DE102008061153A1 - Method for multidimensional automatic, electric movement of Cartesian guided probe to object, involves releasing instructions for returning probe to starting point, and determining coordinates of movement target points - Google Patents

Abstract

The method involves representing a movement target point by an object, and moving a probe from a starting point. The probe is manually moved to a movement target point with current-less motors, and a motor control is activated after reaching the movement target point. Instructions for returning the probe to the starting point are released by the motor control, and axis specific distance during the returning movement of the probe is determined by the motor control, and coordinates of the movement target points to be started motorically are determined from resulting values. An independent claim is also included for a device for multidimensional automatic, electric movement of a Cartesian guided probe to an object.

Description

The The invention relates to a method for multidimensional automatic, electromotive movement of a Cartesian-led Probe to an object, which is located anywhere in the range of motion the probe is located, where the object represents the movement target point and the probe begins its movement from a starting point, which may be set variably where appropriate the coordinates of the starting point are known, according to the preamble of claim 1, and an apparatus for carrying out the Process according to claim 5.

From the DE 10 2006 059 852 A1 is a movement or positioning of a member of a device in space known, wherein the device has at least one joint and the position of the joint is effected by a drive. Depending on the joint position of at least one joint, the method influences the movement or the positioning of a joint member. Movement coordinates are used for the movement or the positioning of the link in the room, which are converted by a controller to the corresponding information for the drives. The solution of the prior art is to ensure that no unauthorized joint positions can be achieved. In the method, starting from a position of the limb in the space, the motion coordinates are converted to a second position of the limb in the space in a joint-related, axis-specific joint information, so that in a threatening or occurred above or below Gelenkachsgrenzen a new motion command is discarded. This is to exclude the damage of a robot arm. For the movement monitoring and the determination of the joint position information, however, corresponding sensors and a complex computer technology are required.

From the DE 102 53 939 A1 For example, a method for exact three-dimensional micropositioning of bodies of different geometry and / or dimensions in space is previously known. The method is based on a device for the controlled motorized movement of a body in the x-, y- and z-axis direction, this device simultaneously enabling a highly accurate position determination in the mentioned axial directions. The procedural thought after DE 102 53 939 A1 lies in the fact that it is assumed that a defined virtual or ideal auxiliary point, which regardless of z. B. mechanical or thermal tolerances, which are due on the one hand to the moving object or on the other hand to the movement system. The auxiliary point should always have a defined, known distance to the desired or target point in the x, y and z directions.

It this is the body to be positioned in the beam or scan area of itself in the x and y axis directions orienting point sensors with known predetermined distance in the given coordinate system to the respective target point axis-selective or moved into the area of the point sensors. Under Recourse to the device for moving and positioning then the coordinates of the entry and exit of the to be positioned Body determined based on the beam or scanning. The explained process then becomes for the others Axes repeated, so that in the result a the actual geometry and the dimensions of the body as well as the tolerances of the body Facility taking into account correction record available is. With the help of this correction data set then becomes the theoretical distance value between the moving or movable body and the starting point the real distance value for the purpose of highly accurate positioning of the body adjusted to the desired target point. The auxiliary point is z. B. determined by two laser sensors, which are aligned in the x and y direction and whose signals are a recognition of the body or object when moving into the beam path enable. It is for exact detection of the position thus necessary to provide additional laser sensors, the lead to an increased cost.

in the Area of micro and nanopositioning of workpieces or objects, it is still known over the operating point or the working area to install a microscope optics, the by means of an image recording device is capable of object recognition perform. After the object and its location related was determined on a given coordinate system, come manipulators used to perform the desired movement to the target point.

A Such image processing software and associated hardware for image acquisition is very costly and therefore can in many Cases do not apply.

From the above, it is therefore an object of the invention to provide an advanced method for multi-dimensional automatic, electromotive movement of a Cartesian guided probe to an object which is located anywhere in the range of movement of the probe, the object represents the movement target point and the probe their Movement starts from a starting point, which can also be set variably, and further wherein the coordinates of the starting point are known. In terms of the task, it is important to ensure the possibility to ansons necessary keyboard display units and expensive sensors.

