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US 12,030,181 B2Granted
Method and system for measuring three-dimensional geometry of attachment
AssigneeYushin Precision Equipment Co., Ltd.
InventorsKazutaka Ando, Fumitake Watanabe
Life of this patent
Estimating the term…
Abstract
The three-dimensional geometry of an attachment is measured before work is started. A maximum dimension of a take-out head 60 in the X direction, a maximum dimension of the take-out head 60 in the Y direction, and a maximum dimension of the take-out head 60 in the Z direction are measured on the basis of an image of the take-out head 60 captured by at least imaging devices C11 and C12 before the take-out head 60 starts work with the take-out head 60 being mounted to an elevating frame 59B of an apparatus 5 for taking out a molded product, as an orthogonal three-axis robot.
Claims13
A method of measuring three-dimensional geometry of an attachment mounted to a work frame of an orthogonal three-axis robot having operation shafts extending in an X direction, a Y direction, and a Z direction, the method comprising:
- measuring a maximum dimension of the attachment in the X direction, a maximum dimension of the attachment in the Y direction, and a maximum dimension of the attachment in the Z direction on the basis of an image of the attachment captured by at least one imaging device before the attachment starts work with the attachment being mounted to the work frame of the orthogonal three-axis robot;
- wherein:
- an imaging system including the at least one imaging device includes a first imaging device configured to obtain a first image of the attachment in such a posture that allows measurement of the maximum dimension of the attachment in the X direction and the maximum dimension of the attachment in the Z direction, a second imaging device configured to obtain a second image of the attachment in such a posture that allows measurement of the maximum dimension of the attachment in the Y direction and the maximum dimension of the attachment in the Z direction, and an image display device that includes a screen with indicators on orthogonal coordinate axes for displaying the first image or the second image;
- the orthogonal three-axis robot includes a Y-direction drive source operable to move the work frame in the Y direction, a Y-direction movement amount measurement unit, a Z-direction drive source operable to move the work frame in the Z direction, a Z-direction movement amount measurement unit, an X-direction drive source operable to move the work frame in the X direction, and an X-direction movement amount measurement unit;
- and
- the method comprises
- measuring the maximum dimension in the Z direction on the basis of a distance measured by the Z-direction movement amount measurement unit during a period since an outermost end portion, on one side in the Z direction, of the attachment in the first image crosses a reference line on the screen until an outermost end portion, on the other side in the Z direction, of the attachment crosses the reference line while the attachment is moved in the Z direction by driving the Z-direction drive source with directions in which the orthogonal coordinate axes for the indicators on the screen extend coinciding with the X direction and the Z direction in the first image,
- measuring the maximum dimension in the X direction on the basis of a distance measured by the X-direction movement amount measurement unit during a period since an outermost end portion, on one side in the X direction, of the attachment in the first image crosses a reference line on the screen until an outermost end portion, on the other side in the X direction, of the attachment crosses the reference line while the attachment is moved in the X direction by driving the X-direction drive source with directions in which the orthogonal coordinate axes for the indicators on the screen extend coinciding with the X direction and the Z direction in the first image, and
- measuring the maximum dimension in the Y direction on the basis of a distance measured by the Y-direction movement amount measurement unit during a period since an outermost end portion, on one side in the direction, of the attachment in the second image crosses a reference line on the screen until an outermost end portion, on the other side in the Y direction, of the attachment crosses the reference line while the attachment is moved in the Y direction by driving the Y-direction drive source with directions in which the orthogonal coordinate axes for the indicators on the screen extend coinciding with the Y direction and the Z direction in the second image.
6 more elements
A method of measuring three-dimensional geometry of an attachment mounted to a work frame of an orthogonal three-axis robot having operation shafts extending in an X direction, a Y direction, and a Z direction, the method comprising:
- measuring a maximum dimension of the attachment in the X direction, a maximum dimension of the attachment in the Y direction, and a maximum dimension of the attachment in the Z direction on the basis of an image of the attachment captured by at least one imaging device before the attachment starts work with the attachment being mounted to the work frame of the orthogonal three-axis robot;
- wherein:
- the at least one imaging device is a three-dimensional imaging device configured to measure an object surface to output dot group data including a large number of dots each having a three-dimensional coordinate;
- and
- the method further comprises:
- the three-dimensional imaging device acquiring first dot group data that allow measurement of the maximum dimension of the attachment in the X direction and the maximum dimension of the attachment in the Z direction, and second dot group data that allow measurement of the maximum dimension of the attachment in the Y direction and the maximum dimension of the attachment in the Z direction,
- measuring the maximum dimension in the Z direction on the basis of a coordinate of a dot positioned at an outermost end, on one side in the Z direction, among the dots in the first dot group data, and a coordinate of a dot positioned at an outermost end, on the other side in the Z direction, among the dots in the first dot group data,
- measuring the maximum dimension in the X direction on the basis of a coordinate of a dot positioned at an outermost end, on one side in the X direction, among the dots in the first dot group data, and a coordinate of a dot positioned at an outermost end, on the other side in the X direction, among the dots in the first dot group data, and
- measuring the maximum dimension in the Y direction on the basis of a coordinate of a dot positioned at an outermost end, on one side in the Y direction, among the dots in the second dot group data, and a coordinate of a dot positioned at an outermost end, on the other side in the Y direction, among the dots in the second dot group data.
