• 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:
    Method of assisting the production of an assembly (40) of two elements (41, 42) implemented by means of a teleoperated robot (1) comprising: - an arm (10) hinged at the end (12) of which is mounted a heat supply member (22) adapted to deliver heat at a heat input point (43); position sensors (13.1-13.6); actuators (14.1-14.6) for guiding; a video capture device (31); a haptic interface (50); a processing unit (57), the method comprising the following steps: c) acquiring a type of assembly to be produced; d) calculating a reference path of the heat input point (43); e) defining a guiding envelope of the heat transfer member (43); f) controlling the guiding actuators (14.1-14.6) so as to oppose a displacement of the heat supply member (22) out of the guiding envelope.
    公开号:FR3036302A1
    申请号:FR1554520
    申请日:2015-05-20
    公开日:2016-11-25
    发明作者:Yann Perrot；Silva Simoes Max Da
    申请人:Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to the field of assembly of elements by providing heat, such as welding and soldering, and more particularly to assisting the production of such assemblies. BACKGROUND OF THE INVENTION Welding and brazing are reliable techniques for assembling by heat input of metal elements or not. The portions of the elements to be assembled are placed facing each other and define a joint plane which is subjected to a heat input accompanied or not by a complementary supply of junction material. Brazing refers to the techniques in which the junction is made by diffusion, that is to say without fusion of the elements to be assembled. Welding refers to the techniques in which the elements to be assembled are melted. Whatever the processes used (MIG, TIG, submerged arc, flux-cored wire, coated electrode, etc.), it is necessary to be able to control the trajectory of the heat input point (electrode, flame of the torch, beam laser, etc ..), its speed of movement relative to the assembly as well as the distance to which there are elements to assemble. The voltage, the intensity and the polarity of the arc when the heat input involves an electric arc, the flow of gas, the supply of a possible filler material are also assembly parameters which require monitoring, especially during a change of position during welding (for example, welding a tube). These assembly parameters affect the quality of the assembly (solder or solder) obtained. Factors related to the elements to be assembled, such as the level of preparation of the jointing joint, in particular the presence or absence of geometrical defects in the joints, or local variations in the nature of the materials to be as- sembled, also affect the quality of the joint. assembly. It is then necessary to adapt in real time the assembly parameters during its implementation. This is done by monitoring the melt (or solder) which is a reliable indicator of compliance of the assembly parameters. The multitude of parameters to control and the analysis of the melt require a know-how that is difficult to automate. Thus, welding or soldering operations are generally performed manually by skilled operators. These are then exposed to welding fumes, to the UV radiation of the heat source and sometimes have to adopt uncomfortable positions, in particular when assembling cylindrical elements which require a so-called "ceiling" posture in which the The heat supply member is located below the assembly, generally implying that the operator positions the heat supply member above it in a particularly uncomfortable position. The intervention of an operator impacts the repeatability of the assembly operations and represents a source of uncertainties, and therefore of variability in the quality of the assembly made. There are known automated welding robots comprising an articulated arm on which a welding torch is mounted, generally of the MIG or MAG type, and which are programmed to carry out a movement of the torch according to predefined parameters, on a trajectory known. Orbital welding robots 30 are also known whose welding torch is mounted on an annular support concentric with the tubes to be joined. An orbital welding robot almost requires a robot specific to each tube diameter and is practically limited to end-to-end assemblies, excluding the automation of certain types of assemblies, such as example taps. Such robots require a rigorous preparation of the elements to be assembled and several tests to determine the welding parameters. Each type of assembly must be the subject of specific programming and new tests until the welding parameters are validated. This lack of versatility means that these robots are not suitable for unit productions or small and medium series, which is why these series are always processed by manual welding.
