Robot-Guided 3D Workpiece Measurement Without Manual Teaching
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Solution Overview
Problem
Conventional three-dimensional measurement methods for workpieces require significant teaching time when the direction or type of workpiece changes, leading to decreased measurement efficiency.
Innovation Solution
A measurement apparatus and control method that utilize a multi-axis robot and position determination based on design or captured image data to automatically determine measurement positions and directions, allowing the sensor to move sequentially to these positions without the need for extensive teaching, thereby reducing teaching time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If teaching is performed for every workpiece direction or type change, then measurement accuracy is maintained, but measurement efficiency decreases due to increased teaching time
Solution Approach 1:
The system automatically determines measurement positions and sensor directions by itself using design data or captured image data, without requiring external teaching operations. The control apparatus calculates optimal measurement parameters autonomously based on workpiece geometry, eliminating the need for manual teaching while maintaining measurement accuracy.
Solution Approach 2:
The system pre-determines measurement positions along normal directions and sensor orientations before actual measurement begins. By calculating all measurement parameters in advance from design or image data, the system prepares the complete measurement plan beforehand, eliminating the need for time-consuming teaching operations during measurement cycles.
2Measurement precision
If manual teaching is used to define measurement routes, then measurement accuracy is ensured, but time consumption increases significantly
Solution Approach 1:
The system replaces manual teaching operations with automated computational methods. Instead of mechanically teaching the robot movement paths through manual programming, the control apparatus uses design data or captured image data to automatically calculate measurement positions and sensor directions, substituting computational algorithms for manual teaching processes.
Solution Approach 2:
The system uses design data or captured image data as templates to automatically generate measurement routes. By copying geometric information from available data sources, the system reconstructs measurement paths without requiring manual teaching, significantly reducing teaching time while maintaining accuracy.
3Adaptability or versatility
If the sensor moves to freely selected positions in three-dimensional space, then measurement versatility improves, but system complexity increases
Solution Approach 1:
The system uses a single control apparatus that can handle multiple workpiece types, directions, and measurement requirements through automated calculation. The position determination unit universally applies to any workpiece by processing design or image data, making the system adaptable to various measurement scenarios without requiring separate teaching for each case.
Solution Approach 2:
The control apparatus acts as an intermediary between the robot and the measurement task. It translates design data or image data into specific measurement positions and sensor directions, mediating between the flexible robot system and the precise measurement requirements, thereby enabling versatility without direct complexity in the robot control.
Data Source
AI summary
A measurement apparatus includes a sensor that measures a workpiece, a multi-axis robot that moves the sensor in a three-dimensional space, a position determination part that determines i) a plurality of measurement positions that are positions along a normal direction at each of a plurality of positions to be measured on the workpiece and ii) a direction of the sensor at each of the plurality of measurement positions on the basis of at least either design data or captured image data indicating the geometry of the workpiece, a moving control part that sequentially moves the sensor to the plurality of measurement positions by controlling the robot, and a measurement control part that outputs measured data indicating a result that the sensor measured at each of the plurality of measurement positions in association with the plurality of positions to be measured.