DE102004044590A1 - Tool e.g. welding torch, center point measuring and setting device for use in machining center, has five sensors in the form of measuring sensing devices that determine tool center point, and protection device for one sensing device - Google Patents
Tool e.g. welding torch, center point measuring and setting device for use in machining center, has five sensors in the form of measuring sensing devices that determine tool center point, and protection device for one sensing device Download PDFInfo
- Publication number
- DE102004044590A1 DE102004044590A1 DE200410044590 DE102004044590A DE102004044590A1 DE 102004044590 A1 DE102004044590 A1 DE 102004044590A1 DE 200410044590 DE200410044590 DE 200410044590 DE 102004044590 A DE102004044590 A DE 102004044590A DE 102004044590 A1 DE102004044590 A1 DE 102004044590A1
- Authority
- DE
- Germany
- Prior art keywords
- measuring device
- tool
- measuring
- probes
- center point
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- G05B19/401—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 measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50033—Align tool, tip with a calibration mask
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Die Erfindung betrifft eine Messvorrichtung gemäß dem Oberbegriff des Anspruchs 1.The The invention relates to a measuring device according to the preamble of the claim 1.
Bei Roboteranlagen werden Werkzeuge, das heißt der TCP (tool center point) üblicherweise mit Hilfe einer Richtlehre von Hand eingestellt. So kann für einen Schweißroboter beispielsweise eine Brennerlehre mechanisch angeschraubt und der Brenner entsprechend von Hand eingestellt werden. Eine derartige Einstellung unter Verwendung einer Richtlehre von Hand ist aufwendig, relativ ungenau, bedienerabhängig und lässt daher noch Wünsche offen.at Robot systems become tools, ie the TCP (tool center point) usually adjusted by hand with the help of a gauge. So can for one welding robots For example, a burner gauge mechanically screwed and the Burner can be adjusted manually. Such Adjustment using a manual gauge is elaborate, relatively inaccurate, operator dependent and lets therefore still wishes open.
Es ist daher Aufgabe der Erfindung, eine verbesserte Einstellmöglichkeit zur Verfügung zu stellen.It is therefore an object of the invention, an improved adjustment to disposal to deliver.
Diese Aufgabe wird gelöst durch eine Messvorrichtung mit den Merkmalen des Anspruchs 1. Vorteilhafte Ausgestaltungen sind Gegenstand der Unteransprüche.These Task is solved by a measuring device with the features of claim 1. Advantageous Embodiments are the subject of the dependent claims.
Erfindungsgemäß ist eine Messvorrichtung zum Einstellen des TCPs eines Bearbeitungszentrums oder einer Roboteranlage, vorzugsweise eines Schweißbrenners vorgesehen, die eine Mehrzahl von Sensoren in Form von Messtastern aufweist, welche den TCP des Werkzeugs ermitteln. Dabei ist die Messvorrichtung fest mit dem Bearbeitungszentrum oder der Roboteranlage verbunden, bevorzugt an dem bzw. derselben angeschraubt, wobei das Werkzeug zur Überprüfung der Einstellung in die Messvorrichtung eingeführt, die Einstellung automatisch ermittelt, das Werkzeug wieder entnommen, mittels einer Richtlehre eingestellt und die Einstellung mittels der Messvorrichtung überprüft werden kann. Besonders vorteilhaft ist hierbei, dass die Achswerte der Roboterachsen nicht aus der Robotersteuerung ausgelesen werden müssen, so dass eine unabhängige, schnelle automatische Auswertung der Messwerte möglich ist. Die Einstellgenauigkeit kann vorgegeben werden.According to the invention is a Measuring device for setting the TCP of a machining center or a robot system, preferably a welding torch provided a plurality of sensors in the form of probes which determine the TCP of the tool. It is the Measuring device fixed to the machining center or robot system connected, preferably screwed to the same, wherein the tool to check the Setting introduced into the measuring device, the setting automatically determined, the tool removed again, by means of a gauge set and the setting can be checked by means of the measuring device. It is particularly advantageous here that the axis values of the robot axes not have to be read out of the robot control, so that an independent, fast automatic evaluation of the measured values is possible. The setting accuracy can be specified.
