CN202088202U - Device for improving precision characteristic of operating equipment - Google Patents
Device for improving precision characteristic of operating equipment Download PDFInfo
- Publication number
- CN202088202U CN202088202U CN2009901002524U CN200990100252U CN202088202U CN 202088202 U CN202088202 U CN 202088202U CN 2009901002524 U CN2009901002524 U CN 2009901002524U CN 200990100252 U CN200990100252 U CN 200990100252U CN 202088202 U CN202088202 U CN 202088202U
- Authority
- CN
- China
- Prior art keywords
- measuring
- blind hole
- poroid
- operating equipment
- recess
- 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.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37097—Marker on workpiece to detect reference position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
Abstract
The utility model relates to a device for improving the precision characteristic of operating equipment such as a multishaft industrial robot. The device is provided with an operating mechanism (1), at least one control mechanism (11), a measuring mechanism (6), an analytic mechanism (10), and a reference surface (13) with one or a plurality of marks (5) or holes or a measuring plate (4), wherein the at least one control mechanism (11) is used for leading the operating mechanism to move; the measuring mechanism (6) is independent of the operating mechanism (1) or is directly located on the operating mechanism (1); the analytic mechanism (10) is used for a measurement signal generated by the measuring mechanism (6); and the reference surface (13) or the measuring plate (4) is arranged on a tool or a mechanism (3) to be triggered. The improvement of the precision characteristic is realized through the following methods that: the marks (5) or holes at a hole-shaped dent (15) are formed in the reference surface (13) or the measuring plate (4) in a manner of blind holes (16) or gaps ((12) with specific depths and specific blind hole diameters or specific gap widths, wherein the proportion of the depth to the blind hole diameter or the gap width is larger than 1.
Description
Technical field
The utility model relate to a kind of when especially in the field of metallurgy equipment, using at the device that improves the precision characteristic of this operating equipment aspect the posture of operating equipment, this operating equipment for example is the multi-axis industrial robot.
The posture of in this device, determining measuring mechanism about the reference plane determined or reference structure.Posture is interpreted as position and directed and the position and the orientation in the meaning of operating equipment own of measuring mechanism.Described measuring mechanism comprises signal or image receiver structure at least, and this signal or image receiver structure produce analyzable signal or view data, aspect determining in accurate position below this signal or view data is analyzed.
Correspondingly, this device that is used to try to achieve the posture of operating equipment comprises
-operating equipment,
-at least one is used to make the controlling organization of operating equipment motion,
-measuring mechanism, this measuring mechanism are independent of operating mechanism or directly are positioned on the operating mechanism,
-be used for the analysis institution of the measuring-signal that produces by measuring mechanism, and
-reference plane with one or more mark or hole on the instrument that remains to be triggered or in mechanism or measurement plate.
Background technology
This device is for example disclosed by JP 7-185-754 A2.At this, operating equipment is used to change the cast tubes on the intermediate receptacle of continuous casting installation for casting, wherein overlapping the mark of having arranged two cylindricalitys in the piece installing respectively on the cast tubes and at cast tubes, described mark is detected by the video camera of two outsides, and can finally determine the position of the anchor clamps of operating equipment for example with respect to cast tubes cover piece installing or cast tubes thus.Thereby also summarized in the analysis institution analysis to measure signal view data mathematical principle that obtains accurate as far as possible position data and be used for this analysis in other words.
Disclose a kind of operating equipment that is formed by robot by JP 3-071-959 A, this operating equipment is used for the various operations in outlet at bottom zone of melt vessel.Arrange in robot that directly the video camera that is coupled with image analysis entity is used for accurately determining the position of casting outlet with respect to image analysis entity.
DE 10345743 A1 and EP 1602456 A2 also study position and the orientation of determining the image receiver structure according to the mark in the mechanism.
Structure on the special usage space that serves as a mark all the time is for example on Ding Wei marker pin or the instrument or in the mechanism or change the gauge point from giving prominence on color on the parts on every side.
When using this mark, can produce serious influence or because formed foul layer has lost the contrastive feature of mark with respect to its peripheral region in conjunction with metallurgical mechanism and equipment and in the scope of application of operating mechanism is subjected to other application of severe contamination.Therefore, the differentiation dynamics of measuring-signal or the picture signal that received often is not enough to accurately analyze described measuring-signal and is not enough to enough accurately determine the position thus.
Be used for making the streamline of automobile frame in auto industry, accurately using the spot welding machine for a position specially needs accurately to determine the position of automobile frame or frame rack.For this reason, disclose the mark of having described by structure front, hole by EP 328687 A1, JP 62-226308 A and JP 6-035530 A, described hole great majority are arranged in the automobile frame by manufacturing with causing.This hole is through hole normally, and described through hole forms when moulding ground extruded frame parts.From described file, can not obtain to be used to construct the detail of this mark.The framework manufacturing that is used for automobile occurs in clean to a great extent environment, thereby has provided with respect near enough contrasts around by the hole, and has therefore realized good graphical analysis and position probing.Yet in the with serious pollution environment that for example in steel mill, occurs, can not provide contrast required for graphical analysis.
