WO2001059409A2 - Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees - Google Patents

Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees Download PDF

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Publication number
WO2001059409A2
WO2001059409A2 PCT/AT2001/000029 AT0100029W WO0159409A2 WO 2001059409 A2 WO2001059409 A2 WO 2001059409A2 AT 0100029 W AT0100029 W AT 0100029W WO 0159409 A2 WO0159409 A2 WO 0159409A2
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WO
WIPO (PCT)
Prior art keywords
joints
scissor
joint
rotary
arms
Prior art date
Application number
PCT/AT2001/000029
Other languages
German (de)
English (en)
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WO2001059409A3 (fr
Inventor
Heinz Peter Brandstetter
Original Assignee
Heinz Peter Brandstetter
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 Heinz Peter Brandstetter filed Critical Heinz Peter Brandstetter
Priority to AU31410/01A priority Critical patent/AU3141001A/en
Priority to DE20180033U priority patent/DE20180033U1/de
Publication of WO2001059409A2 publication Critical patent/WO2001059409A2/fr
Publication of WO2001059409A3 publication Critical patent/WO2001059409A3/fr

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Classifications

    • 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
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for 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
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G01B7/008—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points using coordinate measuring machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Definitions

  • the invention relates to a position measuring system and a positive guidance for a 2-coordinate actuator which moves within the running surface of a stator in accordance with the commands of a control essentially axially parallel.
  • Wing motors are 2-coordinate actuators that can move independently on two stator systems crossed at 90 degrees on the running surface of a stator in both axis directions X and Y and at the same time follow the respective control signals. You can describe any path and move to end positions, but the orientation of the surface motor always remains parallel to the axis and is referred to as the normal position. If there were to be a rotation out of the normal position, which exceeds the pole pitch in the order of magnitude, the purely frictional connection would be decoupled and the driving force would suddenly drop to zero, and the flat motor would become uncontrollable. This danger exists with asymmetrically attacking external forces. When carrying out purely translatory movements, the flat motor can lose steps due to overloading without having to decouple.
  • a contactless optical measuring system is used for each axis direction, e.g. a laser interferometer.
  • the position values obtained in this way are absolute.
  • the disadvantage is the high price and the limitation of the travel distances due to the fact that the reflectors have to be as wide as the travel of the axis perpendicular to the measuring direction.
  • Another disadvantage is that the optical path must not be interrupted.
  • the second method uses the pole grid as a material measure, the position of a sensor being measured magnetically or optically within a pole period. An example with optical measurement is described in US Pat. No. 5,126,648.
  • the position measurement within the pole period is much more precise with the aid of a Hall sensor.
  • the disadvantages lie primarily in the sensitivity to inhomogeneities of the pole grid and in a different pole / groove ratio or in fluctuating groove depths. Since flat motors usually slide on air cushions, they can also fluctuating air cushion thicknesses have a falsifying effect on the measurement result. Inhomogeneities can result from contamination of the surface, lack of individual poles or joints in the soft iron sheet layer of the stator, into which the poles are incorporated.
  • the most important disadvantage of all measuring methods that use the pole grid as a scale is that the position measurement values obtained are affected by the manufacturing tolerances of the pole grid, which leads to unsatisfactory absolute measured values, especially for dimensions with a length and width of several meters.
  • a position measuring system comprises a scissor-shaped joint with the arms rotatably connected via a scissor joint, the outer ends of which are fastened on the one hand via a first swivel joint in a reference point serving as a reference point and on the other hand via a second swivel joint on the 2-coordinate actuator, in two of the three rotary or scissor joints, absolute or incremental rotary encoders are mounted, which directly measure the angle between the arm and a first reference line running parallel to one of the two directions of movement and at the same time the angle between the arm and another reference line running parallel to the first reference line or measure indirectly and the measured values are transmitted to an evaluation unit, which from this and from the lengths of the arms and the relative position of the first swivel joint,
  • the measuring system according to the invention is therefore based on the principle of measuring arms with which workpieces and 3D models are measured and digitized. These consist of arms which are connected by hinges and strung together, with at least one swivel for each degree of freedom. Each swivel joint is equipped with an absolute or incremental encoder, which determines the angle of the two interconnected arms and outputs it as a digital or analog measured value to a processor which, based on the known arm lengths and the angle between the individual arms, determines the spatial distance between the one End point, which is fixed, and the other end point, which is provided with a measuring ball that touches the point to be measured.
  • the two arms are connected to each other by a scissor joint, and the two other ends of the arms are each connected via a swivel joint on the one hand to a fixed point, which serves as a reference point, and on the other hand to the surface motor whose position is to be measured.
  • the arm lengths are dimensioned so that the flat motor can reach any position within the travel range on the stator running surface.
  • the lengths of the two arms are usefully the same size, and the two encoders mounted on the joints of the end points so as not to put unnecessary strain on the intermediate joint.
  • a preferred embodiment of the invention can comprise a second scissor-shaped joint, consisting of the arms rotatably connected via a scissor joint, which is arranged offset from the first joint consisting of the arms, each joint being provided with two rotary encoders which rotate in any two directions - respectively.
