DE3314089A1 - Measuring arrangement for identifying the position of a point - Google Patents

Measuring arrangement for identifying the position of a point

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Publication number
DE3314089A1
DE3314089A1 DE19833314089 DE3314089A DE3314089A1 DE 3314089 A1 DE3314089 A1 DE 3314089A1 DE 19833314089 DE19833314089 DE 19833314089 DE 3314089 A DE3314089 A DE 3314089A DE 3314089 A1 DE3314089 A1 DE 3314089A1
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Germany
Prior art keywords
diodes
measuring
cone
measuring arrangement
arrangement according
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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.)
Granted
Application number
DE19833314089
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German (de)
Other versions
DE3314089C2 (en
Inventor
Des Erfinders Auf Nennung Verzicht
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SETUP SENSORTECHNIK und PROZES
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SETUP SENSORTECHNIK und PROZES
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Priority to DE19833314089 priority Critical patent/DE3314089A1/en
Publication of DE3314089A1 publication Critical patent/DE3314089A1/en
Application granted granted Critical
Publication of DE3314089C2 publication Critical patent/DE3314089C2/de
Granted legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04759—Light-sensitive detector, e.g. photoelectric

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A measuring arrangement for identifying the position of a point in a system having more than three degrees of freedom serves for the accurate determination and checking of the positional accuracy in conjunction with a unique reference point determination of manipulating equipment, e.g. industrial robots. In this case, the point to be identified is the origin of a spatial Cartesian co-ordinate system having mutually perpendicular co-ordinates which intersect in mutually perpendicular planes which are arranged at equal distances from the origin perpendicular to said co-ordinates. The measuring arrangement is designed such that the co-ordinates are formed by focused beams (2) from transmitting diodes (1) uniformly distributed on the circumference of a measuring cone (11), and the planes are formed by receiving diodes (3) opposite the transmitting diodes. It is preferred in this arrangement for three transmitting diodes (1) to be arranged at equal distances on the circumferential surface (11) of the cone with a conical angle of 90 DEG on a plane (11a) parallel to the base surface of the cone. <IMAGE>

Description

Meßanordnung zur Identifizierung der Lage eines Punktes Die Erfindung betrifft eine Meßanordnung entsprechend dem Oberbegriff des Anspruchs 1, deren Merkmale aus der analytischen Geometrie bekannt sind. Wenn also diesem Nullpunkt eines Eoordinstensystems eine tangentiale Fläche zugeordnet wird, besteht eine geometrische Beziehung zwischen dieser Anordnung und jedem anderen Punkt innerhalb und ausserhalb des definierten Koordinatensystems0 Systeme mit mehr als drei Freiheitsgraden kommen bei den Endstücken, insbesondere bei Greifköpfen, von Handhabungsgeräten vor, die zum Aufnehmen oder Abgeben von Gegenständen oder zur programmierten Durchführung von Fertigungsschritten eingerichtet sind. Bei diesen Geräten, die auch als Industrieroboter bezeichnet werden, sind Prüfmittel notwendig, die es erlauben, die Positioniergenauigkeit im Zusammenhang mit einer eindeutigen Referenzpunktbestimmung des gesamten Handhabungssystems zu bestimmen und zu überprüfen. Die Aufgabe der Erfindung besteht darin, eine Meßanordnung zu schaffen, mit der eine derartige Bestimmung und Prüfung mit der erforderlichen Genauigkeit durchgeführt werden kann. Measuring arrangement for identifying the position of a point The invention relates to a measuring arrangement according to the preamble of claim 1, its features are known from analytical geometry. So if this zero point of an coordinate system a tangential surface is assigned, there is a geometrical relationship between this arrangement and every other point within and outside of the defined Coordinate system0 systems with more than three degrees of freedom come with the end pieces, especially in the case of gripping heads, of handling devices that are used for picking up or Dispensing of objects or for the programmed execution of production steps are set up. With these devices, also known as industrial robots test equipment is required that allows the positioning accuracy in the Connection with a clear reference point determination of the entire handling system to determine and review. The object of the invention is to provide a measuring arrangement to create with such a determination and examination with the required Accuracy can be done.

