EP3452255A1 - Système de mesure mobile - Google Patents

Système de mesure mobile

Info

Publication number
EP3452255A1
EP3452255A1 EP17720110.0A EP17720110A EP3452255A1 EP 3452255 A1 EP3452255 A1 EP 3452255A1 EP 17720110 A EP17720110 A EP 17720110A EP 3452255 A1 EP3452255 A1 EP 3452255A1
Authority
EP
European Patent Office
Prior art keywords
mobile
measuring system
measuring
manipulator
mobile platform
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Withdrawn
Application number
EP17720110.0A
Other languages
German (de)
English (en)
Inventor
Edmund Bahr
Florian Hofmann
Dietmar MESCH
Josef FIXLE
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
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 KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of EP3452255A1 publication Critical patent/EP3452255A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring 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
    • G01B21/04—Measuring 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured

Definitions

  • the invention relates to a mobile measuring system, which comprises at least a manipulator, a measuring device and a mobile platform, and which
  • objects such as workpieces must be measured during or after a specific production step to determine if desired tolerances are met in the respective production step.
  • the measurement of the objects makes it possible to judge whether the object complies with predetermined tolerances or whether the object must be reworked and / or
  • the production process can be interrupted and / or the corresponding production step can be adapted.
  • ⁇ there are mobile and stationary measuring systems for the measurement of objects that can be designed as an optical measuring system or as a tactile measuring system and serve, for example, for coordinate measurement.
  • Known measuring systems include a measuring sensor and / or measuring sensor which is attached to a positioning system.
  • the positioning system may be provided with incremental displacement or angle sensors to detect the position and orientation (coordinate values) of the sensor, or a measuring point and / or a measuring range of the measuring sensor.
  • additional software and hardware components are required for the evaluation of the acquired measurement data, for the mathematical correction of systematic measurement errors and for the control of the axes of the positioning system.
  • Measuring systems such as mobile measuring arms, must be manually transported before a measurement and positioned relative to the measuring object stationary become. This is time-consuming and can lead to a reduced accuracy of measurement, for example, if the object to be measured is not aligned optimally relative to the mobile measuring system. In order to increase the measuring accuracy of mobile measuring systems, they are often fixed or mounted for a certain period of time. If the mobile measuring system is to be used elsewhere, it must first be loosened and then repositioned and fixed. This is time consuming.
  • the object is achieved by a mobile measuring system according to claim 1 and by a production system according to claim 8.
  • a mobile measuring system comprising: a mobile platform, which is set up to approach a desired location; at least one control device which is set up to control the mobile measuring system; at least one manipulator, which is arranged on the mobile platform and a measuring device, which is arranged on the mobile platform, and which is adapted to measure objects.
  • the manipulator is set up to provide objects to be measured to the measuring device and to remove from this.
  • the mobile platform may include a drive, typically an electric drive and a plurality of wheels.
  • the wheels may be steerable or arranged on a rigid axle, wherein each of the wheels may be driven individually.
  • the wheels can be omnidirectional wheels, such as Mecanum wheels, in order to be able to move the mobile platform omnidirectionally.
  • the measuring system can be moved agile, whereby the use of limited spatial
  • the mobile platform may further include at least one brake which may block movement of the mobile platform.
  • the controller may include both hardware and software and is configured to control the mobile metering system.
  • the control device control both the mobile platform, the manipulator and / or the mobile measuring system.
  • Control means may be provided, which control means may cooperate to form an overall control means.
  • a manipulator is a device that enables physical interaction with the environment.
  • the manipulator may be an industrial robot, wherein an industrial robot is an automatically guided multi-purpose manipulator equipped with three or more freely programmable axes of motion.
  • the manipulator performs a gripper to provide objects to be measured to the measuring device and to remove from this.
  • the measuring device may be a coordinate measuring device, which scans the object to be measured with a measuring sensor and / or allows a non-contact measurement.
  • the measuring device can be set up to geometrically measure the object to be measured.
  • Measuring devices which for example electrical properties, or
  • the measurement of objects can be location-independent and precise. If, for example, a first object is to be measured after a first production step, then the mobile platform can approach a first target location. At this desired location, the manipulator can remove the first object from the production process and provide it to the measuring device, which subsequently performs the measurement of the object. After the measurement, the object can be provided back to the production process by means of the manipulator. Thus, it is not necessary that the object is manually transported to a measuring device and it is not necessary to manually transport the measuring device to the object. This can save costs and production time.
  • the manipulator can hold the object during the surveying and / or optimally align with the measuring device.
  • the mobile platform can move the mobile measuring system to the second desired location. There, the previously described steps can be repeated to measure the second object.
  • a production system for example, only a mobile measuring system is necessary, which performs the appropriate measurements.
  • several can also be used in a corresponding production system
  • Measuring systems are used, which can approach the corresponding target locations.
  • the mobile measuring system may comprise at least one sensor which is set up to detect and / or detect an object to be measured, the measuring device being set up for a specific measuring program
  • the detection and / or detection of a specific object allows the execution of a specific measurement program by means of the measuring device. If, for example, a first object to be measured is to be measured, then the sensor can recognize whether it is actually the first object to be measured. Subsequently, a corresponding measuring program is started and the measurement is carried out.
  • a number of specifically defined coordinate points can be measured by means of the measuring device.
  • the sensor can be set up to recognize not only an object type but a specific object of an object type.
  • acquired measurement data which are recorded by means of the measuring device, can be assigned to the specific object. This allows monitoring of the specific object during the entire production process and a corresponding documentation.
  • the sensor may, for example, be an optical sensor which detects the object or which recognizes and / or reads out an identifier which is associated with the specific object.
  • Corresponding identifiers can be, for example, optically readable identifiers, such as a barcode or a QR code, or identifiers that can otherwise be read, such as an RFID tag.
  • the mobile measuring system may comprise a communication interface, which is preferably set up wirelessly, wherein the communication interface is configured to receive location data, which location data comprise a desired location of the mobile platform.
  • location data which location data comprise a desired location of the mobile platform.
  • the mobile platform can approach the desired location.
  • a desired location may correspond to a location associated with a first production step.
  • the location data may also include waypoints that specify a route to the desired location.
