WO2021058579A1 - Procédé et dispositif de détermination de la précision de trajectoire d'une machine d'usinage stationnaire - Google Patents

Procédé et dispositif de détermination de la précision de trajectoire d'une machine d'usinage stationnaire Download PDF

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Publication number
WO2021058579A1
WO2021058579A1 PCT/EP2020/076588 EP2020076588W WO2021058579A1 WO 2021058579 A1 WO2021058579 A1 WO 2021058579A1 EP 2020076588 W EP2020076588 W EP 2020076588W WO 2021058579 A1 WO2021058579 A1 WO 2021058579A1
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WO
WIPO (PCT)
Prior art keywords
data
geometry
sensor
component
sensors
Prior art date
Application number
PCT/EP2020/076588
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German (de)
English (en)
Inventor
Jan Bremer
Max SCHEUFLER
Original Assignee
Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
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 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. filed Critical Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Publication of WO2021058579A1 publication Critical patent/WO2021058579A1/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
    • 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
    • G01B21/042—Calibration or calibration artifacts

Definitions

  • the invention relates to a method and a device which enable the measurement of a path accuracy of a processing machine and the detection of a component geometry in a processing machine with improved accuracy.
  • Processing machines in particular in the form of industrial robots and CNC-controlled machines are automatically controlled, ⁇ programmable machines for handling, assembling or processing components.
  • they are typically programmable and movable in three or more axes and usually have kinematics and / or gripping systems in order to achieve the spatial association between a component and a machining head.
  • the accuracy during the movement is particularly relevant with regard to production, as the path of the processing machine has a direct impact on the component produced and its Has quality.
  • Known methods for determining the path accuracy use additional devices that detect the robot movement.
  • Stationary measuring devices such as a laser tracker or interferometric measuring technology, or measuring instruments that can be moved with the robot, such as an inertial measuring unit, can be used for this.
  • the object of the present invention is therefore to specify a method which, with great robustness, also measures the path accuracy a device which also offers further functionality, enables parallel to a machining process or between machining steps and allows analysis, adaptation or regulation of the same.
  • An advantageous device also uses sensors, which can also be used for machine-integrated geometry detection of components and quality assurance.
  • the method comprises at least one acquisition step in which geometric data of an object are acquired with at least one sensor.
  • the geometry data of an object are data which describe, for example, the three-dimensional geometry of an object in a suitable Cartesian coordinate system.
  • the geometry data which are registered by the at least one sensor in the at least one detection step can be used to digitize a component.
  • time and location coordinates are uniquely assigned to the acquired geometry data. That is, each coordinate tuple is assigned exactly one geometric data set per acquisition step, which is acquired by the at least one sensor.
  • the location coordinates can be the location coordinates that are output by kinematics of the processing machine, sensors attached to the axes of the machine or by another measuring device for position detection, advantageously the machine control and its drive controller.
  • the acquisition step can be carried out simultaneously with a processing step and / or a measurement process of a component in the processing machine.
  • One advantage of performing both steps simultaneously is that it saves time. That the acquisition step is simultaneous with the processing step is not required. It is also possible for the acquisition step to be carried out before or after the processing step, that is to say it takes place before or after it.
  • the method also includes a calculation step which is carried out after the at least one acquisition step.
  • a relative position between the at least one object and the at least one sensor is calculated for each of the coordinate tuples.
  • the calculation is carried out using the before
  • Geometric data and / or reference data recorded in the preceding step which are geometry data that are already known for the at least one object, that is to say are present.
  • the method further comprises an evaluation step,
  • the system is not determined by comparing it with a single image of the overall geometry, but by comparing the individual recording sections, i.e. the geometry data recorded per recording step, with the corresponding component sections of the reference geometry.
  • the method is advantageously designed in such a way that a fusion step is carried out after the evaluation step.
  • This fusion step includes that a sensor fusion is carried out.
  • the data relating to the geometry can preferably be combined with data obtained from
  • sensor fusion and sensor data fusion are synonymous and are used synonymously in the following.
  • the data acquired by several or all of the sensors can preferably include data which enable position data of a machining operation
  • the data captured by several or all sensors can be partially captured by an inertial measuring unit and / or partially by a laser tracker.
  • the data recorded by several or all sensors can be recorded at least in part by a machine control or an evaluation of the drive control data of the processing system.
  • sensor data fusion One advantage of sensor data fusion is that the accuracy of the path calculation is improved.
  • an inertial measuring unit can be arranged close to the process on a machining head and detect its movement separately. Then, for example, oscillation frequencies can ei in the data obtained in the evaluation step
  • the source for the oscillation frequency can be identified in the data and used to improve the path accuracy determined.
  • the detection of the vibration origin and vibration modes allows compensation for the
  • the at least one acquisition step can advantageously also be carried out before or after the processing step of the processing measure
  • the senor can be attached to the machining head of the machine in a leading-edge version or it can be automatically moved or attached to the required position in a short time through a suitably designed interface.
  • the object for which reference geometry data is already known can be preferably a component or a geometric element of the processing machine. It is also possible that reference geometry data are only available for one area of the component.
  • At least one of the sensors is suitably designed as a laser line scanner and / or laser triangulation scanner.
  • one of the sensors is based on optical coherence tomography for detecting distances to a geometry. This sensor can advantageously by suitable optical Ele