  • Scissor joints of the respective scissor-shaped joint are mounted to independently of one another the position coordinates of the second rotary joints, or any two
  • Reference point in which the first swivel joint is located, is mounted on an auxiliary drive which is moved in parallel and in synchronism with one of the two axial directions, and the position of the
  • Auxiliary drive is measured along its axis of movement by a linear measuring system, so that the position values of the 2-coordinate actuator are in the two
  • each of the two arms consists of two parallel legs which are rotatably connected to one another via scissor joints and whose second outer ends can be rotated via second swivel joints on the
  • the swivel joints lie on lines that are not parallel to the normal position but at an angle to it, consequently the scissor joints lie on lines that are not parallel to each other lying in the parallelogram plane, furthermore that the scissor joints lie on one common carrier plate are fixed.
  • the second rotary joints can thus be moved as close as desired to the first rotary joints, ie the actuator as close as possible to the component on which the first rotary joints are fixed, that is to say to the auxiliary drive or to the edge of the stator surface.
  • the stator surface can thus be used as far as possible as a traversing surface.
  • 2-coordinate actuators are often used for machining workpieces, for which purpose corresponding machining tools are arranged on these actuators. It is often not sufficient to move the actuator only in two directions, rather the processing tool must also be moved normally to these two directions.
  • a linear drive is attached to the 2-coordinate actuator, the slide of which can be moved normally to the running surface.
  • the processing tool is mounted on this slide and can thus be moved normally to the travel directions of the 2-coordinate actuator.
  • this is achieved by means of a scissor-shaped joint with the arms rotatably connected via a double scissor joint, the outer ends of which, on the one hand, can be rotated via a first swivel joint in a reference point serving as a reference point and, on the other hand, are attached to the slide of the 2-coordinate actuator via a double swivel joint are, wherein the first joints of the double swivel joints pivot the arms parallel to the tread and the second joints of the double swivel joints allow the arm to swivel noraial to the tread, in two of the three first swivel or scissor joints and in at least one of the second joints the double Scissor or rotary joints absolute or incremental rotary encoders are mounted, which the angle between the arm and a first reference line running parallel to one of the two directions of movement and at the same time the angle between the arm and a further reference line running parallel to the first reference line and the Measure the included angle directly or indirectly
  • the scissor-shaped joint is connected here directly to the slide of the linear drive located on the 2-coordinate actuator, with which it can be used in addition to determining the position to supply energy to this slide or to the machining tool arranged on this slide.
  • the arms of the joint are designed as pipes, electrical lines, pressurized water or compressed air lines can be routed inside these pipes.
  • the most interesting area of application for such a position measuring system is processing systems that work with a laser beam. It is known to generate the laser beam by means of a laser generator located outside the running surface and to feed it to a focusing device located on the 2-coordinate actuator via a mirror joint arm.
  • the embodiment of the position measuring system according to the invention which has just been presented can be implemented most simply by installing the rotary encoders necessary for measuring the angles in this known and already existing mirror articulated arm. A separate joint that is added to this mirror joint arm can thus be saved.
  • absolute or incremental rotary encoders are mounted in all three first rotary or scissor joints, as a result of which the angle of rotation between an axis of the two-coordinate actuator and its normal position and thus the position of the reference point of the second Coordinate actuator can be determined.
  • a second scissor-shaped joint consisting of the ants rotatably connected to one another via a double scissor joint, which is arranged offset to the first joint consisting of the arms, each joint being provided with two rotary encoders which any two first or Scissor joints of the respective scissor-shaped joint are mounted, and rotary encoders are mounted in at least one of the second joints of the double scissor-type or rotary joints of each scissor-type joint, in order to independently control the position coordinates of the second rotary joints, or any two points that are in each other defined distance to the second swivel joints of the 2-coordinate actuator or determine the angle of rotation of the 2-coordinate actuator based on the normal position.
  • the reference point, in which the first swivel joint is located is mounted on an auxiliary drive which is moved in parallel and synchronously with one of the two axial directions, and the position of the auxiliary drive along its movement axis by means of a linear measuring system is measured so that the position values of the 2-coordinate actuator in the two axis directions can be determined from the angles of rotation of the arms as described, and in the axis direction of the auxiliary drive, its position value, measured by the linear measuring system, must be added.
  • each of the two Anne consists of two parallel legs, each of which is rotatably connected to one another via double scissor joints and the second outer ends of which are each rotatable on the slide of the 2-coordinate actuator and via second double pivot joints the first outer ends of which are rotatably attached to a movable auxiliary drive or fixed fixed points via first swivel joints, a fixed connection being established between the double scissor joints and consequently two movable parallelograms being formed, which have the effect that the 2-coordinate actuator is only parallel while maintaining its normal position and can not twist and of which each parallelogram is provided with at least one rotary encoder arranged in one of the first rotary or scissor joints, and in at least one of the second joints of the double scissor or rotary joints a rotary encoder it is provided which D as described, the position of the 2-coordinate actuator can be clearly determined.
