Method And System For Correcting A Processing Path Of A Robot-Guided Tool

Abstract

A method for correcting the processing path of a robot-guided tool for processing at least one component, wherein: a target position for a plurality of points of a target processing path is specified; from the specified points, points to be corrected are selected; the actual position for the selected points to be corrected is measured or detected on at least one component to be processed; and the processing path corresponding to the measured or detected actual position of the points of the component to be processed is correspondingly corrected. The method is suitable, for example, for welding a component into a borehole using a laser beam, wherein the processing path of the laser beam is corrected so as to correspond to the contour of the component.

Claims

1. Method for machining a least one component (1) with a robot-guided (2) tool, with the steps: Specifying (S10) one respective target position for a plurality of points (x.sub.s,1-x.sub.s,8) of a processing path; Selecting (S20) points (x.sub.s,1, x.sub.s,3, x.sub.s,5, x.sub.s,7) to be corrected from among the predefined points; Determining (S30) one respective actual position for the selected points (x.sub.1, x.sub.3, x.sub.5, x.sub.7) on at least one component to be processed (1); and Traversing (S50) the processing path on the basis of the determined actual positions.

2-11. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Further advantages and features emerge from the dependent claims and the design examples. For this purpose, partially in schematic form, the figures show:

[0038] FIG. 1: a system in the process of machining at least a component according to an embodiment of the present invention;

[0039] FIG. 2: a section along the line II-II in FIG. 1; and

[0040] FIG. 3: the process of the method.

DETAILED DESCRIPTION

[0041] FIG. 1 shows a system in the process of processing at least one component 1 according to an embodiment of the present invention.

[0042] The system comprises a robot 2 and a robot control system 3, which processes a processing program stored within itself. Of course, the process described in the following can also be performed by specialized, automated machines, for example by special “welding machines” used in welding technology. These machines should therefore also be included in the concept of robot in the sense of this invention.

[0043] In the embodiment example, an end face of component 1 is welded into a corresponding bore. For this purpose, the robot 2 scans a processing path with a laser beam L.

[0044] In a first Step S10 (see FIG. 3), target positions are defined for a plurality of support points x.sub.s, i to x.sub.s, 8 of the processing path; these are indicated in FIG. 1 by means of crosses. For this purpose, the points are moved toward a reference component, indicated in FIG. 1 with a dashed line, and the resulting positions are stored.

[0045] The positions respectively comprise a three-dimensional location and a three-dimensional tool direction i.e. direction of the optical axis of the laser head of the robot 2.

[0046] In a second Step S20, then, points to be corrected are selected from among the predefined points. In the embodiment, for example, these are the support points x.sub.s,1, x.sub.s,3, x.sub.s,5, x.sub.s,7. This selection takes place by providing an instruction for determining an actual position for each of these support points in the processing program.

[0047] Now, in a third Step S30, a component-specific actual position of points x.sub.1, x.sub.3, x.sub.5, x.sub.7 is determined in an automated manner by the processing program, by a robot-guided laser sensor (not shown) or another previously described sensor, for each of these selected points on the currently to be processed component, which is depicted with a solid line in FIG. 1, and adopted into the processing program in an automated manner, as indicated in FIG. 1 by means of solid circles.

[0048] To do this, the three-dimensional actual locations of these points are determined. And a respective direction R, perpendicular or normal to opposite edges of component 1 is determined, as indicated in the section of FIG. 2. In a modification, the user can specify or have specified in the processing program, which coordinates of the actual position are determined or which coordinates the actual position comprises, for example, only the position coordinates.

[0049] Then, in a fourth Step S40, in the processing program stored in the robot control system 3, the target positions of the support points x.sub.1, x.sub.3, x.sub.5, and x.sub.7 are replaced with the determined actual positions of points x.sub.1, x.sub.3, x.sub.5, or x.sub.7 in an automated manner. The tool orientations, in particular the optical axes of the laser head, which are defined in the program for support points x.sub.s,1, x.sub.s,3, x.sub.s,5, and x.sub.s,7, are also replaced with corrected directions, which, with a predefined transformation, result from the determined actual directions R. In the embodiment, as an example, the optical axis of the laser head will be perpendicular to the weld seam. Therefore, as an example, an identical depiction is selected as the transformation, i.e. the predefined target tool orientation at points x.sub.s,1, x.sub.s,3, x.sub.s,5, and x.sub.s,7 is replaced with the determined direction R perpendicular to edges of the component 1.

[0050] In a fifth step S50, the processing path, which is defined by support points x.sub.s,1-x.sub.s,8 and indicated in FIG. 1 with dash-double-dot lines, is traversed by the laser beam L in an automated and robot-guided manner. The processing of the component is in particular performed by means of the laser beam; by the robot control system 3 appropriately controlling the robot 2.

[0051] As can be seen by comparing the dash-double-dotted processing path with the solid contour of component 1 and the dashed contour of the reference component, the processing path can thereby easily be customized to the actual contour of the currently to be processed component. On the other hand, by selecting support points, the actual position of which is determined, it is not necessary for all the support points of the processing path to be determined, which can reduce the complexity of measurement. Instead, in Step S20, points can individually be selected from among the predefined points of the processing path.

[0052] Together with the robot-guided laser sensor, the robot control system 3 forms a means for predefining one respective target position for a plurality of points of a processing path, a means for selecting points to be corrected from among the predefined points, a means for determining one respective actual position for the selected points on the component to be processed, and a means for traversing the processing path on the basis of the determined actual positions.

[0053] The robot control system 3 accordingly comprises an input option for entering points to be corrected.

[0054] If a plurality of identically constructed components 1 are processed in succession, Steps S30-S50 are repeated in an automated (component-specific) manner for each component. Steps S10, S20, however, are performed only once in advance for the components.

[0055] Even though exemplary designs have been outlined in the foregoing description, it should be noted that a variety of modifications are possible. In addition, it should be noted that the exemplary designs are merely examples that are by no means intended to limit the scope of protection, the applications and the structure in any way. Rather, with the foregoing description, the skilled person is provided with a guide for implementation of at least one exemplary embodiment, whereby a variety of changes, in particular with respect to the function and arrangement of the described components may be made without departing from the scope of protection as it is emerges from the claims and the equivalent combinations of features.

[0056] While the present invention has been illustrated by a description of various embodiments, and while these embodiments have been described in considerable detail, it is not intended to restrict or in any way limit the scope of the appended claims to such detail. The various features and steps shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative example shown and described. Accordingly, departures may be made from such details without departing from the spirit and scope of the general inventive concept.

LIST OF REFERENCE SIGNS

[0057] 1 Component [0058] 2 Robot [0059] 3 Robot control system [0060] L Laser beam [0061] R Direction [0062] x.sub.s, i Predefined point [0063] x.sub.i Point on the component