Installation for determining the spatial coordinates of a point on a piece, in particular for controlling a plant such as a welding plant for the car bodies of motor vehicles

• US 4,651,283 A
• Filed: 09/10/1984
• Issued: 03/17/1987
• Est. Priority Date: 09/08/1983
• Status: Expired due to Fees

• Current Assignee: Sciaky, Inc. (Phillips Service Industries, Inc.)
• Original Assignee: Sciaky, Inc. (Phillips Service Industries, Inc.)
• Inventors: Cazes, Roland, Sciaky, Mario
• Primary Examiner(s): RUGGIERO, JOSEPH F
• Application Number:
  US06/649,027
• Time in Patent Office: 918 Days
• Field of Search: 364/477, 364/474, 364/475, 364/167-171, 219/121 L, 219/121 LC, 219/121 LD, 219/121 LS, 219/121 LT, 219/121 LU, 219/121 LX, 219/121 LY, 219/121 LZ, 219/121 LM
• US Class Current: 700/207
• CPC Class Codes: B23K 26/04 Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/007 feeler heads therefor
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

An installation for determining the spatial coordinates of a point (P) on a piece (7) in particular for controlling a plant such as a welding plant for car bodies of motor vehicles. The installation is characterized in that it comprises a head (11) movable in a plane (X-Y) and produces a signal as a function of the distance of the point (P) in relation to the plane (X-Y), a rotor (13) on the head (11), this rotor comprising means for projecting a rotating laser beam (21₄), at least three fixed targets (Q, R, S) arranged in the plane (X-Y) and the coordinates of which in this plane are known, these targets being capable of producing a signal as a function of the position (X_P -Y_P) of the head (11) and hence of the point to be measured (P) in the plane (X-Y). The invention is applicable to an installation for determining the spatial coordinates of a point.

Claims

1. Installation for determining the spatial coordinates of a point (P) on a piece (7), in particular for controlling a plant such as a welding plant for the car bodies of motor vehicles, which installation is characterised in that it comprises a head (11) displaceable in a plane (X-Y), a laser beam position detector on the head, which position detector comprises means (21) for projecting a laser beam (21₁) to the point (P) of the piece (7) of which the coordinates are required to be measured and a detector (22) for receiving the laser beam (21₃) reflected from the piece (7) at the point (P) in order to produce a signal which is a function of the distance of the point (P) from the plane (X-Y), a rotor (13) on the head (11), the axis of rotation (11₁) of this rotor being perpendicular to the plane (X-Y), this rotor comprising means (26) for projecting a rotating laser beam (21₄), at least three fixed targets (Q, R, S) placed in the plane (X-Y) and the coordinates of which in this plane are known, these tarets being capable of producing a signal as a function of the position (X_p, Y_p) of the head (11) and hence of the point to be measured (P) in the plane (X-Y), calculating means for receiving the two signals (23,28) and determining the spatial coordinates (X_p, Y_p and Z_p) of the point to be measured (P), and display means (15) for displaying these coordinates.

2. Installation according to claim 1 characterised in that the targets (Q, R, S) are passive targets and reflect the lasert beam (21₄) projected by the rotor (13) of the head to a detector (28) provided on the rotor and produce a signal as a function of the position (X_p, Y_p) of the head.

3. Installation according to claim 1, characterised in that the axis of rotation of the rotor (13) of the head coincides with the axis (11₁) of the incident laser beam (21₁) produced by the position detector (12, 21, 22) of this head.

4. Installation according to claim 1 characterized in that the head (11) is displaceable by translation in the plane (X-Y) by pivoting on an arm (10) which in turn pivots on a fixed pedestal (9).

5. Installation according to claim 2 characterized in that the head (11) is displaceable by translation in the plane (X-Y) by pivoting on an arm (10) which in turn pivots on a fixed pedestal (9).

6. Installation according to claim 3 characterized in that the head (11) is displaceable by translation in the plane (X-Y) by pivoting on an arm (10) which in turn pivots on a fixed pedestal (9).

7. Installation according to claim 1 characterized in that the means (21) of the position detector projecting a laser beam (21₁) along the axis (11₁) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19₁) from a laser beam generator (19) and producing two coaxial laser beams (21₁ and 21₂) in opposite directions, one (21₁) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21₂) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21₄).

8. Installation according to claim 2 characterized in that the means (21) of the position detector projecting a laser beam (21₁) along the axis (11₁) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19₁) from a laser beam generator (19) and producing two coaxial laser beams (21₁ and 21₂) in opposite directions, one (21₁) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21₂) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21₄).

9. Installation according to claim 3 characterized in that the means (21) of the position detector projecting a laser beam (21₁) along the axis (11₁) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19₁) from a laser beam generator (19) and producing two coaxial laser beams (21₁ and 21₂) in opposite directions, one (21₁) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21₂) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21₄).

10. Installation according to claim 4 characterized in that the means (21) of the position detector projecting the laser beam (21₁) along the axis (11₁) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19₁) from a laser beam generator (19) and producing two coaxial laser beams (21₁ and 21₂) in opposite directions, one (21₁) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21₂) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21₄).

11. Installation according to claim 1 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19₁) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21₁) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11₁) of the head and which pass over the targets (Q, R, S).

12. Installation according to claim 2 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19₁) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21₁) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11₁) of the head and which pass over the targets (Q, R, S).

13. Installation according to claim 3 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19₁) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21₁) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11₁) of the head and which pass over the targets (Q, R, S).

14. Installation according to claim 4 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to a laser beam generator (19) to produce a pulsed laser beam (19₁) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21₁) reflect to the detector (28) of the rotor targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11₁) of the head and which pass over the targets (Q, R, S).

15. Installation according to claim 10 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19₁) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21₁) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11₁) of the head and which pass over the targets (Q, R, S).

16. Installation according to claim 1 characterized in that a computer compares the coordinates (X_p, Y_p and Z_p) obtained from the detectors (22, 28) of the movable head with the memorized numerical information of the form of the part or parts of the car body to be assembled.

17. Installation according to claim 2 characterized in that a computer compares the coordinates (X_p, Y_p and Z_p) obtained from the detectors (22, 28) of the movable head with the memorized numerical information of the form of the part or parts of the car body to be assembled.