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WO2004106149A1 - Systeme de palpation en vue d'insertion de vitres dans des vehicules - Google Patents

Systeme de palpation en vue d'insertion de vitres dans des vehicules Download PDF

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Publication number
WO2004106149A1
WO2004106149A1 PCT/ES2004/000248 ES2004000248W WO2004106149A1 WO 2004106149 A1 WO2004106149 A1 WO 2004106149A1 ES 2004000248 W ES2004000248 W ES 2004000248W WO 2004106149 A1 WO2004106149 A1 WO 2004106149A1
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WO
WIPO (PCT)
Prior art keywords
robot
probe
points
tool
base
Prior art date
Application number
PCT/ES2004/000248
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English (en)
Spanish (es)
Other versions
WO2004106149A8 (fr
Inventor
José Julio MOYA GARCIA
Albert Redo Sanchez
Original Assignee
Asm-Dimatec Ingenieria, S.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Asm-Dimatec Ingenieria, S.A. filed Critical Asm-Dimatec Ingenieria, S.A.
Publication of WO2004106149A1 publication Critical patent/WO2004106149A1/fr
Publication of WO2004106149A8 publication Critical patent/WO2004106149A8/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Definitions

  • the objective is to obtain a system that is able to determine the position of insertion of the crystals and make corrections in position and orientation with respect to a reference position.
  • This position determination should be done by measuring the position of the edges of the insertion zone with a mechanical system that will be called a probe.
  • This probe must go to certain positions and measure the deviation of the edge from the position determined as a pattern. According to this deviation, the system must be able to generate a correction so that the robot correctly inserts the glass with a maximum overall error of 0.5mm.
  • the probes are mounted on the flange of a 6-axis robot.
  • a 6-axis robot is constituted by an articulated mechanical structure with a support base to hold the robot to the ground and a flange at the end on which a tool can be mounted.
  • Each of the 6 joints, or axles, is controlled by a servomotor.
  • the set of servomotors, control input / output signals and Power is controlled by a specific electrical cabinet for each type of robot, in which the control unit for programming it also resides.
  • Contact positioning systems are widely used for the determination of position in 2 dimensions and angle of rotation in what is known as 2 and a half dimensions correction.
  • FIG. 1 shows the conversion of the positioning of the 6 axes (right) to a Cartesian coordinate system (left) using the control unit (center).
  • FIG. 3 shows the displacement of the reference R 'to position R ". To maintain the same relative position between R' and Z, the latter reference must be moved to position Q.
  • FIG. 4 schematically shows the definition of the insertion tool or TCPI using the calibration table.
  • FIG. 7 shows the transformation of the readings of the probes to the coordinate system of the TCPI and from this, through the position and orientation of the point, they are transformed to the coordinate system of the insertion base.
  • FIG. 8 shows a perspective view of the probe assembly, where reference is made to the detector support, the rack axis, the gear shaft, the detection cam, the guide, the arm plate as well as the upper and lower plates and the motherboard of the probe set.
  • FIG. 9 schematically shows the approach of the probe of the second preferred embodiment, in which the detection movement is intended to be directly associated with the movement of the encoder in order to eliminate hysteresis.
  • FIG. 10 shows the measurement model of the probe of FIG. 9.
  • FIG. 11 has two views (front and top) of the probe used in the second preferred embodiment of the present invention in the resting state.
  • FIG. 12 is a flow chart of the program that runs on the CPU and it shows the measurement process as a succession of more basic processes.
  • the robot takes the initiative and the PC, or is in a waiting state, or responds to the robot's requests confirming it conveniently.
  • FIG. 13 is a flow chart of the program running on the CPU and it shows the process of selecting a base. If the previous processes are correct, the PC responds to the robot's new requests, otherwise the robot reaches a maximum timing and the general process must be restarted from the beginning.
  • the palpation system consists of a six-axis robot, probes and specific software that, through algorithms and transformation functions, is able to determine the position of the insertion of the crystals and perform the correction in position and orientation with respect to a previously predetermined reference position.
  • a 6-axis robot is constituted by an articulated mechanical structure with a support base to hold the robot to the ground and a flange at the end on which a tool can be mounted.
  • Each of the 6 joints, or axles, is controlled by a servomotor.
  • the set of servomotors, control input / output signals and power is controlled by a specific electrical cabinet for each type of robot, in which the control unit for programming it also resides.
  • the movement is done by synchronizing the rotation regime of each of the six axes that make up the robot.