Die Lösung dieser Aufgabe erfolgt erfindungsgemäß mit den Merkmalen des Anspruchs 1. Weiterbildungen der Erfindung enthalten die Ansprüche 2 bis 10. Bei dieser Meßanordnung, bei der ddr Nullpunkt der durchdie Lichtstrahlen der Sendedioden definierten Koordinaten durch die Kegelachse geht, muß bei der praktischen Anwendung der Meßkäfig in eine solche Lage gebracht werden, daß der für das Handhabungsgerät gewählte Referenzpunkt auch durch die Kegelachse geht.This object is achieved according to the invention with the features of claim 1. Further developments of the invention are contained in claims 2 to 10. With this measuring arrangement, at the ddr zero point through the light beams of the transmitting diodes defined coordinates through the cone axis must be used in practice the measuring cage can be brought into such a position that that for the handling device selected reference point also goes through the cone axis.

Die erfindungsgemäße Meßanordnung gestattet die Durchführung der nachfolgend aufgeführten Arbeiten und Prüfungen an Handhabungsgeräten: Untersuchung der Eigenschaften von Prototypen z.B. von Industrierobotern, Abnahme von mehrachsigen kqnematischen Geräten beim Hersteller, eindeutige Referenzpunkt-Pestlegung der Gesamtkinematik von entsprechenden Geräten beim Hersteller oder Anwender, Abnahme von Handhabungsgeräten am Aufstellungsort, Überprüfen der Geräte nach längerer Betriebszeit einschließlich Fehlersuche beim Anwender, F ehlerkompensation nach Komponenten- oder Systemtausch.The measuring arrangement according to the invention allows the implementation of the following Listed work and tests on handling devices: Investigation of the properties of prototypes e.g. of industrial robots, acceptance of multi-axis kqnematic Devices at the manufacturer, clear reference point setting of the overall kinematics of corresponding devices at the manufacturer or user, acceptance of handling devices at the place of installation, Checking the devices after a long period of operation including troubleshooting for the user, error compensation according to component or system swap.

Ein Ausführungsbeispiel der Erfindung wird nachfolgend an Hand der Zeichnung näher beschrieben. Es zeigen: Figur 1 eine Prinzipdarstellung ton Sende- und Empfängerdioden und Figur 2 eine vereinfachte Darstellung einer Meßanordnung.An embodiment of the invention is described below with reference to the Drawing described in more detail. They show: FIG. 1 a basic illustration of the transmission and receiver diodes and FIG. 2 shows a simplified representation of a measuring arrangement.

