• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a surface treatment system, in particular sanding or polishing, comprising: a mounting interface on a robotic arm (20), at least two surface treatment units (60), each comprising: ○ a compliance (13) of own longitudinal axis, ○ a treatment head (11) carried by the compliance, the compliance allowing a relative movement of the head relative to the interface along the longitudinal axis and delivering information representative of the axial position relative, along the longitudinal axis of the treatment head.
    公开号:FR3033511A1
    申请号:FR1551960
    申请日:2015-03-09
    公开日:2016-09-16
    发明作者:Didier Barbarit；Alexandre Ambiehl；Vincent Desfontaine
    申请人:Gebe2 Productique；
    IPC主号:
    专利说明:

    [0001] The present invention relates to systems, installations and methods for surface treatment, and more particularly but not exclusively to sanding and polishing. In the aeronautical field, but not exclusively, abrasion processes are used for surface preparation, for example prior to painting, as well as for the removal of material, such as the removal of varnish or paint. The surface preparation is the creation of a catch on the material, which is often called a primer, to improve the adhesion of the paint on the part. Once the painting phase is completed, it is possible that a polishing phase is necessary. A sanding and / or polishing process is a process that is controlled by the speed of advance of the sander or polisher, the speed of rotation of the sander or the force applied thereto. The distribution of the force applied to the sander or polisher to the part 15 is dependent on the geometry of the contact area between the workpiece and the plate of the sander or polisher. This is why the position and orientation of the sander or polisher to the workpiece is important to control the removal of material. In some cases, the part is likely to deform slightly, which makes it more difficult to precisely control the thickness removed. The surface preparation may also require more than the creation of a catch, and it is then necessary to remove thicknesses of the order of a few microns to several centimeters of material. When using a robotic arm, the heads of the tool are generally each carried by a support system called "compliance", which ensures the control of the contact force of the head with the workpiece. An example of compliance is disclosed in US 2014/0005831 A1. Methods of surface treatment with assistance of a robotic arm are known, including publications CN 1038 78666 A, CN 1038 62373 A or CN 1038 62340A. In some cases, an optical measurement system using laser interferometry is used to precisely control the robotic arm. The disadvantage of such a system, besides its cost, is its sensitivity to dust. In other cases, a camera vision system is used. Such a system is also sensitive to dust, and requires good lighting conditions. Publications JP H 05228824 or JP 3,034,685 B2 teach to use the information of variation of the torque exerted on the tool to control the position of the latter. The publication CN 1030 56759 A discloses using the cutting force and the rotational speed of the tool to adjust the support force and its path. Publications JP 2852828 B2 and JP H 05220656A disclose using a sensor external to the tool so as to allow the use of any robot. Such a solution proves relatively expensive to implement. US Pat. No. 8,914,153 discloses a treatment system comprising a treatment head rotatably mounted relative to a force sensor by means of a ball joint. Distance sensors detect the rotation of the treatment head and the orientation of the robotic arm can be corrected accordingly, to maintain the axis of the head perpendicular to the treated surface, and thereby perform a more uniform surface treatment. This patent describes an alternative to several treatment heads, in which they are mounted on a common support, articulated and orientable by means of a jack. The presence of distance sensors complicates the realization of the system and decreases the reliability. The application US2006 / 0181236 A1 discloses a programming method of a robot, in which measurements are made by the robot on the real object in order to correct its trajectory. This process requires the use of specific sensors.
    [0002] The application DE 10356343A1 discloses a processing system comprising a rotary support carried by a robotic arm and allowing the selection of a tool from among several different tools. Publication WO 2012 / 160412A1 discloses a method of manual learning of the trajectory of a robot.