  • These six axes form a set of independent parameters, within the mechanical limitations, that allow to position and orient an object subject to the robot's flange and that correspond to the 6 parameters that determine the orientation (Euler's angles) and position (translation ) in a Cartesian reference system.
  • the robot performs, through the control unit, the conversion between one type of reference and the other.
  • FIG. 1 there is a correspondence between the parameters of the robot (A1, A2, A3, A4, A5, A6) and the definition of a point in a Cartesian system with the parameters of position (x, y, z) and rotation (A , B, C).
  • the function of a robot is to move a tool attached to it in a defined path by means of specific points referenced with respect to a base. Consequently, the basic elements of a robot, as far as movement parameters are concerned, are bases, tools and points. The bases, tools and points store information about the position and orientation allowing the joint operation of the three elements in the programming of the trajectories.
  • Universal coordinate system it is a fixed and unique coordinate system in one place (it does not move with the movement of the robot), and it serves as a generic coordinate system for an installation (robot, tool for receiving a piece, tool , etc.). In this way, it serves as a common Cartesian coordinate system for both the robot system and also for the peripherals of the installation. This system is also often called the robot world.
  • Robot coordinate system it is a unique coordinate system that is located at the base of the robot and serves as a reference coordinate system for the mechanical structure of the robot. This reference system cannot be redefined and is determined by the manufacturer. Normally this system matches the universal coordinate system.
  • the tool coordinate system is a coordinate system that moves with the robot as it is defined fixed to the robot flange.
  • This reference system is also often called TCP (from the English tool center poinf).
  • TCP from the English tool center poinf
  • At least the flange itself is defined, which cannot be changed and is determined at the factory. From it you can define more depending on the number of tools to handle.
  • the position and orientation parameters of the tools that are programmed refer to the TCP of the flange.
  • the paths are made by interpolation between previously programmed points.
  • This interpolation can be of different types, the most common being the point-to-point, linear and circular interpolation.
  • the information saved by a point is the position and orientation of a particular tool with respect to a specific base, that is, each point has a TCP and a base associated. It does not make sense to define points in the space if it is not specified which tool will be positioned and from which base this position and orientation will be taken.
  • the object of the present invention is to provide a system capable of determining the position of the body of a car during the automatic glass bonding process by performing the correction in position and orientation with respect to a reference position.
  • Mathematical algorithms allow these corrections to be made by relating the position of different points in space through formulas since the points in space can be defined in position and rotation with respect to different reference systems.
  • a reference system with three points that are not aligned can be determined. For this it is necessary to first have an initial reference system on which to reference these points.
  • a reference system is determined from three non-aligned points P1, P2 and P3 that we could associate with the above mentioned standard points with respect to an initial reference system Z that we define as the insertion base.
  • FIG. 3 has the orientation and position of a system R 'with respect to Z, or what is the same the standard measurement points with respect to a predetermined reference system that we have called the insertion base.
  • the palpation system of the invention will provide the robot with the vector c and the orientation (A, B, C) of Q with respect to Z, so that it can be applied on the insertion base and thus correct the insertion path that had been predetermined in the event that points P1, P2 and P3 did not have displacement.
  • the palpation system of the invention consists of the following parts: • Reference and calibration tool.
  • the reference tool is very important as it allows defining the parameters of the insertion tool (or TCPI) that will be used in a repeatable way. This is necessary in the case where the work tool suffers a collision or breakage and a new one must be installed if the current one cannot be repaired. It is also useful to periodically verify that the tool maintains the geometry since there may be cases of mismatches due to the loosening of screws and fasteners over time. In some way this tool is like a negative mold of what the manipulation, measurement and insertion tool or spider has to be.
  • the TCPI is defined to ensure that the insertion is always performed with the same relative position between spider and crystal.
  • a reference base is defined on the calibration table, as shown in FIG. 4, which will always be the same for subsequent recalibrations.
  • the calibration process of the insertion tool or TCPI can be started. What is intended is to define position and orientation of the reference base such as the position and orientation of the TCPI when it is calibrated, that is, it will be forced that the position and orientation of the TCPI with respect to the base of the robot or the world is the same as that of the base of reference, or in other words, that the TCPI and the reference base coincide in the reference position.
  • position and orientation of the reference base such as the position and orientation of the TCPI when it is calibrated, that is, it will be forced that the position and orientation of the TCPI with respect to the base of the robot or the world is the same as that of the base of reference, or in other words, that the TCPI and the reference base coincide in the reference position.
  • TCP which we call TCPI.
