Measuring station device and measuring arrangement for parallelized three-dimensional measurement of measuring objects

Abstract

Measuring station device (1) for safe handling of measuring objects during three-dimensional measurement of the measuring objects using a robot arm (11), wherein the measuring station device (1) comprises: - a robot arm base (3) for arranging the robot arm (11); - a barrier arrangement (4); - a first measuring station (5a) for positioning a first measuring object for three-dimensional measurement; - a first access section (4a) arranged in the barrier arrangement (4) to the first measuring station (5a); - a first detection device (6a) for detecting at least partial crossing of the first access section (4a) by a person; - a second measuring station (5b) arranged at a distance from the first measuring station (5a) for positioning a second measuring object thereon for three-dimensional measuring; - a second access section (4b) arranged in the barrier arrangement (4) at a distance from the first access section (4a) to the second measuring station (5b); - a second detection device (6b) for detecting at least partial crossing of the second access section (4b) by a person.

Description

TECHNICAL FIELD

[0001] A first aspect of the invention relates to a measuring station device for safe handling of measurement objects during three-dimensional measurement of the measurement objects using a robot arm according to claim 1. A second aspect of the invention relates to a measuring station arrangement for three-dimensional measurement of measurement objects using a robot arm according to claim 10. A third aspect of the invention relates to methods for parallelized performance of three-dimensional measurement of measurement objects according to claim 13.

[0002] The invention lies in the field of automated measurement and production technology, in particular in the field of automated industrial quality control of measurement objects by three-dimensional measurement. STATE OF THE ART

[0003] In industrial environments, measurement systems are known that are capable of automatically measuring objects using a robot. This requires three-dimensional measurement of the object, for example, for quality control or the creation of a CAD model of the object.

[0004] For three-dimensional measurement of the measurement object, measuring devices are known that function optically, for example, using a laser scanner, or haptically, for example, using a probe tip. For three-dimensional measurement, the measuring device must typically scan or probe the measurement object from all sides. To automate this process, the measuring device is mounted on the robot so that the robot, controlled, for example, by a computer, automatically guides the measuring device along the measurement object, which is necessary for three-dimensional measurement. The data generated by the measuring device in this way can then be evaluated, for example, by a computer.

[0005] In many cases, the entire measurement process is only partially automated, meaning that the object to be measured must either be manually positioned and mounted by a person prior to the measurement, or manually adjusted in a different position during the measurement. However, since the person inevitably approaches the robot's operating range and may enter it, there is a risk that the robot could injure the person through a collision.

[0006] To reduce the risk of injury, measurement setups are known in which the robot and the measuring station where the object to be measured is placed are enclosed by a fence. This prevents a person from normally entering the robot's operating range (subject to efforts by the person to at least negligently endanger themselves) unless the person crosses the fence through a designated entrance equipped with a safety device that causes the robot to automatically stop upon passing through the entrance.

[0007] By unconditionally stopping the robot whenever a person enters the area enclosed by the fence through the entrance, for example to manually position and mount the measuring object on the measuring station before measuring or to manually adjust it to a different position during measuring, the measuring is also stopped and therefore takes longer. PRESENTATION OF THE INVENTION

[0008] Based on this prior art, the object of the invention is to provide a measuring station device, a measuring arrangement and a method for carrying out a three-dimensional measurement of measuring objects, which eliminate the disadvantages of the prior art and in particular allow a safe and at the same time time-saving measurement of the measuring objects.

[0009] This object is achieved by the subject matter according to the respective independent claim. Advantageous aspects of the invention are the subject matter of the dependent claims.

[0010] A first aspect of the invention relates to a measuring station device for safe handling of measuring objects during three-dimensional measurement of the measuring objects using a robot arm.The measuring station device has a robot arm base for arranging the robot arm, a barrier arrangement, a first measuring station for positioning a first measuring object thereon for three-dimensional measuring, a first access section to the first measuring station arranged in the barrier arrangement, a first detection device for detecting at least partial crossing of the first access section by a person, a second measuring station arranged at a distance from the first measuring station for positioning a second measuring object thereon for three-dimensional measuring, a second access section to the second measuring station arranged at a distance from the first access section in the barrier arrangement, and a second detection device for detecting at least partial crossing of the second access section by a person.

[0011] The first access section and the second access section can each be formed as a recess in the barrier arrangement. By providing the first detection device and the second detection device, the robot arm can be stopped when crossing the first access section or the second access section is detected, preventing a person from being caught and injured by the robot arm.