    [0003] The invention aims to further improve surface treatment processes, especially sanding and / or polishing, and it achieves this through a surface treatment system, in particular sanding or polishing, comprising: 3033511 3 An interface of mounting on a robotic arm, at least two surface treatment units, each comprising: o own longitudinal axis compliance (Zc), o a treatment head carried by the compliance, the compliance allowing a relative movement of the head relative to the interface along the longitudinal axis (Zc) and delivering information representative of the relative axial position along the longitudinal axis (Zc) of the treatment head. According to this aspect, the invention has the advantage of making it possible to use the information provided by the compliances to correct and / or determine the trajectory of the robotic arm in order, for example, to take account of the difference between the initial programming of the trajectory and the follow-up of the real part because of the deformation of this one during the treatment and / or the mechanical tolerances and other inaccuracies. This may also allow the robotic arm to move on the basis of this information, without prior programming of the arm trajectory. The invention thus advantageously makes it possible to control the robotic arm in real time in order to modify substantially in real time the positioning of the heads, on the basis of a correction determined also in real time. It is thus possible to optimize the orientation of the heads during the course of the course of the treatment system.
    [0004] The invention makes it possible to avoid using, if desired, a calculation and control system external to the robotic arm, for managing the data coming from the processing system. The invention can use position information from compliances and does not require external sensors to compliances, of any technology (laser, mechanical, ...) to determine the positions of the heads. This allows to gain in robustness and reliability. However, the use of external sensors is not excluded by the invention according to this first aspect. The invention thus makes it possible for each unit to be free, if desired, of position sensors of the head other than that or those integrated in the compliance.
    [0005] The invention allows a rough placement or registration of the workpiece, saving time on the complete cycle of recovery of the workpiece. It is thus possible to limit the level of qualification required of the operator, by facilitating the taking of marks on the workpiece. Preferably, the compliance is said to be "active", that is to say that it can be controlled so as to exert a predefined force, given by a setpoint. It advantageously has a regulation loop which acts on an internal mechanism so as to maintain the force as close to the set value. Each treatment head is adapted to the treatment to be performed, and may include a vibratory tray, including a vibrating disk. This is for example a plateau animated with an oscillating movement, as is for example the case of an orbital sander. The treatment head may also comprise a rotatably driven plate, in particular a rotary plate. Preferably, each treatment unit comprises a hinge connecting the head corresponding to the associated compliance, preferably a hinge having at least one axis perpendicular to the longitudinal axis of the corresponding compliance. More preferably, the articulation comprises at least two geometric axes of rotation, in particular perpendicular to each other and preferably perpendicular to the longitudinal axis of compliance. Such a joint is preferably of the cardan type. Such articulation, especially when it is at least two axes of rotation, allows to apply a more uniform force on the surface to be treated, and to take into account the curvature of the part. The processing units, and especially the compliances, are preferably non-articulatedly connected to the attachment interface on the robotic arm. The treatment head preferably comprises a motor, which may be electric or pneumatic, received in a cradle connected by said hinge to compliance. The treatment system preferably comprises at least one adjustable abutment for modifying the angular deflection of the articulation about at least one axis of rotation, and better at least two abutments which make it possible respectively to modify the angular deflection around the two aforementioned axes of articulation. Thus, at the limit, the travel can be reduced if desired to zero, which can be useful for performing certain surface treatments. It is thus possible to have a more universal tool capable of being used for various tasks depending on the deflection given to the joint. This is for example between -20 ° and + 20 ° around a median position. One or more return springs can urge the joint to bring it back to this median position. This or these springs are for example arranged near the stop or stops, in particular thanks to one or more holding parts common to a stop and a spring. Preferably, the system comprises three processing units, which makes it possible, with feedback from compliments, to be able to know the orientation of the system relative to the treated surface around two mutually perpendicular axes 10 of a reference linked to the system. treatment. The invention also applies to a treatment system having only two treatment heads. It is particularly advantageous that at least one of the processing units is movable relative to the interface, preferably longitudinally Its movement is for example controlled by a jack. This makes it possible to move it between an advanced position where it is in front of the other treatment head (s) and can be used alone, for reasons of space, for example, and a retracted position where it is used together with the or the other heads to simultaneously treat with them a larger area. Preferably, the treatment heads are identical, performing the same treatment, pickling or polishing, for example.