  • a compulsory guide according to the invention comprises a scissor-like joint comprising rotatably connected Aime, which two arms each from two parallel
  • Legs exist, which are rotatably connected to one another via scissor-type joints, the second outer ends of which are rotatable on the 2-coordinate actuator via second rotary joints and the first outer ends of which are rotatable on a movable one via first rotary joints
  • Auxiliary drive or fixed fixed points which are preferably outside of the tread, are fixed, the two scissor joints are firmly connected.
  • Swivel joints lie on lines that are not parallel to the normal position but at an angle to it, consequently the scissor joints lie on lines that are not parallel to one another in the parallelogram plane, furthermore that the scissor joints are on a common one
  • Carrier plate are fixed.
  • the second swivel joints can be arbitrarily close to the first swivel joints, i.e. the
  • Actuator can be moved as close as possible to the component on which the first rotary joints are fixed, i.e. to the auxiliary drive or to the edges of the stator surface.
  • the stator surface can thus be used as far as possible as a traversing surface.
  • Another object of the invention is to provide a positive guide for a 2-
  • a positive guidance according to the invention comprises a scissor-shaped joint comprising arms which are rotatably connected to one another, which two arms each consist of two parallel arms
  • Coordinate actuator and their first outer ends are rotatably fixed via first swivel joints on a movable auxiliary drive or at fixed fixed points, which are preferably located outside the running surface, the two double scissor joints being firmly connected to one another.
  • FIG. 1 shows a first embodiment of the invention schematically in plan with the flat motor 1 lying in the normal position; 2 shows the embodiment of Fig.l in the same representation when rotated relative to the
  • Fig. 3 shows a second embodiment of the invention schematically in plan
  • FIG. 4 shows a third embodiment of the invention, in which two scissor-shaped joints are provided, schematically in plan;
  • FIG. 5 shows a further embodiment essentially corresponding to that of FIG. 4, in which the two scissor-shaped joints are fixed on an auxiliary drive, schematically in plan;
  • FIG. 8 shows a flat motor including the associated stator, equipped with a position measuring system according to the invention in oblique outline;
  • FIG. 9 shows a flat motor including the associated stator in an oblique view, a laser beam focusing device 41 being fixed on the flat motor, which can be moved normally to the plane of the stator by means of a drive 46 and which uses a laser beam 40
  • Fig.l 1 the system shown in Figures 9 and 10 schematically in plan and
  • FIGS. 9-11 shows a system corresponding to the embodiment of FIGS. 9-11, in which the two
  • Arms 3a, 4a each consist of two parallel legs 21,21 'and 22,22', in plan and
  • Fig. 13 shows the system of Fig. 9-1 schematically in plan with straight, i.e. tubes 3a, 4a oriented in one and the same direction.
  • 1 denotes a 2-coordinate
  • Stator on which the surface motor 1 is movable, called.
  • the position measuring system comprises a scissor-shaped joint which is formed from two arms 3, 4 which are rotatably connected to one another by a scissor joint 7.
  • first swivel joint 5 with a fixed point, which serves as a reference point, and via a second swivel joint 5 with a fixed point, which serves as a reference point, and via a second swivel joint 5 with a fixed point, which serves as a reference point, and via a second swivel joint 5 with a fixed point, which serves as a reference point, and via a second swivel joint 5 with a fixed point, which serves as a reference point, and via a second
  • Swivel 6 connected to the surface motor 1, the position of which is to be measured.
  • These arms 3, 4 have lengths a and b, which are preferably chosen to be of equal length.
  • the arm lengths are dimensioned so that the flat motor 1 can reach any position within the travel range on the stator running surface.
  • Encoders 8 and 9 mounted.
  • the rotary encoders 8 and 9 are preferably mounted on the rotary joints 5, 6.
  • a and B denote the offset of the reference point at which the first swivel joint 5 lies with respect to the zero point of the coordinate system
  • Ax By denote the offset of the second swivel joint 6 with respect to the reference point 11 of the surface motor 1.
  • the surface motor 1 pulls the measuring machine comprising the scissors-shaped joint and for each position on the running surface 2 there is a clearly assignable pair of angles 14 and 15.
  • the coordinates of the second swivel joint X6 (a.cos ⁇ + b.) Result from simple trigonometric relationships.
  • cosß) + A and Y6 (a.sin ⁇ -b.sinß) + B, the offset distances A, B of the reference point, in which the first swivel joint 5 lies, with correct sign, ie in the position shown in Fig.l each with a negative sign.
  • the angles 14 ( ⁇ ) and 15 ( ⁇ ) are determined absolutely or incrementally with the help of the rotary encoders 8 and 9.
  • the angle 14 ( ⁇ ) lies between the ann 3 and a first reference line, which runs parallel to the first direction of movement (X direction) of the actuator 1.
  • the angle 15 ( ⁇ ) lies between the arm 4 and a further reference line which runs parallel to the first reference line of the angle 14 ( ⁇ ) and thus also in the X direction. It would also be possible to have both reference lines run in the other direction of movement, namely in the Y direction.
  • the associated angle 15 ( ⁇ ) can then be calculated as the reference angle 15 from the known position data.
  • the reference angle value supplied by the encoder 9 is detected or set to zero. This reference angle 15 must be added to all other values or difference values supplied by the rotary encoder 9 with respect to the reference angle value with the correct sign in order to obtain the corresponding angle 15 ( ⁇ ).
  • the surface motor 1 rotates with respect to this normal position, its position can no longer be correctly determined, because rotations of the surface motor 1 also lead to a change in the angle between the arm 4 and the surface motor 1.
  • the angle 15 (ß ) can therefore no longer be correctly calculated from the angle between the arm 4 and the flat motor 1 supplied by the rotary encoder 9. If, on the other hand, the second rotary encoder 9 is mounted on the scissor joint 7, the angle between Ann 3 and arm 4, which is then supplied by the rotary encoder 9, can always, i.e. regardless of possible twists of the surface motor 1, the angle 15 (ß) can be calculated.
