Method and system for the high-precision positioning of at least one object in a final location in space
A final position, high-precision technology, applied in the corresponding system field, can solve the problems of slowing down the operation process, not being completely solved, and taking too long
Inactive Publication Date: 2012-06-13
LEICA GEOSYSTEMS AG
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Problems solved by technology
The movement of the 3D image recording unit and thus the new reference setting associated with it takes a relatively long time and slows down the entire working process
Two goals (one goal is to install a high-precision non-contact 3D measurement system with an accuracy preferably less than 0.1 mm, so that objects can be positioned with high precision by industrial robots, and the other goal is that the measurement system that is not directly exposed to the work process can be flexibly and in particular can be positioned freely) are thus conflicting goals that have not been fully resolved so far in the technical field of industrial positioning of objects with industrial robots
Method used
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[0041] Figure 1a A first embodiment system and method sequence for positioning a first object to a first final position in space with high precision is shown. exist Figure 1b The method steps are illustrated intuitively in . Figure 1a and 1b were jointly elucidated.
[0042] The method according to the invention is used for positioning at least one object in a final position in space with at least one industrial area robot with high precision. The final position in space refers to the location and orientation at which the object must be located with high precision (in particular with an accuracy of less than 0.5 mm, preferably less than 0.2 mm, especially less than 0.1 mm). Within the scope of the method described, the term "final position" is generally understood to mean that location and orientation into which the object is to be brought. Of course, the object can then be brought into one or any number of other new final positions.
[0043] The components of the metho...
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The invention relates to a method and a system for the high-precision positioning of at least one object in a final location in space. An object (12) is gripped and held by the industrial robot (11) within a gripping tolerance. A compensating variable, which corrects the gripping tolerance, is determined for the industrial robot (11). The object (12) is adjusted with high precision into a final location by the following steps, which repeat until reaching the final location at a predetermined tolerance: recording of image recordings by recording units (1a, 1b); determining the current locationof the object (12) in the spatial coordinate system from the positions (Pa, Pb) of the recording units (1a, 1b), the angular orientations of cameras (2a, 2b) of the recording units (1a, 1b), which are detected by angle measuring units (4a, 4b), the image recordings, and the knowledge of features (13) on the object (12); calculating the location difference between the current location of the object (12) and the final location; calculating a new target position of the industrial robot (11) in consideration of the compensating variable from the current position of the industrial robot (11) and avariable which is linked to the location difference; adjusting the industrial robot (11) into the new target position.
Description
technical field [0001] The invention relates to a method for positioning with high precision at least one object having known optically detectable features in a final position in space by means of an industrial robot and at least two optical recording devices, as well as corresponding devices for carrying out the method system. Such methods and systems find particular application in assembly and manufacturing processes in automated production lines, for example in the automotive industry, where objects, such as sheet metal body parts or other body parts, are to be brought with high precision into the The location and orientation determined in the space to carry out the work. Background technique [0002] Handling systems known from the prior art, in particular industrial robots, such as linked-arm robots, are used to position an object grasped by a gripping device at a defined location and orientation in space, said handling systems, in particular industrial robots, having ...
Claims
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IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 贝恩德·瓦尔泽伯恩哈德·麦茨勒贝亚特·埃比舍尔克努特·西尔克斯波·佩特尔松
Owner LEICA GEOSYSTEMS AG