  • the TCPI is linked to the robot's flange but cannot be "touched", it is a virtual tool. Unlike the coordinate system associated with the probe, it can be touched since it is associated with the geometry and directions of movement of the probe.
  • the arrow indicates the movement of the robot from the calibration position, in which the TCPI and the reference base overlap.
  • the probe position and orientation are programmed as if it were a robot tool, so the position and orientation parameters will be referenced with respect to the robot flange.
  • the tool may have more than one probe, in which case the position of each one must be calibrated.
  • W TCPI and S TCP I being the position and orientation of the TCPI determined as discussed above.
  • the insertion base and measurement points must be defined. Although it is not necessary, it is advisable to define a base on the framework to be corrected in order to facilitate the identification of the measurement points and better interpret the corrections provided by the system, which will be given with respect to this base.
  • the bases are always defined with respect to the world of the robot.
  • the TCPI is referenced with respect to the world and moves to the position that is considered a standard or zero position.
  • the parameters (X, Y, Z) and (A, B, C) obtained must be memorized by the robot and by the calculation application.
  • the program automatically retrieves these parameters from the robot if it is in calibration mode, as shown in FIG. 6.
  • at least three measurement points must be defined in order to apply the above and related to FIGS. 2 and 3. More points could be defined to make a better position adjustment by means of optimal adjustment algorithms, but this would be recommended for parts that deviate greatly from the flat geometry.
  • the measurement process can be carried out, which serves both to define the standard position and for the successive measurements of the deviations from it.
  • the process is the following:
  • the TCPl is moved to the position and orientation defined by the measurement point / ' . > 2.
  • the probe reading ü 'referenced with respect to the probe's own coordinate system is obtained.
  • the insertion path must always be referenced using the corresponding insertion base and the TCPl as a tool. Once this path is defined on this base, it will remain linked to it, so if the base moves, the path will move with it. This is precisely what the correction will do: it will move the base as necessary for the insertion of the crystals to adjust to the new position of the body. For this, what the system will do is follow the position of the TCPC, always measuring on the defined measurement bases.
  • a probe is generically described as a device that is capable of determining a position by physical contact with the object to be positioned.
  • the position of the edge it is necessary to determine the position of the edge to be measured in a coordinate system of at least 2 dimensions. This coordinate system must be associated in some way with the geometry of the probe movement.
  • the first system that can occur to one is an XY system in which the two axes of motion correspond to the coordinate pair.
  • this XY system one of the axes slides over the other with a relative rotation of 90 °. Both have a linear movement that determines the measurement range.
  • Each of these axes is associated with one of the XY coordinate axes.
  • FIG. 8 shows the probe used in a first preferred embodiment where a support plate (1) can be seen where the probe is attached to the robot's flange, the two longitudinal carriages (2, 4) mounting one above the other at 90 ° by the displacement mechanism (3) and the encoder (10) associated with the longitudinal carriage (2) having a cylindrical shape.
  • the other longitudinal carriage has another encoder associated.
  • These encoders are rotary and have 2500 pulses per turn, so that linear movements are converted to rotary movements by means of a rack system.
  • the pulses of the encoder movements are sent to the Control Unit to calculate the position of the point being measured.
  • the measurement process is initiated by the robot, which, through its flange conveniently attached to the probe, moves the contact cam (6) until it touches the predetermined point.
  • the contact cam (6) is made of plastic so as not to damage the body, but in addition the probe has a damage protection system based on an inductive sensor (11) associated with a stopper tongue (12) and an inductive sensor (7 ) associated with another hidden tab (not shown in the figure).
  • the function of these inductors is to detect metal objects at a certain distance, and if the minimum threshold distance has been reached, the movement is stopped by sending a signal to the control unit.
  • the robot takes said cam (6) to the standard position of that point since said position is obtained and memorized when the calibration process was performed.
  • This last movement is transmitted from the cam (6) to the aluminum extender (5), and from this to the longitudinal carriages (2) and (4).
  • the movement of the carriage (2) is transmitted by the toothed guide (8) to the axis (9) of the encoder (10) which will send the appropriate impulses to the Control Unit.
  • the movement of the carriage (4) is transmitted by a toothed guide (not shown) to the axis (not shown) of its corresponding encoder (not shown) by sending said encoder the appropriate impulses to the Control Unit.
  • FIGS. 9 and 10 show a second preferred embodiment of the probe, in which the detection movement is directly associated with the movement of the encoder with the aim of eliminating the hysteresis produced by the zipper of the probe of the first embodiment.