  • the fixed reference point, in which the first swivel joint 5 lies can be moved synchronously with the rotary encoder 8 in a coordinate direction according to FIG. 3, with the same control for the Movement of the synchronous axes is responsible.
  • any linear auxiliary drive 10 with a mechanical guide can be used for this movement, it is sensible to use a single-axis air-bearing linear motor that slides on the same stator.
  • the side surface of the stator can be provided with a one-dimensional pole system, and the linear auxiliary drive 10 can be designed as an angle motor, as shown in FIG. 3 shows the most general case, according to which any drive 10 as an auxiliary drive with its own guidance moves the reference point at which the first swivel joint 5 is located synchronously.
  • This auxiliary drive 10 comes completely outside the stator surface 2.
  • the position measurement of the drive 10 along the X axis is carried out with a length measuring system consisting of the ruler 25 and the measuring head 26, which can work optically, inductively or according to another principle.
  • the coordinates X and Y of the surface motor 1 result from the measured value of the linear system 25, 26 and the angles 14 and 15 of the rotary encoders 8 and 9, ie the X position values of the auxiliary drive 10 and the 2-coordinate actuator 1 in relation to the measuring machine are to be added.
  • a possible deviation .DELTA.X of the X positions of the drive 1 from the drive 10 is also detected, as is expressed by the offset of the second swivel joint 6 to 6 "(cf. dashed line in FIG. 3).
  • a third rotary encoder 24 can be used again.
  • Fig. 4 shows such an arrangement with a second scissor-shaped joint with the arms 12 and 13 and the rotary joints 18, 19 and the scissor joint 20.
  • Two rotary encoders 8, 9 and 38, 39 are used per scissor-shaped joint, which in any Wheeltons. Scissor joints 5,6,7; 18,19,20 are mounted.
  • the position coordinates of the second rotary joints 6 and 19 or any two points that are at a defined distance from the second rotary joints 6 and 19 of the 2-coordinate actuator 1 can be determined independently of one another. From these, the angle of rotation 16 of the 2-coordinate actuator 1 can also be calculated based on the normal position.
  • An additional scissor-shaped joint formed from the arms 12 and 13 and comprising two rotary encoders 38, 39 thus has the same function as a third rotary encoder 24 on the scissor joint formed from the arms 3 and 4, namely it serves for detection in the same way as this third rotary encoder 24 of the angle of rotation 16 of the flat motor 1.
  • the advantage over the arrangement of only one scissor-shaped joint with three rotary encoders 8, 9, 24 is that a second identical scissor-shaped joint can be added if necessary.
  • FIG. 5 shows the arrangement in which two scissor-shaped joints can also be used in the case of the auxiliary drive 10.
  • the flat motor 1 can be forced to feel parallel, in that the two scissor-shaped joints by a Cross connection 23 between the scissor joints 7 and 7 'are formed as a parallelogram, as shown in Fig.6.
  • each of the two Anne 3 and 4 consists of two parallel ones
  • Such a cross connection 23 can also be used when the fixed
  • Auxiliary drive 10, but - as shown in Figure 4 - are held immovably.
  • the position of the 2-coordinate actuator can be - as in the embodiment according to FIG.
  • FIG. 7 shows an embodiment in which the legs 21, 21 'and 22.22' are not rotatably connected to one another via a pair of scissors joints 7, 7 ', but in each case via two scissor joints 27, 27' and 28.28 '. All four scissor joints 27, 27 'and 28, 28' are firmly connected to one another, which is achieved in that these four scissor joints 27, 27 'and 28, 28' are fixed on a common support plate 23.
  • the rotary joints 5,5 ', 6,6' and their corresponding scissor joints 27,27 'and 28,28' are arranged at an angle to each other.
  • the swivel joints 5,5 'and 6,6' each lie on a line which does not run parallel to the normal position, but rather includes an acute angle with this normal position of the surface motor 1.
  • the construction of the two arms 3, 4 just discussed can also be used when the position of the actuator 1 does not need to be determined, i.e. in applications where only a positive guidance of the actuator 1 is achieved and a rotation of the actuator 1 is to be prevented.
  • Fig. 8 shows a typical overhead application with a laterally grooved stator, as is particularly advantageous for laser processing.
  • the drive 10 is an air-bearing, angular linear motor 10 which uses both the crossed pole system of the running surface of the stator 2 and the linear pole system of the side surface of the stator 2.
  • the position of the linear motor 10 along its direction of movement is measured by the linear measuring system 25, 26.
  • the two arms 3 and 4 connect the motors 1 and 10, and the rotary encoders 8 and 9 are integrated in the rotary joints of the drives 1 and 10. Since the drive 10 is designed as a linear motor, the arrangement is simplified by the omission of a separate guide and a separate motor drive.
  • the laser generator required for its generation is very often not arranged directly on the surface motor 1. Rather, the laser generator is located outside of the running surface 2, with which it can be made structurally larger and thus can generate a laser beam 40 with a higher energy content.
  • the laser beam 40 is fed to the surface motor 1 or a focusing device 41 arranged thereon via a mirror.
  • a mirror-articulated arm known per se, which comprises two pipes 3a, 4a which are connected to one another in an articulated manner.
  • a mirror-articulated arm known per se, which comprises two pipes 3a, 4a which are connected to one another in an articulated manner.
  • mirrors 44, 45; 44a, 45a; 44b, 44c, 45b via which the laser beam 40 is fed to the focusing device 41.
  • the first end of the first pipe 3a is rotatably connected to the auxiliary motor 10 via a first swivel joint 5, just as the second end of the second pipe 4a is rotatably connected to the surface motor 1 via a swivel joint 6.
  • the two tubes 3a, 4a are rotatably connected to one another via a scissor joint 7.
  • Such a mirror articulated arm can be used to implement the present invention by installing rotary encoders 8, 9 in at least two of the three rotary or scissor joints.
  • the arms 3 and 4 of the measuring machine according to the invention are here formed by the tubes 3a, 4a of the mirror articulated arm.