    [0006] The system preferably comprises suction ducts each connected on the one hand to a connection at the corresponding treatment head and, on the other hand, to a collector common to all the heads, arranged on the interface side. with the robotic arm. A vacuum sensor may be present to alert if there is abnormal pressure at the suction system; for example, if the absence of depression is detected while the treatment system is in use, an alert can be triggered and the treatment system stopped. All these ducts can be connected to the collector in the same direction of rotation, to promote the evacuation of collected dust.
    [0007] In alternative embodiments of the invention, the treatment head is detachably connected to compliance, in particular by means of a coupling enabling an assembly comprising the treatment head without a drive motor. and a hinge for pivoting the head relative to the compliance, to separate from the compliance, or to an assembly comprising the treatment head, a drive motor thereof and a hinge allowing a pivoting of the head relatively to compliance, to part with compliance. This can facilitate, for example, the replacement of abrasive sheets on the heads used, by using a magazine with ready-to-use heads that is automatically exchanged for the robotic arm. The invention further relates, in another of its aspects, an installation comprising: A robotic arm, a treatment system according to the invention, as defined above, carried by the arm. In such an installation, the own longitudinal axis of each compliance may be parallel to the axis of the treatment head, particularly coincident with 15 or distinct. The longitudinal axis proper of each compliance may alternatively be non-parallel to the axis of the treatment head. The installation advantageously comprises a system for calculating and controlling the robotic arm, receiving in real time, in particular compliances, a positioning information of the heads within the processing system, and calculating from this information a correction to bring to the orientation of the treatment system to reduce the gap with a predefined orientation relative to the treated surface. Another subject of the invention, according to another of its aspects, is a method for controlling the movement of a surface treatment system, especially for sanding and / or polishing, in particular an installation according to the invention such as that defined above, comprising several treatment heads adapted to come into contact with the surface to be treated, each head being carried by a compliance capable of exerting a stress urging it to bear on the surface to be treated, this compliance delivering information on the own displacement of the head along its axis, the treatment system being carried by a robotic arm to move it on the surface to be treated and to orient it with respect thereto, a method in which it is determined from of said displacement information 3033511 7 own the correction to be applied to the orientation of the treatment system so as to reduce the deviation with a predefined orientation by repor t on the treated surface. The correction can be applied substantially in real time. When the surface is treated in several passes, the programmed movement of the robotic arm can be recalculated after the first pass to account for corrections to be made to its movement. The passage or passages made after the first can then be made without correction determined in real time. When moving the processing system, it may or may not memorize the information provided by the compliance, relative to the axial positioning of the associated head 10. Preferably, the correction to be applied to the movement of the robotic arm is determined in order to bring the heads to a proper displacement value, along the longitudinal axis of compliance, around a predefined average value, preferably substantially equal to the half of their run allowed by compliance. This can make the most of the spatial resolution offered by compliance. The proper displacement of the heads is advantageously determined without external sensor compliance. The predefined orientation may be the normal to the treated surface, preferably determined in a reference (GXYZ) originating from the center of gravity (G) of the heads.
    [0008] The method may comprise the calculation of the normal to the treated surface from vectors defined by the coordinates, in a reference frame attached to the tool, of the centers (Pi, P2, P3) of the trays of the heads. The invention further relates, in another of its aspects, to a computer program product comprising a code executable by a system for calculating an installation according to the invention, as defined above, this code ensuring when executed by the computing system: the real-time analysis of a self-positioning information (Zi, Z2, Z3) of the processing heads within the processing system, and the calculation from this information of correction to the orientation of the treatment system so as to reduce the gap with a predefined orientation with respect to the treated surface.
    [0009] The subject of the invention is, according to another of its aspects, independently or in combination with the foregoing, a surface treatment unit, in particular a sanding or polishing unit, comprising: a treatment head, an own longitudinal axis (Zc) compliance, carrying the treatment head, the compliance allowing a relative displacement of the head relative to the interface along the longitudinal axis (Zc) and delivering information representative of the relative axial position according to the longitudinal axis (Zc) of the treatment head, o an articulation connecting the treatment head to the compliance, allowing pivoting of the head around at least one axis of rotation perpendicular to the axis of compliance, and preferably around two axes perpendicular to each other and perpendicular to the longitudinal axis of compliance, where the unit is devoid of sensors providing information on the position of the head within the unit, a other than the one (s) equipping the compliance.
