DE3314089C2 - - Google Patents

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Publication number
DE3314089C2
DE3314089C2 DE19833314089 DE3314089A DE3314089C2 DE 3314089 C2 DE3314089 C2 DE 3314089C2 DE 19833314089 DE19833314089 DE 19833314089 DE 3314089 A DE3314089 A DE 3314089A DE 3314089 C2 DE3314089 C2 DE 3314089C2
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DE
Germany
Prior art keywords
measuring
measuring arrangement
arrangement according
diodes
receiving diodes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
DE19833314089
Other languages
German (de)
Other versions
DE3314089A1 (en
Inventor
Des Erfinders Auf Nennung Verzicht
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Setup Sensortechnik und Prozesssysteme 8500 Nuernberg De GmbH
Original Assignee
Setup Sensortechnik und Prozesssysteme 8500 Nuernberg De GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Setup Sensortechnik und Prozesssysteme 8500 Nuernberg De GmbH filed Critical Setup Sensortechnik und Prozesssysteme 8500 Nuernberg De GmbH
Priority to DE19833314089 priority Critical patent/DE3314089A1/en
Publication of DE3314089A1 publication Critical patent/DE3314089A1/en
Application granted granted Critical
Publication of DE3314089C2 publication Critical patent/DE3314089C2/de
Granted legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04759—Light-sensitive detector, e.g. photoelectric

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Description

Die Erfindung betrifft eine optoelektronische Meßanordnung zur Ermittlung der relativen Lage eines Meßkörpers gegenüber einem Referenzkörper aus den Signalen positionsempfindlicher Empfangsdioden, denen jeweils eine Lichtquelle zugeordnet ist und wobei die Zahl der erfaßbaren Freiheitsgrade von der Zahl der positionsempfindlichen Emfangsdioden abhängt.The invention relates to an optoelectronic Measuring arrangement for determining the relative position of a Measuring body compared to a reference body from the Signals from position-sensitive receiving diodes, the one light source is assigned and the Number of detectable degrees of freedom from the number of position sensitive receiving diodes.

Systeme mit mehr als drei Freiheitsgraden kommen bei den Endstücken, insbesondere den Greifköpfen von Handhabungsgeräten vor, die zum Aufnehmen oder Abgeben von Gegenständen oder zur programmierten Durchführung von Fertigungsschritten eingerichtet sind. Bei diesen Geräten, die auch als Industrieroboter bezeichnet werden, sind Prüfmittel notwendig, die es erlauben, die Positioniergenauigkeit im Zusammenhang mit einer eindeutigen Referenzpunktbestimmung des gesamten Handhabungssystems zu bestimmen und zu überprüfen.Systems with more than three degrees of freedom come with the End pieces, especially the gripping heads of Handling devices before that for taking or dispensing of objects or for programmed execution of manufacturing steps are set up. With these Devices, also known as industrial robots, test equipment is necessary that allows the Positioning accuracy in connection with a clear reference point determination of the whole To determine and check the handling system.

In der US-PS 43 16 329 ist eine optoelektronische Meßanordnung mit einer oder mehreren Lichtquellen und analog anzeigenden, positionsempfindlichen Empfangsdioden als Meßsignalgeber zur Beschreibung der Lage eines Meßkörpers in einem aus zwei Koordinatenachsen und bis zu drei Drehwinkeln bestehenden fünfdimensionalen Koordinatensystem beschrieben. Wie jedoch aus der Beschreibung hervorgeht, ist das System auf fünf Freiheitsgrade beschränkt. Der sechste Freiheitsgrad kann nicht erfaßt werden.In US-PS 43 16 329 is an optoelectronic Measuring arrangement with one or more light sources and analogue, position-sensitive receiving diodes as a signal generator to describe the location of a Measuring body in one of two coordinate axes and up existing five-dimensional to three angles of rotation Coordinate system described. However, as from the Description emerges, the system is based on five Degrees of freedom limited. The sixth degree of freedom cannot be recorded.

