Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1998-09-09
2000-03-28
Masih, Karen
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856813, 31856815, 31856819, 318573, 3185681, 701 9, 701 15, 701 19, B25J 918
Patent
active
060436212
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to controlling production systems such as industrial robot applications for the workshop industry, for measuring systems, for surgical applications, etc. The invention also relates to controlling applications for machine tools.
More particularly the invention relates to electro-optical measuring systems in combination with control of said applications.
BACKGROUND ART
Most of the individual components used for the present positioning method and positioning device are already known but have not previously been combined in the present manner.
Previously known positioning systems for industrial robots, for instance, are controlled in a similar manner to numerically controlled machine tools, i.e. a positioning control unit receives input data values from a control data system, whereupon the control unit transmits control data concerning positions in three dimensions, speed of rotation and other motion to the positioning member with its positioning head.
This control occurs completely independently of the position of a work object. All movements and positions of the positioning head presuppose a work object with a specific location and with specific dimensions. The securing of the work piece and the location of all parts of the work piece thus determine the tolerances achieved for the work operation. Adjustment must be made, for instance, for temperature variations, wear in bearings and other factors having a negative influence on the location initially determined between the work object and the positioning head. This is a considerable drawback in existing systems.
OBJECT OF THE INVENTION
The object of the invention is to control robots or other systems such as those mentioned above, using a device and a method that does not have the described drawbacks of existing systems, for various tasks with electro-optical systems such as 3D-vision systems, laser follower systems, interferometer systems, etc. A particular feature of the present invention is the control of a positioning head in relation to a work object.
The control is achieved by means of a fundamental localisation measuring system as a part of the invention, which enables determination of the space coordinates for target points with extremely high accuracy and which can calculate the spatial location of other mechanical elements connected to a rigid body provided with target points.
A control data system in the present invention can determine displacements between the actual position of a positioning head and its set location in order to update the control program and can also control the positioning head as required in order to compensate for such displacements.
Recording devices are arranged in order to determine the relative location between the positioning head and the work object, which recording devices may, for example, use photogrammetry and/or 3-D-vision technology in order to calibrate the location of the positioning head.
Another object of the invention is to control a robot of the type defined in Swedish patent application No. 8502327-3 in accordance with the method, and using the device revealed by the present invention.
SUMMARY OF THE INVENTION
The invention shows a method and a device for a production system for positioning the location of a positioning head in relation to a work object, comprising a positioning body, e.g. a robot or a machine tool, a positioning control unit for the positioning body, and a control data system for the positioning control unit, wherein the control data system communicates with a three-dimensional localisation measuring system comprising at least one recording device which determines and adjusts the location of the positioning head in space.
The invention also shows a method and a device according to the above wherein the recording device can also simultaneously record and determine the location of the positioning head and the location of the work object in space.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention will now be described in more detail wit
REFERENCES:
patent: 4788482 (1988-11-01), Tachibana et al.
patent: 5257203 (1993-10-01), Riley et al.
patent: 5428280 (1995-06-01), Schmidt et al.
Masih Karen
Neos Robotics AB
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