In der Prinzipdarstellung der Figur 1 senden drei Sendedioden 1, die räumlich gleichmäßig soneinander angeordnet sind, je einen Lichtstrahl 2«auf jeweils gegenüberliegend angebrachte Empfängerdioden 3. Die Lichtstrahlen 2 sind durch Linsen 4 so fokussiert, daß sie auf den Empfängerdioden 3 einen scharf begrenzten Lichtpunkt 5 erzeugens Die Empfängerdiode 3 eist eine senkrecht zum Lichtstrahl 2 angeordnete Speicherfläche 6 auf. Im Ruhezustand der Anordnung ist der Lichtpunkt 5 in der Mitte der Fläche 6, die Nullpunkt eines gedachten Koordinatensystems mit der Abszisse x und der Ordinate y ist0 Die Bestimmung des Ortes des Lichtpunktes 5 im Koordinatensystem kann zOB. so durchgeführt werden, daß der Stromverlauf über die Fläche 6 gemessen und integriert wird, wodurch eine Schvrerpunktsbestimmung der Ausleuchtung erfolgte In der vereinfacht dargestellten praktischen Ausführungsforn einer Meßanordnung 10 sind drei Sendedioden 1 auf dem Mantel eines Meßkegels 11, der einen Kegelwinkel von 90° aufweist, so angeordnet, aa3iauf 4 einer zu der Grundfläche des Kegels 11 parallelen Ebene 11a in gleichen Abständen liegen. Die Achsen der Senddioden 1 treffern sich dabei in einem Punkt 11b auf der Kegelachse 11c. Gegenüber den Sendedioden 1 sind die Empfängerdioden 3 an einem Meßkäfig 12 angebracht, der den Meßkegel 11 umschließt. Der Meßkegel 11 wird durch sowohl am eßkäfig 12 als auch am Meßkegel 11 befestigte, die Senddioden 1 und die Empfängerdioden 3 umhüllende, Federbälge 13 elastisch in an,nähender Nulllage gehalten. In der Gesamtdarstellung der Meßanordnung 10 in der Figur 2 ist eine der Meßkomponenten, bestehend aus der Sendediode 1, Der Empfängerdiode 3 und dem Federbalg 13 der Anschaulichkeit halber um 600 versetzt dargestellt.In the schematic diagram of Figure 1, send three transmitting diodes 1, the are spatially evenly arranged one after the other, each with a light beam 2 ″ on each oppositely mounted receiver diodes 3. The light beams 2 are through lenses 4 so focused that they have a sharply delimited point of light on the receiver diodes 3 The receiver diode 3 is arranged perpendicular to the light beam 2 Storage area 6 on. When the arrangement is at rest, the light point 5 is in the center the surface 6, the zero point of an imaginary coordinate system with the abscissa x and the ordinate y is 0 The determination of the location of the light point 5 in the coordinate system can ZOB. be carried out in such a way that the course of the current is measured over the surface 6 and is integrated, whereby the center of gravity of the illumination was determined In the practical embodiment of a measuring arrangement shown in simplified form 10 are three transmitting diodes 1 on the jacket of a measuring cone 11, which has a cone angle of 90 °, so arranged aa3iauf 4 one to the base of the cone 11 parallel plane 11a at equal intervals. The axes of the sending diodes 1 hit at a point 11b on the cone axis 11c. Compared to the transmitter diodes 1, the receiver diodes 3 are attached to a measuring cage 12 that encompasses the measuring cone 11 encloses. The measuring cone 11 is through both the eßkäfig 12 and the measuring cone 11 attached, the sending diodes 1 and the receiving diodes 3 enveloping, bellows 13 held elastically in the sewing zero position. In the overall view of the measuring arrangement 10 in FIG. 2 is one of the measuring components, consisting of the transmitting diode 1, Der Receiver diode 3 and bellows 13 offset by 600 for the sake of clarity shown.