  • FIG. 9 shows the approach of the second preferred embodiment of the probe As already stated the objective of this design is to eliminate hysteresis of the rack system and also reduce the dependence of the volume on the path.
  • This set consists essentially of:
  • FIG. 10 shows the measurement model of this second probe design in which points (Ti) are determined in the plane and the direction of the edges (Wi) with respect to the reference points (Pi).
  • the points W1, W2 and W3 determine a plane ⁇ P and the points Ti belong to said plane and are the points that are located on the edge of the frame to be positioned; therefore, these points will be the ones that will be used to determine the reference to follow.
  • the coordinates of these points must be passed to a common reference for all of them, since the parameters of the probes are given in their own coordinate system. To measure these parameters, the origin O of the probe will be placed on the points Pi.
  • both the equation of the plane ⁇ P and the equations of the lines that pass through the points Pi and Ti can be calculated.
  • the points Ti are at the intersection of said plane with said lines, we will easily have the coordinates of the three points Ti and once these points Ti can be determined the standard reference and the specific reference in a given position of insertion.
  • the palpation system of the invention will provide the robot with this data to apply the appropriate corrections on the insertion base and thus correct the insertion path that had been predetermined in the event that the T ⁇ points T 2 and T 3 had no displacement.
  • FIG. 11 shows the front and top views of the probe of the second preferred embodiment that makes measurement possible according to the theory set forth in the preceding paragraphs and related to FIGS. 9 and 10.
  • the contact rod (22) moves over the car body by means of a wheel (23) and rotates on the axle (24) to transmit its movement to the encoder (25).
  • the vertical movement of the measuring rod (26) is done so as not to damage the car body by exerting slight pressure with the spring (27), which is held by the head of the spring (28).
  • the rotation movement is done when it reaches the edge of the body and transmits it via the axis (29) to the encoder (30).
  • the probe of the second preferred embodiment has protective mechanisms such as induction detectors (31) and (32), located in the detector holder (33), and the cams of position (34) and (35) of induction detectors.
  • the speed with which the measurement and insertion process is carried out is an important factor since productivity depends on it.
  • the measurement data is sent from the robot to a control unit integrated in a PC in which, using specific software, the appropriate corrective calculations are performed. Once these calculations are ready, the PC sends the appropriate commands to the robot to correct the insertion path.
  • the robot-PC communication procedure will be described below.
  • the robot acts as a master and the slave PC, that is, the robot is the one who takes the initiative and tells the PC what to do. This is done by sending service request messages or SROs which are answered with acknowledgment messages or ACK.
  • SROs service request messages
  • ACK acknowledgment messages
  • the robot waits for this confirmation for a limited time or timing after which it considers that there is an error if no response has been received.
  • the messages involved are: • SRQ: request • ACK: recognition
  • the flow chart shown in FIG. 12 shows the general process that includes a series of chained procedures. These procedures will be described in more detail in the following figures.
  • the robot When the robot is above the measurement start point, it sends the request request for measurement (SRQ_STM) to the PC, which is in the waiting state.
  • the PC must answer before a certain time that it has received the measurement start request, responding with the ACK_STM command in which it will include data on the basis and points to be measured; otherwise, if the timing expires, the robot interprets that the PC is busy and must start the process again.
  • the robot performs the actions of Base selection, measurement of programmed points and after the measurement of the last programmed point it will request the PC to correct the trajectory. Meanwhile, the PC has been in the waiting state to receive the data from the robot each time one of the sequential operations it performs is completed. If, on the other hand, the PC does not answer before the timing that it has received the measurement start request with the ACK_STM command, an interrupt appears that indicates to the robot that the request has not been answered SRQ_NOK generating a new command to the PC ACK_NOK which puts it on hold.
  • the flow chart of FIG. 13 shows the process of selecting a base. If the previous processes are correct, the PC responds to the robot's new requests, otherwise if the timing expires, the general process must be restarted from the beginning.
  • the diagram shows that when the PC responds with the recognition command to the request of the measuring start robot, the robot then makes the request for parameters of a certain base B (SRO_BSI), and as we saw before, if the timing does not expire, the PC will send the appropriate parameters with the ACK_STM command so that the robot is positioned at measuring point # 1, and if the timing expires, as we saw before, a interruption that indicates to the robot that the request has not been answered SRQ_NOK generating a new command to the PC ACK_NOK that puts it in a waiting state.
  • SRO_BSI base B
  • the flow chart of FIG. 14, shows the process of measuring a point P of the base B.