    [0010] The unit has an attachment interface on a robotic arm, and preferably the compliance axis is fixed with respect to this interface. The subject of the invention is also a surface treatment method, in which the unit as defined above is moved relative to the surface to be treated by means of a robotic arm. the head along the longitudinal axis 20 proper compliance during this movement, is determined from the knowledge of the trajectory of the robotic arm and the relative axial movement of the head given by the compliance information useful to correct the trajectory of the robotic arm, and said trajectory is corrected according to said information. The correction can be applied in real time or after an exploratory scan. When the surface is treated in several passes, the programmed movement of the robotic arm can be recalculated after the first pass to take into account the corrections made during the first transition to its initially programmed trajectory. The passage or passages made after the first can then be made with a recalculated trajectory before launching the tool, without correction determined in real time.
    [0011] The invention can be better understood on reading the following detailed description, non-limiting examples of implementation thereof, and on examining the appended drawing, in which: FIG. 1 shows schematically and partially, in perspective, an example of a sanding and / or polishing system equipping a robotic arm, - Figures 2 and 3 show the processing unit of Figure 1 from different angles of view, 5 FIG. 4 represents, in isolation, the drive electric motor and the plateau of a treatment head; FIG. 5 represents the frame integral with the compliance; and FIG. 6 represents the receiving cradle of the compliance drive motor. 7 is a view similar to FIG. 1 of an alternative embodiment of an installation according to the invention; FIGS. 8 and 9 represent in isolation the treatment system of the installation of FIG. 7; Figure 10 shows the treated surface, and reference points associated with the treatment system; - Fig. 11 shows the reference associated with the treatment system; - Figs. 12A and 12B illustrate a correction to the orientation of the treatment system; FIG. 13 illustrates a succession of steps that can be performed during the implementation of the method, FIGS. 14 to 17 illustrate alternative embodiments of the invention, and FIG. perspective a processing unit.
    [0012] FIG. 1 shows a surface treatment installation 1 comprising a multiaxis robotic arm controlled by a suitable calculation and control system, not shown. The robotic arm 20 carries a treatment system 10 in accordance with FIG. one aspect of the invention.
    [0013] This processing system 10 comprises a single processing unit 60, seen more precisely in FIGS. 2 and 3. A mechanical interface 16 ensures the attachment of the system 10 to the arm 20.
    [0014] The unit 60 comprises a compliance 13, for example FERROBOTICS, of the ACF range. The compliance 13 may be controlled with a force setpoint to be applied, and delivers a signal representative of its axial elongation. The maximum elongation distance along the Z axis of compliance 13 is, for example, between 1 and 200 mm, better still between 10 and 100 mm. Compliance may have an external bellows, which protects an internal mechanism. The sensor measuring the elongation of the compliance 13 is hidden and protected by this bellows. The compliance 13 has an own longitudinal axis Zc, and supports on the opposite side to the interface 16 a frame 63, carrying the treatment head 11. The latter comprises a working plate 12 and a drive motor 65, visible in Figure 4. A suitable mechanism connects the plate 12 to the motor 65, so that the rotation of the motor 65 causes the plate 12 to move. This mechanism is for example that of an orbital sander.
    [0015] The motor 65 is received in a cradle 70, shown separately in FIG. 6 and also visible in FIG. 18, having bearing receiving receptacles 71, not shown, which are engaged on axles carried by a ring 200, in such a way that to allow pivoting about an axis R2. The ring 200 is itself pivotally mounted about an axis R1 perpendicular to the axis R2 and the axis Zc, by means of pins 72 carried by the frame 63, visible in FIG. and a hinge 19 allowing the cradle 70 to pivot about two geometric axes of rotation R1 and R2. Adjustable stops 80 make it possible to adjust the angular displacement around axes R1 and R2. These stops 80 are held by means of the parts which also serve as support for return springs 89 which tend to return the joint to a median rest position. The setting of these springs can be modified by adjusting the position of pins 88. One of these holding pieces has been removed in FIG. 18 to allow the hooking between a spring 89 and an adjustment element 88 to be seen. The frame 63 has at least openings 76 for access to the adjustable stops 80, 30 for adjusting the angular displacement of the head 11 about the axes R1 and R2.
