WO1997046927A1 - Device for controlling anthropomorphic robots - Google Patents

Device for controlling anthropomorphic robots Download PDF

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Publication number
WO1997046927A1
WO1997046927A1 PCT/IT1997/000065 IT9700065W WO9746927A1 WO 1997046927 A1 WO1997046927 A1 WO 1997046927A1 IT 9700065 W IT9700065 W IT 9700065W WO 9746927 A1 WO9746927 A1 WO 9746927A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
anthropomoφhic
detected
workstation
points
Prior art date
Application number
PCT/IT1997/000065
Other languages
French (fr)
Inventor
Jorge Pascual Sergio Tigano
Original Assignee
Societa' Emiliana Parchi Attrazioni Ravenna S.E.P.A.R. S.R.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Societa' Emiliana Parchi Attrazioni Ravenna S.E.P.A.R. S.R.L. filed Critical Societa' Emiliana Parchi Attrazioni Ravenna S.E.P.A.R. S.R.L.
Priority to AU23060/97A priority Critical patent/AU2306097A/en
Publication of WO1997046927A1 publication Critical patent/WO1997046927A1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4205—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a drawing is traced or scanned and corresponding data recorded
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—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
    • G05B19/4097—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 using design data to control NC machines, e.g. CAD/CAM
    • G05B19/4099—Surface or curve machining, making 3D objects, e.g. desktop manufacturing

Definitions

  • the present invention falls within the technical sector of process control equipment and relates in particular to a device for controlling anthropomo ⁇ hic robots
  • moulding equipment is used which, however, is not very precise and does not always provide a perfect reproduction of the artistic work recorded
  • a technical problem underlying the present invention is that of eliminating substantially the aforementioned limitations by producing and providing a device for controlling anthropomo ⁇ hic robots, which, in an automatic manner and depending on the incoming inputs, allows one to produce, to scale without error and rapidly, a reproduction of an artistic work
  • a device for controlling anthropomo ⁇ hic robots as claimed in the following claims
  • Figure I shows a block diagram of the device according to the invention
  • 1 denotes globally and surrounded by a broken line a device for controlling anthropomo ⁇ hic robots
  • 2 denotes a source for detecting drawings, photographs, sketches, etc From this source 2, by means of a scanner 3, photo CD, telecamera or similar equipment, an optical recording of the object to be reproduced is performed and then the corresponding form detected is digital lzed point by point
  • a workstation 6 and the PC 5 then allow the parts which are to be milled to be processed using a plurality of software which determine the formats to be executed on the basis of the data acquired
  • This personal computer 7 serves as a physical and logic interface for the robot 8 of the anthropomo ⁇ hic type, since the latter requires suitably coded data, and is therefore supplied by means of cartesian coordinates with all the horizontal, vertical, oblique and starting or stopping and gripping movements of the arm of a milling cutter for machining a material in order to provide the finished object
  • KAWASAKI robot which is structured so that, once the data has been acquired, it processes the spatial points by means of dedicated software so as to make the anthropomo ⁇ hic arm with which it is provided (not shown in the Figure) perform a series of operations
  • the execution software for the workstation 6 are those of the CAD-CAM type, which serve for the modelling and five-axis milling of products of various types This software has been developed in order to perform the aforementioned functions
  • the personal computers 4. 5 and 7 they are currently 486 processors which perform the measurement, modelling and transmission of the data serially to the robot 8 and use modelling software products such as Fotomodeller, Art Cam and Autocad, which are personalized for operations of this kind
  • the PC 7 is provided with interfacing software for the robot 8 which otherwise would not be able to mte ⁇ ret the data received

Abstract

The present invention falls within the technical sector of process control devices and relates to a device for controlling anthropomorphic robots so as to produce artistic works on the basis of detection from a figure, three-dimensional processing by a PC of the points detected, modelling carried out by means of a workstation and interfacing of said points with a robot, the anthropomorphic arm of which physically performs all the movements so as to produce the figure detected.