    [0002] Thus, such productions suffer from a great variability in the quality of the assemblies that are produced, which originates in particular from the particularly demanding working conditions of the operators. OBJECT OF THE INVENTION An object of the invention is to improve the quality of manual assemblies by providing heat. SUMMARY OF THE INVENTION For this purpose, there is provided a method of assisting the production of an assembly of two elements by supplying heat, such as a solder or a solder, the process being carried out by means of a remote-operated robot, the robot comprising: an articulated arm at the end of which is mounted a heat-supply member, such as a nozzle or an electrode, the heat-transfer member being adapted delivering heat at a heat input point; sensors for the position of the articulated arm; actuators for guiding the articulated arm; a video capture device of the heat input point; a haptic interface for controlling the trajectory of the heat input point and the assembly parameters, a processing and control unit connected to the position sensors, to the guiding actuators, to the video capture device, at the interface hap- 3036302 4 control of the trajectory and assembly parameters. According to the invention, the method comprises the following steps: a) acquisition of a type of assembly to be produced; B) calculating a reference trajectory of the heat input point; c) defining a guiding envelope of the heat supply member around the reference path; d) controlling the guide actuators so as to oppose movement of the heat delivery member out of the guide casing, providing force feedback to the haptic interface. Thus the ability of the operator to intervene on the welding parameters when necessary is maintained and reinforced by the fact that certain parameters are, by default, automatically controlled. The operator is then able to focus fully on the critical parameters and their evolution with respect to the behavior of the assembly at the heat input point. Tele-operation greatly improves the operating conditions of the operator, particularly as regards his exposure to smoke, UV radiation or the ergonomics of the workstation. Finally, the haptic interface maintains the indispensable contribution of the operator's hand. All of these improvements in the execution conditions of the assembly have a positive impact on the quality of the assembly. Advantageously, the haptic interface comprises a master arm with force feedback. Such a haptic interface makes it possible to adapt the method to a large number of welding tools while remaining as faithful as possible to the natural gesture normally performed during manual assembly operations. According to a particularly advantageous embodiment, step c) of defining a guiding envelope comprises the following steps: c ') generation by the treatment and control unit of an arm virtual hinge and a virtual heat supply member; 5 c ") generation of a virtual guide envelope by the processing and control unit, and step d) of controlling the guide actuators comprises the following steps: d) performing a bilateral coupling in position 10 between the haptic interface and the virtual articulated arm, d ") providing a unilateral coupling in position of the virtual articulated arm and the articulated arm; d '') controls the haptic interface so as to oppose a displacement of the virtual channel input member out of the virtual guiding envelope, while ensuring the coupling in position of the haptic interface and articulated arm The use of a three-dimensional modeling makes it possible to reduce the resources needed to calculate the interference and to determine the forces to be returned by the processing and control unit towards the haptic interface The application of guiding stress to the virtual single articulated arm makes it possible to reduce the control volume to be sent to the actuators for guiding the articulated arm, which then no longer have to exert resistant forces but only Advantageously, the guiding actuators are controlled in such a way as to allow a sweeping movement of the heat supply point on either side of the reference trajectory, this movement of bala yage being controlled by the operator from the haptic interface. The operator can then make assemblies for thick and / or chamfered elements which require a sweep between the two elements, especially in the filling and finishing phases when the assembly is a welded joint. According to a particular embodiment, the guide actuators are controlled so as to cause the heat input point to follow the reference trajectory. This allows for a precise application of the heat input point, particularly for edge-to-edge welds, and thus enables the thermally affected area to be limited by the heat input, resulting in a higher quality assembly. According to another particular embodiment, step b) of calculating the reference trajectory of the heat input point involves at least one of the following parameters: geometry of a joint plane, geometry of the elements , assembly method. The operator is then relieved of operations that are not exclusively the management of the assembly at the point of heat input such as the management of arm interference with the elements to be assembled. For the same purpose, the definition of the guiding envelope may take into account at least one of the following requirements: maintenance of the orthogonality of the heat supply member with respect to the surface of minus one of the elements, maintaining the end of the heat supply member in a joint plane, absence of collision between the heat supply member, the arm and the elements to be assembled. Advantageously, the method according to the invention comprises the additional step of memorizing the type of assembly, the reference trajectory of the heat input point as well as the trajectory of the actual heat input point. Thus, the processing unit can construct a trajectory library and adapt the future reference trajectory calculations of the heat input point as a function of the trajectories actually made using, for example, 'learning. The invention also relates to a teleoperated robot comprising: - an articulated arm at the end of which is mounted a heat supply member, such as a nozzle or an electrode, the heat supply member being adapted to deliver heat at a heat input point; sensors for the position of the articulated arm; Actuators for guiding the articulated arm; a video capture device of the heat input point; a haptic interface for controlling the trajectory of the heat input point and the welding parameters; a processing and control unit connected to the position sensors, to the guide actuators, to the video capture device, to the haptic interface for controlling the trajectory and to the welding parameters.
