JP7441707B2 - アタッチメントの三次元形状寸法測定方法 - Google Patents

アタッチメントの三次元形状寸法測定方法 Download PDF

Info

Publication number
JP7441707B2
JP7441707B2 JP2020064836A JP2020064836A JP7441707B2 JP 7441707 B2 JP7441707 B2 JP 7441707B2 JP 2020064836 A JP2020064836 A JP 2020064836A JP 2020064836 A JP2020064836 A JP 2020064836A JP 7441707 B2 JP7441707 B2 JP 7441707B2
Authority
JP
Japan
Prior art keywords
attachment
maximum dimension
image
measuring
outermost end
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.)
Active
Application number
JP2020064836A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021162482A (ja
JP2021162482A5 (https=
Inventor
一貴 安藤
文武 渡辺
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.)
Yushin Co
Original Assignee
Yushin Precision Equipment Co Ltd
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 Yushin Precision Equipment Co Ltd filed Critical Yushin Precision Equipment Co Ltd
Priority to JP2020064836A priority Critical patent/JP7441707B2/ja
Priority to US17/213,662 priority patent/US12030181B2/en
Priority to CN202110329985.2A priority patent/CN113465499B/zh
Priority to EP21275033.5A priority patent/EP3889540B1/en
Publication of JP2021162482A publication Critical patent/JP2021162482A/ja
Publication of JP2021162482A5 publication Critical patent/JP2021162482A5/ja
Application granted granted Critical
Publication of JP7441707B2 publication Critical patent/JP7441707B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • 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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • 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
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4266—Robot grippers movable along three orthogonal axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4275—Related movements between the robot gripper and the movable mould or ejector

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
JP2020064836A 2020-03-31 2020-03-31 アタッチメントの三次元形状寸法測定方法 Active JP7441707B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2020064836A JP7441707B2 (ja) 2020-03-31 2020-03-31 アタッチメントの三次元形状寸法測定方法
US17/213,662 US12030181B2 (en) 2020-03-31 2021-03-26 Method and system for measuring three-dimensional geometry of attachment
CN202110329985.2A CN113465499B (zh) 2020-03-31 2021-03-26 配件的三维形状尺寸测定方法以及系统
EP21275033.5A EP3889540B1 (en) 2020-03-31 2021-03-26 Method for measuring three dimensional geometry of attachment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020064836A JP7441707B2 (ja) 2020-03-31 2020-03-31 アタッチメントの三次元形状寸法測定方法

Publications (3)

Publication Number Publication Date
JP2021162482A JP2021162482A (ja) 2021-10-11
JP2021162482A5 JP2021162482A5 (https=) 2022-12-02
JP7441707B2 true JP7441707B2 (ja) 2024-03-01

Family

ID=75539269

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020064836A Active JP7441707B2 (ja) 2020-03-31 2020-03-31 アタッチメントの三次元形状寸法測定方法

Country Status (4)

