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2. 发明公开

EP2555069A1 Control of a machining operation 无效转让
标题翻译： Steuerung eines Bearbeitungsvorgangs
公开(公告)号：EP2555069A1
公开(公告)日：2013-02-06
申请号：EP12176072.2
申请日：2012-07-12
申请人： Rolls-Royce plc
发明人： Cameron, Mitchel
IPC分类号： G05B19/418 , B25J9/16 , B23H9/10
CPC分类号： G05B19/41815 , B25J9/1692 , G05B2219/39056 , G05B2219/40071 , G05B2219/45147 , Y02P90/08 , Y02P90/083
摘要： A method for controlling the machining of a component is provided. The method incorporates closed-loop control based on feedback of measured parameters. The method includes the steps of: (i) measuring predetermined dimensions of a component; (ii) comparing the measured dimensions against design data defining a required shape for the component; (iii) using the results of the comparison to define material removal that is needed to bring the component to the required shape; (iv) delivering the component to a site at or adjacent to a machining station having a material removal tool (24), the component being gripped by a robotic manipulator (22) at said site; (v) using the defined material removal and the known position of the robotic manipulator at the machining station to determine movements of the material removal tool that will produce the required shape for the component; and (vi) performing a machining operation on the component at the machining station using the determined movements while maintaining the grip on the component by the robotic manipulator. The method further includes: the step, between steps (iv) and (v), of measuring the position of the gripped component and/or the robotic manipulator at said site to determine errors in the position of the robotic manipulator; and using the determined errors in the previous step to improve the accuracy of the known position of the robotic manipulator at the machining station.
摘要翻译：提供了一种用于控制部件加工的方法。该方法采用基于测量参数反馈的闭环控制。该方法包括以下步骤：（i）测量部件的预定尺寸; （ii）将测量的尺寸与限定组件的所需形状的设计数据进行比较; （iii）使用比较结果来定义将组件带到所需形状所需的材料去除; （iv）将组件递送到具有材料去除工具（24）的加工站处或邻近的位置，所述部件被所述位置处的机器人操纵器（22）夹持; （v）使用定义的材料去除和机械手操纵器在加工站处的已知位置来确定将为部件产生所需形状的材料去除工具的移动; 以及（vi）使用所确定的运动在加工站的部件上进行加工操作，同时通过机器人操纵器保持对部件的抓握。该方法还包括：在步骤（iv）和（v）之间的步骤，测量所述位置处的夹持部件和/或机器人操纵器的位置，以确定机器人操纵器的位置的误差; 并且在上一步骤中使用确定的误差来提高机械手操纵器在加工台处的已知位置的准确度。

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