[0012] However, a person can safely and time-efficiently handle the second measurement object on the second measuring station, for example, (re)positioning or removing it, while the robot arm measures the first measurement object on the first measuring station. The first measuring station can be arranged on a first side of the measuring station device, and the second measuring station can be arranged on a second side of the measuring station device opposite this first side.

[0013] An advantageous aspect of the first aspect of the invention provides that the first measuring station has a fastening grid for positioning and fastening the first measuring object, and / or that the second measuring station has a fastening grid for positioning and fastening the second measuring object.

[0014] The mounting grid can include holes, screw threads, or other fastening means to precisely position and secure the first and / or second measurement objects. Optical marker points for optical coordinate tracking can also be arranged on the mounting grid.

[0015] An advantageous aspect of the first aspect of the invention provides that the first measuring station has a rotating device, which rotating device is configured such that the first measuring station is rotatable relative to the robot arm base, and / or that the second measuring station has a rotating device, which rotating device is configured such that the second measuring station is rotatable relative to the robot arm base.

[0016] The rotating device can be designed such that the first measuring station and / or the second measuring station each form a turntable. Furthermore, the rotating device can be designed such that the first measuring station and / or the second measuring station can be releasably locked into predefined angular positions, for example, at multiples of 180° or 90°.

[0017] The rotating device allows a measuring object to be easily aligned for measurement from all sides. The rotating device also allows multiple measuring objects to be positioned on one measuring station and, as needed, simply rotate the measuring station to measure the objects one after the other more quickly.

[0018] An advantageous aspect of the first aspect of the invention provides that the measuring station device further comprises a viewing section arranged in the barrier arrangement for optically monitoring the robot arm arranged on the robot arm base during the three-dimensional measurement. The viewing section can be a recess in the barrier arrangement.

[0019] An advantageous aspect of the first aspect of the invention provides that the measuring station device further comprises stand elements configured to move the measuring station device on a surface and position it securely. The stand elements can be, for example, rollers or (telescopic) stands.

[0020] An advantageous aspect of the first aspect of the invention provides that the measuring station device is essentially designed as a table, and wherein the barrier arrangement comprises wall elements and / or column elements arranged on a peripheral section of the table.

[0021] An advantageous aspect of the first aspect of the invention provides that the table has a height of up to 1 meter, preferably less than 1 meter. With this height, it is particularly important, or legally required, to provide measures to ensure that a person cannot be injured by the robot arm.

[0022] An advantageous aspect of the first aspect of the invention provides that at least one of the detection devices is an optical detection device, preferably a light barrier.

[0023] An advantageous aspect of the first aspect of the invention provides that the measuring station device further comprises a third detection device for detecting an at least partial crossing of a first boundary section arranged between the first measuring station and the robot arm base by a person and further comprises a fourth detection device for detecting an at least partial crossing of a second boundary section arranged between the second measuring station and the robot arm base by a person.

[0024] With the third detection device and the fourth detection device, in particular the crossing of the first measuring station and / or the second measuring station by a person can be detected and, if necessary, the robot arm can be stopped.

[0025] A second aspect of the invention relates to a measuring system for three-dimensionally measuring measurement objects using a robot arm, wherein the measuring system comprises a measuring station device according to the first aspect of the invention (with or without advantageous aspects of the first aspect of the invention) and a robot arm arranged on the robot arm base of the measuring station device with a measuring device for three-dimensionally measuring the measurement objects. Thus, the measuring system also has the aforementioned advantages of the measuring station device.

[0026] The robot arm can comprise any number of arm sections, which are connected in pairs so that they can rotate relative to each other. This gives the robot arm a particularly large range of motion and a particularly high number of degrees of freedom, allowing it to measure the first and second measurement objects from different orientations.

[0027] The measuring device can be configured to optically or haptically detect surface coordinates of the first and second measuring objects. For example, the measuring device comprises the Leica Absolut Tracker. ® AT960 from Leica Geosystems AG or the Leica Absolut Scanner AS1 from Leica Geosystems AG. The measuring system can combine several measuring instruments and be linked to a computer to control and / or evaluate the measurements.

[0028] Preferably, the robot arm is a cobot (also called a collaborative robot) and, as a cobot, is configured to prevent injury to a person located within its effective range, for example, the cobot's field of motion. A cobot differs structurally from a robot, for example, in that the cobot is lighter and / or has a weaker drive. Likewise, the cobot can be configured to detect the presence of a person within its effective range and adapt its movement accordingly to avoid a collision with the person.

