Coordinate-system setting system and coordinate-system setting method

Patent metadata

Field	Value
Publication number	US-12330316-B2
Application number	US-202017096323-A
Country	US
Kind code	B2
Filing date	Nov 12, 2020
Priority date	Nov 26, 2019
Publication date	Jun 17, 2025
Grant date	Jun 17, 2025

Abstract

A coordinate-system setting system including: a probe; a 3D-shape measuring device for measuring contact locations of the probe; and a storage device that stores a 3D model of a part to be measured. The 3D model includes information about an origin position of a coordinate system of the part to be measured. The 3D-shape measuring device measures, when the probe is brought into contact with the part to be measured a plurality of times, the position of a tip portion of a robot and calculates the shape of the part to be measured. The 3D-shape measuring device or a controller of the robot calculates the difference between the calculated shape of the part to be measured and the shape of the 3D model and sets the coordinate system of the part to be measured relative to the tip portion by shifting at least the origin position.

First claim

The invention claimed is:

1. A coordinate-system setting system comprising:
a portable probe being capable of coming into contact with a tip portion of a robot, wherein the portable probe is separate from the robot and does not move together with the robot and wherein the portable probe is held by an operator;
a 3D-shape measuring device for measuring contact locations of the portable probe; and
a storage device that stores a 3D model of a tool mounted on the tip portion of the robot,
wherein the 3D model includes information about an origin position serving as an origin of a coordinate system of the tool,
the 3D-shape measuring device is configured to perform:
position measurement processing which measures a position of the tip portion of the robot; and
shape calculation processing which calculates a shape of the tool when the operator brings the portable probe into contact with the tool mounted on the tip portion a plurality of times, and
the 3D-shape measuring device or a robot controller of the robot is configured to perform:
difference calculation processing for calculating a difference between the calculated shape of the tool and a shape of the 3D model; and
coordinate-system setting processing for setting the coordinate system of the tool relative to the measured position of the tip portion by shifting at least the origin position in the 3D model by using the calculated difference.

2. The coordinate-system setting system according to claim 1 , wherein the 3D-shape measuring device or the robot controller sets the coordinate system of the tool in the coordinate-system setting processing by shifting the origin position and an X axial direction in the 3D model by using the calculated difference.

3. The coordinate-system setting system according to claim 1 ,
wherein the 3D model is a model of a portion of interest in the tool, and
when the portable probe is brought into contact with a position corresponding to the model of the portion of interest in the tool a plurality of times, the 3D-shape measuring device calculates the shape of the tool corresponding to the model of the portion of interest in the shape calculation processing.

4. The coordinate-system setting system according to claim 1 ,
wherein the 3D model is a model of a plurality of portions of interest in the tool, and
when the portable probe is brought into contact with positions corresponding to the model of the plurality of portions of interest in the tool a plurality of times, the 3D-shape measuring device calculates the shape of the tool corresponding to the model of the plurality of portions of interest in the shape calculation processing.

5. The coordinate-system setting system according to claim 1 , wherein the 3D-shape measuring device or the robot controller performs the shape calculation processing when the portable probe is brought into contact with each of a plurality of surfaces in the tool a prescribed number of times or more.

6. The coordinate-system setting system according to claim 1 , further comprising:
a display device which displays a surface of the tool, the surface being a surface with which the portable probe should be brought into contact.

7. The coordinate-system setting system according to claim 1 , further comprising:
a probe device including the portable probe,
wherein the probe device is configured to be supported by a hand of the operator, and
the 3D-shape measuring device performs the shape calculation processing when the portable probe is brought into contact with the tool a plurality of times by the operator moving the probe device.

8. The coordinate-system setting system according to claim 1 , wherein the 3D-shape measuring device is a 3D visual sensor or a 3D measuring machine.

9. A coordinate-system setting method comprising:
arranging a 3D-shape measuring device near a robot;
measuring a position of a tip portion of the robot by the 3D-shape measuring device by bringing a portable probe, which is separate from the robot and does not move together with the robot and which is held by an operator, into contact with the tip portion of the robot a plurality of times;
calculating a shape of a tool mounted on the robot by the 3D-shape measuring device by bringing the portable probe into contact with the tool a plurality of times;
causing the 3D-shape measuring device or a robot controller of the robot to calculate a difference between the calculated shape of the tool and a shape of a 3D model stored in a storage device; and
causing the 3D-shape measuring device or the robot controller of the robot to set a coordinate system of the tool relative to the measured position of the tip portion by shifting at least an origin position in the 3D model by using the calculated difference.

Assignees

• Fanuc Corp

Inventors

• Oowatari Hiroshi

Classifications

• G05B19/401

  characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes (G05B19/19 takes precedence) · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title

• G01B5/008

  using coordinate measuring machines · CPC title

• G05B2219/37193

  Multicoordinate measuring system, machine, cmm · CPC title

• G05B2219/39021

  With probe, touch reference positions · CPC title