  • the flow chart of FIG. 15, shows the request process by the robot of the correction generated by the PC based on the readings of the probes on the measuring points. If all the programmed points have been measured without any incident, the robot sends the correction request command ⁇ SRO_COR> to the PC, which produces the correction calculation in the PC by applying the appropriate mathematical formulas to the data acquired during the process. Once the PC has calculated the correction, it returns the correction recognition command ⁇ ACK_COR>, which includes the parameters for position correction X, Y, Z and rotation correction A, B, C. From here the robot saves the data that it will use in the insertion, generates the command of end of transmission to the PC ⁇ SRQ_EOT> and is in the state of end of measurement.
  • the PC when receiving the end of transmission command is in the waiting state. If during the entire correction request process the timing ends, the SRQ_NOK command that produces the ACK_NOK command to the PC which puts the PC in standby state and the robot itself in the end of measurement state will be generated as previously seen .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de palpation apte à déterminer avec précision la position du châssis d'une voiture pendant le procédé automatique de collage de vitres afin de réaliser une insertion optimale desdites vitres. La position théorique des bords de la zone d'insertion est déterminée au préalable. Le système de palpation détecte, au moyen d'un palpeur mécanique, la position réelle de la zone d'insertion de vitres, mesure la déviation du bord de celle-ci par rapport à la position théorique déterminée au préalable et génère des instructions de correction pour qu'un robot insère correctement la vitre. Le système de palpation de cette invention trouve une application non seulement dans l'insertion de vitres mais également dans d'autres processus dans une chaîne de montage comme, par exemple, le centrage des vitres, la mise en place de cabine et de sièges, d'enjoliveurs, etc.. On peut également l'utiliser dans des chaînes de montage aéronautiques et d'autres permettant la mise en place de pièces, de reconnaître les contours et de vérifier les composants.
PCT/ES2004/000248 2003-06-02 2004-05-31 Systeme de palpation en vue d'insertion de vitres dans des vehicules WO2004106149A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ESP200301315 2003-06-02
ES200301315 2003-06-02
ESP200401287 2004-05-28
ES200401287 2004-05-28

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WO2004106149A8 WO2004106149A8 (fr) 2005-01-27

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61122086A (ja) * 1984-11-20 1986-06-10 Mazda Motor Corp 車両ウインドガラスの取付装置
JPS61132477A (ja) * 1984-11-30 1986-06-19 Honda Motor Co Ltd 車輛用ウインドガラスの取付け装置
EP0223483A2 (fr) * 1985-11-06 1987-05-27 Westinghouse Electric Corporation Système d'insertion d'un pare-brise pour un véhicule sur un convoyeur en mouvement
US4885833A (en) * 1988-10-05 1989-12-12 Honda Giken Kogyo Kabushiki Kaisha Apparatus and method for mounting window glasses on automobile
GB2332012A (en) * 1997-12-05 1999-06-09 Thyssen Industrie Installing window glasses on a motor vehicle body
ES2178118T3 (es) * 1997-01-27 2002-12-16 Peugeot Dispositivo sensor, en particular para determinar la posicion de un objeto en el espacio, como por ejemplo la posicion de un parabrisas de un vehiculo respecto a dicho vehiculo.

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61122086A (ja) * 1984-11-20 1986-06-10 Mazda Motor Corp 車両ウインドガラスの取付装置
JPS61132477A (ja) * 1984-11-30 1986-06-19 Honda Motor Co Ltd 車輛用ウインドガラスの取付け装置
EP0223483A2 (fr) * 1985-11-06 1987-05-27 Westinghouse Electric Corporation Système d'insertion d'un pare-brise pour un véhicule sur un convoyeur en mouvement
US4885833A (en) * 1988-10-05 1989-12-12 Honda Giken Kogyo Kabushiki Kaisha Apparatus and method for mounting window glasses on automobile
ES2178118T3 (es) * 1997-01-27 2002-12-16 Peugeot Dispositivo sensor, en particular para determinar la posicion de un objeto en el espacio, como por ejemplo la posicion de un parabrisas de un vehiculo respecto a dicho vehiculo.
GB2332012A (en) * 1997-12-05 1999-06-09 Thyssen Industrie Installing window glasses on a motor vehicle body

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Free format text: IN PCT GAZETTE 50/2004 UNDER (71) REPLACE "ASM-DIMATIC INGENIERIA, S.A. [ES/ES];" BY "ASM-DIMATEC INGENIERIA, S.A. [ES/ES];"

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase