An automatic self-alignment system includes a first robotic arm attached to a clamp end effector, the clamp end effector including clamp jaws for clamping either side of a workpiece and one of the clamp jaws having an aperture. The second robotic arm is attached with a tool end effector including a tool module carrying a tool. The tool module is insertable into the aperture and the tool is adapted to perform an operation on the workpiece. The second robotic arm is arranged to move the tool module to move it in an insertion direction to insert it into the aperture. A load sensor is coupled to the tool end effector and arranged to determine a load in an insertion direction of the tool module. The tool end effector is further arranged to move the tool module relative to the second robotic arm in a plurality of degrees of freedom different from the insertion direction. A control system is connected to the tool end effector and arranged to cyclically move the tool module in a predetermined sequence in a plurality of degrees of freedom if a signal received from the load sensor exceeds a predetermined threshold.

    本发明涉及一种自动自对准系统,其包括附接至夹具端部执行器的第一机器人臂,夹具端部执行器包括用于夹持工件任一侧的夹具夹爪且夹具夹爪中的一者具有开孔。第二机器人臂与包括承载工具的工具模块的工具端部执行器附接。工具模块可插入开孔中且工具适于在工件上执行操作。第二机器人臂布置成移动工具模块以使其沿插入方向移动成将其插入开孔中。载荷传感器联接至工具端部执行器且布置成确定工具模块的插入方向上的载荷。工具端部执行器还布置成使工具模块相对于第二机器人臂在不同于插入方向的多个自由度上移动。控制系统连接至工具端部执行器且布置成如果从载荷传感器接收的信号超过预定阈值则使工具模块循环按预定序列在多个自由度上移动。


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    Titel :

    Self-alignment system


    Weitere Titelangaben:

    自对准系统


    Beteiligte:
    MOR IAN (Autor:in) / EDWARDS DAN (Autor:in)

    Erscheinungsdatum :

    27.08.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B25J Manipulatoren , MANIPULATORS



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