[0029] The cobot can also be configured to perform only movements that are slow enough for a person to react, or so slow that the momentum of the movement is so small that it doesn't injure the person. Such movements are also movements where the cobot avoids colliding with the person by swerving or stopping.

[0030] An advantageous aspect of the second aspect of the invention provides that the measuring arrangement further comprises a sensor arrangement, which sensor arrangement is configured to detect a presence of a person within an effective range of the robot arm.

[0031] The sensor array can be operatively coupled to the robot arm to detect the presence of a person within the robot arm's effective range. Such sensor arrays include, for example, sensors for detecting resistance, such as pressure sensors or acceleration sensors, sensors for detecting an optical signal, or radar or lidar sensors. All of these sensors can also be combined in the sensor array. The sensor array can be coupled to a computer for control and evaluation.

[0032] An advantageous aspect of the second aspect of the invention provides that the measuring station arrangement further comprises a tracking device arranged outside the measuring station device for tracking the position of the robot arm.

[0033] A third aspect of the invention relates to a method for carrying out a three-dimensional measurement of measurement objects comprising the steps: - Providing a measuring arrangement according to the second aspect of the invention (with or without advantageous aspects of the second aspect of the invention); - crossing the first access section for handling the first measuring station or a first measuring object positioned on the first measuring station; - Measuring the first measuring object positioned on the first measuring station using the measuring device of the robot arm; - crossing the second access section for handling the second measuring station or a second measuring object positioned on the second measuring station, in each case during the measurement of the first measuring object positioned on the first measuring station by the measuring device of the robot arm; - Measuring the second measuring object positioned on the second measuring station using the measuring device of the robot arm; - Stop the robot arm if at least one of the following occurs: [a] The first detection device detects an at least partial crossing of the first access section during the measurement of the first measurement object positioned on the first measuring station; [b] The second detection device detects an at least partial crossing of the second access section during the measurement of the second measurement object positioned on the second measuring station.

[0034] This method allows for safe and time-saving measurement of the measuring objects.

[0035] An advantageous aspect of the third aspect of the invention provides that the measuring station device of the measuring arrangement is a measuring station device according to the second aspect of the invention (with or without advantageous aspects of the second aspect of the invention). The robot arm is stopped if at least one of the following cases occurs: [c] The fourth detection device detects, during the measurement of the first measurement object positioned on the first measuring station, an at least partial crossing of the second boundary section arranged between the second measuring station and the robot arm base; [d] The third detection device detects an at least partial crossing of the first boundary section arranged between the first measuring station and the robot arm base during the measurement of the second measuring object positioned on the second measuring station.

[0036] This makes the process even safer.

[0037] Further advantages and features of the invention can be found in the features further specified in the claims and in the following exemplary embodiments. SHORT DESCRIPTION OF THE DRAWING

[0038] The invention is described and explained in more detail below with reference to the exemplary embodiments shown in the drawings. It shows: Fig. 1 Schematic front view of a measuring arrangement with a measuring station device for three-dimensional measurement of measuring objects using a robot arm; and Fig. 2a - 2b Schematic views of the robot arm from Fig. 1. WAYS TO CARRY OUT THE INVENTION

[0039] Fig. 1 shows a schematic front view of the measuring arrangement 10 with a measuring station device 1 for three-dimensional measurement of measuring objects using the robot arm 11.

[0040] The measuring arrangement 10 for three-dimensional measurement of measurement objects using a robot arm 11 comprises a measuring station device 1 and a robot arm 11 arranged on the robot arm base 3 of the measuring station device 1 with a measuring device 12 for three-dimensional measurement of the measurement objects.

[0041] The measuring station device 1 has a first measuring station 5a and a second measuring station 5b, each for positioning measurement objects for three-dimensional measurement. The first measuring station 5a and the second measuring station 5b both have a mounting grid 51 for positioning and securing the measurement objects. This mounting grid 51 has holes and screw threads arranged at regular intervals.

[0042] The first measuring station 5a and the second measuring station 5b each further comprise a rotating device 52. These rotating devices 52 are configured so that the first measuring station 5a and the second measuring station 5b, respectively, can be rotated relative to the robot arm base 3 and thus also relative to the robot arm 11. With the rotating devices 52, the first measuring station 5a and the second measuring station 5b each form a turntable that releasably locks into predefined angular positions. This allows a measurement object to be easily aligned so that it can be measured from all sides by the measuring device 12. The rotating devices 52 also allow multiple measurement objects to be positioned on one measuring station 5a, 5b and, as needed, simply rotate the measuring station 5a, 5b in order to measure the measurement objects more quickly one after the other.