    [0003] The processing unit is arranged to implement the method according to the invention. Other features and advantages of the invention will become apparent on reading the following description of particular nonlimiting embodiments of the invention. BRIEF DESCRIPTION OF THE DRAWINGS Reference will be made to the appended figures among which: FIG. 1 is a schematic representation of a teleoperated robot according to the invention; FIG. 2 is a perspective view of an assembly processed by the robot of FIG. 1; FIG. 3 is a logic diagram of the steps of the method according to the invention; FIG. 4 is a diagrammatic representation of a three-dimensional model of the robot of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION Referring to FIG. 1, the method is implemented by means of a remote robot. operated, generally designated 1, comprising a six-axis polar arm having six rotoid type joints 11.1 to 11.6. A MIG welding torch 20 is mounted at the end 12 of the arm 10 and comprises a guide 21 for tubing 22 for a metallic wire from a controlled reel 23. The guide 21 is connected to the positive terminal 24.1 of an electric welding generator. An assembly 40 of two metal tubes 41 and 42 is connected to a second ground terminal 24.2 of the generator 25. Thus the wire 22 serves as an electrode and allows the establishment of an electric arc delivering the heat at a heat input point 43 on the assembly 40. The MIG welding torch 20 also comprises a diffuser 26 of inerting gas 27 - here argon - from a reservoir 28 on which is mounted a regulator / flowmeter assembly 29. A tubular nozzle 30 extends around the guide 21 and the diffuser 26. The arm 10 also comprises sensors 13.1 to 13.6 of its position as well as guide actuators 14.1 to 25 14.6, respectively implanted in each section 11.1 to 11.6. The arm 10 also includes a liquid-cooled camera 31 positioned to capture an image of the heat-input point 43. The camera 31 is provided with an optical filter 32. The robot 1 also includes a haptic interface 50 controlling the trajectory of the heat input point 43 and the welding parameters. The haptic interface 50 comprises in particular a screen 51 restoring the images captured by the camera 31, a "Spacenavigator" 6D 52 joystick of 3DConnexion (registered trademark), a master arm 3036302 9 52.1 with force feedback. a reproduction 52.2 of the welding torch 20, a control pedal 53 for initiating and controlling the welding current, a manual control of the supply speed of the wire 22, a control 55 of the flowmeter 29 of inerting gas 27, an interface 56 for selection and instruction in the form of a mouse 56.1 and a keyboard 56.2. The force return master arm 52.1 may be a "virtuoso 6D" type arm of Haption.
    [0004] Finally, a processing and control unit 57 comprises calculation means 58, a memory 59 and is connected to the position sensors 13.1 to 13.6, to the guide actuators 14.1 to 14.6, to the camera 31, to the pedal 53 to the commands 54 and 55 as well as the haptic interface 50. With reference to FIGS. 2 and 3 and according to a first step 60 of the method, the operator selects the type of assembly to be made from among predefined assembly types ( linear assembly, quilting, etc.) using the interface 56. Here, the operator selects an end-to-end tube assembly. This allows the processing unit 57 to acquire the type of assembly to be made. In a second step 61, the operator moves the arm 10 until the guide 21 comes into contact with the outside of the tube 41. This contact is identified by the unit 57 which measures zero resistance between the terminals. 24.1 and 24.2 of the generator 25. Two further point captures on the outside of the tube 41 allow the unit 57 to determine the diameter of the tube 41. The thickness of the tube can also be determined either by input on the keyboard 56.2 or by measuring a point on the inside of the tube 41 by putting the guide 21 in contact with the inside of the tube 41, the axis along which the tubes 41 and 42 are known. Finally, the nature of the material of the tubes 41 and 42 may also be determined by measuring the conductivity of the metal. This second step 61 is optional because the acquisition of the type of assembly to be made and its specific parameters can be performed by input made by the operator via the interface 56. According to a third step 62, the processing unit 57 calculates a reference trajectory 80 of the heat input point 43 by involving at least one of the following parameters: geometry of a joint plane, geometry of the elements, assembly method. The joint plane is defined as being a surface whose guide curve is the assembly line of the elements 41 and 42 and whose surface groups the medians with the axes of the elements 41 and 42. The processing unit 57 will then define a linear trajectory that avoids any interference between the torch 20, the robot 10, the elements 41 and 42 and which is located in the joint plane. The distance separating the end of the guide 21 from the elements to be welded is determined according to the type of welding to be performed (short arc welding, axial spray welding or globular transfer welding). It should be noted that this type of welding can be established by default or selected via the interface 56. The type of welding also determines the voltage and intensity ranges to be applied. According to a particular embodiment, the unit 57 generates a virtual articulated arm 110 in the form of a three-dimensional computer