  • a tool such as e.g. Drills, milling cutters, laser beam exit openings or the like, with which a workpiece is machined. Since contours to be machined into the workpiece very often not only run parallel to the running surface 2, but also extend normally to this running surface 2, it is necessary to move the tool sitting on the surface motor 1 normally to the running surface 2.
  • drives are arranged on the flat motor 1, by means of which the tool can be moved accordingly.
  • this drive is formed by a linear drive 46, on the slide 46a of which can be moved normally to the running surface 2, the tool is mounted.
  • the slide 46a does not have to be displaceable exactly normal to the tread 2 of the stator, and drives which move their slide 46a obliquely relative to the tread 2 are also conceivable.
  • Such drives in particular linear drives 46, can be designed, in particular for mechanical processing such as drilling and milling, or can be defined on the flat motor 1 in such a way that displacements of this linear drive 46 have no effect on the position of the flat motor 1 or cause no swiveling of the Guide pipes 3a, 4a. This is achieved simply in that the tube 4a is not fixed with the slide 46a, but directly on the surface motor 1.
  • the machining tool is a laser beam 40 generated outside of the surface motor 1, which is fed via a mirror joint to the focusing device 41 seated on the surface motor 1, the end of the tube 4a on the output side could only be pivoted parallel to the tread 2, pivots running normally to the tread 2 of the tube 4a, however, be prevented.
  • the mirrors 44a, 45a located at the end of the tube 4a on the output side can be oriented such that the laser beam 40 emerges from the mirror articulated arm running normal to the running surface 2.
  • the focusing device 41 is arranged in alignment over the laser beam exit opening, the distance between the laser exit opening located on the mirror joint arm and the entry opening on the focusing device 41 changes non-normally to the tread 2 when the focusing device 41 moves. However, the laser beam 40 nevertheless becomes the focusing device 41 supplied, regardless of the current distance from the running surface 2. Movements of the focusing device 41 by moving the slide 46a in the direction normal to the running surface 2 do not affect the position of the surface motor 1 or lead to any pivoting of the tubes 3a, 4a , In the n embodiment shown in FIGS.
  • the output-side end of the tube 4a is not connected directly to the surface motor 1, but to the focusing device 41, which can be moved normally to the running surface 2 by means of the linear drive 46 , In order to enable such displacements, a double joint 7.70 and 6.60 must be provided both between the two tubes 3a, 4a and between the outlet end of the tube 4a and the focusing device 41 (cf. their schematic representation in Fig. l 1).
  • the first joints 7, 6 (which are also present in the previously described embodiments of the measuring machine according to the invention) allow the pipes 3 a, 4 a to be pivoted parallel to the running surface 2.
  • the second articulations 70, 60 of the double articulations 7, 70; 6, 60 allow the pipe 4a to be pivoted, as indicated by the arrow 47 in FIG. 10, normal to the running surface 2, which pivoting results when the linear drive 46 is moved. So that a movement of the slide 46a of the linear drive 46 is actually implemented entirely in a displacement of the focusing device 41 and does not lead to a pivoting of the double joint 7.70 normal to the running surface 2, is in the area of the two tubes 3a, 4a connecting one another Double joint 7.70 a holder is provided which keeps the distance of this double joint 7.70 from the tread 2 constant.
  • this holder is formed by a magnetic disk 48 which is connected to the double joint 7.70 and is held by the magnetic field of the running surface 2. There is an air film between the tread surface and the disk 48, on which the disk 48 slides.
  • the disc 48 is not driven separately, but is pulled by the tubes 3a, 4a when the surface motor 1 moves. So that the disc 48 is held even in the plane of the tread 2 when the surface motor 1 is moved so close to the edge of the tread 2 that the disc 48 already comes to lie outside the tread 2, a plate is on the tread 2 49 made of magnetizable material, for example an iron plate (see Fig. 9).
  • the holder can be of any design and other than a magnetic disk 48. If the tread 2 lies under the mirror articulated arm (the arrangement of FIGS. 9-11 is rotated by 180 °), the holder is pressed against the tread 2 by the weight of the mirror articulated arm and can be formed by a non-magnetic slide shoe.
  • a position measuring system which is only equipped with rotary encoders 8, 9, which are mounted in the rotary joints 5, 6, 7 for the purpose of detecting the angles 14 ( ⁇ ) and 15 ( ⁇ ), can therefore no longer correctly detect the position of the surface motor 1.
  • An additional rotary encoder 50 is therefore provided, with which the angle 51 enclosed between the tube 4a and the tread plane 2 is detected. This angle 51 can be seen undistorted in FIG. 10.
  • the tubes 3a, 4a are stretched here in the manner shown in Fig. 13, i.e. oriented in one and the same direction. If all three angles 14 ( ⁇ ) and 15 ( ⁇ ) and 51 are taken into account, the position of the surface motor 1 can be clearly determined despite displacements of the slide 46a.
  • the rotary encoder 50 which detects the angle 51, can optionally be arranged in the second joint 60 of the double rotary joint 6, 60 attached to the focusing device 41 or in the second joint 70 of the double scissor joint 7, 70 located between the two tubes 3a, 4a.
  • the reference point at which the first swivel joint 5 lies is mounted in the embodiment of FIGS. 9-1 1 on an auxiliary drive 10 which is moved in parallel and synchronously with one of the two axial directions.
  • the current position of the auxiliary drive 10 must be taken into account here when calculating the surface-area motor position, which is measured by a linear system as in FIG. 3.
  • This auxiliary drive 10 is not mandatory to be provided when using a mirror joint arm, rather it is also possible here — analogously to FIG. 1 — to keep the first swivel joint 5 immovable relative to the running surface 2.
  • rotary encoders 8, 9, 24 can be provided in all three rotary or scissor joints 5, 6 and 7, which allow pivoting of the tubes 3a, 4a parallel to the running surface 2, to determine the position of the surface motor 1 can also be determined if it can twist relative to its normal position.
