Robotic Workpiece Alignment for Flexible CMM Measurement
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Solution Overview
Problem
Coordinate measuring machines face inefficiencies and operational failures due to the need for precise pre-defined positioning and orientation of workpieces, which can degrade if not maintained, and lack of automation in the measurement process.
Innovation Solution
A system comprising a robotic arm with a reference geometry tool and gripper, capable of defining a common coordinate system with the CMM and workpiece storage apparatus, allowing for automated alignment and measurement of workpieces without strict pre-defined positioning and orientation requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If workpieces are precisely oriented in a pre-defined position and orientation, then measurement accuracy is improved, but operational flexibility and adaptability deteriorate
Solution Approach 1:
The system performs preliminary alignment by having the robotic arm locate and measure datum markers on the workpiece before the actual measurement process. This preliminary action establishes the workpiece coordinate system and transforms it to the CMM coordinate system, enabling accurate measurements without requiring precise pre-positioning of the workpiece.
Solution Approach 2:
The patent replaces the traditional mechanical positioning system with an automated robotic system equipped with sensors. The robotic arm uses sensor data to locate datum markers and calculate coordinate transformations, substituting manual mechanical alignment with automated sensor-based positioning and computational geometry.
2Productivity
If automated routines are implemented, then productivity is improved, but system complexity increases
Solution Approach 1:
The robotic arm serves multiple functions: it positions workpieces, locates datum markers, and facilitates coordinate system transformation. The same robotic system handles both alignment and measurement support tasks, reducing the need for separate specialized devices and simplifying the overall system architecture.
Solution Approach 2:
The system performs self-alignment through automated routines where the robotic arm independently locates datum markers, calculates coordinate transformations, and positions workpieces without requiring manual intervention. The automated measurement routines also self-correct for positioning variations, enabling the system to service itself.
3Measurement precision
If pre-defined positioning is required, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent replaces manual positioning operations with an automated robotic system. The robotic arm uses sensors to locate datum markers and automatically calculates the coordinate transformation, eliminating the need for operators to manually position and align workpieces with precise mechanical adjustments.
Solution Approach 2:
The system performs self-alignment by automatically locating datum markers and computing coordinate transformations without operator intervention. The automated routines handle the alignment process independently, making the system easy to operate while maintaining high measurement precision.
Data Source
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Figure 1C~1E
AI summary
Embodiments provide measurement systems having a coordinate measuring machine, a workpiece storage apparatus, and a robot for delivering workpieces from the workpiece storage apparatus to the coordinate measuring machine, and methods for orienting and operating such systems. Illustrative embodiments employ a reference geometry tool on the robotic arm, and kinematic locators on the coordinate measuring machine and/ or on the workpiece storage apparatus to define a coordinate system common to the coordinate measuring machine, the workpiece storage apparatus, and the robot.