PORTABLE SPEED MEASURING SYSTEM AND ASSOCIATED METHOD

Abstract

The portable system (100) comprises: - a case (102); - a data processing device (106) provided in the case (102); and - at least one measurement module (108A, 108B, 108C) designed to be selectively stored and removed from the case (102) and comprising an induction sensor (110A, 110B, 110C) and a support (112AB, 112C) of the induction sensor (110A, 110B, 110C), this support (112AB, 112C) having an attachment system (114AB, 114C) designed to fix the measurement module (108A, 108B, 108C) to a fixed part located near the moving part. The data processing device (106) is designed to determine a speed of the moving part from a measurement of a passage of the moving part near the induction sensor (110A, 110B, 110C) of one of the measuring modules (108A, 108B, 108C). Figure for abstract: Fig. 1

Description

Title of the invention: PORTABLE SPEED MEASURING SYSTEM AND ASSOCIATED METHOD Technical field of the invention

[0001] The present invention relates to a portable system for measuring the speed of a moving part of a robot, and an associated measurement method. Technological background

[0002] Particularly in the aeronautics field, many processes are implemented by robots. Examples include metallization or sandblasting processes. These robots must be controlled, particularly the speeds of movement of their moving parts (for example, the movement of the nozzle or the plasma torch). Each robot is generally placed in an enclosure, also called a cell, delimiting an area where the robot can move without risk to operators working nearby.

[0003] To measure the speed of the robot's moving part, the commonly used solution is to manually measure, using a stopwatch, the time between two stopped positions of the moving part. It is not very precise and depends on the responsiveness of the operator who performs the measurement, and the method can only be used for small speed ranges. In addition, this measurement does not allow for the acceleration and deceleration times of the robot's moving part to be eliminated, which are counted during its translational movement, which distorts the measurement.

[0004] The other solution that can be implemented is the use of a laser tracer. It is a complete system that allows the trajectories of the robot to be traced in space, and its speed and acceleration to be measured with extreme precision. It has several disadvantages: - its size: the tracer must be placed in the robot cell, on small installations, this is simply not possible; - the need to create a specific interface between the robot and the reflector (reflecting prism fixed to the robot for control); - the need to create and install a mounting interface to fix the tracer in the robot cell; - its portability: the complete system is bulky and requires connection to a powerful PC equipped with a proprietary license; - its cost of around €100k to €200k depending on the supplier and the options chosen; and - its difficulty of handling: the use of this system is aimed at well-trained personnel with solid knowledge of metrology

[0005] It may thus be desirable to provide a measuring device which makes it possible to overcome at least some of the aforementioned problems and constraints. Summary of the invention

[0006] A portable system for measuring the speed of a moving part of a robot is therefore proposed, comprising: - a case; - a data processing device provided in the suitcase; and - at least one measuring module designed to be selectively stored and removed from the suitcase and including: • an induction sensor, and • an induction sensor support, this support having an attachment system designed to fix the measurement module to a fixed part located near the moving part; the data processing device being designed to determine a speed of the moving part from a measurement of a passage of the moving part near the induction sensor of one or more measuring modules.

[0007] Thus, the portable device according to the invention is easily transportable, deployable on a wide variety of robot cells (small to large), easy to install and without creating a specific mounting interface.

[0008] The invention may further comprise one or more of the following optional features, in any technically possible combination.

[0009] Optionally, the portable system comprises two measuring modules each comprising a housing to which the induction sensor of this measuring module is fixed, the support is common to the two measuring modules and comprises a slide on which the two housings are slidably mounted, and the data processing device is designed to determine a linear speed from the measurements of the passage of the moving part in front of each of the two induction sensors.

[0010] Also optionally, the attachment system comprises at least one magnet fixed to the slide.

[0011] Also optionally, the slide has a graduation and each of the two housings has a mark for identifying a position of the induction sensor on the graduation, in order to deduce therefrom a distance between the two induction sensors, the portable system further comprises a human-machine interface making it possible to provide the data processing device with the distance between the two induction sensors, and the data processing device is designed to determine the speed of the moving part from this distance.

