obtained from the position and spatial orientation of the marking device (3).
Figure 5 shows an example of a non-limiting embodiment of the marking device (3) comprising a "U" shaped body (11) with a contact surface (12) configured to contact the part (2) on the that the work path is carried out, so that an operator can pass the contact surface (12) of the device
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marking (3) on the piece (2) simulating a work operation that will later be reproduced by the robot (1). The contact surface (12) is a disc or similar element disposed in the lower part of the marking device (3) which by means of locking means (13) of the bayonet type or the like is coupled onto the body (11) of the device marked (3).
The locking means (13) can be used to couple and uncouple the contact surface (12), so that a work tool (not shown) can be attached to the body (11) of the marking device (3) of the contact surface (12), such as a motorized sandpaper, machining tool, painting or any other tool necessary to perform a work operation on the part (2). The possibility of attaching a work tool to the marking device (3) is advantageous, since real work can be carried out on the part (2) so that the position and orientation data of the marking device (3) that will be used by the robot (1) will be more similar to the reality of the work operation to be performed.
The reference pattern (9) that is identifiable by the first computer vision means (4) is arranged on the upper face of the body (11) in a "U" shape of the marking device (3), while in the inside part of said body (11) in the form of "U" the marking device (3) has a handle (14) for an operator, the contact surface (12), or where appropriate the work tool, arranged on the lower face of the body (11) in the form of "U", in this way, while a work path is being marked on the part (2), the operator's hand is arranged on the inside of the body (11) in the form of "U" and therefore the reference pattern (9) always remains visible so that the first computer vision means (4) can recognize it at all times.
The marking device (3) additionally comprises means for determining the pressure exerted on the part (2), so that in addition to obtaining information on the position and spatial orientation of the marking device (3), pressure information is obtained that the operator is exercising on the part (2), which is especially advantageous when a work tool is arranged in the marking device (3).
The means for determining the pressure exerted on the part (2) comprise three tilting arms (15) that transmit the pressure exerted on the part (2) to a pressure sensor
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(16). The tilting arms (15) have a first end that rests on the contact surface (12), or if necessary the work tool, and a second end that rests on the pressure sensor (16).
As seen in the sectional view of Figure 7, the swinging arms (15) are arranged according to a radial distribution in the lower part of the body (11) of the marking device (3), the swinging arms (15) being arranged in the radial distribution according to angular positions offset 120 ° to each other, where the first end of each swing arm (15) is disposed on the outer periphery of the radial distribution and the second end of each swing arm (15) is arranged in the center of the radial distribution, the pressure sensor (16) being located in the center of said radial distribution, so that the pressure exerted on the part (2) is uniformly distributed over the pressure sensor (16).
The marking device (3) has a push button (17) to take and record the first data of the position and spatial orientation of the marking device (3). The operation of the button (17) is managed by the processor (21). The communication means (10) send these first data of the position and spatial orientation of the marking device (3) to the control unit (5). The button (17) is arranged in the handle (14) so that it can be easily accessible by the operator, the operator being able to make punctual presses to take specific measurements of the position and spatial orientation of the marking device (3), or a pulsation continuous to continuously measure the position and spatial orientation of the marking device (3) along the work path on the part (2).
The marking device (3) additionally comprises warning means (18), such as light, acoustic and / or vibration indicators, which among other functions can be used to indicate to the operator that the marking device (3) is in an area that is outside the robot's work zone (1).
The magnetometer (8) can be adjusted when it is heated, affecting the measurements of the position and orientation of the marking device (3), therefore a recalibration of the magnetometer (8) is required in case of a mismatch due to increased temperature. Therefore, in order to control the temperature of the magnetometer (8) and to establish correction factors of the magnetometer measurement (8), the device
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marking (3) comprises a temperature sensor (19) that allows to detect an unwanted increase in the temperature of the magnetometer (8).