6 more elements
A system for measuring three-dimensional geometry of an attachment mounted to a work frame of an orthogonal three-axis robot having operation shafts extending in an X direction, a Y direction, and a Z direction, the system comprising:
- a processor,
- wherein the processor constitutes a dimension measurement section for measuring a maximum dimension of the attachment in the X direction, a maximum dimension of the attachment in the Y direction, and a maximum dimension of the attachment in the Z direction on the basis of an image of the attachment captured by at least one imaging device before the attachment starts work with the attachment being mounted to the work frame of the orthogonal three-axis robot;
- an imaging system including the at least one imaging device includes a first imaging device configured to obtain a first image of the attachment in such a posture that allows measurement of the maximum dimension of the attachment in the X direction and the maximum dimension of the attachment in the Z direction, a second imaging device configured to obtain a second image of the attachment in such a posture that allows measurement of the maximum dimension of the attachment in the Y direction and the maximum dimension of the attachment in the Z direction, and an image display device that includes a screen with indicators on orthogonal coordinate axes for displaying the first image or the second image;
- the orthogonal three-axis robot includes a Y-direction drive source operable to move the work frame in the Y direction, a Y-direction movement amount measurement unit, a Z-direction drive source operable to move the work frame in the Z direction, a Z-direction movement amount measurement unit, an X-direction drive source operable to move the work frame in the X direction, and an X-direction movement amount measurement unit;
- and
- the dimension measurement section is configured to:
- measure, through computation, the maximum dimension in the Z direction on the basis of a distance measured by the Z-direction movement amount measurement unit during a period since an outermost end portion, on one side in the Z direction, of the attachment in the first image crosses a reference line on the screen until an outermost end portion, on the other side in the Z direction, of the attachment crosses the reference line while the attachment is moved in the Z direction by driving the Z-direction drive source with directions in which the orthogonal coordinate axes for the indicators on the screen extend coinciding with the X direction and the Z direction in the first image,
- measure, through computation, the maximum dimension in the X direction on the basis of a distance measured by the X-direction movement amount measurement unit during a period since an outermost end portion, on one side in the X direction, of the attachment in the first image crosses a reference line on the screen until an outermost end portion, on the other side in the X direction, of the attachment crosses the reference line while the attachment is moved in the X direction by driving the X-direction drive source with directions in which the orthogonal coordinate axes for the indicators on the screen extend coinciding with the X direction and the Z direction in the first image, and
- measure, through computation, the maximum dimension in the Y direction on the basis of a distance measured by the Y-direction movement amount measurement unit during a period since an outermost end portion, on one side in the Y direction, of the attachment in the second image crosses a reference line on the screen until an outermost end portion, on the other side in the Y direction, of the attachment crosses the reference line while the attachment is moved in the Y direction by driving the Y-direction drive source with directions in which the orthogonal coordinate axes for the indicators on the screen extend coinciding with the Y direction and the Z direction in the second image.
6 more elements
A system for measuring three-dimensional geometry of an attachment mounted to a work frame of an orthogonal three-axis robot having operation shafts extending in an X direction, a Y direction, and a Z direction, the system comprising:
- a processor,
- wherein the processor constitutes a dimension measurement section for measuring a maximum dimension of the attachment in the X direction, a maximum dimension of the attachment in the Y direction, and a maximum dimension of the attachment in the Z direction on the basis of an image of the attachment captured by at least one imaging device before the attachment starts work with the attachment being mounted to the work frame of the orthogonal three-axis robot;
- the at least one imaging device is a three-dimensional imaging device configured to measure an object surface to output dot group data including a large number of dots each having a three-dimensional coordinate;
- the system further comprises:
- a first dot group data acquisition section configured to acquire, from the three-dimensional imaging device, first dot group data that allow measurement of the maximum dimension of the attachment in the X direction and the maximum dimension of the attachment in the Z direction, and
- a second dot group data acquisition section configured to acquire second dot group data that allow measurement of the maximum dimension of the attachment in the Y direction and the maximum dimension of the attachment in the Z direction;
- and
- the dimension measurement section includes a maximum dimension determination section configured to:
- calculate the maximum dimension in the Z direction on the basis of a coordinate of a dot positioned at an outermost end, on one side in the Z direction, among the dots in the first dot group data, and a coordinate of a dot positioned at an outermost end, on the other side in the Z direction, among the dots in the first dot group data,
- calculate the maximum dimension in the X direction on the basis of a coordinate of a dot positioned at an outermost end, on one side in the X direction, among the dots in the first dot group data, and a coordinate of a dot positioned at an outermost end, on the other side in the X direction, among the dots in the first dot group data, and
- calculate the maximum dimension in the Y direction on the basis of a coordinate of a dot positioned at an outermost end, on one side in the Y direction, among the dots in the second dot group data, and a coordinate of a dot positioned at an outermost end, on the other side in the Y direction, among the dots in the second dot group data.
8 more elements
Dependencies are inferred from the claim text.