[0012] Also optionally, the data processing device is designed to determine a rotation speed of the moving part from the measurements of two consecutive passages of the moving part in front of the induction sensor of one of the measuring modules.

[0013] Also optionally, the fixed part is a tripod and in which the attachment system is designed to fix the measuring module to the tripod.

[0014] Also optionally, the portable system comprises a human-machine interface making it possible to provide the data processing device with an identifier of the robot and of the moving part of the robot, and the data processing device is designed to compare the measured speed with a range of authorized speeds associated with the identifier and to provide, through the human-machine interface, an alert if the measured speed is outside the range of authorized speeds.

[0015] Also optionally, the portable system further comprises a contact probe designed to be mounted on the moving part of the robot.

[0016] Also optionally, the portable system further comprises a battery for powering the data processing device and / or the induction sensor(s).

[0017] A method for measuring the speed of a moving part of a robot is also proposed, comprising: - an output of at least one measuring module stored in a case, the measuring module comprising an induction sensor, and a support for the induction sensor, this support having an attachment system; - a fixing of the attachment system to a fixed part located near the moving part; and - a determination, by a data processing device provided in the case, of a speed of the moving part from a measurement of a passage of the moving part near the induction sensor of one or more measuring modules. Brief description of the figures

[0018] The invention will be better understood with the aid of the following description, given solely by way of example and with reference to the appended drawings in which: - [Fig.l] is a three-dimensional view of an example of a portable device according to the invention, - [Fig.2] is a simplified electrical diagram of the portable device of [Fig.l], - [Fig.3] is a block diagram of an example of a method according to the invention of speed measurement of a moving part of a robot, which can be implemented by the portable device of [Fig.l], - [Fig.4] is a side view of elements of the portable device of [Fig.l], and - [Fig.5] is a block diagram of an example of a method according to the invention of speed measurement of a moving part of a robot, which can be implemented by the elements of [Fig.4]. Detailed description of the invention

[0019] With reference to [Fig.l], an example of a portable device 100 according to the invention will now be described.

[0020] The portable device 100 is designed to measure a speed of a moving part of a robot.

[0021] The portable device 100 firstly comprises a suitcase 102.

[0022] The portable device 100 further comprises, in the suitcase 102, a device for data processing 106.

[0023] The portable device 100 further comprises at least one measuring module 108A, 108B, 108C designed to be selectively stored and removed from the case 102 for use.

[0024] Each measuring module 108A, 108B, 108C comprises an induction sensor 110A, 110B, 110C, and a support 112AB, 112C of the induction sensor 110A, 110B, HOC. The support 112AB, 112C has an attachment system 114AB, 114C designed to fix the measuring module 108A, 108B, 108C to a fixed part located near the moving part whose speed is to be measured. The fixed part is for example part of a cell surrounding the robot.

[0025] For example, the portable device 100 comprises two measuring modules 108A, 108B each comprising a housing 116A, 116B to which the induction sensors 110A, 110B are respectively fixed. The support 112AB is then common to the two measuring modules 108A, 108B and comprises, in addition to the housings 116A, 116B, a slide 118 on which the two housings 114A, 114B are slidably mounted. In this case, the attachment system 114AB comprises for example at least one magnet fixed to the slide 118.

[0026] The slide 118 has for example a graduation 122 and each of the two housings 116A, 116B has a mark 124A, 124B to identify a position of the induction sensor 110A, 110B along the graduation, in order to deduce therefrom a distance d between the two induction sensors 110A, 110B.

[0027] In addition to or instead of the measuring modules 108A, 108, the portable device 100 comprises, for example, a measuring module 108C with the attachment system 114C forming part of the support 112C of the induction sensor 110C. The attachment system 114C is, for example, designed to fix the measuring module 108C to a tripod serving as a fixed part placed near the moving part whose speed is to be measured.

[0028] The portable device 100 may further comprise a contact probe 126 designed to be mounted on a moving part in order to verify the repeatability of the positioning of the moving part of the robot.

[0029] The portable device 100 further comprises, for example, a human-machine interface 128.