Description

Description Device for controlling anthropomoφhic robots
Technical Field
The present invention falls within the technical sector of process control equipment and relates in particular to a device for controlling anthropomoφhic robots
Background Art
As is known, in order to perform the reproduction, to scale, of artistic works by means of cutting and boring, use is generally made of the normal skill of craftsmen in the sector who, from a free-hand drawing, using resins cast in moulds, are able to reproduce, by means of carving operations and fretwork, artistic works which, in some cases, are of a fairly complex nature This type of activity, however, involves, for each production stage, a great deal of time, a lot of waste material, defects in reproduction due to human error in approximation, and unnecessary costs, not only for the process as such, but also because the specialized labour in the sector has a high cost, being a dying profession
As regards reproduction on a small scale, on the other hand, moulding equipment is used which, however, is not very precise and does not always provide a perfect reproduction of the artistic work recorded
Disclosure of the invention
In this situation, a technical problem underlying the present invention is that of eliminating substantially the aforementioned limitations by producing and providing a device for controlling anthropomoφhic robots, which, in an automatic manner and depending on the incoming inputs, allows one to produce, to scale without error and rapidly, a reproduction of an artistic work The aforementioned object and others as well which will emerge more clearl below are achieved by a device for controlling anthropomoφhic robots as claimed in the following claims
Further characteristics and advantages will emerge more clearly from the description of an embodiment of a device for controlling anthropomoφhic robots
This description will be provided hereinbelow, with reference to the accompanying drawing, provided purely by way of a non-limiting example, in which Figure I shows a block diagram of the device according to the invention With reference to Figure 1 , 1 denotes globally and surrounded by a broken line a device for controlling anthropomoφhic robots, in its structural entirety 2 denotes a source for detecting drawings, photographs, sketches, etc From this source 2, by means of a scanner 3, photo CD, telecamera or similar equipment, an optical recording of the object to be reproduced is performed and then the corresponding form detected is digital lzed point by point
At this point there is a personal computer station 4, connected to a similar and successive PC station 5, where the mathematical and geometric processing operations are performed for obtaining the measurements and the basis of a corresponding three-dimensional mathematical model In short, in these stations the spatial points are processed into ASCII files, by means of which mathematical movement references may be serially transmitted to the robot
A workstation 6 and the PC 5 then allow the parts which are to be milled to be processed using a plurality of software which determine the formats to be executed on the basis of the data acquired
From the workstation 6 or from the PC 5 it is then possible to transmit the data to a further PC station 7 which processes all the execution procedures to be transmitted, as interface data, to an anthropomoφhic robot 8 so as to provide a physical product 9 corresponding to the figure reproduced in the drawing 2 The PCs 4, 5 and 7 and the workstation 6 are linked via an ethernet board After describing the general features of the device according to the present invention from a structural point of view, a functional explanation thereof is now provided 5 In brie starting from a photograph 2 or any other medium (drawing, sketch, etc ). the latter is digitalized by means of a scanner 3 and sent to computer stations shown in the figures by the blocks 4 and 5 both directly and indirectly, so that the forms and the measurements of the object to produced are acquired The transfer may be direct or indirect depending on the complexity of the figure
10 to be detected and hence the type of points to be considered with respect to the system of three-dimensional axes
Via a workstation 6 or the PC 5 it is then possible to model grids, verifying the correctness of the processed object by means of the interfacing personal computer 7
15 This personal computer 7 serves as a physical and logic interface for the robot 8 of the anthropomoφhic type, since the latter requires suitably coded data, and is therefore supplied by means of cartesian coordinates with all the horizontal, vertical, oblique and starting or stopping and gripping movements of the arm of a milling cutter for machining a material in order to provide the finished object
20 As regards the robot 8, with respect to the existing embodiment, it is a JS 10
KAWASAKI robot which is structured so that, once the data has been acquired, it processes the spatial points by means of dedicated software so as to make the anthropomoφhic arm with which it is provided (not shown in the Figure) perform a series of operations
? *- The execution software for the workstation 6 are those of the CAD-CAM type, which serve for the modelling and five-axis milling of products of various types This software has been developed in order to perform the aforementioned functions As regards the personal computers 4. 5 and 7, they are currently 486 processors which perform the measurement, modelling and transmission of the data serially to the robot 8 and use modelling software products such as Fotomodeller, Art Cam and Autocad, which are personalized for operations of this kind In particular, the PC 7 is provided with interfacing software for the robot 8 which otherwise would not be able to mteφret the data received
From the scanner 3 it is possible, as already mentioned before, to pass into the PC4 and then pass to the PC5 and then to the PC7, or else pass to the PC5, and then to the workstation 6 and consequently to the PC7 It is also possible to transfer from the PC4 directly to the workstation 6 All this depends on the complexity of the work to be produced and hence whether several processing operations are necessary in order to calculate the points which are used in space The invention thus achieves the preset objects In fact, with such a device, it is possible to perform in a correct, rapid and safe manner, without any major wastage of material, any artistic work obtained from a photograph or sketches, adapting it also to any complexities
Obviously further parametric and system-related advantages are possible, all of which falling within the inventive scope of the present invention