The utility model content
Therefore, task of the present utility model is to avoid the shortcoming of known systems and propose a kind of device, even this device in serious pollution working region also with enough contrasts provide mark with and on every side measuring-signal or picture signal, thereby realized that accurate posture determines.
This task is being resolved by the following method by the device that is used for improving the precision characteristic of operating equipment of the present utility model, promptly to have certain depth and to have specific blind hole diameter or the form in the blind hole of certain gap width or slit has formed in reference plane or measures the mark or the hole of poroid recess in the plate, wherein the ratio of the degree of depth and blind hole diameter or gap width is greater than 1.
So the poroid recess of structure has been realized in the physical sense near " black matrix ".Black matrix is Utopian object physically, and this object absorbs for example light of irradiation electromagnetic radiation thereon fully, and correspondingly is different from other object or surface significantly by its reflex behavior.Black matrix can not be realized in practice, yet make the reflection characteristic in the zone of poroid recess minimize by what poroid recess caused to a certain extent near its characteristic.
Poroid recess configuration becomes blind hole or slit, wherein this slit can preferable configuration be in line or be configured to looping pit.Thus, in this zone, realize the extra high absorption value of electromagnetic radiation.
According to favourable improvement project of catering to the possibility on the manufacturing technology especially of the present utility model, reference plane or the form with blind hole or slit measured in the plate formed have the 10mm degree of depth at least and have blind hole diameter or gap width less than the mark or the hole of the poroid recess of 10mm.
To be at least 10mm dark when poroid recess, preferably is at least 15mm when dark, reduces reflecting properties significantly.
Absorbent properties have been strengthened by the described poroid recess of blacking extraly.Inwall with the poroid recess of carbon black sooting plays special effective function.When the peripheral region of poroid recess keeps brightly as far as possible, improved contrast extraly in the scope of the described scheme that the working region is provided.In any case, must keep the peripheral region brighter with different differentiation dynamics than poroid recess.When the diameter of described poroid recess or gap width less than 10mm, during preferably less than 6mm, suppressed light reflection from poroid recess with strengthening.
When at least three of layouts or four poroid recesses in reference plane or measurement plate, improved the analysis precision of the measuring-signal that is detected.Thus, can when the measuring-signal that analysis is produced, employ best measurement result and adopt the selection that quality is arranged thus.
When at least two described poroid recesses are of different sizes, aspect spatial orientation, simplified the analysis of measuring-signal.
Measuring mechanism is preferably configured as image detection mechanism, and the contrast between the peripheral region of poroid recess and this poroid recess of electromagnetic radiation light reflection in other words detects in this image detection mechanism.According to preferred embodiment, described measuring mechanism is formed by stereo camera.
Description of drawings
Other advantage of the present utility model and feature obtain from the following description that non-restrictive example is done, and wherein with reference to following accompanying drawing, accompanying drawing illustrates below:
Fig. 1 be robot with by the measurement plate acting in conjunction that is positioned on the metallurgical container of the present utility model,
Fig. 2 is the cutaway view by first embodiment of the measurement plate with poroid recess of the present utility model,
Fig. 3 is the vertical view by first embodiment of the measurement plate with poroid recess of the present utility model,
Fig. 4 is second embodiment that has the measurement plate of poroid recess by of the present utility model.
The specific embodiment
Fig. 1 has illustrated operating equipment 1 with schematic diagram, and this operating equipment is configured to the multi-axis industrial robot of conventional structure type, is used for carrying when being coupled to discharge pipe 2 on the melt vessel 3 and handles for example molten steel of steel mill.
In Fig. 2 and 3, show measurement plate 4 with four marks 5 by first embodiment of the present utility model with cutaway view and vertical view.Each mark 5 is formed by the slit 12 of annular, and this slit forms by the hole, annulus.This slit has the gap width B of 5mm and the gap depth T of 15mm.Diameter D1, the D2 of this annulus lyriform pore, D3, D4 in each mark be different and 10 and 40mm between.Described mark 5 measure on the end face of plate 4 layout with and size realized that measuring mechanism determines with respect to the accurate of posture of the central point OCP of melt vessel 3.Usually each mark 5 has formed poroid recess 15 in the measurement plate 4.
In order to optimize in the contrast of the above mark 5 of end face of measuring plate 4 with respect to peripheral region 8, described measurement plate is made by stainless steel and is carried out blasting treatment in case of necessity, thereby obtains the surface of scattering.Described annulus is by with the carbon black sooting or the painted black of tinting accordingly, thereby improves and on every side contrast.