[0030] The portable device 100 further comprises, for example, wired connections 130A, 130B, 130C respectively connecting the induction sensors 110A, 110B, HOC to the data processing device 106. Preferably, these wired connections 130A, 130B, 130C are wound on respective reels 132A, 132B, 132C to facilitate storage in the case 102.

[0031] With reference to [Fig. 2], the data processing system 106 comprises for example a microcontroller 202, such as the Arduino microcontroller. The portable device 100 preferably further comprises a battery 204 for powering the data processing device 106 and / or the induction sensors 108A, 108B, 108C.

[0032] The portable device 100 may further comprise a switch 206 for selectively turning on and off the induction sensors 108A, 108B, 108C and / or a switch 208 for selectively turning on and off the contact probe 106.

[0033] With reference to [Fig. 3], an example of a measuring method 300 according to the invention will now be described. In the measuring method 300, the speed to be measured is a linear speed.

[0034] During a step 302, an operator brings the measuring device 100, in which the measuring modules 108A, 108B are stored.

[0035] During a step 304, the operator removes the slide 118 with the measuring modules 108A, 108B from the case 102.

[0036] During a step 306, the operator attaches the measuring modules 108A, 108B to a fixed part located near the moving part by means of the attachment system 112AB, for example by using the magnets against a metal part of the fixed part. The fixed part is for example part of a cell surrounding the robot.

[0037] During a step 308, the operator moves the measuring modules 108A, 108B on the slide 118, for example by moving them away from each other as far as possible, and determines, using the graduation 122, the distance d between the two induction sensors 110A, 110B.

[0038] During a step 310, the operator uses the human-machine interface 128 to provide an identifier of the robot and of the moving part whose speed is to be measured.

[0039] During a step 312, the moving part passes successively in front of the induction sensors 110A, 110B, as illustrated in [Fig.4]. The induction sensors 110A, 110B detect the passage (for example a rising edge generated by the induction sensor 100A, 100B) and each transmit a measurement of this passage to the data processing device.

[0040] During a step 314, the data processing device 106 determines the speed of the moving part from the measurements of the passage of the moving part in front of each of the two induction sensors 110A, 110B. More precisely, the data processing device 106 determines measurement times T1, T2 and deduces therefrom a time interval AT between the measurements: AT = T2 - T2. The data processing device 106 then determines a speed V of the moving part of the robot by dividing the distance d by the time interval AT: V = d / AT.

[0041] During a step 316, the data processing device 106 compares the speed V with a range of authorized speeds associated with the received identifier.

[0042] During a step 318, the data processing device 106 provides, via the human-machine interface 128, the measured speed V, as well as an alert if the measured speed V is outside the authorized speed range.

[0043] With reference to [Fig. 5], an example of a measuring method 500 according to the invention will now be described. In the measuring method 500, the speed to be measured is a rotational speed.

[0044] During a step 502, an operator brings the measuring device 100, in which the measuring modules 108C are stored.

[0045] During a step 504, the operator removes the measuring module 108C from the suitcase 102.

[0046] During a step 506, the operator attaches the measuring module 108C to a fixed part located near the moving part by means of the attachment system 112C, for example to a tripod that he will have previously placed.

[0047] During a step 508, the operator uses the human-machine interface 128 to provide an identifier of the robot and of the moving part whose speed is to be measured.

[0048] During a step 510, the moving part passes successively in front of the induction sensor 110C. At each passage, the induction sensor 110C detects this passage and transmits to the data processing device 106 a measurement of this passage.

[0049] During a step 512, the data processing device 106 determines the rotation speed of the moving part from the measurements of the passage of the moving part in front of the induction sensor 110C. More precisely, the data processing device 106 determines a number of passages (for example rising edges generated by the induction sensor 100C) during a predefined time, for example 60 seconds, and deduces therefrom a rotation speed V' of the moving part of the robot.

[0050] During a step 514, the data processing device 106 compares the rotation speed V' with a range of authorized speeds associated with the identifier received.

[0051] During a step 516, the data processing device 106 provides, via the human-machine interface 128, the measured rotation speed V', as well as an alert if the measured rotation speed V' is outside the authorized speed range.