X einer kohärenten Lichtquelle - beispielsweise einer Laserlichtquelle - Die Meßanordnung wird von einem allseitig bewegbaren Handhabungsgerat 14 gehalten, das mit Greifern 15a einer Kupplung 15 einen hinteren Flansch lid des Meßkegels 11 umfaßt. Zur Vermeidung von Beschädigingen der Meßanordnung 10 beim automatischen Heranfahren der Greifer 15a an den Flansch lid ist an dem Meßkäfig 12 ein Schutzring 9 angesetzt, der mit einem Labyrinth zur Positionseinfädelung versehen ist und der bei Berührung durch den Greifer 15a eine Stromunterbrechung in der Steuerung des Handhabungsgerätes 14 veranlaßt. brenn nun bei der Überprüfung des i.et'erenzpunktes oder bei einer Rehlersuche in der Steuerung des Handhabungsgerätes 14 der Meßkegel 11 sich außerhalb der Nullage befindet, treffen die Lichtstrahlen 2 von einer oder mehreren Sendedioden 1 nicht mehr auf den Koordinatenmittelpunkt der Fläche 6 der zugehörigen Empfängerdioden 3. Es werden dann Signale von den Empfängerdioden 3 über Leitungen 16 zu einer Auswerteeinheit 17 übertragen und je Empfängerdiode 3 zu x-, y-Koordinaten entsprechend der Stellung des jeweiligen Lichtpunktes 5 auf der Fläche 6 umgewandelt (siehe auch Figur 1). Die ermittelten x-, y-Eoordinaten erden daraufhin an einen Auswerterechner 18 übertragen, der aus den durch die Koordinaten x und y gegebenen Ist zustand der Stellungen der Sendedioden 1 Translationavektoren für eine Koordinaten-Korrektur ermittelt and die Korrekturwerte über eine Leitung22 in eine Stauareinheit 21 eingibt, die die Kupplung 15 überein Leitung 23 und von dieser über mechanische Mittel zu einer Korrekturbewegung des ziteßkegels 11 veranlaßt. Dieser Korrekturvorgang wiederholt sich so oft, bis die exakte Nullage des Meßkegels 11 oder zumindestens ein vorgegeoenes ioleranzfeld um die Nullage erreicht ist.Die Sendedioden 1 können auch über eine in der Greiferkupplung 15 angeordnete kohärente Lichtquelle 20 gespeist werden.X a coherent light source - for example a laser light source - The measuring arrangement is controlled by a handling device that can be moved in all directions 14 held, the with grippers 15a of a coupling 15 a rear flange lid of the Measuring cone 11 includes. To avoid damaging the measuring arrangement 10 when automatic approach of the gripper 15a to the flange lid is on the measuring cage 12 a protective ring 9 is attached, with a labyrinth for position threading is provided and the power interruption when touched by the gripper 15a caused in the control of the handling device 14. burn now in the review the i.et'erenzpunktes or in the case of a search for errors in the control of the handling device 14 of the measuring cone 11 is outside the zero position, the light rays hit 2 of one or more transmitting diodes 1 no longer point to the coordinate center the area 6 of the associated receiver diodes 3. There are then signals from the receiver diodes 3 transmitted via lines 16 to an evaluation unit 17 and per receiver diode 3 to x, y coordinates corresponding to the position of the respective light point 5 the area 6 converted (see also Figure 1). The determined x, y coordinates earth then transferred to an evaluation computer 18, which is based on the coordinates x and y given actual state of the positions of the transmitting diodes 1 translation vectors for a coordinate correction, and the correction values are determined via a line22 enters a stowage unit 21, the coupling 15 via line 23 and from this causes a corrective movement of the ziteßkegels 11 by mechanical means. This correction process is repeated until the exact zero position of the measuring cone 11 or at least a specified tolerance field around the zero position has been reached Transmitting diodes 1 can also be arranged in the gripper coupling 15 coherent Light source 20 are fed.

Claims (9)

