3D Coordinate Alignment for Robot-Mounted Part Measurement

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Solution Overview

Problem

Existing techniques for setting a coordinate system for robots, such as using a touch probe or a 3D measuring machine, are inefficient and lack precision, especially when dealing with complex shapes and large parts.

Innovation Solution

A coordinate-system setting system that includes a probe, a 3D-shape measuring device, and a storage device with a 3D model of the part to be measured. The system performs position measurement, shape calculation, and difference calculation to accurately set the coordinate system by shifting the origin position in the 3D model based on the calculated differences.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a touch probe is used to set the coordinate system by contacting the robot tip at multiple positions, then the coordinate system can be established, but the process is time-consuming and inefficient

Engineering Contradiction:

Improvecoordinate system accuracyVSAvoidcoordinate setting time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The patent replaces the mechanical touch probe measurement system with a 3D shape measuring device that uses optical or non-contact measurement methods. This substitution eliminates the need for physical contact and manual positioning, dramatically reducing the time required for coordinate system setting while maintaining or improving measurement accuracy through automated 3D scanning and processing.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent performs preliminary 3D scanning and shape measurement of the workpiece before the actual coordinate system setting process. By pre-acquiring the 3D shape data and processing it to extract geometric features, the system prepares all necessary measurement information in advance, eliminating the need for repeated measurements during coordinate setting and significantly reducing overall processing time.

Inventive Principle:

Principle #10Preliminary action

2Productivity

If traditional measurement methods are used for complex shapes and large parts, then measurement can be performed, but precision and efficiency are insufficient

Engineering Contradiction:

Improvemeasurement efficiencyVSAvoidshape measurement accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The patent transitions from traditional 2D or point-by-point measurement approaches to comprehensive 3D shape measurement. By capturing the complete three-dimensional geometry of complex parts and workpieces, the system achieves superior measurement precision for complex shapes while improving productivity through automated 3D data acquisition and processing, eliminating the need for multiple separate measurements.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS12330316B2Coordinate-system setting system and coordinate-system setting method

Publication Date: 2025.06.17 FANUC LTD

AI summary

A coordinate-system setting system including: a probe; a 3D-shape measuring device for measuring contact locations of the probe; and a storage device that stores a 3D model of a part to be measured. The 3D model includes information about an origin position of a coordinate system of the part to be measured. The 3D-shape measuring device measures, when the probe is brought into contact with the part to be measured a plurality of times, the position of a tip portion of a robot and calculates the shape of the part to be measured. The 3D-shape measuring device or a controller of the robot calculates the difference between the calculated shape of the part to be measured and the shape of the 3D model and sets the coordinate system of the part to be measured relative to the tip portion by shifting at least the origin position.