CN113465499B - 配件的三维形状尺寸测定方法以及系统 - Google Patents

配件的三维形状尺寸测定方法以及系统

Info

Publication number
CN113465499B
CN113465499B CN202110329985.2A CN202110329985A CN113465499B CN 113465499 B CN113465499 B CN 113465499B CN 202110329985 A CN202110329985 A CN 202110329985A CN 113465499 B CN113465499 B CN 113465499B
Authority
CN
China
Prior art keywords
accessory
maximum size
fitting
image
outermost end
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110329985.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN113465499A (zh
Inventor
安藤一贵
渡边文武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yushin Co
Original Assignee
Yushin Precision Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yushin Precision Equipment Co Ltd filed Critical Yushin Precision Equipment Co Ltd
Publication of CN113465499A publication Critical patent/CN113465499A/zh
Application granted granted Critical
Publication of CN113465499B publication Critical patent/CN113465499B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4266—Robot grippers movable along three orthogonal axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4275—Related movements between the robot gripper and the movable mould or ejector

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
CN202110329985.2A 2020-03-31 2021-03-26 配件的三维形状尺寸测定方法以及系统 Active CN113465499B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-064836 2020-03-31
JP2020064836A JP7441707B2 (ja) 2020-03-31 2020-03-31 アタッチメントの三次元形状寸法測定方法

Publications (2)

Publication Number Publication Date
CN113465499A CN113465499A (zh) 2021-10-01
CN113465499B true CN113465499B (zh) 2026-04-07

Family

ID=75539269

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110329985.2A Active CN113465499B (zh) 2020-03-31 2021-03-26 配件的三维形状尺寸测定方法以及系统

Country Status (4)

Country Link
US (1) US12030181B2 (https=)
EP (1) EP3889540B1 (https=)
JP (1) JP7441707B2 (https=)
CN (1) CN113465499B (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20219713U1 (de) * 2002-12-18 2003-12-24 Kuka Schweissanlagen Gmbh Prüfanordnung für Vorrichtungen im Karosserierohbau
JP6647649B1 (ja) * 2019-08-22 2020-02-14 有限会社光和サービス 射出成形品取出装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
US6592355B2 (en) * 2000-12-16 2003-07-15 Ovalon Vision Solutions, Llc Part-forming machine having an in-mold integrated vision system and method therefor
JP4081229B2 (ja) * 2000-10-17 2008-04-23 株式会社ユーシン精機 取出ロボットのティーチングプログラム製造装置
JP2006350602A (ja) * 2005-06-15 2006-12-28 Yushin Precision Equipment Co Ltd 操作端末装置
CN101545757B (zh) * 2008-03-25 2012-01-25 鸿富锦精密工业（深圳）有限公司 影像量测机台动态模拟系统及方法
JP5549129B2 (ja) * 2009-07-06 2014-07-16 セイコーエプソン株式会社 位置制御方法、ロボット
DE102011015987A1 (de) * 2011-04-04 2012-10-04 EXTEND3D GmbH System und Verfahren zur visuellen Darstellung von Informationen auf realen Objekten
JP5354614B2 (ja) * 2011-05-19 2013-11-27 株式会社スター精機 樹脂成形品取出し機
JP6670161B2 (ja) * 2016-04-27 2020-03-18 株式会社キーエンス 光学式三次元座標測定器及びその計測方法
DE102016121831B3 (de) * 2016-11-15 2018-01-25 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Überprüfung der Maßhaltigkeit eines Teilegreifers
JP6895835B2 (ja) * 2017-07-21 2021-06-30 株式会社タダノ ガイド情報表示装置およびクレーン
JP6965050B2 (ja) * 2017-07-21 2021-11-10 株式会社タダノ ガイド情報表示装置およびこれを備えたクレーンおよびガイド情報表示方法
JP6969283B2 (ja) * 2017-10-25 2021-11-24 オムロン株式会社 制御システム
EP3620856A1 (en) * 2018-09-10 2020-03-11 Canon Kabushiki Kaisha Imprint method and article manufacturing method
US11813758B2 (en) * 2019-04-05 2023-11-14 Dexterity, Inc. Autonomous unknown object pick and place

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20219713U1 (de) * 2002-12-18 2003-12-24 Kuka Schweissanlagen Gmbh Prüfanordnung für Vorrichtungen im Karosserierohbau
JP6647649B1 (ja) * 2019-08-22 2020-02-14 有限会社光和サービス 射出成形品取出装置

Also Published As

Publication number Publication date
JP2021162482A (ja) 2021-10-11
US20210299856A1 (en) 2021-09-30
EP3889540B1 (en) 2025-06-18
JP7441707B2 (ja) 2024-03-01
EP3889540A1 (en) 2021-10-06
CN113465499A (zh) 2021-10-01
US12030181B2 (en) 2024-07-09

Similar Documents

Publication Publication Date Title
CN107891414B (zh) 机器人系统
CN112683215B (zh) 提供关于坐标测量机传感器链的信息的方法、坐标测量机
EP2312263B1 (en) Offset Amount Calibrating Method and Surface Profile Measuring Machine
EP3792033B1 (en) Teaching method for system for taking out molded product and apparatus for taking out molded product
CN115605329B (zh) 随动机器人
CN112276680B (zh) 智能精密加工设备和智能精密加工设备的控制方法
CN113465498B (zh) 模具及配件的法线矢量的推定方法以及系统
CN113465499B (zh) 配件的三维形状尺寸测定方法以及系统
KR101672807B1 (ko) 자동공구교환장치의 공구 검사 장치 및 그 방법
JP2021041624A5 (https=)
US12049036B2 (en) Method and system for estimating normal vector to die and normal vector to attachment
JP7346363B2 (ja) 単眼撮像装置による三次元座標測定方法
JP2021160360A5 (https=)
JP2021162482A5 (https=)
JP2017116270A (ja) 硬さ試験機
JP7534907B2 (ja) 成形品取出システムのティーチング方法及び成形品取出機
JP4064705B2 (ja) 硬度計
JP2022056910A5 (https=)
JPH08155794A (ja) 内径非接触測定装置
CN119585089A (zh) 机器人的参数的设定装置
WO2024062535A1 (ja) ロボット制御装置
JPH05196422A (ja) 非接触型三次元座標検出装置のｚ座標の位置検出方法および装置
JP2005106599A (ja) 走査型プローブ顕微鏡の誤測定検証方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant