DE112011100310B8 - Intelligentes System zur wiederholbaren Armmontage - Google Patents

Intelligentes System zur wiederholbaren Armmontage Download PDF

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Publication number
DE112011100310B8
DE112011100310B8 DE112011100310.2T DE112011100310T DE112011100310B8 DE 112011100310 B8 DE112011100310 B8 DE 112011100310B8 DE 112011100310 T DE112011100310 T DE 112011100310T DE 112011100310 B8 DE112011100310 B8 DE 112011100310B8
Authority
DE
Germany
Prior art keywords
intelligent system
repeatable assembly
repeatable
assembly
intelligent
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 - Fee Related
Application number
DE112011100310.2T
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English (en)
Other versions
DE112011100310B4 (de
DE112011100310T5 (de
Inventor
Brent Bailey
Frederick John York
Clark H. Briggs
David M. Danielson
Herbert Gordon Seegers
Keith G. Macfarlane
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.)
Faro Technologies Inc
Original Assignee
Faro Technologies Inc
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 Faro Technologies Inc filed Critical Faro Technologies Inc
Publication of DE112011100310T5 publication Critical patent/DE112011100310T5/de
Application granted granted Critical
Publication of DE112011100310B4 publication Critical patent/DE112011100310B4/de
Publication of DE112011100310B8 publication Critical patent/DE112011100310B8/de
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/401Numerical 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/002Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/002Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G01B11/007Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines feeler heads therefor
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/045Correction of measurements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/047Accessories, e.g. for positioning, for tool-setting, for measuring probes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00Measuring arrangements characterised by the use of mechanical techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0002Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
    • G01B5/012Contact-making feeler heads therefor
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G01B7/008Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points using coordinate measuring machines
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D9/00Recording measured values
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/406Numerical 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 monitoring or safety
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/406Numerical 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 monitoring or safety
    • G05B19/4061Avoiding collision or forbidden zones
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/406Numerical 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 monitoring or safety
    • G05B19/4063Monitoring general control system
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical 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
    • G05B19/408Numerical 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 data handling or data format, e.g. reading, buffering or conversion of data
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00Testing or monitoring of control systems or parts thereof
    • G05B23/02Electric testing or monitoring
    • G05B23/0205Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0221Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/24Pc safety
    • G05B2219/24067Processor stores variables, events and date in eeprom, for external monitor
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/37Measurements
    • G05B2219/37193Multicoordinate measuring system, machine, cmm
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40233Portable robot
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40596Encoder in each joint
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/45Nc applications
    • G05B2219/45061Measuring robot
DE112011100310.2T 2010-01-20 2011-01-20 Intelligentes System zur wiederholbaren Armmontage Expired - Fee Related DE112011100310B8 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US29655510P 2010-01-20 2010-01-20
US61/296,555 2010-01-20
PCT/US2011/021794 WO2011091096A2 (en) 2010-01-20 2011-01-20 Intelligent repeatable arm mounting system

Publications (3)

Publication Number Publication Date
DE112011100310T5 DE112011100310T5 (de) 2012-11-08
DE112011100310B4 DE112011100310B4 (de) 2017-05-18
DE112011100310B8 true DE112011100310B8 (de) 2017-10-12

Family

ID=43736091

Family Applications (13)