Claims

Claims Device for controlling an anthropomoφhic robot, characterized in that it comprises optical detecting means connected with its circuitry and logic via processing and interfacing means to an anthropomoφhic robot, said processing and interfacing means and said robot also comprising modelling, spatial point calculation and form digital ization procedures for the three-dimensional representation of objects in order to produce artistic objects
Device according to Claim 1 , characterized in that said device comprises scanner equipment as the detecting means
Device according to Claim 1 , characterized in that said device comprises a photo CD as the detecting means
Device according to Claim 1 , characterized in that said device comprises a telecamera as the detecting means
Device according to Claim 1 , characterized in that said processing means consist of several personal computers and a workstation connected to each other via an ethernet board and each enabled for calculation and modelling of three- dimensional points, which serve to define the points of the model and represent, in ASCII files, the points detected and processed from a photograph, sketch or
Device according to Claim 1 , characterized in that the personal computer arranged in series with the workstation or another PC forms the physical and logic interface of the digital signals detected and processed for an anthropomoφhic robot Device according to Claim 1 , characterized in that said anthropomoφhic robot performs a vertical, horizontal, oblique, starting or stopping and gripping movement of its arm on the basis of the signals received from the personal computer which represents its serial interface for producing the work detected, by means of holes and incisions performed by a milling cutter with which it is provided
Device according to Claim 1 , characterized in that said processing and interfacing means, said anthropomoφhic robot and said workstation comprise modelling and execution software for producing the figures detected
PCT/IT1997/000065 1996-06-07 1997-03-24 Device for controlling anthropomorphic robots WO1997046927A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU23060/97A AU2306097A (en) 1996-06-07 1997-03-24 Device for controlling anthropomorphic robots

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITBO96A000309 1996-06-07
IT96BO000309A IT1285933B1 (en) 1996-06-07 1996-06-07 DEVICE FOR THE CONTROL OF ANTHROPOMORPHIC ROBOTS

Publications (1)

Publication Number Publication Date
WO1997046927A1 true WO1997046927A1 (en) 1997-12-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT1997/000065 WO1997046927A1 (en) 1996-06-07 1997-03-24 Device for controlling anthropomorphic robots

Country Status (3)

Country Link
AU (1) AU2306097A (en)
IT (1) IT1285933B1 (en)
WO (1) WO1997046927A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011070597A1 (en) 2009-12-09 2011-06-16 Grossi Lamiere S.R.L. Apparatus and process for manufacturing of decorative panels and relevant decorative panel

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4888713A (en) * 1986-09-05 1989-12-19 Cdi Technologies, Inc. Surface detail mapping system
US5197013A (en) * 1987-07-28 1993-03-23 David M. Dundorf Method of forming a carved sign using an axially rotating carving tool
WO1993019129A2 (en) * 1992-03-09 1993-09-30 Queen Mary & Westfield College Cad/cam production tool fabrication
US5408409A (en) * 1990-05-11 1995-04-18 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
DE4433146A1 (en) * 1994-09-17 1996-03-21 Kreidler Geb Teirich Hildegard Method of manufacturing ornamental door mountings
WO1996013787A1 (en) * 1994-11-01 1996-05-09 Winget, Larry, J. Method and system for reproduction of an article from a physical model

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4888713A (en) * 1986-09-05 1989-12-19 Cdi Technologies, Inc. Surface detail mapping system
US4888713B1 (en) * 1986-09-05 1993-10-12 Cdi Technologies, Inc. Surface detail mapping system
US5197013A (en) * 1987-07-28 1993-03-23 David M. Dundorf Method of forming a carved sign using an axially rotating carving tool
US5408409A (en) * 1990-05-11 1995-04-18 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
WO1993019129A2 (en) * 1992-03-09 1993-09-30 Queen Mary & Westfield College Cad/cam production tool fabrication
DE4433146A1 (en) * 1994-09-17 1996-03-21 Kreidler Geb Teirich Hildegard Method of manufacturing ornamental door mountings
WO1996013787A1 (en) * 1994-11-01 1996-05-09 Winget, Larry, J. Method and system for reproduction of an article from a physical model

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HEEDONG KO ET AL: "FACE SCULPTURING ROBOT WITH RECOGNITION CAPABILITY", COMPUTER AIDED DESIGN, vol. 26, no. 11, 1 November 1994 (1994-11-01), pages 814 - 821, XP000490042 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011070597A1 (en) 2009-12-09 2011-06-16 Grossi Lamiere S.R.L. Apparatus and process for manufacturing of decorative panels and relevant decorative panel

Also Published As

Publication number Publication date
ITBO960309A1 (en) 1997-12-07
IT1285933B1 (en) 1998-06-26
AU2306097A (en) 1998-01-05
ITBO960309A0 (en) 1996-06-07

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