Bevorzugt sind mindestens vier Messtaster, insbesondere genau fünf Messtaster, vorgesehen, wodurch sich der TCP einfach ermitteln lässt und auf einfache Weise sehr genau eingestellt werden kann. Sind fünf Messtaster vorgesehen, so sind bevorzugt vier Messtaster in einer Ebene, mit sich senkrecht schneidenden Längsachsen und der fünfte Messtaster senkrecht hierzu angeordnet. Dabei schneiden sich alle Längsachsen in einem Punkt.Prefers are at least four probes, in particular exactly five probes, provided, whereby the TCP can be easily determined and can be set very precisely in a simple manner. Are five probes provided, so four probes are preferred in a plane, with perpendicularly intersecting longitudinal axes and the fifth Probe arranged perpendicular thereto. All cut longitudinal axes in one point.
Die Messtaster senden Signale an eine SPS-Steuerung, welche die Signale auswertet und die Messwerte in x-, y- und z-Koordinaten umwandelt, welche insbesondere in Form von Abweichungen vom Sollwert (Null-Punkt) an einem zur Messvorrichtung gehörenden Display angezeigt werden.The Probes send signals to a PLC controller, which signals evaluates and converts the measured values into x, y and z coordinates, which in particular in the form of deviations from the nominal value (zero point) at a belonging to the measuring device Display.
Um die Messtaster, insbesondere diejenigen, die quer zur Einführrichtung des Werkzeugs angeordnet sind, vor Beschädigungen zu schützen, weist die Messvorrichtung bevorzugt eine Schutzvorrichtung für mindestens einen der Messtaster auf. Im Falle der zuvor genannten fünf Messtaster sind bevorzugt für alle vier in einer Ebene angeordneten Messtaster Schutzvorrichtungen vorgesehen.Around the probes, especially those transverse to the insertion direction of the tool are arranged to protect against damage points the measuring device preferably has a protective device for at least one of the probes on. In the case of the aforementioned five probes are preferred for all four probe arranged in a plane protection devices intended.
Vorzugsweise umfaßt die Schutzvorrichtung einen Hebel, der zwischen dem Werkzeug und dem Messtaster angeordnet ist. Dieser Hebel überträgt in Form von Auslenkungen und/oder Verschiebungen die Position des Werkzeugs an die Messtaster, so dass eine indirekte Messung der Werkzeugposition erfolgt. Durch die Schutzvorrichtung kann keine Querbelastung des Messtasters ausgeschlossen werden, auch wenn das Werkzeug sich extrem verformt hat oder schräg im Halter aufgenommen ist, da es im Extremfall auf den stabil ausgebildeten Block oder den Hebel fährt. Trifft es auf den Hebel, so kann dieser im Falle einer schwenkbaren Anbringung verschwenken, so wie es bei einer normalen Betätigung erfolgen würde. Auf diese Schwenkbewegung ist jedoch der Messtaster ausgelegt, so dass keine Beschädigung erfolgen kann.Preferably comprises the protection device has a lever between the tool and is arranged the probe. This lever transmits in the form of deflections and / or displacements the position of the tool to the probes, so that an indirect measurement of the tool position takes place. By the protective device can not exclude any transverse load on the probe, even if the tool has deformed extremely or diagonally in the holder is included, since it is in the extreme case on the stable trained Block or the lever moves. If it hits the lever, this can be in the case of a swiveling Swing attaching, as is done in a normal operation would. On this pivoting movement, however, the probe is designed so that no damage can be done.
Der Hebel ist bevorzugt an einem U-förmigen Block um eine durch die Schenkel des Blocks verlaufende Schwenkachse schwenkbar gelagert, wobei der Hebel werkzeugseitig des Blocks angeordnet ist. Eine derartige Anbringung ermöglicht einen optimalen Schutz der Messtaster vor einer Querbelastung.Of the Lever is preferred on a U-shaped block pivotable about a pivot axis extending through the legs of the block stored, wherein the lever is arranged on the tool side of the block. A allows such attachment optimum protection of the probes against cross-loading.