    [0016] A cap 85 may at least partially surround the plate 12 to define around it a vacuum space, connected to a suction connection 90, allowing the evacuation of dust created by the operation of the head. According to one aspect of the invention, the unit 60 is devoid of any position sensor of the head 11 other than that or those integrated in the compliance 13, contrary to what is disclosed in the US patent 8 913 153. The compliance 13 delivers information making it possible to know the position along the axis Zc of the head 11; this information can be used to know the real geometry of the workpiece and thus correct, if necessary, the trajectory of the arm.
    [0017] In the description which follows, with reference to FIGS. 7 to 13, each processing unit 60 may be identical to that just described, or alternatively comprise one or more additional sensors for delivering information relating to the position of the head in the repository associated with the processing system. The same reference signs are used to designate identical or similar elements. The treatment system comprises three units 60, each having a working plate 12. The system 10 comprises a dust suction system comprising a collector 14 to which are connected flexible pipes attached to the fittings 90.
    [0018] Each articulation 19 moves in translation according to the proper axis Zc of the associated compliance, all the proper axes Zc being parallel to a Z axis of the system 10. Each compliance 13 makes it possible to know the position of the associated head 11 along its axis. Zc own, relative to the interface 16 attachment to the arm 20. The centers of the work plateaus 12 heads are hereinafter designated by Pl, P2 and P3 respectively. These points P1 to P3 define, as illustrated in Figures 10 and 11, a substantially equilateral triangle, whose sides are slightly larger than the diameter of the trays. The method which will be described below also applies to different arrangements of the heads.
    [0019] The system 10 is associated with a reference GXYZ whose center is defined by the center of gravity G of the aforementioned triangle, and whose axis Z is parallel to the proper axes Zc of the compliances 13.
    [0020] The suction connections 90 are located on the radially outer side of the units 60, and their connection to the corresponding cap 85 is made in a direction perpendicular to the axis of rotation R1 of the associated joint 19. The invention makes it possible to determine a correction value enabling the treatment system to be kept in a normal orientation to the treated surface. It is assumed that in this frame, we have: Pi = P3 = The vectors P1P are calculated. and P1P3, then the vector product of these vectors to obtain normal to the treated surface.
    [0021] There are three parameters to be determined, namely the distance Z of the system to the workpiece which must be corrected in order to keep the heads 11 substantially in the middle of their stroke, the rotation along the X axis and the rotation following the Y axis. For the Z-distance, the center of gravity of the Z-head positions (Z1 + Z2 + Z3) / 3 is used, which is compared with a reference value Zref, corresponding to the median stroke of the Z-axis. compliances 13. The Z position of the robotic arm is then adjusted according to the deviation with Zref. For the rotations along X and Y, one is based on the previous calculation of the normal one. Note the normal N. At first, it is normalized: It is assumed that the position errors to be corrected during the course are small. This assumption is justified by a normal positioning at the start of the process and by a continuous correction of errors that tends to bring them closer to zero. The orthogonal projectile formula is used to determine the distance between the YZ plane and the M end of the vector with A which is a point of the YZ plane and a unit normal vector at the YZ plane (for example, 1, 0, 0). ). We apply the same formula for the XZ plane. Since is unitary, this amounts to keeping the coordinates of the vector according to the normal to the plane.
    [0022] This gives the distance from the point M, the end of the normal vector to the surface, to the reference planes containing the Z axis. It can be deduced, with the approximation of the small displacements, that the angle variations will be less than 20. ° (variation between two correction periods). We therefore consider that tan 6 = 6 and the calculated distance d is equal to the angle to be corrected.