Described mark is not restricted to the annulus as the embodiment in slit.Described slit also can be constructed with the slit and be configured in by milling of the straight line of limited length and measure in the plate.
Fig. 4 shows the reference plane 13 with four marks 5 that formed by blind hole 16.Described blind hole diameter DS be 3 and 6mm between.Described reference plane 13 or be the direct part of object or melt vessel 3, or be the end face of measuring plate 4 shown in Fig. 2 and 3.
Reference numerals list:
1 operating equipment
2 discharge pipes
3 melt vessels
4 measure plate
5 marks
6 measuring mechanisms
7 stereo cameras
8 in the peripheral region of measuring the mark on the end face of plate
The anchor clamps of 9 operating equipments
10 analysis institutions
11 controlling organizations
12 slits
13 reference planes
15 poroid recesses
16 blind holes
OCP、CCP
TCP, RCP datum mark
The B gap width
The T gap depth
D1、D2
The diameter of D3, D4 annulus lyriform pore
D
SBlind hole diameter
Claims (11)
1. be used to improve the device of the precision characteristic of operating equipment, described device has
-operating equipment (1),
-at least one is used to make the controlling organization (11) of described operating equipment (1) motion,
-measuring mechanism (6), this measuring mechanism are independent of described operating mechanism (1) or directly are positioned on the described operating mechanism (1),
-be used for the analysis institution (10) of the measuring-signal that produces by described measuring mechanism (6), and
-at reference plane (13) with one or more mark (5) or hole on the instrument that remains to be triggered or in mechanism (3) or measurement plate (4),
It is characterized in that, the mark (5) or the hole of the poroid recess (15) in described reference plane (13) or described measurement plate (4) have been formed with the form of blind hole (16) or slit (12), wherein, the ratio of the degree of depth of described blind hole (16) or slit (12) and blind hole diameter or gap width is greater than 1.
2. by the described device of claim 1, it is characterized in that, formed with the form of blind hole (16) or slit (12) in described reference plane (13) or described measurement plate (4) that to have a 10mm at least dark and have blind hole diameter or gap width mark (5) or a hole less than the poroid recess (15) of 10mm.
3. by the described device of claim 2, it is characterized in that the dark at least 15mm of described poroid recess (15).
4. by each described device in the aforesaid right requirement, it is characterized in that, described poroid recess (15) blacking.
5. by the described device of claim 2, it is characterized in that described poroid recess (15) has blind hole diameter or the gap width less than 6mm.
6. by the described device of claim 1, it is characterized in that at least two in the described poroid recess (15) are of different sizes.
7. by the described device of claim 1, it is characterized in that at least three or four poroid recesses (15) are arranged in described reference plane (13) or the described measurement plate (4).
8. by the described device of claim 1, it is characterized in that the contrast between the peripheral region (8) of described measuring mechanism (6) detection described poroid recess (15) and this recess (15).
9. by the described device of claim 8, it is characterized in that described measuring mechanism (6) is formed by stereo camera (7).
10. by the described device of claim 1, it is characterized in that described operating equipment is the multi-axis industrial robot.
11. by the described device of claim 4, it is characterized in that, described poroid recess (15) applied with carbon black.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ATA810/2008 | 2008-05-20 | ||
| AT0081008A AT506865B1 (en) | 2008-05-20 | 2008-05-20 | DEVICE FOR IMPROVING ACCURACY CHARACTERISTICS OF HANDLING DEVICES |
| PCT/EP2009/053403 WO2009141184A1 (en) | 2008-05-20 | 2009-03-24 | Device for improving accuracy properties of handling devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202088202U true CN202088202U (en) | 2011-12-28 |
Family
ID=40793290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009901002524U Expired - Lifetime CN202088202U (en) | 2008-05-20 | 2009-03-24 | Device for improving precision characteristic of operating equipment |
Country Status (5)
| Country | Link |
|---|---|
| KR (1) | KR20110002031U (en) |
| CN (1) | CN202088202U (en) |
| AT (1) | AT506865B1 (en) |
| DE (1) | DE212009000055U1 (en) |
| WO (1) | WO2009141184A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103874963A (en) * | 2011-10-21 | 2014-06-18 | 西门子公司 | Method and apparatus for locating a pickup point for an object in an installation |