  • a desired time can be linked to the desired location, so that the mobile measuring system moves to the desired location at a certain time. This makes it possible to get one
  • the communication interface can furthermore be set up to transmit measurement data, which are detected by means of the measuring device, and / or control commands, which are based on the measurement data.
  • measurement data which are detected by means of the measuring device
  • control commands which are based on the measurement data.
  • Communication interface also recorded measurement data are transmitted. These transmitted measurement data can be evaluated and processed, for example, by a central control unit which controls the production process.
  • the production process may be interrupted.
  • the at least one control device can provide control commands, which are sent by means of the communication interface. For example, it can be determined by a control device based on the measurement data that the measured object is not within the tolerance range. Thereupon can over the
  • a control command which is for example a stop command, issued to interrupt the production process.
  • the mobile platform and / or the control device can be configured to autonomously navigate to a desired location. By autonomous navigation, it is possible to provide the mobile measuring system in a desired location, without the mobile measuring system / the mobile platform, from external, exact
  • To provide driving instructions such as waypoints and / or a predetermined route.
  • autonomous navigation makes it possible to calculate an optimal route to the desired location and to drive it accordingly.
  • autonomous navigation can react to disruptions.
  • the mobile measuring system can recognize other mobile devices and / or people. After this Detecting can be navigated around the moving devices / people, so the risk of a collision can be reduced.
  • the mobile measuring system may be configured to communicate with other devices, such as mobile devices, to communicate with them
  • the mobile measuring system can navigate completely autonomously, for example by means of suitable sensors which detect the environment.
  • suitable sensors which detect the environment.
  • the manipulator may be a touch-sensitive manipulator, which is preferably adapted to objects to be measured from a
  • Touch-sensitive manipulators typically include means associated with the respective axes of the manipulator.
  • the means are arranged to determine forces and / or moments acting on the axes of the manipulator. By this determination, it is possible to control the manipulator touch-sensitive, so that it can be used for example in the human-robot collaboration.
  • the mobile measuring system can be operated completely autonomously without manual intervention by an operator.
  • a very flexible production and surveying process can be achieved.
  • the communication interface of the mobile measuring system can be configured to send data to at least one communication interface of a production device, which data comprises information that is related to the
  • This data may include raw data, such as direct measurement data processed by a controller of the manufacturing facility.
  • the data may include correction data, which has been calculated by the control device of the mobile measuring system from the raw data, for example.
  • the manufacturing parameters may be specific parameters of the
  • Be manufacturing facility and include, for example, a tool speed, a feed rate, travel speed and / or travel direction of machine axes and other parameters.
  • the data may Information to be used to correct manufacturing parameters of a
  • the mobile measuring system may further comprise a coupling interface which is adapted to couple with a negative feedback interface in order to align the mobile measuring system relative to the negative feedback interface, wherein the coupling interface preferably comprises a communication interface.
  • the coupling interface makes it possible for the mobile measuring system relative to
  • the mobile measuring system can be aligned exactly relative to the production device. This simplifies that
  • the coupling interface can positively couple with the negative feedback interface.
  • Other couplings such as magnetic coupling and / or the like are also possible. It can the
  • Coupling interface include a communication interface to transfer data from and / or to the mobile measuring system. Furthermore, the
  • Coupling interface also include an energy interface to provide energy to the mobile measuring system.
  • the mobile measuring system can be electrically operated and have an electrical energy store, such as a rechargeable battery and / or a capacitor unit.
  • the energy storage can be charged during the surveying of the object via the coupling interface, whereby the service life of the mobile measuring system is extended.
  • a production system which comprises a multiplicity of production devices, which each comprise a communication interface.
  • the production system also includes at least one mobile one
  • Send communication interfaces of the mobile measuring system which location data include a target location that corresponds to the location of the manufacturing device to to cause the controller to move the mobile platform to the location of the manufacturing facility.
  • a production process can be provided, which allows the flexible measurement of objects, in particular workpieces.
  • the measurement of the workpieces takes place in the immediate vicinity of the corresponding manufacturing facility, since the mobile measuring system, the corresponding
  • FIG. 1 shows a mobile measuring system 1.
  • the mobile measuring system 1 comprises a manipulator 10, a control device 20, a mobile platform 30 and a measuring device 40.
  • the mobile manipulator 10 is a touch-sensitive device
  • Manipulator which leads a gripper 12.
  • objects 50 can be removed from a production device and provided to the measuring device 40. After completion of the survey in the measuring device 40, the object 50 can be removed from the measuring device 40 and to the
  • the measuring device 40 comprises a measuring sensor 42, which is set up to measure an object 50 and, for example, to detect coordinate points.
  • the meter 40 may include a hexapod that aligns the probe 42.
  • the hexapod serves as
  • Positioning system which may include incremental displacement or angle sensors.
  • the mobile platform 30 is configured to move the mobile measuring system 1 to a desired location, the mobile platform 30 in particular comprising wheels 32, 34, which may be steerable or rigidly arranged.
  • the wheels 32, 34 may in particular be Mecanum wheels to provide a particularly agile mobile platform 30.
  • the mobile platform 30 includes in the one shown Embodiment a coupling interface 38, which allows the exact alignment of the mobile platform 30 at a desired location.
  • the controller 20 may include both software and hardware, and is configured to control the mobile measurement system 1.
  • the control device 20 controls the manipulator 10, the mobile platform 30 and the
  • FIG. 2 shows a production system 100 which, in addition to the mobile measuring system 1 described above, comprises the production devices 110, 120, 130.
  • Manufacturing facilities 110, 120, 130 form a production line in one
  • the workpiece 50a or the object 50a is processed.
  • a second processing step is in
  • the workpiece 50c is manufactured in manufacturing device 130. If one of the workpieces 50a, 50b, 50c is to be measured, the respective production devices 110, 120, 130 can be measured by means of the wireless
  • Communication interfaces 115, 125, 135 send data to the communication interface 25 of the mobile measuring system 1.
  • the mobile platform 30 of the mobile measuring system 1 approaches the corresponding desired location.
  • the coupling interface 38 can couple to one of the counter coupling interfaces 118, 128, 138 in order to align the mobile measuring system 1 relative to the corresponding production device 110, 120, 130 at the desired location.
  • the manipulator 10 can remove the workpiece 50a, 50b, 50c from the production device 110, 120, 130 and provide it to the measuring device 40. After the measurement of the corresponding workpiece 50a, 50b, 50c, the workpiece 50a, 50b, 50c can be returned to the corresponding production device 110, 120, 130 by means of the manipulator 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

