Method and apparatus for beam tool center point calibration

• US 6,467,178 B1
• Filed: 09/11/2000
• Issued: 10/22/2002
• Est. Priority Date: 09/11/2000
• Status: Expired due to Fees

• Current Assignee: ABB Automation GmbH (ABB Limited)
• Original Assignee: ABB Automation GmbH (ABB Limited)
• Inventors: Poljen, Christian, Svensson, Tommy
• Primary Examiner(s): Fulton, Christopher W.
• Application Number:
  US09/658,726
• Time in Patent Office: 771 Days
• Field of Search: 332/86, 332/27, 332/28, 335/02, 335/20, 336/13, 336/44, 336/45, 336/66, 336/70, 336/71, 335/56, 335/59, 33D/IG.3, 356/614, 356/621, 356/399, 356/400, 356/401
• US Class Current: 33/286
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/37563 Ccd, tv camera
• CPC Class Codes: G05B 2219/37571 Camera detecting reflected light from laser
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/45041 Laser cutting

Abstract

A method and system for determining a tool center point (TCP) for a beam tool involves the use of a specially design aperture and light sensing device. The method and system oscillates the beam tool across an aperture assembly such that light from the tool periodically passes through the aperture assembly. Center point coordinate information is then determined based on passage of light through the aperture assembly. The method and system further provides for calculating the TCP based on the center point coordinate information.

Claims

1. A method for determining a tool center point for a beam tool, the method comprising the steps of:

oscillating the tool across an aperture assembly such that light from the tool periodically passes through the aperture assembly;

determining center point coordinate information based on passage of the light through the aperture assembly; and

calculating the tool center point based on the center point coordinate information.

2. The method of claim 1 further including the steps of:

repeating the oscillating, determining, and calculating steps for a plurality of tool orientations; and

calibrating the tool based on the tool center points and the tool orientations.

3. The method of claim 1 further including the step of automatically determining location information regarding the aperture assembly.

4. The method of claim 3 further including the step of automatically locating a plane containing the aperture assembly.

5. The method of claim 4 further including the steps of:

locating three points in the plane containing the aperture assembly; and

calculating an orientation for the plane containing the aperture assembly based on locations of the three points.

6. The method of claim 4 further including the step of automatically determining an orientation of an aperture contained within the aperture assembly.

7. The method of claim 6 further including the steps of:

locating a first point on an edge of the aperture;

locating a second point on the edge of the aperture; and

calculating an orientation of the aperture based on locations of the edges.

8. The method of claim 7 further including the steps of:

receiving an initialization signal corresponding to passage of the light through the aperture; and

storing initialization coordinate information based on the initialization signal, the initialization coordinate information defining the locations of the edges.

9. The method of claim 1 further including the steps of:

receiving center point signals corresponding to passage of the light through the aperture; and

storing the center point coordinate information based on the center point signals.

10. The method of claim 1 further including the step of averaging the center point coordinate information.

11. A calibration system for determining a tool center point for a laser beam cutting tool, the system comprising;

an aperture assembly having an aperture for allowing light from the laser cutting tool to pass from a first side of the aperture assembly to a second side of the aperture assembly;

a light sensing device for capturing an image of the second side of the aperture assembly and for generating a signal corresponding to passage of the light to the second side of the aperture assembly;

means for oscillating the laser cutting tool such that light from the tool periodically passes through the aperture assembly; and

means for determining center point coordinate information based on signals generated by the light sensing device and for calculating the tool center point based on the coordinate information.

12. The calibration system of claim 11 wherein the aperture assembly further includes:

a first plate containing the aperture; and

a second plate disposed between the first plate and the laser cutting tool, the second plate being semitransparent with respect to the light.

13. The calibration system of claim 12 wherein the first plate includes sheet metal.

14. The calibration system of claim 12 wherein the aperture assembly further includes a protective layer of film disposed between the second plate and the laser cutting tool such that the film provides protection to the second plate.

15. The calibration system of claim 11 wherein the light sensing device generates the signal when an illumination intensity on the second side of the aperture assembly meets a predetermined condition.

16. The calibration system of claim 11 further including:

a housing enclosing the light sensing device. the housing having an opening; and

a connection mechanism for coupling the aperture assembly to the opening of the housing.

17. The calibration system of claim 16 wherein the housing includes sheet metal.