    [0023] The robotic arm is sent the correction -d so that it adjusts its position. Some precautions are necessary, such as the definition of the rotation and translation marks that determine the direction of the correction. Similarly, unit conversions can be expected between radian and degree. The correction being continuous, it is advantageous to carry out a filtering of the error and to use a corrector, for example of proportional integral derivative type, making it possible to optimize the servocontrol of the system. FIGS. 12A and 12B illustrate an example of correction made. FIG. 12A shows that the Z axis of the system 10 makes an angle e with the normal to the surface at the point G.
    [0024] The movement imposed on the robotic arm 20, according to this aspect of the invention, makes it possible to reduce the angle θ, or even to cancel it, as illustrated in FIG. 12B. The surface treatment method may be implemented so as to correct in real time the movement of the robotic arm, as shown in FIG. 13. In this figure, the programmed start of the system path corresponds to step 30. The following step 31 corresponds to the acquisition of the position data of the heads. This is followed in step 32 by processing as detailed above to determine the actual position of the system relative to the part. The positioning errors are calculated in step 33, and the corresponding corrections are determined in step 34. These corrections are transformed in the step into an adjustment of the position of the robot.
    [0025] Steps 31 to 35 are repeated in a loop 36 until the end 37 of the programmed trajectory. In a variant where it is necessary to make several passes, the correction made during the first pass serves to generate a corrected global program used to perform the following passes. This function then makes it possible to deactivate the continuous correction and to be able to increase the working speed. Preferably, the displacement of the treatment system is carried out so that the treatment of the surface is as homogeneous as possible. It is advantageous to be able to move one of the units 60 relative to the other 10, to advance, as shown in Figure 9 in particular. To do this, the unit 60 in question can be mounted on a carriage 110 movable in translation along the axis of the associated compliance through a cylinder 112. This allows, if desired, to use only a single unit 60 at a time, to treat otherwise inaccessible surfaces, for example.
    [0026] The treatment heads 11 carry for example abrasive sheets that are replaced as and when they wear, each plate 12 remaining in place in the system 10. Alternatively, a removable connection 100 connects each treatment head 11 to the This connection 100 comprises electrical and suction connections and makes it easy to exchange two heads 11. This can facilitate the replacement of a head 11 having a worn abrasive sheet by another. having a new sheet, automatically by the robotic arm. Secondly, used heads can be treated in masked time to equip them with new leaves. In the variant illustrated in FIG. 14, the head 11 is exchanged with its drive motor in the form of a one-piece assembly; in the variant of FIG. 15, the compliance 13 permanently carries the driving motor, in the form of a rotobroche, for example. The axis of the head 11 can be confused with that of the associated compliance; alternatively, as illustrated in FIG. 16, the axis of the head may extend obliquely with respect to that of the compliance, for example with an angle of between 30 and 60 °.
    [0027] It is also possible, as illustrated in FIG. 17, to deport the axis of the head 11 relative to that of the associated compliance 13, in order to reduce the axial size of the treatment system. The invention is not limited to sanding or polishing and still applies to other surface treatments, such as cleaning, brushing or deburring. The articulation that connects the compliance to the head can take other forms still, for example be carried out with a spherical ball, be single-axis, be of the flexible type with nested segments or elastomeric seal. The treatment head may alternatively comprise a roller driven in rotation so as to contact the surface to be treated in a generatrix. The expression "comprising a" should be understood as being synonymous with "comprising at least one".
    权利要求:
    Claims (26)
    [0001]
    REVENDICATIONS1. Surface treatment system, in particular for sanding or polishing, comprising: an interface (16) for mounting on a robotic arm (20), at least two surface treatment units (60), each comprising: o a compliance (13) ) of own longitudinal axis (Zc), o a treatment head (11) carried by the compliance, the compliance allowing a relative movement of the head relative to the interface (16) along the longitudinal axis (Zc) and delivering an information representative of the relative axial position, along the longitudinal axis (Zc), of the treatment head.