[0043] The measuring station device 1 is essentially designed as a table 1a with a table height of 1 meter. With this table height, it is particularly important, or legally required, to provide measures to ensure that a person cannot be injured by the robot arm 11. The measuring station device 1 shown is accordingly designed for safe handling of the measurement objects during three-dimensional measurement of the measurement objects using a robot arm 11.

[0044] For this purpose, the measuring station device 1 comprises a barrier arrangement 4, which comprises wall elements 41 and column elements 42 arranged on the peripheral section 1b of the table 1a. To enable a person to position a measurement object on the first measuring station 5a or the second measuring station 5b, a first access section 4a and a second access section 4b are each formed as a recess in the barrier arrangement 4.

[0045] The measuring station device 1 then has a first detection device 6a for detecting at least partial crossing of the first access section 4a by a person and a second detection device 6b for detecting at least partial crossing of the second access section 4b by a person. By providing the first detection device 6a and the second detection device 6b, the movement of the robot arm 11 is stopped when crossing of the first access section 4a or the second access section 4b is detected, in order to prevent a person from being caught and injured by the robot arm 11.

[0046] At the same time, however, a person can safely and time-efficiently handle a second measuring object on the second measuring station 5b, for example (re-)positioning or removing it, while the robot arm 11 measures the first measuring object on the first measuring station 5a.

[0047] In order to provide even greater safety by detecting the crossing of the first measuring station 5a and / or the second measuring station 5b by a person and then stopping the robot arm 11, the measuring station device 1 further comprises a third detection device 6c for detecting an at least partial crossing of a first boundary section 9a arranged between the first measuring station 5a and the robot arm base 3 by a person and further comprises a fourth detection device 6d for detecting an at least partial crossing of a second boundary section 9b arranged between the second measuring station 5b and the robot arm base 3 by a person 8.

[0048] The front (recess) section of the barrier assembly 4 shown in the illustration is a viewing section 7 for optically monitoring the robot arm 11 arranged on the robot arm base 3 during the three-dimensional measurement. A fifth detection device 6e is arranged on this viewing section 7 for detecting at least partial crossing of the viewing section 7 by a person.

[0049] In this example, all detection devices 6a, 6b, 6c, 6d are optical detection devices, such as light barriers.

[0050] The robot arm 11 shown comprises a plurality of arm sections, which are connected in pairs so that they can be driven relative to one another and rotated. This gives the robot arm 11 a particularly large range of motion and a particularly high degree of freedom to measure the measurement objects from different orientations. The measuring device 12 arranged on the robot arm 11 is configured to optically capture the surface coordinates of the measurement objects. To ensure even greater reliability, the robot arm 11 is a cobot (also called a collaborative robot). For this reason, a cobot 11 differs structurally from a robot, for example, in that the cobot 11 is lighter and has a weaker drive.

[0051] With the measuring arrangement 1 shown, a method for carrying out a three-dimensional measurement of the measuring objects can be carried out, comprising the steps: - Providing the measuring arrangement 1 as described above; - crossing the first access section 4a for handling the first measuring station 5a or a first measuring object positioned on the first measuring station 5a; - Measuring the first measuring object positioned on the first measuring station 5a by the measuring device 12 of the robot arm 11; - crossing the second access section 4b for handling the second measuring station 5b or a second measuring object positioned on the second measuring station 5b, in each case during the measurement of the first measuring object positioned on the first measuring station 5a by the measuring device 12 of the robot arm 11; - Measuring the second measuring object positioned on the second measuring station 5b by the measuring device 12 of the robot arm 11; - Stop the robot arm 11 if at least one of the following cases occurs: [a] The first detection device 6a detects an at least partial crossing of the first access section 4a during the measurement of the first measurement object positioned on the first measuring station 5a; [b] The second detection device 6b detects an at least partial crossing of the second access section 4b during the measurement of the second measurement object positioned on the second measuring station 5b; [c] The fourth detection device 6d detects, during the measurement of the first measurement object positioned on the first measuring station 5a, an at least partial crossing of the second boundary section 9b arranged between the second measuring station 5b and the robot arm base 3; [d] The third detection device 6c detects, during the measurement of the second measurement object positioned on the second measuring station 5b, an at least partial crossing of the first boundary section 9a arranged between the first measuring station 5a and the robot arm base 3; [e] The fifth detection device 6e detects an at least partial crossing of the viewing section 7 during the measurement of the first measuring object positioned on the first measuring station 5a or during the measurement of the second measuring object positioned on the second measuring station 5b.