The Solution of the object of the invention is achieved by a method according to the combination of features according to claim 1, wherein the dependent claims at least expedient Represent refinements and developments.

Therefore is characterized by a method of multidimensional automatic, electromotive Movement of a Cartesian-guided probe to an object assumed, which at any point in the range of motion the probe is located.

The Object represents the motion target point and the probe begins its Movement from a starting point. The starting point has coordinates on which are known. There is always the possibility to set the starting point variable, provided that the resulting change coordinates also are known.

According to the invention the probe manually to the movement target point with normally energized motors postponed. After reaching the movement target point is then activates the existing engine control. The engine control triggers a command to return the probe to the coordinate side known starting point. During the return movement the covered axis-specific distance is determined and from the resulting values, a determination of the coordinates of the motor to be approached later motor target point calculated.

at An embodiment of the invention come to the production of electromotive Motion stepper motors high number of pole pairs for application, where off the induced voltages or currents of the de-energized Engines the distance traveled during the manual transfer the probe can be determined to the movement target point.

Farther There is the possibility, for each Axis along which the probe is moved, a position sensor as a simple odometer to be executed the motorized return movement the distance traveled to investigate.

Of the reached by the manual shift point is only then Destination defined when within a given time frame Motor control signal for triggering the return movement provided.

The The invention may preferably be used with universally applicable samplers for gas and liquid chromatography be used, here usually a robot arm an injection syringe or other probe in the axes of a Cartesian coordinate system reproducible to desired Target positions moves.

Such Positions are for example the injectors of the chromatographs and sampler assemblies such as sample trays, wash stations, and others Assemblies, which after an appropriate assembly at any Fixing points are approached correctly and reproducibly have to.

It has surprisingly been shown by the manually moving the probe to the respective movement targets, the corresponding installation points represent, with then successful automatic feedback entering a larger one Target point quantity in a shorter time is possible than it is controlled by a keyboard display unit of the Case is. The essence of the invention lies in the fact that In the process of saving the positions when installing a sample dispenser in only two steps is possible.

in the The first step is a powerless switching of the existing electric motors and a manual move the z. B. syringe receptacle as a probe out to the desired position. Thereafter, in the second step the starting of the automatic position determination, whereby now over the engine electronics moving back the syringe holder (probe) until the starting point, the z. B. determined by end-position sensors becomes. The distance traveled here is measured and stored and then to determine the motion target point coordinates used.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• DE 102006059852 A1 [0002]
• - DE 10253939 A1 [0003, 0003]

Claims (5)

A method for multi-dimensional automatic, electromotive movement of a Cartesian guided probe to an object, which is located anywhere in the range of movement of the probe, the object represents the movement target point and the probe starts its movement from a starting point, which can optionally be set variable Furthermore, the coordinates of the starting point are known, characterized in that the probe is manually moved to the moving target point with de-energized motors and after reaching the Bewegungszielpunkts the engine control is activated, the engine control triggers a command to return the probe to the known starting point, and continue during the return movement determines the distance covered axis specific distance and determined from the resulting values, the coordinates of the later motor to be approached movement target point. Method according to claim 1, characterized in that that for generating the electromotive movement stepper motors high pole pair are used, taking from the induced voltages or currents of the currentless motors which traveled Distance is determinable. Method according to claim 1, characterized in that that for each axis along which the probe is moved, a position sensor is provided to assist in performing the motorized return movement the traveled Determine distance Method according to one of the preceding claims, characterized in that achieved by manual shifting Point is defined as a target point only if within a predetermined or predetermined period of time, the engine control signal provided for triggering the return movement becomes. Device for carrying out a method according to one of the preceding claims, thereby marked that this one device for multi-dimensional automatic, electromotive movement of a Cartesian guided Probe to an object and the device has multiple motors, in particular comprises stepper motors, a handle to the manual Moving the probe is provided to a movement target point and with a motor control for triggering commands for Purpose of operating the electric motors and means for detecting and storing the in the return movement of Probe to the starting point indirectly derived from the control signals traveled distance.