Robot alignment system and method

• US 20050283274A1
• Filed: 06/18/2004
• Published: 12/22/2005
• Est. Priority Date: 06/18/2004
• Status: Active Grant

• Current Assignee: Siemens Healthcare Diagnostics Incorporated (Siemens AG)
• Original Assignee: Bayer Corporation (Bayer AG)
• Inventors: Kleinschmitt, David
• Granted Patent: US 7,206,667 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/1011 Control of the position or alignment of the transfer device
• CPC Class Codes: Y10T 74/20317 including electric motor

Abstract

The robot alignment system is used for establishing a predetermined alignment position between a movable robot member and an article that is processed by the robot. The system includes a laser transmitter that emits a focused laser beam and a target against which the focused laser beam is directed. The laser transmitter is preferably supported by the robot and the target is supported by the article that is processed by the robot. A signaling device cooperates with the target to produce a detectable signal when the focused laser beam is received at a predetermined location on the target. The detectable signal signifies establishment of a predetermined alignment position between the robot and the article that is processed by the robot.

Claims

1. In a system having an operating member and an article that are alignable such that the article can be processed by the operating member, a method of establishing a predetermined alignment position between the operating member and the article before processing of the article is begun by the operating member comprising,

a) supporting a laser transmitter on one of the operating member and the article, and providing the laser transmitter with means for emitting a focused laser beam,

b) supporting a target means for the focused laser beam from the laser transmitter, on the other of the operating member and the article,

c) providing a signaling means in cooperation with the target means to produce a detectable signal when the operating member and the article are aligned,

d) providing a laser beam communication site at a selected location on the target means for receiving the focused laser beam and transmitting the focused laser beam to the signaling means to enable the signaling means to produce the detectable signal when the focused laser beam is received at the signaling means, and

e) moving one of the operating member and the article to a position wherein the focused laser beam from the laser transmitter is received at the laser beam communication site for transmission of the focused laser beam to the signaling means to enable the signaling means to produce the detectable signal, whereby the production of the detectable signal by the signaling means, in response to reception of the focused laser beam at the laser beam communication site, signifies the establishment of the alignment position between the operating member and the article that is processed by the operating member.

2. The method as claimed in claim 1 including moving the operating member with respect to the article to the position wherein the focused laser beam is received at the laser beam communication site.

3. The method as claimed in claim 1 including supporting the laser transmitter on the operating member, and supporting the target means and the signaling means on the article that is processed by the operating member.

4. The method as claimed in claim 1 including providing the laser beam communication site within an area of approximate pinhole size at the selected location on the target means for receiving the focused laser beam from the laser transmitter.

5. The method as claimed in claim 3 including forming the target means of a material that is opaque to the focused laser beam and locating the target means on the signaling means.

6. The method of claim 5 including providing an opening of approximate pinhole size in the target means material, at the selected location, to constitute the laser beam communication site so as to enable the focused laser beam to pass through the target means only at the opening of approximate pinhole size at the laser beam communication site, to enable the transmitted laser beam to cause the signaling means to produce the detectable signal.

7. The method as claimed in claim 4 including forming the signaling means of a translucent material that glows when the transmitted laser beam is received by the signaling means, and providing the signaling means with an uncovered surface that glows visibly when the transmitted laser beam is received by the signaling means through the opening of approximate pinhole size in the target means, whereby the visible glow of the signaling means establishes the predetermined alignment position between the operating member and the article that is processed by the operating member.

8. For a system having a movable operating member and an article that is processed by the movable operating member, an alignment kit for establishing an alignment position between the movable operating member and the article, the alignment kit comprising,

a) a laser transmitter having means for emitting a focused laser beam, the laser transmitter being of a first predetermined size and shape to permit the laser transmitter to be carried by one of the movable operating member and the article,

b) target means against which the focused laser beam is directed, the target means being of a second predetermined size and shape to permit the target means to be carried by the other of the movable operating member and the article, and

c) signaling means cooperable with the target means for producing a detectable signal when the focused laser beam is received by the signaling means, whereby the production of the detectable signal by the signaling means in response to reception of the focused laser beam signifies establishment of the predetermined alignment position between the movable operating member and the article that is processed by the movable operating member.

9. ) The robot alignment system as claimed in claim 8, wherein the target means is formed of a material that is opaque to the focused laser beam and includes a communication site formed as an aperture of approximate pinhole size in the opaque material to permit passage of the focused laser beam through the target means only at the aperture of approximate pinhole size for transmission to the signaling means to enable the signaling means to produce the detectable signal that signifies establishment of the predetermined alignment position between the movable robot member and the article that is processed by the movable robot member.