[0052] Fig. 2a shows a schematic view of the robot arm 11 of the measuring arrangement 10 from Fig. 1 with the effective range WB of the robot arm 3 displayed in a width-depth plane. In the figure shown, the effective range WB indicates the field of motion of the robot arm 11 or the cobot, which is indicated by a motion circle, in the width-depth plane spanned by the width direction B and depth direction T of the coordinate system.

[0053] Fig. 2b shows a schematic view of a robot arm 11 of the measuring arrangement 10 from Fig. 1 with the effective range WB of the robot arm 11 displayed in a width-height plane. In the figure shown, the effective range WB indicates the field of motion of the robot arm 11 or the cobot, which is indicated by a motion circle, in the width-height plane spanned by the width direction B and height direction H of the coordinate system.

Claims

[1] Measuring station device (1) for safe handling of measuring objects during three-dimensional measurement of the measuring objects using a robot arm (11), the measuring station device (1) comprising: - a robot arm base (3) for arranging the robot arm (11); - a barrier arrangement (4); - a first measuring station (5a) for positioning a first measuring object for three-dimensional measurement; - a first access section (4a) arranged in the barrier arrangement (4) to the first measuring station (5a); - a first detection device (6a) for detecting at least partial crossing of the first access section (4a) by a person; - a second measuring station (5b) arranged at a distance from the first measuring station (5a) for positioning a second measuring object thereon for three-dimensional measuring; - a second access section (4b) arranged in the barrier arrangement (4) at a distance from the first access section (4a) to the second measuring station (5b); - a second detection device (6b) for detecting at least partial crossing of the second access section (4b) by a person. [2] Measuring station device (1) according to claim 1, wherein the first measuring station (5a) has a fastening grid (51) for positioning and fastening the first measuring object, and / or wherein the second measuring station (5b) has a fastening grid (51) for positioning and fastening the second measuring object. [3] Measuring station device (1) according to claim 2, wherein the first measuring station (5a) has a rotating device (52), which rotating device (52) is configured such that the first measuring station (5a) is rotatable relative to the robot arm base (3), and / or wherein the second measuring station (5b) has a rotating device (52), which rotating device (52) is configured such that the second measuring station (5b) is rotatable relative to the robot arm base (3). [4] Measuring station device (1) according to one of the preceding claims, wherein the measuring station device (1) further comprises: - a viewing section (7) arranged in the barrier arrangement (4) for optically monitoring the robot arm (11) arranged on the robot arm base (3) during the three-dimensional measurement. [5] Measuring station device (1) according to one of the preceding claims, wherein the measuring station device (1) further comprises stand elements, which stand elements are designed to move the measuring station device (1) on a surface and to position it in a stable manner. [6] Measuring station device (1) according to one of the preceding claims, wherein the measuring station device (1) is essentially designed as a table (1a), and wherein the barrier arrangement (4) comprises wall elements (41) and / or column elements (42) arranged on a peripheral section (1b) of the table (1a). [7] Measuring station device (1) according to claim 6, wherein the table (1a) has a table height of up to 1 meter, preferably less than 1 meter. [8] Measuring station device (1) according to one of the preceding claims, wherein at least one of the detection devices (6a, 6b, 6c, 6d) is an optical detection device, preferably a light barrier. [9] Measuring station device (1) according to one of the preceding claims, wherein the measuring station device (1) further comprises: - a third detection device (6c) for detecting an at least partial crossing of a first boundary section (9a) arranged between the first measuring station (5a) and the robot arm base (3) by a person; - a fourth detection device (6d) for detecting an at least partial crossing of a second boundary section (9b) arranged between the second measuring station (5b) and the robot arm base (3) by a person. [10] Measuring arrangement (10) for the three-dimensional measurement of measurement objects using a robot arm (11), wherein the measuring arrangement (10) comprises a measuring station device (1) according to one of the preceding claims and a robot arm (11) arranged on the robot arm base (3) of the measuring station device (1) with a measuring device (12) for the three-dimensional measurement of the measurement objects. [11] Measuring arrangement (10) according to claim 10, wherein the measuring arrangement (10) further comprises a sensor arrangement, which sensor arrangement is configured to detect a presence of a person within an effective range (WB) of the robot arm (11). [12] Measuring arrangement (10) according to one of claims 10-11, wherein the measuring arrangement (10) further comprises a tracking device (13) arranged outside the measuring station device (1) for tracking the position of the robot arm (11).

Images