  • the focusing device 41 is fixed immovably on the slide 46a of the surface motor 1. However, this is not absolutely necessary. Rather, the focusing device 41 can be pivoted on the slide 46a as desired and the laser beam 40 can be fed to it from the output-side end of the mirror joint arm fixed on the slide 46a via a further mirror system, for example via a further mirror joint arm. The focusing device 41 can thus be moved as desired relative to the slide 46a without these movements changing the position of the surface motor 1.
  • FIGS. 9-11 The embodiment of the invention shown in FIGS. 9-11 is mainly used for mirror articulated arms, which is why reference was made to such a mirror articulated arm for the purpose of their explanation.
  • this is not to be understood as restrictive; rather, with articulated arms 3, 4 or any machining tools attached to surface motor 1, double joints 7.70, 6.60 can be provided, and second arm 4 on slide 46a of a linear drive located on surface motor 1 46 are attached.
  • the direction of displacement of the linear drive 46 always runs exactly 90 ° to the tread plane, which alignment is, however, not absolutely necessary. Rather, the direction of displacement can include any angle to the tread 2. At such angles, which differ from 90 ° to the tread plane, the displacement movement of the slide 46a also has a movement component running parallel to the tread plane and parallel to it. If the known angle, which is included between the tread plane and the direction of displacement, is taken into account when calculating the position of the surface motor 1, the surface motor position can also be correctly calculated with such displacement directions that differ from 90 ° to the tread.
  • a linear drive 46 is not absolutely necessary to arrange a linear drive 46 on the flat motor 1, rather a drive of any design can be used for the tool movement.
  • the term “slide 46a” is therefore not to be understood solely as a slide 46a of a linear drive 46, but rather the movable part of any drive.
  • a second scissor-shaped joint can be provided, which is constructed identically to the first joint, that is to say also comprises two arms that are rotatably connected to one another via a double scissor joint and that via a double swivel joint to the Carriage 46a of the linear drive 46 arranged on the flat motor 1 is connected.
  • This second scissor-shaped joint like the first one, has rotary encoders 8 and 9 in two of its three rotary joints 5, 6, 7, which allow pivoting of the arms 3, 4 parallel to the running surface 2. Furthermore, a rotary encoder 50 is also provided in at least one of the second joints 70, 60 of the double scissor or rotary joints 7.70, 6.60.
  • the two scissor-shaped joints are arranged offset from one another as in FIGS. With these two joints, the positions of two mutually objectionable points on the surface motor 1 can be measured, with which the angle of rotation 16 of the surface motor 1 can be determined in relation to the normal position.
  • each of the two arms 3a and 4a is formed from two parallel legs 21, 21 'and 22.22', each of which has a double scissor joint 7.70; 7 ' , 70 ' are rotatably connected to one another.
  • the second outer ends of this double joint are each via second double swivel joints 6.60; 6 ', 60' rotatably attached to the slide 46a of the 2-coordinate actuator 1.
  • the first outer ends are rotatably attached to the movable auxiliary drive 10 via first swivel joints 5,5 ' . If such an auxiliary drive 10 is not present, the first outer ends — as in FIG. 4 — are fixed at fixed fixed points.
  • the double scissor joints 7, 70 of the first legs 21, 22 are connected to the double scissor joints 7'70 'of the second legs 21', 22 'via a fixed connection 23.
  • This fixed connection 23 is designed such that each of the four scissor joints 7, 70, 7 ' , 70' located there can rotate freely, but that the distance between these joints is always kept constant.
  • the legs 21, 21 ' and 22, 22' thus form two movable parallelograms, which have the effect that the 2-coordinate actuator 1 can only move in parallel while maintaining its normal position and cannot twist.
  • rotary encoders 8 and 9 are again provided, which are located in two of the first rotary or scissor joints 5, 6 and 7; 5 ', 6' and 7 'are arranged.
  • a further pair of rotary encoders 38, 39 could be provided, but due to the positive guidance of the surface motor 1, it must deliver the same results as the first pair 8, 9.
  • a rotary encoder 50 is provided with which the swivel angle 51 of the arm 4a relative to the plane of the running surface 2 is detected.
  • the construction of the two arms 3a, 4a just discussed can also be used if the position of the surface motor 1 does not need to be determined, i.e. in applications where only a positive guidance of the surface motor 1 is achieved and a rotation of the surface motor 1 is to be prevented.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'invention concerne un système de mesure de position pour servomoteur (1) à deux axes de coordonnées se déplaçant à l'intérieur d'une surface de portée (2) d'un stator, conformément aux commandes émanant de moyens de commande, sensiblement parallèlement à l'axe, caractérisé en ce qu'il comprend une articulation en forme de ciseaux comportant des bras (3 et 4) reliés pivotant entre eux via une articulation en ciseaux (7), bras dont les extrémités externes sont fixées, d'une part via une première articulation (5), pivotantes en un point servant de point de référence et, d'autre part, via une seconde articulation (6), au servomoteur à deux axes de coordonnées (1), en ce que des transducteurs rotatifs, absolus ou incrémentaux (8 et 9) sont montés dans deux des trois articulations pivotantes ou à ciseaux (8 et 9) qui mesurent directement ou indirectement l'angle (14) entre le bras (3) et une première ligne de référence parallèle à l'une des deux directions de déplacement et, en même temps, l'angle (15) entre le bras (4) et une autre ligne de référence s'étendant parallèlement à la première ligne de référence, et en ce que les valeurs mesurées sont transmises à une unité d'évaluation qui calcule, à partir des longueurs (a et b) des bras (3 et 4) et de la position relative de la première articulation pivotante (5), les coordonnées de position (X6 et Y6) de la seconde articulation pivotante (6) sur le servomoteur à deux axes de coordonnées (1), par rapport au système de coordonnées de la surface de portée (2) du stator.
PCT/AT2001/000029 2000-02-07 2001-02-07 Systeme de mesure de position et guidage de liaison pour servomoteur a deux axes de coordonnees WO2001059409A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU31410/01A AU3141001A (en) 2000-02-07 2001-02-07 Position measuring system and restricted guidance for a two-dimensional actuator
DE20180033U DE20180033U1 (de) 2000-02-07 2001-02-07 Positionsmeßsystem sowie Zwangsführung für einen 2-Koordinaten-Stellantrieb