| CN109791403A (en) * | 2016-08-12 | 2019-05-21 | 西门子股份公司 | Technology for monitoring technology equipment |
| US11537135B2 (en) * | 2018-01-17 | 2022-12-27 | Lg Electronics Inc. | Moving robot and controlling method for the moving robot |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2407261B1 (en) * | 2010-07-16 | 2016-04-20 | Primetals Technologies Austria GmbH | Method for automatic positioning a spout of a metallurgical container |
| EP2482019B1 (en) * | 2011-01-31 | 2014-10-01 | Siemens VAI Metals Technologies GmbH | Burning lance holder for holding a burning lance by means of a handling device |
| CN102765063B (en) * | 2012-06-26 | 2014-08-13 | 南京工程学院 | Blind hole docking and positioning system and method for non-magnetic workpiece assembly |
| DE102016201736B3 (en) | 2016-02-04 | 2017-03-30 | Volkswagen Aktiengesellschaft | System and method for loading a container having at least one slot |
| DE102016212694A1 (en) * | 2016-05-31 | 2017-11-30 | Siemens Aktiengesellschaft | Method for orienting an industrial robot and industrial robots |
| EP3345723A1 (en) * | 2017-01-10 | 2018-07-11 | Ivoclar Vivadent AG | Method for controlling a machine tool |
| DE102017003993B4 (en) * | 2017-04-25 | 2020-12-10 | Kuka Deutschland Gmbh | Calibration of a robot |
| DE102018109329B4 (en) * | 2018-04-19 | 2019-12-05 | Gottfried Wilhelm Leibniz Universität Hannover | Multi-unit actuated kinematics, preferably robots, particularly preferably articulated robots |
| DE102019105466B3 (en) | 2019-03-04 | 2020-08-06 | Forward Ttc Gmbh | Method for operating a drive system and drive system |
| DE102019106458A1 (en) * | 2019-03-13 | 2020-09-17 | ese-robotics GmbH | Method for controlling an industrial robot |
| DE102021203779B4 (en) | 2021-04-16 | 2023-12-14 | Volkswagen Aktiengesellschaft | Method and device for annotating images of an object recorded with the aid of a camera |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5506682A (en) * | 1982-02-16 | 1996-04-09 | Sensor Adaptive Machines Inc. | Robot vision using targets |
| US4654949A (en) * | 1982-02-16 | 1987-04-07 | Diffracto Ltd. | Method for automatically handling, assembling and working on objects |
| JPS62226308A (en) | 1986-03-28 | 1987-10-05 | Fanuc Ltd | Control system for robot having visual sensor |
| JPH0790494B2 (en) | 1987-08-22 | 1995-10-04 | ファナック株式会社 | Calibration method of visual sensor |
| JPH0371A (en) | 1989-02-03 | 1991-01-07 | Terumo Corp | Fluid treating device |
| JP2871310B2 (en) | 1992-07-21 | 1999-03-17 | 日産自動車株式会社 | Position correction arithmetic unit |
| JP2735458B2 (en) | 1993-06-18 | 1998-04-02 | 日本碍子株式会社 | Biocatalyst carrier |
| JP3945622B2 (en) * | 2001-11-02 | 2007-07-18 | 富士フイルム株式会社 | Image evaluation method, apparatus, and program |
| DE10345743A1 (en) | 2003-10-01 | 2005-05-04 | Kuka Roboter Gmbh | Method and device for determining the position and orientation of an image receiving device |
| DE102004026813A1 (en) | 2004-06-02 | 2005-12-29 | Kuka Roboter Gmbh | Method and device for controlling handling devices |
-
2008
- 2008-05-20 AT AT0081008A patent/AT506865B1/en active
-
2009
- 2009-03-24 CN CN2009901002524U patent/CN202088202U/en not_active Expired - Lifetime
- 2009-03-24 WO PCT/EP2009/053403 patent/WO2009141184A1/en active Application Filing
- 2009-03-24 KR KR2020107000030U patent/KR20110002031U/en not_active Application Discontinuation
- 2009-03-24 DE DE212009000055U patent/DE212009000055U1/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103874963A (en) * | 2011-10-21 | 2014-06-18 | 西门子公司 | Method and apparatus for locating a pickup point for an object in an installation |
| CN109791403A (en) * | 2016-08-12 | 2019-05-21 | 西门子股份公司 | Technology for monitoring technology equipment |
| CN109791403B (en) * | 2016-08-12 | 2022-04-19 | 西门子股份公司 | Method and user interface for monitoring a technical device, and computer-readable storage medium |
| US11537135B2 (en) * | 2018-01-17 | 2022-12-27 | Lg Electronics Inc. | Moving robot and controlling method for the moving robot |
Also Published As
| Publication number | Publication date |
|---|---|
| AT506865A1 (en) | 2009-12-15 |
| AT506865B1 (en) | 2010-02-15 |
| KR20110002031U (en) | 2011-03-02 |
| WO2009141184A1 (en) | 2009-11-26 |
| DE212009000055U1 (en) | 2011-01-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151215 Address after: Linz Patentee after: The Austrian limited liability company of primary metal science and technology Address before: Linz Patentee before: Siemens Vai Metals Technologie |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20111228 |