model which corresponds in every respect to the articulated arm 10 (geometry, degrees of freedom, etc.) and to its virtual camera accessories 131, virtual torch 120 as well as virtual gas and wire supply hoses 22. This three-dimensional computer model can also include a three-dimensional representation of the assembly 40 in the form of a virtual assembly 140. Finally, the articulating arm 110 includes a virtual heat supply point 143 corresponding to a calculated position of the heat input point 43 from the default welding parameters. The position of the virtual heat supply point 143 is updated as a function of the movements of the virtual articulated arm 110 and the evolution of the welding parameters. Such a three-dimensional computer model is shown in FIG. 4. The unit 57 carries out a bilateral coupling in position between, on the one hand, the haptic interface essentially the master arm 52.1 and the 6D joystick 52, and on the other hand the This means that the position of one of the coupled elements is transferred to the other bilaterally (from the first to the second and the second to the first). Thus, a modification of the position of the master arm 52.1 is immediately reflected on the position of the virtual articulated arm 110. In the same way, a virtual stress applied on the virtual arm 110 - for example an interference with the assembly 140 - results in a command defined by the unit 57 to the master arm 52.1 so as to apply a resisting force on the master arm 52.1. The unit 57 also controls the guide actuators 14.1 to 14.6 in position so that the position of the virtual articulated arm 110 is reproduced on the articulated arm 10. According to a third step 63, the unit 57 defines a the guiding envelope 81 of the torch 20 around the reference path 80 defined in step 62. The definition of the guiding envelope 81 takes into account at least one of the following requirements: maintenance of the orthogonality of the torch 20 vis-à-vis the surface of the element 41 or 42, maintaining the end of the guide 21 in the joint plane, no collision between the torch 20, the arm 10 and the elements 41 and 42. The unit 57 models this guiding envelope 81 of the torch 20 in the form of a virtual guiding envelope 181 of the virtual torch 120 extending around a virtual reference trajectory 180 modeled in FIG. the environment of the virtual arm 110. According to a In step 64, the operator sets initial welding parameters (welding voltage, wire feed speed 22, inert gas flow rate 27). This step 64 is optional because the operator can choose to keep default welding parameters or to validate welding parameters defined by the unit 57. Once these operations are completed, the assembly of the elements can begin. According to a step 65, the processing unit 57 controls the guiding actuators 14.1 to 14.6 so as to bring the torch 20 to its calculated starting welding position, here under the assembly 40. This step is optional because this setting welding start position can be performed by the operator using the master arm 52.1 and / or 6D joystick 52. The operator can also perform, in an optional step 66 control, a prior inspection of the solder joint by means of the camera 32 by manipulating the arm 10 with the 6D joystick 52, the master arm 52.1 or by commanding the unit 57 to drive the guide actuators 14.1 to 14.6 so as to the arm 10 describes the movement corresponding to the displacement of the heat input point 43 along the reference path 80. In a step 67, the operator initiates the beginning of the welding. This welding step is triggered by the initiation of the welding electric arc via the pedal 53 with which the operator can also adjust the intensity of the welding current. In a manner that is substantially simultaneous with the initiation, the controls 54 and 55 respectively trigger the supplies of wire 22 and inerting gas 27 according to the previously defined welding parameters. Finally, once the electric arc is established between the tube 21 and the assembly 40, the unit 57 controls the haptic interface 50-and more particularly the force feedback to the master arm 52.1- so as to maintain the velocity of movement of the virtual heat supply point 143 relative to the virtual assembly 140 at a speed of between fifteen and forty hundred centimeters per minute along the virtual reference path 180. This control is felt by the operator through the haptic interface 50 and the unit 57 also controls the actuators 14.1 to 14.6 of the articulated arm 10 so that the articulated arm 10 produces the position of the virtual articulated arm 110, and therefore reproduces the constraint of maintaining speed in the defined range. During the assembly operation, the operator 20 monitors on the screen 51 the image captured by the camera 31 of the heat input point 43 and thus analyze the melt. It is possible for it to act accordingly on the welding parameters (intensity, wire speed, gas flow, length of the electric arc, polarity of the voltage, etc.) and on the displacement of the supply point. 43 via the 6D 52 joystick and / or the 52.1 master arm. The operator can also adjust the position of the MIG welding torch 20 by acting directly on the master arm 52.1 so as to move the heat input point 43 according to the state of the melt. All changes in position of the master arm 52.1 are transmitted to the unit 57. In a step 68, the unit 57 controls a force return on the master arm 52.1 so as to oppose a movement of the master arm 52.1 35 leading to a displacement of the virtual torch 120 outside the virtual guiding envelope 181. Such a force feedback can be likened to the application of a virtual guiding force on the virtual articulated arm 110. The position of the master arm 52.1, subject to the joint actions of the operator and the force feedback controlled by the unit 57, is reproduced on the articulated arm 10. The unit 57 can control the application of forces elastic members opposing the movement of the virtual welding torch 120 and whose intensity increases as we approach the limits defined by the virtual guiding envelope 181, or apply a zero force to inside the virtual guiding envelope it then 181 a resilient abutment reaction force when the virtual welding torch 120 reaches the limits of the virtual guiding envelope 181. The control of the force feedback by the unit 57 on the master arm 52.1 can also allow or restricting other movements such as, for example: a) allowing a scanning movement of the virtual heat input point 143 on either side of the virtual reference trajectory 180, this scanning movement being controlled by the operator from the haptic interface 50; b) forcing the heat supply point 43 to follow the reference path 80. The scanning movement of the virtual heat supply point 143 may also be subject to a command issued by the unit 57 on the master arm 52.1 aimed at generating an elastic force when the welding torch 30 approaches the limits defined by the virtual guiding envelope 181. The unit 57 can alternatively control the application by the force feedback of the master arm 52.1 a zero force inside the virtual guiding envelope 181 and a resilient abutment reaction force when the virtual welding torch 120 reaches the limits of the virtual guiding envelope 181. It is note that the guide casing 81 defines the possible positions of the heat transfer member 22 here as the end of the wire 22 of the MIG welding torch 20 when the reference path 80 defines a theoretical trajectory of the po In the interior of the guide casing 81, the heat supply member can adopt a plurality of positions in which the heat supply point 43 remains. These various possible positions make it possible to avoid collisions and to maintain a good visibility of the melt or to lengthen the welding electric arc without modifying the position of the firing point. The heat supply point 43 may also deviate from the reference path 80 as long as the heat supply member remains in the guide casing. In any case, the definition of the guiding envelope 81 takes into account the possibilities of displacement of the heat input point 43. The same considerations apply to the virtual guiding envelope 181, the virtual torch 120, the virtual reference trajectory 180 and the virtual heat input point 143.
    [0005] According to an optional step 69, after the weld is completed, the operator performs a display pass during which the unit 57 controls the guide actuators 14.1 to 14.6 so that the camera 31 scans the entire welding, thus allowing the operator to perform a visual inspection of the weld. According to a particular embodiment, the unit 57 memorizes the type of assembly, the reference trajectory 80 of the heat input point 43 as well as the trajectory actually performed by the heat supply point 43. In unit 57, the unit 57 makes it possible to adjust the calculation of the future reference trajectories as a function of the trajectories actually performed for similar assemblies. Of course, the invention is not limited to the embodiments described but encompasses any variant within the scope of the invention as defined by the claims. In particular, although the assembly comprises two elements, here in the form of two end-to-end joined tubes, the invention is also applicable to other types of assembly, such as, for example, pipe connections oriented according to an angle between 0 and 180 °, an assembly of flat products end to end or edge, an assembly using a tube and a flat product; - Although here the assembly is carried out by welding, the invention is also applicable to other types of assembly by heat input such as soldering; - Although here the articulated arm is a six-axis arm, the invention also applies to other types of arms such as arms provided with a different number of axes or provided with a different number degree of freedom; - Although here the robotic arm is a polar arm comprising exclusively articulations type rotoid, the invention is also applicable to other types of robotic arms such as a Cartesian arm 30 comprising prismatic joints and rotoids; - Although here the robot is provided with a MIG welding torch, the invention is also applicable to other welding processes such as MAG processes, flux-cored wire without inerting gas, coated electrode , at 35 wire under flow, or the TIG or flame soldering processes, by laser beam or induction; although here the heat transfer member comprises a guide tube polarizing a wire acting as a fusible electrode, the invention also applies to other types of heat transfer member such as for example a non-fusible tungsten electrode (TIG process) or other material or a nozzle for the diffusion of a heating gas (acetylene or other); although here the welding torch incorporates the feeder supply device, the invention is also applicable to other types of processes without a filler metal (autogenous welding without metal). feed) or wherein the filler metal is fed to the melt by a device independent of the one