EXTERNAL SYSTEM FOR ROBOTIC ACCURACY ENHANCEMENT

• US 20090240372A1
• Filed: 03/23/2009
• Published: 09/24/2009
• Est. Priority Date: 03/21/2008
• Status: Active Grant

• Current Assignee: Variation Reduction Solutions, Inc.
• Original Assignee: Variation Reduction Solutions, Inc.
• Inventors: Markey, Myles Daniel, Kleemann, Michael John, Bordyn, Brett Alan
• Granted Patent: US 8,509,949 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/36439 Guide arm in path by slaving arm to projected path, beam riding
• CPC Class Codes: G05B 2219/40623 Track position of end effector by laser beam

Abstract

The inventive concept of the metrology system (the system) actively determines the 6 Degree of Freedom (6-DOF) pose of a motion device such as, but not limited to, an industrial robot employing an end of arm tool (EOAT). A concept of the system includes using laser pointing devices without any inherent ranging capability in conjunction with the EOAT-mounted targets to actively determine the pose of the EOAT at distinct work positions of at least one motion device.

Claims

1. A system for robotic accuracy enhancement comprising;

at least one robotic device adaptable for multi-axial movement and presenting an arm having an end of arm tool having a central axis for performing various operations on a workpiece;

a plurality of multi-axial devices for generating light beams oriented relative to at least one said robotic device; and

a plurality of removable target elements connected to said end of arm tool with each of said target elements being pre-certified to orient said end of arm tool relative to the workpiece in 6 Degrees of Freedom (6-DOF) to perform various operations on the workpiece as each of said target elements is activated by said multi-axial devices.

2. A system as set forth in claim 1 wherein each of said target elements presents a base formed from at least one of metallic and non-metallic materials and presenting a plurality of openings defined therein.

3. A system as set forth in claim 2 wherein said base presents a plurality of removable nest elements attachable to the respective openings defined in said base and a plurality of calibration targets supported by the respective nest elements.

4. A system as set forth in claim 3 wherein said base further includes a photosensitive array defined in said base.

5. A system as set forth in claim 4 including a housing encapsulating each of said target elements, said housing having a shutter device.

6. A system as set forth in claim 5 including a controller operably communicated with said multi-axial devices, said robotic device, and said target elements.

7. A system for robotic accuracy enhancement comprising;

a plurality of robotic devices adaptable for multi-axial movement and presenting an arm having an end of arm tool having a central axis for performing at least one operation on a workpiece at a first period of time;

a plurality of multi-axial devices for projecting light beams oriented relative to said robotic device;

a plurality of removable target elements connected to said end of arm tool of each said robotic device, with each of said target elements being pre-certified to orient said end of arm tool relative to the workpiece to perform operation on the workpiece as each of said target elements is activated by said multi-axial devices; and

a controller operably communicated with said target elements, said plurality of multi-axial devices, and said plurality of robotic devices for manipulating at least one said multi-axial device to activate at least one said target element within a second period of time less than the first period of time, thereby guiding at least one other of said robotic devices.

8. A system as set forth in claim 7 wherein each of said target elements presents a base formed from at least one of metallic and non-metallic materials and presenting a plurality of openings defined therein.

9. A system as set forth in claim 8 wherein said base presents a plurality of removable nest elements attachable to the respective openings defined in said base and a plurality of calibration targets supported by the respective nest elements.

10. A system as set forth in claim 9 wherein said base further includes a photosensitive array defined in said base.

11. A system as set forth in claim 10 including a housing encapsulating each of said target elements, said housing having a shutter device.