  • Measure the distance around the processing point for example on a circular detection geometry, or linearly analogous to the detection geometry of a laser line scanner.
  • the method preferably also includes that in the evaluation
  • deviations between setpoint and actual values of a path of the geometry-detecting sensor can be calculated.
  • the calculated deviations in the path of the geometry detecting sensor can be used to calculate a compensation for
  • the evaluation of the geometry detection of a component to be detected in another detection area of the sensor can be used.
  • Additional sensor data for example in the form of data from an inertial sensor or the data from another data source, can advantageously be used individually or in the form of sensor fusion to compensate for various errors
  • the accuracy of the geometry detection of an unknown component can advantageously be improved.
  • the accuracy of the geometry detection of an unknown component to be detected is increased.
  • there can be two detection areas which, for example, detect two adjacent areas of a workpiece.
  • One area has a geometric element
  • the deviation of the sensor path can thus be compensated for in the recorded data of the unknown area of the component.
  • the accuracy of the geometry data is increased and errors in the geometry acquisition are reduced.
  • the method comprises a further geometry acquisition step, which uses the data obtained in a previous acquisition and evaluation step for component digitization of the object and / or egg acquired in the previous acquisition step
  • the data obtained preferably include the geometric data of the object to be detected and / or the compensation of the deviations between setpoint values and actual values of a path of the sensor for component digitization.
  • the method advantageously includes that the geometry data are recorded again in subsequent detection steps and can be used as reference geometry in subsequent evaluation steps.
  • the relative movement calculated in the calculation step is also advantageously suitable for calibrating the processing machine. In this way it is possible, for example, to obtain information about system-inherent deviations and to use this information when controlling the machining dimensions
  • the data obtained in the calculation step can also be used to obtain information about a maintenance status of different components of the processing machine. This information preferably makes it possible to identify defects in individual components at an early stage.
  • a device for measuring a path accuracy of a processing machine and for measuring component geometries which comprises at least one sensor for detecting a geometry of a component, a processing head, a movement mechanism and a control unit.
  • this display device is set up to carry out a method configured as described above.
  • At least one of the sensors is advantageously a laser line scanner. It is also possible for at least one of the sensors to be provided on the machining head close to the process. Thus, one of the sensors can advantageously be designed as an inertial measuring unit. The inertial measuring unit is advantageously provided on the machining head.
  • An inertial measuring unit is suitable for determining acceleration, speed and location data of the machining head along a path of the machining head.
  • At least one of the sensors is movable relative to the processing machine.
  • FIG. 1 shows an exemplary device which is set up to carry out the method according to the invention
  • Figure 2 shows another arrangement of a component on a machine table
  • FIG. 3 shows a further exemplary arrangement of several objects on a machine table.
  • FIG. 1 shows an exemplary device with which the method according to the invention can be carried out.
  • a workpiece 3 is arranged on a machine table 1 of the processing machine 10.
  • One end of a robot arm 8 is movable relative to the machine table 1 in the three spatial directions and is mounted stationary at another end.
  • a machining head 6, with which the workpiece 3 can be worked is pivotably arranged.
  • a sensor 2 is provided on the machining head 6, which senses a geometry of the workpiece 3 in a sensing section 5 which lies essentially in one plane.
  • FIG. 2 shows a further exemplary arrangement of a workpiece 3 on a machine table 1.
  • a sensor 2 for component digitization is designed as a laser line scanner and has a laser 2a and a photo detector 2b.
  • the beam emitted by the laser essentially has a linear beam profile in a plane orthogonal to a direction of propagation. The light is reflected from the workpiece 3 and from the machine table 1 and can be detected by the detector 2b.
  • each of the acquisition steps data relating to a geometry of the component 3 are acquired by the sensor 2.
  • the component which is arranged on a movement mechanism is displaced step by step relative to the sensor in a direction along an axis of the movement mechanism. That is, a detection section detected by the sensor in each step adds data registered an area of the component which is displaced along the axis compared to the previous step.
  • Each of the data records is uniquely assigned coordinates, which are output by the movement mechanics, as well as a time stamp.
  • the complete geometry of the workpiece can be recorded by moving it step-by-step along the X axis.
  • the groove on the left serves as reference geometry, i.e. data relating to its geometry are known.
  • the machining of the right side of the workpiece by a machining head, as shown in FIG. 1 can take place in each case before the step-by-step acquisition of the geometry.
  • the calculation step follows. In the calculation step, the calculation of a relative position between the recorded data of the groove, which serves as reference geometry, and the reference data is calculated for each geometry data record recorded per recording step.
  • a path of the workpiece relative to the sensor can be calculated in an evaluation step.
  • the accuracy of the geometry detection of the machined right area of the component can therefore be improved in a method according to the invention.
  • FIG. 3 shows a further exemplary arrangement which is suitable for carrying out the method according to the invention.
  • an object with a triangular cross section is arranged on a machine table 1 as reference geometry. Both objects are detected by a detection section 5 of a geometry-detecting sensor 2.
  • the sensor 2 is arranged next to a machining head 6.
  • An inertial measuring unit 7 is also arranged on the machining head.
  • the attachment of the inertial measuring unit in the procedure shown in Figure 3 direction has the advantage that position and movement data of the machining head are recorded while the workpiece is being machined. These can then be merged with the data of the sensor path in a fusion step after calculating a sensor path relative to the reference geometry 4 in an evaluation step.
  • the calculated sensor path can contain vibrations of the machining head. These can be compensated for by the sensor fusion with the data of the inertial measuring unit, for example by using a filter function which filters the vibration frequencies of the processing head measured by the inertial measuring unit from the data of the sensor path. Consequently, the accuracy of a geometry acquisition can be increased in this way.