    [0002]
    2. System according to claim 1, the treatment head comprising a vibratory plate (12), in particular a vibrating disk.
    [0003]
    3. System according to claim 1, the treatment head comprising a rotatably driven plate, in particular a turntable
    [0004]
    4. System according to any one of the preceding claims, each processing unit (60) comprising a hinge (19) connecting the corresponding head (11) to the associated compliance (13), preferably a hinge (19) axis (R1; R2) perpendicular to the longitudinal axis (Zc) of the corresponding compliance.
    [0005]
    5. System according to the preceding claim, the treatment head (11) comprising a motor, preferably electric (65), received in a cradle (70) connected by said hinge (19) to the compliance.
    [0006]
    6. System according to one of claims 4 and 5, comprising at least one adjustable stop (80) for modifying the angular displacement of the joint (19) around at least one geometric axis of rotation (R1; R2). .
    [0007]
    7. System according to any one of the preceding claims, comprising three processing units (60).
    [0008]
    8. System according to any one of the preceding claims, at least one of the processing units (60) being movable relative to the interface (16), preferably longitudinally, in particular under the effect of a jack (112). ). 3033511 17
    [0009]
    9. System according to any one of the preceding claims, comprising suction ducts each connected on the one hand to a connection (90) at the corresponding treatment head and on the other hand to a common collector (14). to all the heads, arranged on the interface (16) side with the robotic arm. 5
    [0010]
    10. System according to any one of the preceding claims, each unit (60) being devoid of position sensors of the head (11) other than that or those integrated compliance.
    [0011]
    11. System according to any one of the preceding claims, the treatment head being detachably connected to the compliance, in particular by means of a coupling (100) allowing an assembly comprising the treatment head without motor to drive and a hinge for pivoting the head relative to the compliance, to separate from the compliance, or to an assembly comprising the treatment head and a drive motor thereof and a hinge allowing a pivoting of the head relatively to compliance, to part with compliance. 15
    [0012]
    12. Installation comprising a robotic arm (20), a treatment system (10) as defined in any one of the preceding claims, carried by the arm.
    [0013]
    13. Installation according to claim 12, the own longitudinal axis (Zc) of each compliance being parallel to the axis of the treatment head, in particular merged with or distinct.
    [0014]
    14. Installation according to claim 12, the own longitudinal axis (Zc) of each compliance being non-parallel to the axis of the treatment head.
    [0015]
    15. Installation according to any one of claims 12 to 14, comprising a system for calculating and controlling the robotic arm (20), receiving in real time own positioning information (Zi, Z2, Z3) heads within of the processing system (10), and calculating from this information a correction to be made to the orientation of the treatment system so as to reduce the deviation with a predefined orientation with respect to the treated surface 30
    [0016]
    16. A method for controlling the movement of a surface treatment system (10), in particular sanding and / or polishing preferably belonging to an installation according to any one of claims 12 to 15, comprising a plurality of heads 3033511 18 of treatment (11) adapted to come into contact with the surface to be treated, each head being carried by a compliance (13) capable of exerting a stress urging it to bear on the surface to be treated, this compliance (13) delivering information on the own displacement (Zi, Z2, Z3) of the head along its axis (Zc), the treatment system being carried by a robotic arm (20) making it possible to move it on the surface to be treated and to orient it by in relation thereto, in which process the correction to be applied to the orientation of the processing system (10) is determined from said own displacement information (Zi, Z2, Z3) so as to reduce the difference with a predictive orientation finished with respect to the treated surface.
    [0017]
    17. The method of claim 16, the correction being applied substantially in real time.
    [0018]
    18. The method of claim 16, the surface being treated in several passes, the programmed movement of the robotic arm being recalculated after the first pass to account for corrections to be made to its movement.
    [0019]
    19. The method of claim 18 wherein the one or more passes made after the first are made without a determined correction in real time.
    [0020]
    20. A method according to any one of claims 16 to 19, wherein the correction to be applied to the movement of the robotic arm (20) is determined to bring the heads to a proper displacement value, along the longitudinal axis (Zc ) of the compliance, around a predefined mean value (Zc 'f), preferably substantially equal to half of their travel allowed by the compliance.