Meßanordnung zur Identifizierung der Lage eines Punktes ~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~ ~~~~~~~ ~~~~~~~~~~~~~~~ Patentansprüche Meßanordnung zur Identifiezierung der Lage eines Punktes in einem System mit mehr als drei Freiheitsgraden, bei dem der Punkt Nullpunkt eines räumlichen kartesischen Koordinatensystems mit senkrecht aufeinander stehenden Koordinatentst, die in gleichen Abständen vom senkrecht zu ihnen angeordnete und auf einander senkrecht stehende Ebenen schneidet, d a d u r c h g e k e n n z e i c h n e t, daß die Xoordinaten durch gebündelte Strahlen (2) von auf einem Meßkegel (11) am Umfang gleichmäßig verteilte Sendedioden (1) und die Ebenen durch den Sendeuioden gegenüberliegende Empfängerdioden (3) gebildet sind. Measuring arrangement for identifying the position of a point ~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~ ~~~~~~~ ~~~~~~~~~~~~~~~ patent claims measuring arrangement for identification the position of a point in a system with more than three degrees of freedom in which the point zero point of a spatial Cartesian coordinate system with perpendicular co-ordinates standing on top of each other, which are equidistant from perpendicular to intersects them arranged and perpendicular to each other planes, d a d u notices that the x-coordinates are obtained by bundled rays (2) of transmitting diodes (1) evenly distributed around the circumference on a measuring cone (11) and the levels are formed by receiving diodes (3) opposite the transmitting diodes are. 2o Meßanordnung nach Anspruch 1, dadurch gekennzeichnet, daß der Meßkegel (11) einen Kegelwinkel von 900 aufweist und drei Sendedioden (1) am Kegelmantel auf einer zu der Grundfläche des Kegels parallelen Ebene (via) in gleichen Abständen angeordnet sind.2o measuring arrangement according to claim 1, characterized in that the measuring cone (11) has a cone angle of 900 and three transmitter diodes (1) on the cone surface on a plane (via) parallel to the base of the cone at equal intervals are arranged. 3. Meßanordnung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Sendedioden (1) z.B. aiis Laserdioden oder aus fokussiertem Licht, das von einer kohärenten Lichtquelle (20) über Lichtleiter gesendet wird, oder aus Lichtleiter-Optiken, die von einer kohärenten Lichtquelle gespeist erden, bestehen.3. Measuring arrangement according to claim 1 or 2, characterized in that the transmitting diodes (1) e.g. as laser diodes or from focused light emitted by a coherent light source (20) is sent via light guides, or from light guide optics, grounded by a coherent light source exist. 40 Meßanordnung nach Anspruch 1, dadurch gekennzeichnet, daß die Emr,fängerdioden (3) an einem um den Meßkegel (11) herum angeordneten iteßkäfig (12) so angesetzt sind, daß im Ruhezustand der irfeLasnordslung (lo) jeweils die optische Achse einer Sendediode (1) durch den Mittelpunkt (5) der auf derselben Koordinate liegenden Empfängerdiode (3) geht.40 measuring arrangement according to claim 1, characterized in that the EMR, catcher diodes (3) attached to an itess cage (12) arranged around the measuring cone (11) are that in the idle state of the irfeLasnordslung (lo) in each case the optical axis of one Transmitter diode (1) through the center (5) of the lying on the same coordinate Receiver diode (3) goes. 5. Meßanordnung nach Anspruch 1' oder-4, dadurch gekennzeichnet, da,*, {i e Empfängerdioden (3) z.B. aus ieuadranten-, biatrix- oder Lateralefftdioden bestehen.5. Measuring arrangement according to claim 1 'or -4, characterized in that, *, {i e receiver diodes (3) e.g. made of uadrant, biatrix or Lateralefftdioden exist. 6. ießanordnung nach den Ansprüchen 1 bis 5, dadurch gekennzen'chnet, daß der Meßkegel (11) durch elastische Halterungen (13), die die jeweils einander gegenüberliegenden Sende- und Empfängerdioden (1 und 3) umhüllen, mit dem Meßkäfig (12) verbunden ist.6. Flow arrangement according to Claims 1 to 5, characterized in that that the measuring cone (11) by elastic brackets (13) which each other Envelop opposite transmitter and receiver diodes (1 and 3) with the measuring cage (12) is connected. 7. Meßanordnung nach Anspruch 6, dadurch gekennzeichnet, daß die Halterungen aus die jeweils gegenüberliegenden Sende- und Empfängerdioden (1 und 3) staub- und wasserdicht umschließenden Federbälgen (13) besteht.7. Measuring arrangement according to claim 6, characterized in that the brackets from the opposite transmitter and receiver diodes (1 and 3) dust and watertight enclosing bellows (13) consists. 8. Meßanordnung nach Anspruch 1 und einem oder mehreren der Ansprüche 1 bis 7, wobei ein an dem Meßkegel (11) angebrachter Flansch (11d) mit einer Kupplung und/oder mit Greifern (15a) eines mehrachsigen Handhabungsgerätes (14) verbunden ist, dadurch gekennzeichnet, daß die Empfängerdioden (3) mit-einer Auswerteeinheit (17) verbunden sin, in der jeweiligen durch das Handhabungsgerät verursachte Abweichungen der von den Sendedioden (1) ausgesandte Lichtstrahlen (2) von dem Nullpunkt (5) der Empfängerdioden (3) in x-, y-Koordinaten umgewandelt werden.8. Measuring arrangement according to claim 1 and one or more of the claims 1 to 7, a flange (11d) attached to the measuring cone (11) with a coupling and / or connected to grippers (15a) of a multi-axis handling device (14) is, characterized in that the receiver diodes (3) with an evaluation unit (17) connected sin, in the respective deviations caused by the handling device the light rays (2) emitted by the transmitter diodes (1) from the zero point (5) of the receiver diodes (3) are converted into x, y coordinates. 9. Meßanordnung nach Anspruch 8,dadurch gekennzeichnet, daß die Auswerteeinheit (17) mit einem Rechner (18) verbunden ist, in der die ermittelten Abweichungen der x-, y-Koordinaten zu Korrekturen umgerechnet erden, die einer mehrachsigen Steuereinheit (21) des handhabungsgerätes (14) übertragen werden0 10o Meßanordnung nach Anspruch 1 und einem oder mehreren der Ansprüche 2 bis 9, dadurch gekennzeichnet, daß an dem Meßkäfig (12) an der dem Kegelflansch zugewandten Seite ein Schutzring (9) angebracht ist, der den Meßkäfig schützt und zur Positionierung des Greifers (15a) dient9. Measuring arrangement according to claim 8, characterized in that the evaluation unit (17) is connected to a computer (18) in which the determined deviations of the Ground x, y coordinates converted to corrections, those of a multi-axis control unit (21) of the handling device (14) are transmitted 0 10o measuring arrangement according to claim 1 and one or more of claims 2 to 9, characterized in that an a protective ring (9) is attached to the measuring cage (12) on the side facing the conical flange which protects the measuring cage and serves to position the gripper (15a)
DE19833314089 1983-04-19 1983-04-19 Measuring arrangement for identifying the position of a point Granted DE3314089A1 (en)

