# US 10,654,142 B2 · Device and method for checking and correcting the position of an operating device with respect to a piece > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,654,142 B2 - Document ID: US10654142B2 - Status: Granted - Kind: B2 - Application number: 15/543,036 - Filed: 2016-01-11 - Published: 2018-01-04 - Granted: 2020-05-19 - Earliest claimed: 2015-01-16 - Assignees: Comau S.p.A. - Applicants: Comau S.p.A. - Inventors: Giovanni Di Stefano; Filippo Navarria - Web page: https://patentgrep.com/patent/US10654142B2 ## CPC - B23Q 15/22: Control or regulation of position of tool or workpiece - B21J 15/10: Riveting machines (electric heating elements H05B) - B21J 15/28: Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups - B23K 11/115: {by means of two electrodes placed opposite one another on both sides of the welded parts} - B23K 11/25: Monitoring devices - B23K 11/311: {the actuating device comprising an electric motor} - B23K 11/315: {with one electrode moving on a linear path} - B25J 13/089: {Determining the position of the robot with reference to its environment} - B25J 19/021: {Optical sensing devices} - G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) - B23K 11/11: Spot welding - B23K 11/314: {Spot welding guns, e.g. mounted on robots} - G05B 2219/37582: Position, angle of workpiece surface - G05B 2219/40555: Orientation and distance - G05B 2219/45088: Riveting robot - G05B 2219/49113: Align elements like hole and drill, centering tool, probe, workpiece - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT - B21J: FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES (rolling of metal B21B; making particular products by forging or pressing B21K; cladding or plating B23K; finishing surfaces by hammering B23P9/04; compacting surfaces by blasting with particulate material B24C1/10; general features of presses, presses for consolidating scrap B30B; furnaces in general F27) - B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A device and method for monitoring and correcting the position and orientation of an operating device (2) with respect to a piece (P). A measuring device (5) including a plurality of sensors (505) connected to the operating device is used to measure through contactless technology the distances of the sensors from a surface (π) of the piece along respective directions (l, r, s) having given orientations. The sensor measurements are compared to predetermined desired values and the position of the operating device (2) is selectively changed to maintain a desired positional relationship between a main operative axis (X1) of the operative device and operation axis (X2) defined by the surface of the piece. ## Claims ### Claim 1 A system for monitoring and correcting the position of an operative device relative to a piece, the system comprising: a multi-axis manipulator device (1) having a connector flange (F) and a controller (RC) operative to position the connector flange in selected predetermined three dimensional coordinate positions; an operating device (2) connected to the manipulator device flange (F) having a main operative axis (X1); a measuring device (5) removably connected to the operating device (2), the measuring device further comprising: a plate (501,503) removably connected to the operating device (2); a distance sensor (505) connected to the plate, the sensor operable to project a beam to a piece plane surface portion (π) to measure a distance between the distance sensor and the piece plane surface portion; a first processor (506) in electronic communication with the distance sensor, the first processor operable to receive information from the distance sensor and calculate an angle indicating an angular orientation differential value between the main operative axis (X1) to an operation axis (X2) defined by the piece plane surface portion (π); and a second processor (507) in electronic communication with the first processor and the manipulator device controller (RC), the second processor operative to selectively change the locational position of the operative device (2) through movement of the manipulative device (1) such that the main operative axis (X1) coincides with the operation axis (X2) to maintain a desired orientation between the operating device (2) and the piece (P) during production operation. ### Claim 2 (depends on 1) The system of claim 1 wherein the plate further comprises a pair of side plates (501) and a front plate respectively positioned about three different sides of the main operative axis; and the sensor comprises three sensors, each of the three sensors connected to a respective side or front plate along respective directions (l, r, s) having predetermined orientations, each beam of the respective sensor convergent toward the piece plane surface portion and the operation axis (X2). ### Claim 3 (depends on 2) The system of claim 2 wherein a theoretical points of intersection of the directions (l, r, s) with the piece plane surface portion are located along a circumference having a radius (R) having a value less than a distance (d) defined by a predetermined distance between the main operative axis (X1) and an edge of the piece (P). ### Claim 4 (depends on 3) The system of claim 3 wherein the distance sensors, the first processor, the second processor and the manipulator controller continuously measure and selectively adjust the position of the operative device (2) relative to the piece to maintain coincidence of the main operative axis (X1) to the operation axis (X2). ### Claim 5 (depends on 3) The system of claim 3 wherein the operative device (2) is a riveting device. ### Claim 6 (depends on 3) The system of claim 3 wherein the operative device (2) is a spot welding gun (W). ### Claim 7 (depends on 3) The system of claim 3 wherein multi-axis manipulator comprises a programmable industrial robot.