Im Folgenden wird die Erfindung anhand zweier Ausführungsbeispiele unter Bezugnahme auf die Zeichnung im Einzelnen erläutert. In der Zeichnung zeigen:in the Below, the invention with reference to two embodiments with reference explained in detail on the drawing. In the drawing show:
Eine
Messvorrichtung
Um
einen auf „0" eingestellten Schweißbrenner
in Hinblick auf einen möglichen
Verzug, beispielsweise in Folge der thermischen Belastung, zu überprüfen, wird
das Werkzeug mit seinem TCP automatisch in die Messvorrichtung
Das
zweite Ausführungsbeispiel,
das in den
Gemäß einem
zweiten Ausführungsbeispiel sind
die vier oben auf der Platte
Die
Funktion ist im Prinzip die Gleiche, wie diejenige gemäß dem ersten
Ausführungsbeispiel, jedoch
wird im Unterschied zur direkten Messwertaufnahme die Position des
Werkzeugs W, sobald dieses den Hebel
- 11
- Messvorrichtungmeasuring device
- 22
- Messtasterprobe
- 33
- Tasterbutton
- 44
- Gehäusecasing
- 55
- Platteplate
- 1111
- Schutzvorrichtungguard
- 1212
- Blockblock
- 1313
- Hebellever
- 1414
-
Fläche des
Hebels
13 Surface of the lever13 - OO
- PunktPoint
- SS
- Schwenkachseswivel axis
- WW
- WerkzeugTool
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200410044590 DE102004044590A1 (en) | 2004-09-13 | 2004-09-13 | Tool e.g. welding torch, center point measuring and setting device for use in machining center, has five sensors in the form of measuring sensing devices that determine tool center point, and protection device for one sensing device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200410044590 DE102004044590A1 (en) | 2004-09-13 | 2004-09-13 | Tool e.g. welding torch, center point measuring and setting device for use in machining center, has five sensors in the form of measuring sensing devices that determine tool center point, and protection device for one sensing device |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102004044590A1 true DE102004044590A1 (en) | 2006-03-30 |
Family
ID=36011443
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200410044590 Withdrawn DE102004044590A1 (en) | 2004-09-13 | 2004-09-13 | Tool e.g. welding torch, center point measuring and setting device for use in machining center, has five sensors in the form of measuring sensing devices that determine tool center point, and protection device for one sensing device |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102004044590A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110614630A (en) * | 2018-06-19 | 2019-12-27 | 台达电子工业股份有限公司 | Tool correcting device of mechanical arm |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0297031A1 (en) * | 1987-06-16 | 1988-12-28 | C.A. Weidmüller GmbH & Co. | Machining tool provided with a feeler apparatus |
DE20003381U1 (en) * | 2000-02-24 | 2001-07-05 | Kuka Schweissanlagen Gmbh | Test device for movable optical measuring devices |
DE10048952A1 (en) * | 2000-10-04 | 2002-04-11 | Amatec Robotics Gmbh | Spatial coordinate recording device for workpiece processed by robot has reference unit with reference markings, spaced apart from detector |
WO2003035333A2 (en) * | 2001-10-26 | 2003-05-01 | Wiest Ag | 3d coordinate measuring system |
WO2004026539A2 (en) * | 2002-09-14 | 2004-04-01 | Thomas Pagel | Method for measuring the position of robot-guided workpieces and measuring device for the same |
DE20304869U1 (en) * | 2003-03-25 | 2004-08-05 | Kuka Schweissanlagen Gmbh | Test and adjustment device |
-
2004
- 2004-09-13 DE DE200410044590 patent/DE102004044590A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0297031A1 (en) * | 1987-06-16 | 1988-12-28 | C.A. Weidmüller GmbH & Co. | Machining tool provided with a feeler apparatus |
DE20003381U1 (en) * | 2000-02-24 | 2001-07-05 | Kuka Schweissanlagen Gmbh | Test device for movable optical measuring devices |
DE10048952A1 (en) * | 2000-10-04 | 2002-04-11 | Amatec Robotics Gmbh | Spatial coordinate recording device for workpiece processed by robot has reference unit with reference markings, spaced apart from detector |
WO2003035333A2 (en) * | 2001-10-26 | 2003-05-01 | Wiest Ag | 3d coordinate measuring system |
WO2004026539A2 (en) * | 2002-09-14 | 2004-04-01 | Thomas Pagel | Method for measuring the position of robot-guided workpieces and measuring device for the same |
DE20304869U1 (en) * | 2003-03-25 | 2004-08-05 | Kuka Schweissanlagen Gmbh | Test and adjustment device |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110614630A (en) * | 2018-06-19 | 2019-12-27 | 台达电子工业股份有限公司 | Tool correcting device of mechanical arm |
CN110614630B (en) * | 2018-06-19 | 2022-10-18 | 台达电子工业股份有限公司 | Tool correcting device of mechanical arm |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OM8 | Search report available as to paragraph 43 lit. 1 sentence 1 patent law | ||
R005 | Application deemed withdrawn due to failure to request examination |
Effective date: 20110914 |