10. A method of establishing a predetermined alignment position between a movable robot member and an article that is processed by the movable robot member comprising,

a) supporting a laser transmitter on one of the robot member and the article, and providing the laser transmitter with means for emitting a focused laser beam,

b) supporting a target means for the focused laser beam from the laser transmitter, on the other of the robot member and the article,

c) providing a signaling means in cooperation with the target means to produce a detectable signal when the operating member and the article are aligned,

d) providing a laser beam communication site at a selected location on the target means for receiving the focused laser beam and transmitting the focused laser beam to the signaling means to enable the signaling means to produce the detectable signal when the focused laser beam is received at the signaling means, and

e) moving one of the robot member and the article to a position wherein the focused laser beam from the laser transmitter is received at the laser beam communication site for transmission of the focused laser beam to the signaling means to enable the signaling means to produce the detectable signal, whereby the production of the detectable signal by the signaling means, in response to reception of the focused laser beam at the laser beam communication site, signifies the establishment of the alignment position between the robot member and the article that is processed by the robot member.

11. The method as claimed in claim 10 including supporting the laser transmitter on the operating member, forming the target means of a material that is opaque to the focused laser beam and locating the target means on the signaling means, and supporting the target means and the signaling means on the article that is processed by the operating member.

12. The method of claim 11 including providing an opening of approximate pinhole size in the target means material, at the selected location, to constitute the laser beam communication site so as to enable the focused laser beam to pass through the target means only at the opening of approximate pinhole size at the laser beam communication site, to enable the transmitted laser beam to cause the signaling means to produce the detectable signal.

13. A robot alignment system for establishing a predetermined alignment position between a movable robot member and an article that is processed by the movable robot member comprising,

a) a laser transmitter having means for emitting a focused laser beam, the laser transmitter being of a first predetermined size and shape to permit the laser transmitter to be supported by one of the movable robot member and the article,

b) target means against which the focused laser beam is directed, the target means being of a second predetermined size and shape to permit the target means to be supported by the other of the movable robot member and the article that is processed by the movable robot member, and

c) signaling means cooperable with the target means for producing a detectable signal when the focused laser beam is received at a predetermined location on the target means, whereby the production of the detectable signal by the signaling means signifies establishment of the predetermined alignment position between the movable robot member and the article that is processed by the movable robot member.

14. The robot alignment system as claimed in claim 13, wherein the laser transmitter is sized and shaped to be supported by the movable robot member, and the target means is sized and shaped to be supported by the article that is processed by the movable robot member.

15. The robot alignment system as claimed in claim 13, wherein the target means includes a communication area of approximate pinhole size which receives and transmits the focused laser beam to the signaling means to enable the signaling means to produce the detectable signal that signifies establishment of the predetermined alignment position between the movable robot member and the article that is processed by the movable robot member.

16. The robot alignment system as claimed in claim 13, wherein the target means is formed of a material that is opaque to the focused laser beam and includes a communication site formed as an aperture of approximate pinhole size in the opaque material to permit passage of the focused laser beam through the target means only at the aperture of approximate pinhole size for transmission to the signaling means to enable the signaling means to produce the detectable signal that signifies establishment of the predetermined alignment position between the movable robot member and the article that is processed by the movable robot member.

17. The robot alignment system as claimed in claim 16, wherein the signaling means is formed of a selected translucent material that glows when the focused laser beam enters the translucent material, through the aperture of approximate pinhole size in the target means, one portion of the translucent material being an uncovered surface area that visibly glows when the focused laser beam passes through the aperture of approximate pinhole size in the target means for entry into the translucent material, whereby the visible glow of the translucent material signifies establishment of the predetermined alignment position between the movable robot member and the article that is processed by the movable robot member.

18. The robot alignment system as claimed in claim 14, wherein the target means is combined with a structural facsimile of the article processed by the movable robot member.

19. The robot alignment system as claimed in claim 14, wherein the signaling means is combined with a structural facsimile of the article processed by the movable robot member.

20. The robot alignment system as claimed in claim 14 wherein the signaling means and the target means are combined with a structural facsimile of the article processed by the movable robot member.

21. The robot alignment system as claimed in claim 17, wherein the target means is a metallic strip bonded to said translucent material such that the focused laser beam can only pass through the aperture of approximate pinhole size that is formed in the metallic strip.