Application Number Title Priority Date Filing Date
DE112011100291T Withdrawn DE112011100291T5 (de) 2010-01-20 2011-01-14 Gegengewicht für ein Koordinatenmessgerät
DE112011100296T Withdrawn DE112011100296T5 (de) 2010-01-20 2011-01-14 Multifunktionale Koordinatenmessgeräte
DE112011100308T Withdrawn DE112011100308T5 (de) 2010-01-20 2011-01-14 Eingebettete Arm-Dehnungssensoren
DE112011100300T Withdrawn DE112011100300T5 (de) 2010-01-20 2011-01-14 Integriertes Temperaturmesssystem für Teile
DE112011100295.5T Expired - Fee Related DE112011100295B4 (de) 2010-01-20 2011-01-14 Tragbares Gelenkarm-Koordinatenmessgerät und integriertes elektronisches Datenverarbeitungssystem
DE112011100299T Withdrawn DE112011100299T5 (de) 2010-01-20 2011-01-14 Verwendung von Neigungsmessern zur Verbesserung der Versetzung eines tragbaren gelenkarm-Koordinatenmessgeräts
DE112011100193.2T Expired - Fee Related DE112011100193B4 (de) 2010-01-20 2011-01-14 Montagevorrichtung für ein Koordinatenmessgerät
DE112011100292.0T Expired - Fee Related DE112011100292B4 (de) 2010-01-20 2011-01-14 Anzeige für ein Koordinatenmessgerät
DE112011100293T Withdrawn DE112011100293T5 (de) 2010-01-20 2011-01-14 Tragbares Gelenkarm-Koordinatenmessgerät und integriertes Umgebungsaufzeichnungsgerät
DE112011100302T Withdrawn DE112011100302T5 (de) 2010-01-20 2011-01-14 Tragbares Gelenkarm-Koordinatenmessgerät mit mehreren Kommunikationskanälen
DE112011100289.0T Expired - Fee Related DE112011100289B4 (de) 2010-01-20 2011-01-14 Koordinatenmessgerät
DE112011100304.8T Expired - Fee Related DE112011100304B4 (de) 2010-01-20 2011-01-14 Verfahren zur Auswertung der Montagestabilität eines Gelenkarm-Koordinatenmessgeräts unter Verwendung von Neigungsmessern
DE112011100310.2T Expired - Fee Related DE112011100310B8 (de) 2010-01-20 2011-01-20 Intelligentes System zur wiederholbaren Armmontage

Family Applications Before (12)

Application Number Title Priority Date Filing Date
DE112011100291T Withdrawn DE112011100291T5 (de) 2010-01-20 2011-01-14 Gegengewicht für ein Koordinatenmessgerät
DE112011100296T Withdrawn DE112011100296T5 (de) 2010-01-20 2011-01-14 Multifunktionale Koordinatenmessgeräte
DE112011100308T Withdrawn DE112011100308T5 (de) 2010-01-20 2011-01-14 Eingebettete Arm-Dehnungssensoren
DE112011100300T Withdrawn DE112011100300T5 (de) 2010-01-20 2011-01-14 Integriertes Temperaturmesssystem für Teile
DE112011100295.5T Expired - Fee Related DE112011100295B4 (de) 2010-01-20 2011-01-14 Tragbares Gelenkarm-Koordinatenmessgerät und integriertes elektronisches Datenverarbeitungssystem
DE112011100299T Withdrawn DE112011100299T5 (de) 2010-01-20 2011-01-14 Verwendung von Neigungsmessern zur Verbesserung der Versetzung eines tragbaren gelenkarm-Koordinatenmessgeräts
DE112011100193.2T Expired - Fee Related DE112011100193B4 (de) 2010-01-20 2011-01-14 Montagevorrichtung für ein Koordinatenmessgerät
DE112011100292.0T Expired - Fee Related DE112011100292B4 (de) 2010-01-20 2011-01-14 Anzeige für ein Koordinatenmessgerät
DE112011100293T Withdrawn DE112011100293T5 (de) 2010-01-20 2011-01-14 Tragbares Gelenkarm-Koordinatenmessgerät und integriertes Umgebungsaufzeichnungsgerät
DE112011100302T Withdrawn DE112011100302T5 (de) 2010-01-20 2011-01-14 Tragbares Gelenkarm-Koordinatenmessgerät mit mehreren Kommunikationskanälen
DE112011100289.0T Expired - Fee Related DE112011100289B4 (de) 2010-01-20 2011-01-14 Koordinatenmessgerät
DE112011100304.8T Expired - Fee Related DE112011100304B4 (de) 2010-01-20 2011-01-14 Verfahren zur Auswertung der Montagestabilität eines Gelenkarm-Koordinatenmessgeräts unter Verwendung von Neigungsmessern

Country Status (6)

Country Link
US (15) US8001697B2 (de)
JP (16) JP2013517508A (de)
CN (14) CN102713499B (de)
DE (13) DE112011100291T5 (de)
GB (13) GB2489346B (de)
WO (14) WO2011090899A1 (de)

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