The system of the invention additionally comprises a mobile platform (22) for moving the robot (1) with respect to the part (2). The robot (1) is arranged on the mobile platform (22). The mobile platform (22) is governed by the control unit (5) for its automatic movement. Scanning to acquire the geometric and dimensional data of the same piece (2), either through the first computer vision means (4) or through the second computer vision means (20), allows optimizing the robot positioning (1) using the mobile platform (22) during its work. The first computer vision means (4) and / or the second computer vision means (20) may be arranged on the mobile platform itself (22). Alternatively, and as is observable in Figure 3, the first computer vision means (4) and the second computer vision means (20) may not be arranged on said mobile platform (22), that is they may be physically arranged independently of the mobile platform (22). The control unit (5), determines the positions or displacements of the robot (1), that is to say of the mobile platform (22), in the realization of the superficial operations of work based on the second data of the position and spatial orientation of the marking device (3), the first data of the position and spatial orientation of the marking device (3), the geometric and dimensional data of the piece (2), the characteristics of the robot (1) to be used or a Any combination of these.
With all this, the procedure for the identification of the working path of the robot (1) includes the steps of moving the marking device (3) on the part (2) according to a working path, obtaining the position and spatial orientation of the marking device (3) along said work path, and using the robot (1) to reproduce the work path on the part (2) according to the position and spatial orientation of the marking device (3) .
The procedure is carried out by using the marking device and the system in accordance with what is described. Thus, the process comprises additional steps in accordance with the use of the marking device and the system of the invention.
Thus, an operator uses the marking device (3) to generate a trajectory of
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work on the work area defined in the piece (2), so that by means of the measuring means (6, 7, 8) first data of the position and spatial orientation of the marking device (3) are sent and sent to the control unit (5) that is connected to the robot (1) by means of communication (10), and by means of the first computer vision means (4) the reference pattern (9) of the marking device is identified (3) to obtain a few seconds data of the position and spatial orientation of the marking device (3) that are sent to the control unit (5). With the data of the position and spatial orientation of the marking device (3), which are sent to the control unit (5) and processed by it (5), the robot (1) can reproduce the work path performed by the operator on the piece (2). This reproduction is optimizable according to said data sent to the control unit (5).
The data of the position and spatial orientation of the marking device (3) are obtained in a timely manner along the work path, or continuously, for which the operator uses the button (17) of the marking device ( 3).
According to the procedure, the part (2) is scanned by the first computer vision means (4) or the second computer vision means (20), and geometric and dimensional data of the part (2) are obtained, and with it the surface or work area of the robot (1). With this data, the positioning of the robot (1) is optimized by means of the mobile platform (22) during its work according to the previously described, in addition to the generation of the work paths to be performed by the robot (1) being obstacles avoided that can hinder and even prevent the work of the robot (1).
Through, for example, the control unit (5), the scan data and the second data of the position and spatial orientation of the marking device (3) are analyzed, and determined, and also depending on the characteristics of the robot (1) employee, locations or optimal positioning points of the mobile platform (22), and therefore of the robot (1). In this way, the positioning of the mobile platform (22) is minimized in an automated way, and with it the displacements of the same, as well as the total working time.
The control unit (5) generates the work paths to be performed by the robot (1). Additionally, the trajectories in a control unit (5) can be generated
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format that can be processed or subsequently executed by the robot (1). The trajectories are also generated in a later processable format by means of “off-line” simulation software as a previous step of checking and optimizing the trajectories.
Thus, the described procedure allows to identify and generate in real time the work area, as well as the trajectories and work data (position, orientation speed, acceleration and pressure), which the robot must follow to perform a work operation on a piece , both geometrically and in the programming language executable by the robot, such as a sanding, painting, milling, polishing or similar operation, allowing this invention to simplify the robot's programming task to perform said work operation.