Country Link
US (1) US12030181B2 (https=)
EP (1) EP3889540B1 (https=)
JP (1) JP7441707B2 (https=)
CN (1) CN113465499B (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002120175A (ja) 2000-10-17 2002-04-23 Yushin Precision Equipment Co Ltd 取出ロボットのティーチングプログラム製造装置
JP2006350602A (ja) 2005-06-15 2006-12-28 Yushin Precision Equipment Co Ltd 操作端末装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
US6592355B2 (en) * 2000-12-16 2003-07-15 Ovalon Vision Solutions, Llc Part-forming machine having an in-mold integrated vision system and method therefor
DE20219713U1 (de) * 2002-12-18 2003-12-24 Kuka Schweissanlagen Gmbh Prüfanordnung für Vorrichtungen im Karosserierohbau
CN101545757B (zh) * 2008-03-25 2012-01-25 鸿富锦精密工业（深圳）有限公司 影像量测机台动态模拟系统及方法
JP5549129B2 (ja) * 2009-07-06 2014-07-16 セイコーエプソン株式会社 位置制御方法、ロボット
DE102011015987A1 (de) * 2011-04-04 2012-10-04 EXTEND3D GmbH System und Verfahren zur visuellen Darstellung von Informationen auf realen Objekten
JP5354614B2 (ja) * 2011-05-19 2013-11-27 株式会社スター精機 樹脂成形品取出し機
JP6670161B2 (ja) * 2016-04-27 2020-03-18 株式会社キーエンス 光学式三次元座標測定器及びその計測方法
DE102016121831B3 (de) * 2016-11-15 2018-01-25 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Überprüfung der Maßhaltigkeit eines Teilegreifers
JP6895835B2 (ja) * 2017-07-21 2021-06-30 株式会社タダノ ガイド情報表示装置およびクレーン
JP6965050B2 (ja) * 2017-07-21 2021-11-10 株式会社タダノ ガイド情報表示装置およびこれを備えたクレーンおよびガイド情報表示方法
JP6969283B2 (ja) * 2017-10-25 2021-11-24 オムロン株式会社 制御システム
EP3620856A1 (en) * 2018-09-10 2020-03-11 Canon Kabushiki Kaisha Imprint method and article manufacturing method
US11813758B2 (en) * 2019-04-05 2023-11-14 Dexterity, Inc. Autonomous unknown object pick and place
JP6647649B1 (ja) * 2019-08-22 2020-02-14 有限会社光和サービス 射出成形品取出装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002120175A (ja) 2000-10-17 2002-04-23 Yushin Precision Equipment Co Ltd 取出ロボットのティーチングプログラム製造装置
JP2006350602A (ja) 2005-06-15 2006-12-28 Yushin Precision Equipment Co Ltd 操作端末装置

Also Published As

Publication number Publication date
JP2021162482A (ja) 2021-10-11
US20210299856A1 (en) 2021-09-30
CN113465499B (zh) 2026-04-07
EP3889540B1 (en) 2025-06-18
EP3889540A1 (en) 2021-10-06
CN113465499A (zh) 2021-10-01
US12030181B2 (en) 2024-07-09

Similar Documents

Publication Publication Date Title
CN112683215B (zh) 提供关于坐标测量机传感器链的信息的方法、坐标测量机
US10401144B2 (en) Coordinate measuring machine having a camera
US6701268B2 (en) Method for calibrating scanning probe and computer-readable medium therefor
SE461548B (sv) Foerfarande och anordning foer bestaemning av och korrigering foer laegesfel vid maetning av en punkts laege eller vid positionering till en punkt med ett bestaemt laege
US20030069708A1 (en) Method for calibrating probe and computer-readable medium
EP3889542B1 (en) Method for estimating normal vector to die and/or normal vector to attachment
CN116803628A (zh) 对象物的检测方法和检测装置
US9310177B2 (en) Method of correcting measurement data of a coordinate measuring machine and a coordinate measuring machine
JP7441707B2 (ja) アタッチメントの三次元形状寸法測定方法
JP7618472B2 (ja) 金型及びアタッチメントの法線ベクトルの推定方法及びシステム
JP2007292474A (ja) 三次元形状測定装置
JP2021160360A5 (https=)
JP2996165B2 (ja) 形状測定方法及びそれを用いた形状測定装置
JP2021162482A5 (https=)
JP2005114549A (ja) 表面形状測定装置および表面形状測定方法
JPH0592345A (ja) 研磨ツールの制御装置
CN214121171U (zh) 一种深度相机精度检测装置
JP7534907B2 (ja) 成形品取出システムのティーチング方法及び成形品取出機
JP3605832B2 (ja) 研磨ツールの制御装置
JPH08155794A (ja) 内径非接触測定装置
JP2022056910A5 (https=)
CN119585089A (zh) 机器人的参数的设定装置
JPH05318278A (ja) 工作機械のｘ−ｙテーブル駆動制御装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221124

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20221124

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20230712

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230801

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7422

Effective date: 20230816

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20231107

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20231227

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20240206

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240219

R150 Certificate of patent or registration of utility model

Ref document number: 7441707

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350