La présente invention concerne un système de mesure mobile (1) comprenant une plateforme mobile (30) conçue pour se déplacer sur un site prévu, ainsi qu'au moins un dispositif de commande (20) conçu pour commander le système de mesure mobile, et au moins un manipulateur (10) qui est agencé sur la plateforme mobile (30) et un dispositif de mesure (40) qui est agencé sur la plateforme mobile (30) et qui est conçu pour mesurer des objets (50), le manipulateur (10) étant conçu pour transférer les objets (50) à mesurer au dispositif de mesure (40) et pour les retirer de celui-ci.
EP17720110.0A 2016-05-02 2017-04-27 Système de mesure mobile Withdrawn EP3452255A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016002864.3U DE202016002864U1 (de) 2016-05-02 2016-05-02 Mobiles Messsystem
PCT/EP2017/060044 WO2017191029A1 (fr) 2016-05-02 2017-04-27 Système de mesure mobile

Publications (1)

Publication Number Publication Date
EP3452255A1 true EP3452255A1 (fr) 2019-03-13

Family

ID=57110284

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17720110.0A Withdrawn EP3452255A1 (fr) 2016-05-02 2017-04-27 Système de mesure mobile

Country Status (3)

Country Link
EP (1) EP3452255A1 (fr)
DE (1) DE202016002864U1 (fr)
WO (1) WO2017191029A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017127864A1 (de) * 2017-11-24 2019-05-29 Actemium Cegelec GmbH Vorrichtung und Verfahren zum zerstörungsfreien Messen von Bauteilen
DE202018100762U1 (de) * 2018-02-13 2019-05-14 topometric GmbH Prüfstation
DE102019108419B3 (de) 2019-04-01 2020-08-06 Franka Emika Gmbh Robotersystem zum koordinierten Ansteuern eines Robotermanipulators und eines externen Robotermoduls
DE102019205247A1 (de) * 2019-04-11 2020-10-15 Kuka Deutschland Gmbh Verfahren zum Steuern eines mobilen Roboters

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006035397A (ja) * 2004-07-29 2006-02-09 Fanuc Ltd 搬送ロボットシステム
US9785911B2 (en) * 2013-07-25 2017-10-10 I AM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
SE1450525A1 (sv) * 2014-05-02 2015-11-03 Opiflex Automation AB Ett automationssystem och en metod för att betjäna ett produktionssystem

Also Published As

Publication number Publication date
WO2017191029A1 (fr) 2017-11-09
DE202016002864U1 (de) 2016-09-21

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