Orthogonal Positioning Instrument, System, And Method For Automatic Machines

An orthogonal positioning system for positioning a tool at a desired location of a working surface, the orthogonal positioning system comprising:

• a robot (11) having a robot arm (10) articulately mounted thereon;
• a tool (7) connected to the robot arm (10) along a working axis (12);
• a robot arm controller configured to position the robot arm (10) at the desired location for positioning the tool (7) on a working surface (8);
• and
• an orthogonal positioning instrument connected to the tool (7) such that the coupling axis (4) of the orthogonal positioning instrument (1) is aligned with the working axis (12) of the tool (7),
• wherein the robot arm controller is configured to position the robot arm (10) at a new desired location for the tool (7) based on the measured distances by the orthogonal positioning instrument (1), when at least one of the positioning elements (3) of the orthogonal positioning instrument (1) is in contact with the working surface (8) while the tool (7) is being positioning at the new desired location, and
• wherein the new desired location enables the three positioning elements (3) of the orthogonal positioning instrument (1) being in contact with the working surface (8), thereby achieving an orthogonal positioning of the tool (7) with respect to the working surface (8).

An orthogonal positioning method for positioning a tool at a desired location of a working surface, the tool (7) being connected to a robot arm (10) along a working axis (12) and the robot arm (10) being articulately mounted to a robot (11), the orthogonal positioning method comprising:

• providing an orthogonal positioning instrument (1), the orthogonal positioning instrument having a support (2) adapted for coupling the tool (7) along a coupling axis (4) and three positioning elements (3) coupled to the support (2) around the coupling axis (4), wherein the three positioning elements (3) have ends (5) protruding from the support (2) so as to define a plane substantially normal to the coupling axis (4) for positioning the tool (7) orthogonally to the working surface (8), and wherein each positioning element (3) has a distance sensor (6) capable of measuring the distance to the working surface (8) for positioning the tool (7) at the desired location of the working surface (8);
• connecting the orthogonal positioning instrument (1) to the tool (7) such that the coupling axis (4) of the instrument (1) is aligned with the working axis (12) of the tool (7);
• calculating a new desired location for positioning the tool (7) on a working surface (8) based on the measures of the distance sensors (6) of the instrument (1), when at least one of the positioning elements (3) of the instrument (1) gets in contact with the working surface (8) while the tool (1) is being positioning at a desired location, wherein the new desired location enables the three positioning elements (3) of the instrument (1) being in contact with the working surface (8) via a robot arm controller, and
• positioning the tool (7) at the new desired location.