comprising the heat supply member; - Well, that here supplies of filler metal and gas are triggered automatically, the invention also applies to supplies of filler metal and gas manually triggered; although here the heat input point is filmed by means of a liquid-cooled camera provided with a filter, the invention also applies to other types of video capture means. a heat input point such as a thermal camera, an HD camera, and other means of radiation protection such as an automatic darkening LCD; - Although here the haptic interface includes a 6D joystick type "Spacenavigator" and a master arm with force feedback provided with a reproduction of a welding torch, the invention also applies to other types of haptic interface such as an interface provided with two force feedback manipulators, or again one or more return force joysticks; 3036302 18 - although here the force feedback master arm is of the "virtuoso 6D" type of Haption, the invention also applies to other models of master arms with force feedback as well as to other manufacturers of such 5 arms; - Although here the acquisition of the assembly is done using the guide wire tube used as a contact sensor, the invention also applies to other acquisition means such as for example two-dimensional acquisition means such as a camera, a probe or three-dimensional acquisition means such as for example a 3D scanner, a pair of 2D cameras or ultrasonic probes; although here the speed of displacement of the heat transfer member is between fifteen and forty centimeters per minute, the invention also applies to other predefined ranges of travel speed of the heat transfer member such as, for example, speeds of less than fifteen centimeters per minute or greater than forty centimeters per minute; although here the processing and control unit generates a virtual articulated arm as well as a virtual model of the accessories which are attached (camera, welding torch, etc.), the invention also applies to a modeling comprising exclusively a virtual arm and a virtual heat supply member; although here the method comprises generating a virtual articulated arm and a virtual heat supply member to then determine a virtual guiding envelope, the invention also applies to a method devoid of steps of generation of virtual elements and in which the situations of interference, and the coordinates of the different elements are calculated without going through a three-dimensional modeling.
    [0006] The processing and control unit then directly controls the guide actuators so as to directly oppose a displacement of the heat supply member out of the calculated guide casing. The direct connection of the haptic interface and the articulated arm allows a return of the guiding forces applied to the articulated arm towards the haptic interface so that the operator can feel them; Although the virtual arm here is a three-dimensional computer model, the invention also applies to other types of computer models, for example a two-dimensional, wired model.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Process for assisting in the assembly (40) of two elements (41, 42) by heat input, such as soldering or brazing, the method being carried out by means of a robot tele-operated (1), the robot (1) comprising: - an arm (10) articulated at the end (12) of which is mounted a heat supply member (22), such as a nozzle or an electrode the heat supply member (22) being adapted to deliver heat at a heat supply point (43); sensors (13.1-13.6) of the position of the articulated arm (10); actuators (14.1-14.6) for guiding the articulated arm (10); a video capture device (31) of the heat input point (43); a haptic interface (50) for controlling the trajectory of the heat input point (43) and the assembly parameters; a processing and control unit (57) connected to the position sensors (13.1-13.6), the guide actuators (14.1-14.6), the video capture device (31) and the haptic interface (50). ) for controlling the trajectory and the assembly parameters, the method comprising the following steps: a) acquisition of a type of assembly to be produced; b) calculating a reference path of the heat input point (43); c) defining a guide shell (81) of the heat supply member (43) around the reference path (80); d) controlling the guiding actuators (14.1-14.6) so as to oppose a displacement of the heat transfer member (22) out of the guide casing, ensuring a force return to the haptic interface (50).
    [0002]
    The method of claim 1, wherein the haptic interface (50) comprises a force return master arm (52.1).
    [0003]
    3. The method according to claim 1, wherein step c) of defining a guiding envelope (80) comprises the following steps: c) generation by the processing and control unit (57) of a virtual articulated arm (110) and a virtual heat supply member (122); c ") generating a virtual guiding envelope (181) by the processing and control unit (57), and the controlling step (d) of the guiding actuators comprises the following steps: a bilateral coupling in position between the haptic interface (50) and the virtual articulated arm (110); d) performing a unilateral coupling in position of the virtual articulated arm (110) and the articulated arm (10); ); (d) controlling the haptic interface (50) to oppose movement of the virtual heat supply member (122) out of the virtual guiding envelope (180), while ensuring the coupling in position of the haptic interface (50) and the articulated arm (10).