[0052] It is clear that a portable device such as that described above allows easy installation on a wide variety of robot cells.

[0053] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiments described above, in light of the teaching which has just been disclosed to them.

[0054] In the detailed presentation of the invention which is made above, the terms used must not be interpreted as limiting the invention to the embodiments set out in the present description, but must be interpreted to include all equivalents whose prediction is within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching which has just been disclosed to them.

Claims

Claims

1. Portable system (100) for measuring the speed of a moving part of a robot, comprising: - a case (102); - a data processing device (106) provided in the case (102); and - at least one measurement module (108A, 108B, 108C) designed to be selectively stored and removed from the case (102) and comprising: • an induction sensor (110A, 110B, 110C), and • a support (112AB, 112C) for the induction sensor (110A, 110B, HOC), this support (112AB, 112C) having an attachment system (114AB, 114C) designed to fix the measurement module (108A, 108B, 108C) to a fixed part located near the moving part; the data processing device (106) being designed to determine a speed of the moving part from a measurement of a passage of the moving part near the induction sensor (110A, 110B, 110C) of one of the measurement modules (108A, 108B, 108C).

2. A portable system (100) according to claim 1, comprising two measuring modules (108A, 108B) each comprising a housing (116A, 116B) to which the induction sensor (110A, 110B) of this measuring module (108A, 108B) is fixed, in which the support (112AB) is common to the two measuring modules (108A, 108B) and comprises a slide (118) on which the two housings (116A, 116B) are slidably mounted, and in which the data processing device (106) is designed to determine a linear speed from the measurements of the passage of the moving part in front of each of the two induction sensors (110A, 110B).

3. The portable system (100) of claim 2, wherein the attachment system (114AB) comprises at least one magnet attached to the slider (118).

4. A portable system (100) according to claim 2 or 3, wherein the slide (118) has a graduation (122) and each of the two housings (116A, 116B) has a mark (124A, 124B) for marking a position of the induction sensor (110A, 110B) on the scale (122), in order to deduce therefrom a distance (d) between the two induction sensors (110A, 110B), further comprising a human-machine interface (128) making it possible to provide the data processing device (106) with the distance (d) between the two induction sensors (110A, 110B), and in which the data processing device (106) is designed to determine the speed of the moving part from this distance (d).

5. Portable system (100) according to any one of claims 1 to 4, wherein the data processing device (106) is designed to determine a rotational speed of the moving part from measurements of two consecutive passages of the moving part in front of the induction sensor (HOC) of one of the measurement module(s) (108C).

6. A portable system (100) according to claim 5, wherein the fixed part is a tripod and wherein the attachment system (114C) is adapted to attach the measurement module (108C) to the tripod.

7. A portable system (100) according to any one of claims 1 to 6, comprising a human-machine interface (128) for providing the data processing device (106) with an identifier of the robot and the moving part of the robot, and wherein the data processing device (106) is adapted to compare the measured speed with a range of authorized speeds associated with the identifier and to provide, through the human-machine interface (128), an alert if the measured speed is outside the range of authorized speeds.

8. A portable system (100) according to any one of claims 1 to 7, further comprising a contact probe (126) adapted to be mounted on the moving part of the robot.

9. Portable system (100) according to any one of claims 1 to 8, further comprising a battery (204) for supplying electricity to the data processing device (106) and / or the induction sensor(s) (110A, 110B, HOC).

10. Method (300; 500) for measuring the speed of a moving part of a robot, comprising: - an output (304; 504) of at least one measuring module (108A, 108B, 108C) stored in a case (102), the measuring module (108A, 108B, 108C) comprising an induction sensor (110A, 110B, HOC), and a support (112AB, 112C) of the sensor induction (110A, 110B, 110C), this support having an attachment system (114AB, 114C); a fixing (306; 506) of the attachment system (114AB, 114C) to a fixed part located near the moving part; and a determination (314; 512), by a data processing device (106) provided in the case (102), of a speed of the moving part from a measurement of a passage of the moving part near the induction sensor (110A, 110B, HOC) of one of the measurement modules (108A, 108B, 108C).

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