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA186/2000 2000-02-07
AT1862000A AT409043B (de) 2000-02-07 2000-02-07 Vorrichtung und verfahren zur zweidimensionalen positionsbestimmung

Publications (2)

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WO2001059409A2 true WO2001059409A2 (fr) 2001-08-16
WO2001059409A3 WO2001059409A3 (fr) 2002-04-11

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AT (1) AT409043B (fr)
AU (1) AU3141001A (fr)
DE (1) DE20180033U1 (fr)
WO (1) WO2001059409A2 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020239930A1 (fr) 2019-05-28 2020-12-03 B&R Industrial Automation GmbH Dispositif de transport
WO2020239933A1 (fr) 2019-05-28 2020-12-03 B&R Industrial Automation GmbH Dispositif de transport
IT202100009569A1 (it) 2021-04-15 2022-10-15 G Mondini S P A Apparecchiatura e metodo per il posizionamento di prodotti su supporti
IT202100015857A1 (it) 2021-06-17 2022-12-17 G Mondini S P A Apparecchiatura per la termosaldatura di un film di copertura a un elemento di supporto
WO2024028171A1 (fr) * 2022-08-01 2024-02-08 Krones Ag Dispositif et procédé de transport de récipients

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US4331954A (en) * 1980-10-10 1982-05-25 Bauman Verne W Planar coordinate resolving system
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EP0486787A1 (fr) * 1990-10-11 1992-05-27 International Business Machines Corporation Dispositif de positionnement du type à parallélogramme multi-barres
DE4300197A1 (de) * 1993-01-07 1994-07-14 Zeiss Carl Jena Gmbh Bewegungseinrichtung
WO1997033725A1 (fr) * 1996-03-14 1997-09-18 Asea Brown Boveri Ab Dispositif concu pour le mouvement relatif de deux elements

