A method and system for tracking a position of a robotic tool relative to a workpiece mounted on a workpiece holder. The method includes: i) identifying a first frame of reference defining the position of the workpiece; ii) identifying a second frame of reference defining a position of a machining head of the tool attached to a robotic arm, the tool further including a clamp moveable relative to the machining head; iii) identifying a third frame of reference defining a position of the clamp; iv) actuating the robotic arm to move the tool to a first target position relative to the workpiece; v) operating the clamp to apply a clamping force on the workpiece; vi) measuring a position of the third frame of reference; and vii) updating an offset to the first target position based on movement of the third frame of reference after operating the clamp.
B23B 49/00 - Measuring or gauging equipment on boring machines for positioning or guiding the drillDevices for indicating failure of drills during boringCentring devices for holes to be bored
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
The invention relates to a method and system for tracking a position of a robotic tool using multiple frames of reference. Example embodiments include a computer- implemented method of tracking a position of a tool relative to a workpiece mounted on a workpiece holder, the method comprising: i) identifying a first frame of reference defining a position of the workpiece (505); ii) identifying a second frame of reference defining a position of a machining head (201) of the tool (502) attached to a robotic arm (501), the tool (502) being moveable relative to the workpiece (505) using the robotic arm (501) and further comprising a clamp (800) moveable relative to the machining head (201); iii) identifying a third frame of reference defining a position of the clamp (800); iv) actuating the robotic arm (501) to move the tool (502) to a first target position relative to the workpiece (505); v) operating the clamp (800) to apply a clamping force on the workpiece (505); vi) measuring a position of the third frame of reference; and vii) updating an offset to the first target position based on movement of the third frame of reference after operating the clamp (800).
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
The invention relates to a method and system for tracking a position of a robotic tool using multiple frames of reference. Example embodiments include a computer- implemented method of tracking a position of a tool relative to a workpiece mounted on a workpiece holder, the method comprising: i) identifying a first frame of reference defining a position of the workpiece (505); ii) identifying a second frame of reference defining a position of a machining head (201) of the tool (502) attached to a robotic arm (501), the tool (502) being moveable relative to the workpiece (505) using the robotic arm (501) and further comprising a clamp (800) moveable relative to the machining head (201); iii) identifying a third frame of reference defining a position of the clamp (800); iv) actuating the robotic arm (501) to move the tool (502) to a first target position relative to the workpiece (505); v) operating the clamp (800) to apply a clamping force on the workpiece (505); vi) measuring a position of the third frame of reference; and vii) updating an offset to the first target position based on movement of the third frame of reference after operating the clamp (800).
G05B 19/402 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
A clamp for a robotic drill and related method and system for robotic drilling of a component. The clamp attaches to a drilling tool of a robotic drill. The clamp includes: an attachment portion configured for attachment to the drilling tool; a frame linearly moveable relative to the attachment portion along a central axis of the clamp parallel to a drilling direction of the drilling tool; an actuation mechanism including a servo motor configured to drive linear movement of the frame relative to the drilling tool; a workpiece contacting portion at a distal end of the frame, including a surface for contacting a surface of a workpiece to be drilled and an aperture allowing for passage of a drill bit of the drilling tool through to the workpiece surface; and a force sensor arranged to measure a force acting on the workpiece contacting portion in the drilling direction.
B25J 11/00 - Manipulators not otherwise provided for
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B23B 49/00 - Measuring or gauging equipment on boring machines for positioning or guiding the drillDevices for indicating failure of drills during boringCentring devices for holes to be bored
5.
ROBOT DRILLING CLAMP AND COMPUTER-IMPLEMENTED METHODS FOR OPERATING A ROBOTIC DRILL
The invention relates to a clamp for a robotic drill, and to a related method and system for robotic drilling of a component. Example embodiments include a clamp (200) configured for attachment to a drilling tool (201) of a robotic drill, the clamp (200) comprising: an attachment portion (220) configured for attachment to the drilling tool (201); a frame (202) linearly moveable relative to the attachment portion (220) along a central axis (203) of the clamp (200) parallel to a drilling direction of the drilling tool (201); an actuation mechanism comprising a servo motor (205) configured to drive linear movement of the frame (202) relative to the drilling tool (201); a workpiece contacting portion (206) at a distal end (207) of the frame (202), comprising a surface (208) for contacting a surface of a workpiece to be drilled and an aperture (209) allowing for passage of a drill bit (204) of the drilling tool (201) through to the workpiece surface; and a force sensor (210) arranged to measure a force acting on the workpiece contacting portion (206) in the drilling direction (221).
B23B 49/00 - Measuring or gauging equipment on boring machines for positioning or guiding the drillDevices for indicating failure of drills during boringCentring devices for holes to be bored
The invention relates to a clamp for a robotic drill, and to a related method and system for robotic drilling of a component. Example embodiments include a clamp (200) configured for attachment to a drilling tool (201) of a robotic drill, the clamp (200) comprising: an attachment portion (220) configured for attachment to the drilling tool (201); a frame (202) linearly moveable relative to the attachment portion (220) along a central axis (203) of the clamp (200) parallel to a drilling direction of the drilling tool (201); an actuation mechanism comprising a servo motor (205) configured to drive linear movement of the frame (202) relative to the drilling tool (201); a workpiece contacting portion (206) at a distal end (207) of the frame (202), comprising a surface (208) for contacting a surface of a workpiece to be drilled and an aperture (209) allowing for passage of a drill bit (204) of the drilling tool (201) through to the workpiece surface; and a force sensor (210) arranged to measure a force acting on the workpiece contacting portion (206) in the drilling direction (221).
B23B 49/00 - Measuring or gauging equipment on boring machines for positioning or guiding the drillDevices for indicating failure of drills during boringCentring devices for holes to be bored
B25J 11/00 - Manipulators not otherwise provided for
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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