权利要求:
Claims (20)
[1]
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1. - Marking device (3) of the working path of a robot (1), characterized in that it comprises:
• measuring means (6, 7, 8) to obtain first data of the position and spatial orientation of the marking device (3);
• a reference pattern (9) identifiable by first computer vision means (4) to obtain a second data on the position and spatial orientation of the marking device (3); Y
• communication means (10) for sending the first data of the position and spatial orientation of the marking device (3) obtained by the measuring means (6, 7, 8) to a control unit (5) connectable to the robot (one).
[2]
2. - Marking device (3) of the working path of a robot (1), according to claim 1, characterized in that the measuring means (6, 7, 8) comprise an accelerometer (6) for measuring acceleration of the marking device (3) in three axes, a gyroscope (7) to measure the angular speed of the marking device (3) in the three axes, and a magnetometer (8) to measure the orientation of the marking device (3) in the three axes with respect to the magnetic north.
[3]
3. - Marking device (3) of the working path of a robot (1), according to any one of the preceding claims, characterized in that it comprises a contact surface (12) for contacting a part (2) on which The work trajectory is done.
[4]
4. - Marking device (3) of the working path of a robot (1), according to any one of the preceding claims, characterized in that it additionally comprises means for determining the pressure exerted by the marking device (3) on the piece (2).
[5]
5. - Marking device (3) of the working path of a robot (1), according to the preceding claim, characterized in that it comprises a handle (14) for an operator that is arranged on the means that determine the pressure exerted by the marking device (3) on the part (2).
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[6]
6. - Marking device (3) of the working path of a robot (1), according to claim 4 or 5, characterized in that the means determining the pressure exerted by the marking device (3) on the part ( 2) comprise tilting arms (15) that transmit the pressure exerted on the part (2) to a pressure sensor (16).
[7]
7. - Marking device (3) of the working path of a robot (1), according to the preceding claim, characterized in that the tilting arms (15) are arranged according to a radial distribution in angular positions offset 120 ° to each other, wherein the pressure sensor (16) is arranged in the center of the radial distribution.
[8]
8. - Marking device (3) of the working path of a robot (1), according to any one of the preceding claims, characterized in that it comprises locking means (13) for coupling a work tool.
[9]
9. - Marking device (3) of the working path of a robot (1), according to any one of the preceding claims, characterized in that it comprises a button (17) for taking and recording the first position and orientation data spatial marking device (3).
[10]
10. - Marking device (3) of the working path of a robot (1), according to any one of the preceding claims, characterized in that it additionally comprises warning means (18) to indicate the location of the marking device ( 3) outside the working area of the robot (1).
[11]
11. - Marking device (3) of the working path of a robot (1), according to any one of claims 2 to 10, characterized in that it additionally comprises a temperature sensor (19) for determining the magnetometer temperature ( 8).
[12]
12. - System to identify the working path of a robot (1), characterized in that it comprises:
• a marking device (3), according to any one of the preceding claims, comprising measuring means means (6, 7, 8) to obtain first data of the position and spatial orientation of the marking device (3) , and a reference standard (9);
• first computer vision means (4) that identify the pattern of
5
10
fifteen
twenty
25
30
35
reference (9) of the marking device (3) to obtain a few seconds data of the position and spatial orientation of the marking device (3);
• a control unit (5) that receives the first and second data of the position and spatial orientation of the marking device (3); Y
• the robot (1) that is connected to the control unit (5) to carry out a working path according to the data of the position and spatial orientation of the marking device (3).
[13]
13. - System for identifying the working path of a robot (1), according to claim
12, characterized in that it additionally comprises second computer vision means (20) for scanning a piece (2) on which to carry out the work path, acquiring geometric and dimensional data of the piece (2).
[14]
14. - System for identifying the working path of a robot (1), according to claim
13, characterized in that it additionally comprises a mobile platform (22) on which the robot (1) is placed, the mobile platform (22) being movable by the control unit (5) depending on at least the first and second data of the position and spatial orientation of the marking device (3).
[15]
15. - System for identifying the working path of a robot (1), according to claim
14, characterized in that the mobile platform (22) is movable by the control unit (5) additionally based on geometric and dimensional data of the part (2).
[16]
16. - System for identifying the working path of a robot (1), according to any one of claims 12 to 15, characterized in that it additionally comprises an interface for modifying parameters of the data received by the control unit (5).
[17]
17. - System for identifying the working path of a robot (1), according to any one of claims 12 to 16, characterized in that the first computer vision means (4) comprise at least one camera.
[18]
18. - Procedure for the identification of the working path of a robot (1) using the device according to any one of claims 1 to 11 and the system defined according to any one of claims 12 to 17, characterized in that it comprises Steps of:
5
10
fifteen
twenty
25
30
35
• move the marking device (3) over a part (2) along a work path,
• obtain the position and spatial orientation of the marking device (3) along the work path, and
• use the robot (1) that reproduces the work path on the part (2) according to the position and spatial orientation of the marking device (3).
[19]
19. - Procedure for the identification of the work path of a robot (1), according to claim 18, characterized in that the position and spatial orientation of the marking device (3) is obtained promptly along the work path .
[20]
20. - Procedure for identifying the working path of a robot (1), according to claim 18, characterized in that the position and spatial orientation of the marking device (3) is obtained continuously along the path of work.

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同族专利:

公开号 | 公开日

ES2668930B1|2019-04-02|

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申请号 | 申请日 | 专利标题

ES201631495A|ES2668930B1|2016-11-22|2016-11-22|MARKING DEVICE FOR THE WORK PATH OF A ROBOT, A SYSTEM THAT INCLUDES SAID DEVICE AND PROCEDURE FOR IDENTIFYING THE WORK PATH OF THE ROBOT|ES201631495A| ES2668930B1|2016-11-22|2016-11-22|MARKING DEVICE FOR THE WORK PATH OF A ROBOT, A SYSTEM THAT INCLUDES SAID DEVICE AND PROCEDURE FOR IDENTIFYING THE WORK PATH OF THE ROBOT|

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