Method and device for machining robot-guided components

Patent metadata

Field	Value
Publication number	US-9597799-B2
Application number	US-201113881703-A
Country	US
Kind code	B2
Filing date	Oct 26, 2011
Priority date	Oct 26, 2010
Publication date	Mar 21, 2017
Grant date	Mar 21, 2017

Abstract

A method for machining a robot-guided component with a tool which is fastened in an articulated manner to a tool holder is disclosed. The method includes detecting a deflection of the tool with respect to the tool holder from a desired position and changing a pose of a robot that is guiding the robot-guided component on a basis of the detected deflection.

First claim

The invention claimed is:

1. A method for machining a robot-guided component, comprising:
detecting a change in position of a tool with respect to a tool holder from a desired position wherein the tool is fastened in an articulated manner to the tool holder via an extension arm; and
changing a pose of a robot that is guiding the robot-guided component on a basis of the detected change in position;
wherein the changing the pose of the robot guides the robot-guided component in a first direction against the tool holder to compensate for the detected change in position in a first degree of freedom and guides the robot-guided component in a second direction against the tool holder to compensate for the detected change in position in a second degree of freedom.

2. The method according to claim 1 , wherein the tool has a plurality of degrees of freedom and wherein the detecting the change in position includes detecting coordinates of the plurality of degrees of freedom.

3. The method according to claim 2 , wherein the plurality of degrees of freedom are rotational degrees of freedom.

4. The method according to claim 1 , wherein the changing the pose of the robot compensates for the detected change in position at least substantially.

5. The method according to claim 1 , wherein the changing the pose of the robot guides the robot-guided component translationally against the tool holder.

6. The method according to claim 1 , further comprising prestressing the tool against the robot-guided component.

7. The method according to claim 6 , wherein the prestressing is a controlled prestressing or a passive prestressing.

8. The method according to claim 7 , wherein the controlled prestressing is force-controlled or torque-controlled.

9. The method according to claim 7 , wherein the passive prestressing includes applying a gravitational force.

10. The method according to claim 1 , further comprising guiding the robot-guided component selectively or in succession to a plurality of tools by the robot or a plurality of robots.

11. The method according to claim 1 , further comprising guiding the robot-guided component or a plurality of robot-guided components selectively or in succession by a second robot.

12. The method according to claim 1 , further comprising detecting a surface condition of the robot-guided component and predetermining a machining process on a basis of the detected surface condition.

13. The method according to claim 12 , wherein the detecting the surface condition includes optically detecting the surface condition.

14. The method according to claim 1 , wherein the robot-guided component is a turbine blade.

15. The method according to claim 1 , wherein during the changing the pose of the robot, an orientation of the robot-guided component is not changed.

Assignees

• Windprechtinger Joerg
• Hodel Daniel
• MTU Aero Engines AG

Inventors

• Windprechtinger Joerg
• Hodel Daniel

Classifications

• Y10T29/49769

  Using optical instrument [excludes mere human eyeballing] · CPC title

• Y10T29/49771

  Quantitative measuring or gauging · CPC title

• B25J11/0065

  Polishing or grinding · CPC title

• B24B41/06

  Work supports, e.g. adjustable steadies (B24B37/27 takes precedence) · CPC title

• B25J9/1638 Primary

  compensation for arm bending/inertia, pay load weight/inertia · CPC title