ES2193087T3 - Procedimiento y dispositivo para calibrar estaciones de medicion con robots, manipuladores y dispositivos opticos de medicion asociados. - Google Patents

Procedimiento y dispositivo para calibrar estaciones de medicion con robots, manipuladores y dispositivos opticos de medicion asociados.

Info

Publication number
ES2193087T3
ES2193087T3 ES00940320T ES00940320T ES2193087T3 ES 2193087 T3 ES2193087 T3 ES 2193087T3 ES 00940320 T ES00940320 T ES 00940320T ES 00940320 T ES00940320 T ES 00940320T ES 2193087 T3 ES2193087 T3 ES 2193087T3
Authority
ES
Spain
Prior art keywords
measuring
robot
robots
procedure
optical
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
ES00940320T
Other languages
English (en)
Inventor
Eberhard Roos
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen GmbH
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
Priority claimed from DE29911187U external-priority patent/DE29911187U1/de
Priority claimed from DE1999131676 external-priority patent/DE19931676C2/de
Priority claimed from DE20003381U external-priority patent/DE20003381U1/de
Application filed by KUKA Schweissanlagen GmbH filed Critical KUKA Schweissanlagen GmbH
Application granted granted Critical
Publication of ES2193087T3 publication Critical patent/ES2193087T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B3/00—Measuring instruments characterised by the use of mechanical techniques
    • G01B3/30—Bars, blocks, or strips in which the distance between a pair of faces is fixed, although it may be preadjustable, e.g. end measure, feeler strip
    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/401—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 program data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—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 program data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37068—Setting reference coordinate frame
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39024—Calibration of manipulator
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45061—Measuring robot
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50026—Go to reference plane, cube

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)

Abstract

Procedimiento para calibrar robots de medición (6) de varios ejes y dispositivos ópticos de medición (10), que son desplazados junto con los robots, en especial sensores tridimensionales (3D), dentro de una estación de medición (1) para piezas de trabajo (2), en especial para carrocerías en bruto de automóviles, caracterizado porque el calibrado se realiza en una secuencia de mediciones con por lo menos tres etapas de calibrado consecutivas entre sí, calibrándose en la primera etapa el dispositivo óptico de medición (10) con su punto de trabajo (28), calibrándose a continuación el robot de medición (6) con sus ejes con ayuda del dispositivo óptico de medición (10) transportado junto con el robot, compensándose el error de posicionamiento mediante la corrección de los datos de la máquina del robot de medición (6) y luego calibrándose la relación de correspondencia entre el robot de medición (6) y la pieza de trabajo (2) con ayuda del dispositivo óptico de medición (10) transportado con el robot.
ES00940320T 1999-06-26 2000-06-06 Procedimiento y dispositivo para calibrar estaciones de medicion con robots, manipuladores y dispositivos opticos de medicion asociados. Expired - Lifetime ES2193087T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE29911187U DE29911187U1 (de) 1999-06-26 1999-06-26 Meßkörper zum Kalibrieren von Meßrobotern
DE1999131676 DE19931676C2 (de) 1999-07-08 1999-07-08 Verfahren zum Vermessen von Werkstücken und Bearbeitungsstation
DE20003381U DE20003381U1 (de) 2000-02-24 2000-02-24 Prüfeinrichtung für bewegliche optische Messeinrichtungen

Publications (1)

Publication Number Publication Date
ES2193087T3 true ES2193087T3 (es) 2003-11-01

Family

ID=27219211

Family Applications (1)

Application Number Title Priority Date Filing Date
ES00940320T Expired - Lifetime ES2193087T3 (es) 1999-06-26 2000-06-06 Procedimiento y dispositivo para calibrar estaciones de medicion con robots, manipuladores y dispositivos opticos de medicion asociados.

Country Status (5)

Country Link
US (1) US6615112B1 (es)
EP (1) EP1189732B1 (es)
DE (1) DE50002092D1 (es)
ES (1) ES2193087T3 (es)
WO (1) WO2001000370A1 (es)

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Also Published As

Publication number Publication date
WO2001000370A1 (de) 2001-01-04
DE50002092D1 (de) 2003-06-12
US6615112B1 (en) 2003-09-02
EP1189732A1 (de) 2002-03-27
EP1189732B1 (de) 2003-05-07

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