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

Abstract

L'invention concerne un procédé et un dispositif qui permettent de mesurer une précision de trajectoire d'une machine d'usinage et de détecter une géométrie de composant dans une machine d'usinage avec une précision améliorée.
PCT/EP2020/076588 2019-09-26 2020-09-23 Procédé et dispositif de détermination de la précision de trajectoire d'une machine d'usinage stationnaire WO2021058579A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019125951.7 2019-09-26
DE102019125951.7A DE102019125951A1 (de) 2019-09-26 2019-09-26 Verfahren und Vorrichtung zur Bahngenauigkeitsbestimmung einer stationären Bearbeitungsmaschine

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WO2021058579A1 true WO2021058579A1 (fr) 2021-04-01

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PCT/EP2020/076588 WO2021058579A1 (fr) 2019-09-26 2020-09-23 Procédé et dispositif de détermination de la précision de trajectoire d'une machine d'usinage stationnaire

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DE102022128088A1 (de) 2022-10-25 2024-04-25 TRUMPF Werkzeugmaschinen SE + Co. KG Kalibrierungsverfahren einer Lichtschrankenanordnung

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6498653B1 (en) * 1998-12-14 2002-12-24 Optodyne, Inc. Tool path measurement
US20150094836A1 (en) * 2012-04-26 2015-04-02 Taktia Llc Systems and methods for performing a task on a material, or locating the position of a device relative to the surface of the material
DE102015205738A1 (de) * 2015-03-30 2016-10-06 Carl Zeiss Industrielle Messtechnik Gmbh Bewegungsmesssystem einer Maschine und Verfahren zum Betreiben des Bewegungsmesssystems

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6498653B1 (en) * 1998-12-14 2002-12-24 Optodyne, Inc. Tool path measurement
US20150094836A1 (en) * 2012-04-26 2015-04-02 Taktia Llc Systems and methods for performing a task on a material, or locating the position of a device relative to the surface of the material
DE102015205738A1 (de) * 2015-03-30 2016-10-06 Carl Zeiss Industrielle Messtechnik Gmbh Bewegungsmesssystem einer Maschine und Verfahren zum Betreiben des Bewegungsmesssystems

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