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    • 42. 发明申请
    • Method and device for processing a moving production part, particularly a vehicle body
    • 用于处理移动生产部件,特别是车体的方法和装置
    • US20060015211A1
    • 2006-01-19
    • US10527735
    • 2003-09-06
    • Thomas KolbHelmut KrausThomas Stahs
    • Thomas KolbHelmut KrausThomas Stahs
    • B62D65/00
    • B25J9/1684G05B2219/36503G05B2219/37459G05B2219/39114G05B2219/39397G05B2219/40307Y10T29/49771Y10T29/49778Y10T29/4978Y10T29/49828Y10T29/49902Y10T29/53022
    • A method for processing a moving workpiece (1), in particular a vehicle body (1) which is moved using of a conveyor belt (10). A processing tool (5) is used which is attached to the hand (12) of a robot (7) and comprises a sensor system (18) which is permanently connected to the processing tool (5) and has at least one sensor (19). During the processing, the processing tool (5) follows the moving workpiece. This following movement is based on a closed-loop control process in which the processing tool (5) is oriented periodically towards reference areas (9) of the moving workpiece (1) using measured data of the sensor system (18). The measured data of the sensor system (18) is compared with setpoint data which is generated within the scope of a set up phase (I) of the processing tool (5), and a movement vector of the processing tool (5) is calculated from the difference between the measured values and setpoint data using a Jacobi matrix calculated within the scope of the set up phase, the processing tool (5) being moved by an amount equal to said movement vector. This process is repeated in a control loop.
    • 一种用于处理移动的工件(1)的方法,特别是使用传送带(10)移动的车体(1)。 使用附接到机器人(7)的手(12)的加工工具(5),并包括永久地连接到处理工具(5)并且具有至少一个传感器(19)的传感器系统(18) )。 在处理过程中,处理工具(5)跟随移动的工件。 该跟随移动是基于闭环控制过程,其中处理工具(5)使用传感器系统(18)的测量数据周期性地朝向移动工件(1)的参考区域(9)定向。 将传感器系统(18)的测量数据与在处理工具(5)的设置阶段(I)的范围内生成的设定点数据进行比较,并且计算处理工具(5)的运动向量 从使用在设定阶段的范围内计算的雅可比矩阵的测量值和设定点数据之间的差异,处理工具(5)被移动等于所述运动矢量的量。 该过程在控制循环中重复。