Cabin Coordinate Calibration for Multi-Robot Treatment Cells
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Solution Overview
Problem
The existing methods for calibrating industrial robots in treatment cabins, especially for large and bulky objects like vehicle bodies, require significant effort and time due to the need for precise positioning and frequent recalibration across multiple robots and treatment cells, leading to substantial position errors and increased personnel costs.
Innovation Solution
A method utilizing a mobile measuring system connected to a measurement object with the same reference points as the objects being treated, along with a laser tracker, to establish a cabin coordinate system that can be reused across multiple treatment cabins, reducing preparation and measurement effort by using the treatment cabin as a 'tertium comparationis' and an external stationary measuring system to determine coordinates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a measuring system is mounted on each robot to measure object reference points, then the position accuracy of each robot is improved, but the time and personnel required for calibration increases significantly
Solution Approach 1:
The patent applies universality by using a single stationary measuring device to serve multiple robots simultaneously. Instead of mounting measuring systems on each robot, one measuring device captures reference points for all robots in the treatment cabin, eliminating redundant measurement equipment and calibration procedures for each individual robot.
Solution Approach 2:
The patent merges the measurement function from individual robot-mounted systems into a single stationary measuring device. By combining the measurement capability into one shared resource, the system reduces the total number of measuring instruments needed and consolidates the calibration process into a single operation that benefits all robots.
2Adaptability or versatility
If multiple different vehicle models are processed in a treatment line, then the adaptability of the system is improved, but the number of measurements and recalibrations required increases
Solution Approach 1:
The stationary measuring device provides universal measurement capability that works across multiple vehicle models and robot configurations. The single measuring system adapts to different models without requiring separate calibration equipment, maintaining versatility while reducing the frequency of recalibrations needed when switching between models.
Solution Approach 2:
The system performs preliminary measurement of reference points in the treatment cabin that can be reused across multiple vehicle models. By establishing the reference point coordinates once in advance, the system eliminates the need for frequent recalibrations when processing different models, improving productivity while maintaining adaptability.
3Manufacturing precision
If the position of the object is brought into a defined position by a mechanical positioning system, then the treatment accuracy is improved, but the effort required for positioning increases disproportionately for large objects
Solution Approach 1:
The patent replaces the mechanical positioning system with an optical measurement-based positioning approach. Instead of mechanically adjusting large objects to predefined positions, the stationary measuring device optically determines the actual positions of reference points on the objects, and the robot controller calculates the necessary adjustments, eliminating the need for complex mechanical positioning mechanisms.
Solution Approach 2:
The stationary measuring device acts as an intermediary between the object and the robot. Rather than directly positioning the object mechanically, the measuring device provides position information that mediates the interaction, allowing the robot to adapt its motion to the object's actual position, thereby reducing the effort required for mechanical positioning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Significantly reduces the measurement effort and time required for calibrating robots and treatment cells, improving accuracy and enabling efficient operation across multiple treatment cabins with minimal additional effort, particularly beneficial in the automotive industry where various vehicle models need to be processed.
Implementation Method 1
A method utilizing a mobile measuring system connected to a measurement object with the same reference points as the objects being treated, along with a laser tracker
Data Source
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AI summary
The invention relates to a method for operating a processing enclosure (1) loaded by at least one robot (10, 11, 12, 13), wherein a preparing and measuring process is performed before the actual processing of the objects (2). A fixed enclosure coordinate system is thereby first defined, in that at least three stationary reference points (22, 23, 45) not on a straight line are set up in the interior of the processing enclosure (1), and the coordinates thereof are measured with respect to an arbitrary fixed enclosure origin. The robot (10, 11, 12, 13) is also measured in the enclosure coordinate system. A measurement object (2') comprising the same reference points (18', 19', 20', 21') as the objects (2) to be processed is connected to a mobile measuring device (27), and a mathematical relationship between the object coordinate system and the measurement coordinate system is established by measuring the reference points (18', 19', 20', 21') of the measurement object (21), using the mobile measuring device (27). The measurement object (2') is moved with the mobile measuring system (27) to an ideal processing position in the processing enclosure (1), and the stationary reference points (22, 23, 45) are measured there by means of the mobile measuring system (27), whereby a mathematical relationship between the enclosure coordinate system and the measurement coordinate system, and thus also between the robot coordinate system and the object coordinate system, can be established.