Der Erfindung liegt daher die Aufgabe zugrunde, eine optoelektronische Meßanordnung zu schaffen, mit der die Lage des Meßkörpers in sechs Dimensionen, nämlich in drei Translations- und drei Rotationsdimensionen, angebbar ist.The invention is therefore based on the object To create optoelectronic measuring arrangement with which the Position of the measuring body in six dimensions, namely in three translation and three rotation dimensions, can be specified is.

Diese Aufgabe wird nach der Erfindung dadurch gelöst, daß an dem Referenzkörper drei, jeweils zweidimensional messende und durch ihre Flächennormale ein räumliches Koordinatensystem aufspannende positionsempfindliche Empfangsdioden angeordnet sind, auf die im Ruhezustand der Meßanordnung vom Meßkörper aus drei Lichtbündel senkrecht gerichtet sind und aus deren Signalpaaren sechs Lagesignale entsprechend den sechs Freiheitsgraden des Meßkörpers angebbar sind.This object is achieved according to the invention in that on the reference body three, each two-dimensional measuring and spatial due to its surface normal Coordinate system spanning position sensitive Receiving diodes are arranged on the at rest of the Measuring arrangement from the measuring body from three light beams perpendicular are directed and from their signal pairs six position signals corresponding to the six degrees of freedom of the measuring body can be specified.

Weiterbildungen der Erfindung enthalten die Ansprüche 2 bis 9. Developments of the invention contain the claims 2 to 9.

Die erfindungsgemäße Meßanordnung gestattet die Durchführung der nachfolgend aufgeführten Arbeiten und Prüfungen an Handhabungsgeräten:The measuring arrangement according to the invention allows implementation of the work and tests listed below Handling devices:

  • - Untersuchung der Eigenschaften von Prototypen, z. B. von Industrierobotern,- Investigation of the properties of prototypes, e.g. B. from Industrial robots,
  • - Abnahme von mehrachsigen kinematischen Geräten beim Hersteller,- Acceptance of multi-axis kinematic devices at Manufacturer,
  • - eindeutige Referenzpunkt-Festlegung der Gesamtkinematik von entsprechenden Geräten beim Hersteller oder Anwender,- Clear reference point definition of the overall kinematics of appropriate devices from the manufacturer or User,
  • - Abnahme von Handhabungsgeräten am Aufstellungsort, - Acceptance of handling devices on site,  
  • - Überprüfen der Geräte nach längerer Betriebszeit einschließlich Feh­ lersuche beim Anwender,- Check the devices after a long period of operation including faults search the user,
  • - Fehlerkompensation nach Komponenten- oder Systemtausch.- Error compensation after component or system replacement.

Ein Ausführungsbeispiel der Erfindung wird nachfolgend an Hand der Zeichnung näher beschrieben. Es zeigtAn embodiment of the invention is described below with reference to Drawing described in more detail. It shows

Fig. 1 eine Prinzipdarstellung von Sende- und Empfangsdioden, und Fig. 1 shows a schematic diagram of transmit and receive diodes, and

Fig. 2 eine vereinfachte Darstellung einer Meßanordnung. Fig. 2 is a simplified representation of a measuring arrangement.