    [0021]
    21. Method according to any one of claims 16 to 20, the own displacement of the heads being determined without external sensor compliance.
    [0022]
    22. A method according to any one of claims 16 to 21, the predefined orientation being the normal to the treated surface, preferably determined in a reference (GXYZ) originating from the centroid (G) heads (11).
    [0023]
    23. Method according to any one of claims 16 to 22, comprising the calculation of the normal to the surface treated from vectors defined by the coordinates, in a reference system attached to the tool, centers (Pi, P2, P3 ) trays (12) of the heads.
    [0024]
    24. Computer program product comprising a code executable by a system for calculating an installation as defined in claim 15, this code ensuring when executed by the calculation system: 3033511 19 - real-time analysis own positioning information (Zi, Z2, Z3) processing heads (11) within the processing system (10), - calculating from this information a correction to be made to the orientation of the treatment system so as to reduce the gap with a predefined orientation with respect to the treated surface.
    [0025]
    25. Surface treatment unit, in particular sanding or polishing, comprising: o a treatment head (11), o a compliance (13) with its own longitudinal axis (Zc), carrying the treatment head, the compliance allowing relative movement of the head relative to the interface along the longitudinal axis (Zc) and delivering information representative of the relative axial position along the longitudinal axis (Zc) of the treatment head, o articulation (19) connecting the treatment head (11) to the compliance (13), allowing pivoting of the head about at least one axis of rotation (R1, R2) perpendicular to the longitudinal axis of the compliance, better around two geometric axes (R1, R2) perpendicular to each other, o the unit being devoid of sensors informing on the position of the head 20 within the unit, other (s) than that or those providing compliance.
    [0026]
    26. A surface treatment method, in which the unit as defined in claim 25 is moved relative to the surface to be treated by means of a robotic arm, the movement of the head is recorded according to FIG. own longitudinal axis of the compliance during this movement, it is determined from the knowledge of the trajectory of the robotic arm and the axial relative movement of the head given by the compliance useful information to correct the trajectory of the robotic arm and said trajectory is corrected according to said information.
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    同族专利:
    公开号 | 公开日
    FR3033511B1|2019-08-16|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20040102136A1|2002-11-21|2004-05-27|Wood Jeffrey H.|Spring-loaded contour following end effectors for lapping/polishing|
    US8914153B2|2008-07-23|2014-12-16|Estudios De Ingenieria Adaptada, S.L.|Head for positioning a tool on irregular surfaces|
    US20140005831A1|2011-03-16|2014-01-02|Ferrobotics Compliant Robot Technology Gmbh|Active handling apparatus and method for contact tasks|
    EP2589463A2|2011-11-02|2013-05-08|The Boeing Company|Robotic end effector including multiple abrasion tools|CN107263250A|2017-06-21|2017-10-20|芜湖市润雨精密机械有限公司|A kind of device that continuously can be processed to safety valve|
    DE102018218601A1|2018-10-30|2020-04-30|Volkswagen Aktiengesellschaft|Industrial robots|
    WO2020243762A3|2019-06-07|2021-05-06|Ferrobotics Compliant Robot Technology Gmbh|Compensation of positional tolerances in the robot-assisted surface machining|
    法律状态:
    2016-03-24| PLFP| Fee payment|Year of fee payment: 2 |
    2016-09-16| PLSC| Search report ready|Effective date: 20160916 |
    2017-03-30| PLFP| Fee payment|Year of fee payment: 3 |
    2018-01-30| PLFP| Fee payment|Year of fee payment: 4 |
    2019-03-25| PLFP| Fee payment|Year of fee payment: 5 |
    2020-02-27| PLFP| Fee payment|Year of fee payment: 6 |
    2021-04-21| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1551960|2015-03-09|
    FR1551960A|FR3033511B1|2015-03-09|2015-03-09|SURFACE TREATMENT SYSTEM|FR1551960A| FR3033511B1|2015-03-09|2015-03-09|SURFACE TREATMENT SYSTEM|
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