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Application Number Priority Date Filing Date Title
DE19833314089 DE3314089A1 (en) 1983-04-19 1983-04-19 Measuring arrangement for identifying the position of a point

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Application Number Priority Date Filing Date Title
DE19833314089 DE3314089A1 (en) 1983-04-19 1983-04-19 Measuring arrangement for identifying the position of a point

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DE3314089A1 true DE3314089A1 (en) 1984-10-25
DE3314089C2 DE3314089C2 (en) 1987-10-15

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
FR2591929A1 (en) * 1985-12-19 1987-06-26 Photonetics Method and device for positioning a robot with the aid of optical means
DE3602813A1 (en) * 1986-01-30 1987-08-06 Fraunhofer Ges Forschung Measuring device for measuring the position and orientation of a body
EP0790488A2 (en) * 1996-02-15 1997-08-20 EUROCOPTER DEUTSCHLAND GmbH Triaxial rotationally-positionable joystick

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DE3817169A1 (en) * 1988-05-20 1989-11-30 Messerschmitt Boelkow Blohm Method and device for correcting acceleration-induced errors in angular position measurements
DE3827719A1 (en) * 1988-08-16 1990-02-22 Dietmar Klinger OPTOELECTRONIC MEASUREMENT ARRANGEMENT
DE4108388C2 (en) * 1991-03-15 2000-10-12 Wabco Gmbh & Co Ohg Device for contactless detection of at least two positions of a switching element
DE4129829A1 (en) * 1991-09-07 1993-03-11 Brodhag Angelika Automatic unloading appts. for bar-shaped food products - positions grippers on defined surfaces of bar, automatically removes bar from stack and places it at defined position
DE4239389A1 (en) * 1992-11-24 1994-05-26 Zam Ev Optical position-measuring device with fluorescent light guide track - employs stationary LED and flexible light guide for excitation of mobile source of fluorescence measured at each end for comparison
DE4302434C2 (en) * 1993-01-29 1996-01-04 Hans Richter Device for determining the relative position of two components
DE4308456C2 (en) * 1993-03-17 1996-03-28 Ems Technik Gmbh Device for determining the position of a positioning body relative to a reference body
DE4409530C2 (en) * 1993-03-19 1999-05-20 Basys Ges Fuer Anwender Und Sy Non-contact measuring device and its use for determining the two-dimensionally defined location of a measuring body
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DE10158777B4 (en) * 2001-11-30 2004-05-06 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
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