Method of and apparatus for operating a work robot
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06F-019/00
B25J-009/16
출원번호
US-0761499
(2004-01-21)
우선권정보
DE-103 02 592(2003-01-22)
발명자
/ 주소
Herrmann,Guenter
Moessner,Oswin
출원인 / 주소
CLAAS Fertigungstechnik GmbH
인용정보
피인용 횟수 :
2인용 특허 :
6
초록▼
For operating a positioning device of a multi-axes processing device having at least one processing for improving its positioning accuracy, a position change of the processing device and the associated processing head is controlled with a computer, work poses of the processing device and the associa
For operating a positioning device of a multi-axes processing device having at least one processing for improving its positioning accuracy, a position change of the processing device and the associated processing head is controlled with a computer, work poses of the processing device and the associated processing head controlled by a computation and control unit of the processing device are detected, and the work poses are adjusted if necessary.
대표청구항▼
The invention claimed is: 1. A method of operating a multi-axes processing device with an associated processing head for improving its position accuracy, comprising the steps of controlling a position change of the processing device and the associated processing head with a computer; arranging a wo
The invention claimed is: 1. A method of operating a multi-axes processing device with an associated processing head for improving its position accuracy, comprising the steps of controlling a position change of the processing device and the associated processing head with a computer; arranging a work region and a calibration region so that the work region and the calibration region occupy a same or similar position in space by a same or similar inclination in horizontal and vertical directions, and reference coordinates of the calibration region correspond to coordinates of the work region, and the processing device and the associated processing head during running through the work region and through the calibration region move in accordance with the coordinates of the work region or the reference coordinates of the calibration regions, and assume work poses which are same or similar work poses; detecting actual work poses of the processing device and the associated processing head and determining presence or absence of deviations of the actual work poses from nominal work poses; and in the event of presence of the deviations, moving the processing device and the associated processing head into the calibration region and post-adjusting the work poses. 2. A method as defined in claim 1, wherein said detecting and if necessary pose-adjusting includes comparing coordinates of the work region of the at least one processing head with reference coordinates of a calibration region. 3. A method as defined in claim 2; and further comprising defining the coordinates of the work region in a co-moving coordinate system, and defining the reference coordinates of the calibration region for at least one work pose in a stationary global coordinate system. 4. A method as defined in claim 2; and further comprising storing the coordinates of the work region and the reference coordinates in the calibration region in the computation and control unit of the processing device. 5. A method as defined in claim 2; and further comprising performing a calibration step in time intervals selected from the group consisting of regular time intervals and irregular time intervals. 6. A method as defined in claim 5; and further comprising performing the calibration processing depending on predetermined parameters selected from the group consisting of time, temperature changes, impact loads, and combinations thereof. 7. A method as defined in claim 2; and further comprising forming the work region so that it includes a plurality of work points; representing by the calibration region a selection of the work points as reference points; and determining the coordinates of the work points represented in the calibration region not by reference points but instead but interpolation in a computerized way. 8. An apparatus for operating a multi-axes processing device having an associated processing head, comprising means for controlling a position change of the processing device with the associated processing head with a computer; means for arranging a work region and a calibration region so that the work region and the calibration region occupy a same or similar position in space by a same or similar inclination in horizontal and vertical directions, and reference coordinates of the calibration region corresponds to coordinates of the work region, and the processing device and the associated processing head during running through the work region and through the calibration region move in accordance with the coordinates of the work region or the reference coordinates of the calibration region, and assume work poses which are same or similar work poses; means for detecting actual work poses of the processing device and the associated processing head and determining presence or absence of deviations of the actual work poses from nominal work poses; and means for moving the processing device and the associated processing head into the calibration region and post adjusting the work poses, in the event of presence of the deviations. 9. An apparatus as defined in claim 8, wherein said means for detecting and if necessary post-adjusting is formed so that coordinates of a work region of the processing head are compared with reference coordinates of a calibration region. 10. An apparatus as defined in claim 9, wherein said means for comparing and if necessary post adjusting includes a calibration plate which forms the calibration region representing the working region and having a plurality of reference points, wherein the reference points is a selection of work points defined in the work region. 11. An apparatus as defined in claim 10, wherein a position of the caliber plate is adapted to a position of the work regions so that the processing device and associated processing head assume in a region of the caliber plate and in the work region substantially same work poses. 12. An apparatus as defined in claim 10, wherein the reference points on the caliber plate are formed as a flat grid so that actual work coordinates of the processing device located between the reference points are determined by interpolation. 13. An apparatus as defined in claim 10, wherein a distance from the caliber plate to the work region is changeable in a direction selected from the group consisting of a horizontal direction, a vertical direction, and both, while a relative position to the work poses of the processing device is substantially maintained. 14. An apparatus as defined in claim 10, wherein an inclination of the caliber plate is adaptable to an inclination of the work region. 15. An apparatus as defined in claim 10, wherein the reference points of the calibration plate are formed as elements selected from the group consisting of openings and pins; and further comprising a sensor which is connected with the computation and the control unit of the processing device and senses the elements. 16. An apparatus as defined in claim 15, wherein the sensor is a component of the processing head of the processing device. 17. An apparatus as defined in claim 10, wherein the reference points of the calibration plate are formed as reflecting points; and further comprising a sensor connected with the computation and control unit of the processing device and sensing the reflecting points. 18. An apparatus as defined in claim 17, wherein said sensor is a component of the processing head of the processing device. 19. An apparatus as defined in claim 18, wherein the processing device includes a plurality of the processing heads.
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이 특허에 인용된 특허 (6)
Red Walter E. (Provo UT) Davies Brady R. (Orem UT) Wang Xuguang (Provo UT) Turner Edgar R. (Provo UT), Device and method for correction of robot inaccuracy.
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Wang Xuguang (Provo UT) Red Walter E. (Provo UT) Manley Peter H. (Alpine UT), Robot end-effector terminal control frame (TCF) calibration method and device.
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