    [0004]
    4. Method according to one of the preceding claims, in which the guiding actuators (14.1-14.6) are controlled so as to allow a sweeping movement of the heat transfer point (43) from both sides. another of the reference path (80), this scanning movement being controlled by an operator from the driving haptic interface (50). 3036302 22
    [0005]
    The method according to one of the preceding claims, wherein the guide actuators (14.114.6) are controlled to constrain the heat input point (43) to follow the reference path (80).
    [0006]
    6. Method according to one of the preceding claims, wherein, the robot (1) having means for two-dimensional or three-dimensional acquisition of the assembly, the method comprises a step a ') (61) between step a) and b) acquiring the specific parameters of the assembly using the two-dimensional or three-dimensional acquisition means.
    [0007]
    The method according to one of the preceding claims, wherein step b) of calculating the reference path (80) of the heat input point (43) involves at least one of the parameters following: geometry of a joint plane, geometry of elements (41, 42), assembly process. 20
    [0008]
    8. Method according to one of the preceding claims, wherein the definition of the guiding envelope (81) takes into account at least one of the following requirements: maintaining the orthogonality of the heat transfer member (22) facing the surface of at least one of the elements (41, 42), holding the end of the heat transfer member (22) in a joint plane, absence of collision between the heat transfer member (22), the articulated arm (10) and the elements (41, 42).
    [0009]
    The method of one of the preceding claims, comprising the further step of storing the type of assembly, the reference path of the heat input point (80), and the path of the delivery point. of heat actually performed.
    [0010]
    10. Method according to one of the preceding claims, wherein the acquisition of the type of assembly is made by selecting one type of assembly from predefined assembly types.
    [0011]
    The method of one of the preceding claims, wherein the guiding actuators (14.1-14.6) are controlled to maintain the velocity of movement of the heat supply member (22) relative to the assembly. (40) within a predefined range.
    [0012]
    12. Teleoperated robot (1) comprising: an articulated arm (10) at the end of which is mounted a heat supply member (22), such as a nozzle or an electrode, the heat input (22) being adapted to deliver heat at a heat supply point (43); sensors (13.1-13.6) of the position of the articulated arm (10); - Guiding actuators (14.1-14.6) of the articulated arm (10); a video capture device (31) of the heat input point (43); A haptic interface (50) for controlling the trajectory of the heat input point (43) and the assembly parameters; a processing and control unit (57) connected to the position sensors (13.1-13.6), the guide actuators (14.1-14.6), the video capture device (31), the haptic interface ( 50) for controlling the trajectory of the heat input point (43) and the assembly parameters, the processing unit (57) being arranged to implement the method defined by any one of the preceding claims .
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    同族专利:
    公开号 | 公开日
    US10780584B2|2020-09-22|
    US20180126556A1|2018-05-10|
    WO2016184985A1|2016-11-24|
    FR3036302B1|2017-06-02|
    EP3297793A1|2018-03-28|
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    法律状态:
    2016-05-20| PLFP| Fee payment|Year of fee payment: 2 |
    2016-11-25| PLSC| Search report ready|Effective date: 20161125 |
    2017-05-23| PLFP| Fee payment|Year of fee payment: 3 |
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    2019-05-23| PLFP| Fee payment|Year of fee payment: 5 |
    2020-05-22| PLFP| Fee payment|Year of fee payment: 6 |
    2021-05-20| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1554520A|FR3036302B1|2015-05-20|2015-05-20|TELEOPERATED MANUAL WELDING METHOD AND WELDING ROBOT USING SUCH A METHOD|FR1554520A| FR3036302B1|2015-05-20|2015-05-20|TELEOPERATED MANUAL WELDING METHOD AND WELDING ROBOT USING SUCH A METHOD|
    US15/570,581| US10780584B2|2015-05-20|2016-05-19|Remotely operated manual welding method and welding robot implementing such a method|
    PCT/EP2016/061330| WO2016184985A1|2015-05-20|2016-05-19|Remotely operated manual welding method and welding robot implementing such a method|
    EP16724399.7A| EP3297793A1|2015-05-20|2016-05-19|Remotely operated manual welding method and welding robot implementing such a method|
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