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US3457482A (en) * 1967-10-30 1969-07-22 Bruce A Sawyer Magnetic positioning device
US4706007A (en) * 1985-06-25 1987-11-10 Kabushiki Kaisha Yaskawa Denki Seisakusho Surface pulse motor
US4890241A (en) * 1987-10-26 1989-12-26 Megamation Incorporated Robotic system
DE19631106A1 (de) * 1996-08-01 1998-02-05 Heinz Peter Brandstetter Statorplatte oder Statorelement

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Publication number Priority date Publication date Assignee Title
US4331954A (en) * 1980-10-10 1982-05-25 Bauman Verne W Planar coordinate resolving system
DE3717459A1 (de) * 1987-05-23 1988-12-01 Zeiss Carl Fa Handgefuehrtes koordinatenmessgeraet
EP0486787A1 (fr) * 1990-10-11 1992-05-27 International Business Machines Corporation Dispositif de positionnement du type à parallélogramme multi-barres
DE4300197A1 (de) * 1993-01-07 1994-07-14 Zeiss Carl Jena Gmbh Bewegungseinrichtung
WO1997033725A1 (fr) * 1996-03-14 1997-09-18 Asea Brown Boveri Ab Dispositif concu pour le mouvement relatif de deux elements

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020239930A1 (fr) 2019-05-28 2020-12-03 B&R Industrial Automation GmbH Dispositif de transport
WO2020239933A1 (fr) 2019-05-28 2020-12-03 B&R Industrial Automation GmbH Dispositif de transport
US11962214B2 (en) 2019-05-28 2024-04-16 B&R Industrial Automation GmbH Transport device
IT202100009569A1 (it) 2021-04-15 2022-10-15 G Mondini S P A Apparecchiatura e metodo per il posizionamento di prodotti su supporti
IT202100015857A1 (it) 2021-06-17 2022-12-17 G Mondini S P A Apparecchiatura per la termosaldatura di un film di copertura a un elemento di supporto
EP4108424A1 (fr) 2021-06-17 2022-12-28 G. Mondini SpA Appareil de thermoscellage d'un film d'operculage sur un élément de support
WO2024028171A1 (fr) * 2022-08-01 2024-02-08 Krones Ag Dispositif et procédé de transport de récipients

Also Published As

Publication number Publication date
AT409043B (de) 2002-05-27
AU3141001A (en) 2001-08-20
DE20180033U1 (de) 2003-04-10
ATA1862000A (de) 2001-09-15
WO2001059409A3 (fr) 2002-04-11

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