In der Prinzipdarstellung der Fig. 1 senden drei Sendedioden 1, die räumlich gleichmäßig voneinander angeordnet sind, je einen Lichtstrahl 2 einer kohärenten Lichtquelle - beispielsweise einer Laserlichtquelle - auf jeweils gegenüberliegend angebrachte Empfangsdioden 3. Die Lichtstrahlen 2 sind durch Linsen 4 so fokussiert, daß sie auf den Empfangsdioden 3 einen scharf begrenzten Lichtpunkt 5 erzeugen. Die Empfangsdiode 3 weist eine senkrecht zum Lichtstrahl 2 ange­ ordnete Empfangsfläche 6 auf. Im Ruhezustand der Anordnung ist der Lichtpunkt 5 in der Mitte der Fläche 6, die Nullpunkt eines gedachten Koordinatensystems mit der Abszisse x und der Ordinate y ist. Die Bestimmung des Ortes des Lichtpunktes 5 im Koordinatensystem kann z. B. so durchgeführt werden, daß der Stromverlauf über die Fläche 6 gemessen und integriert wird, wodurch eine Schwerpunktsbestimmung der Ausleuchtung erfolgt. . In the schematic diagram of Figure 1 to send three transmitting diodes 1 arranged spatially uniform another, are each a light beam 2 of a coherent light source - for example, a laser light source - in each case oppositely brought receiving diodes 3. The light beams 2 are focused by lenses 4 so that they produce a sharply delimited light spot 5 on the receiving diodes 3 . The receiving diode 3 has a receiving surface 6 arranged perpendicular to the light beam 2 . When the arrangement is at rest, the light point 5 is in the middle of the surface 6 , which is the zero point of an imaginary coordinate system with the abscissa x and the ordinate y . The determination of the location of the light point 5 in the coordinate system can, for. B. be carried out so that the current profile over the surface 6 is measured and integrated, thereby determining the center of gravity of the illumination.

In der vereinfacht dargestellten praktischen Ausführungsform einer Meßanordnung 10 sind drei Sendedioden 1 auf dem Mantel eines Meßkegels 11, der einen Kegelwinkel von 90° aufweist, so angeordnet, daß sie auf einer zu der Grundfläche des Kegels 11 parallelen Ebene 11 a in glei­ chen Abständen liegen. Die Achsen der Sendedioden 1 treffen sich dabei in einem Punkt 11 b auf der Kegelachse 11 c. Gegenüber den Sendedioden 1 sind die Empfangsdioden 3 an einem Meßkäfig 12 angebracht, der den Meßkegel 11 umschließt. Der Meßkegel 11 wird durch sowohl am Meßkä­ fig 12 als auch am Meßkegel 11 befestigte, die Sendedioden 1 und die Empfangsdioden 3 umhüllende Federbälge 13 elastisch in annähernder Null­ lage gehalten. In der Gesamtdarstellung der Meßanordnung 10 in der Fig. 2 ist eine der Meßkomponenten, bestehend aus der Sendediode 1, der Empfangsdiode 3 und dem Federbalg 13, der Anschaulichkeit halber um 60° versetzt dargestellt. In the simplified practical embodiment shown of a measuring arrangement 10 are three transmit diode 1 on the jacket of a Meßkegels 11 having a cone angle of 90 °, so arranged as to a lie in sliding surfaces intervals on a plane parallel to the base of the cone 11 Level 11 . The axes of the transmitter diodes 1 meet at a point 11 b on the cone axis 11 c . Compared with the transmitting diodes 1, the receiving diodes 3 are mounted on a measuring cage 12 which surrounds the measuring cone. 11 The measuring cone 11 is held by both on the Meßkä fig 12 and on the measuring cone 11 , the transmitting diodes 1 and the receiving diodes 3 enveloping bellows 13 elastically held in approximately zero position. In the overall representation of the measuring arrangement 10 in FIG. 2, one of the measuring components, consisting of the transmitter diode 1 , the receiver diode 3 and the bellows 13 , is shown offset by 60 ° for the sake of clarity.

Die Meßanordnung wird von einem allseitig bewegbaren Handhabungsge­ rät 14 gehalten, das mit Greifern 15 a einer Kupplung 15 einen hinte­ ren Flansch 11 d des Meßkegels 11 umfaßt. Zur Vermeidung von Beschädi­ gungen der Meßanordnung 10 beim automatischen Heranfahren der Greifer 15 a an den Flansch 11 d ist an dem Meßkäfig 12 ein Schutzring 9 ange­ setzt, der mit einem Labyrinth zur Positionseinfädelung versehen ist und der bei Berührung durch den Greifer 15 a eine Stromunterbrechung in der Steuerung des Handhabungsgerätes 14 veranlaßt. Wenn nun bei der Überprüfung des Referenzpunktes oder bei einer Fehlersuche in der Steuerung des Handhabungsgerätes 14 der Meßkegel 11 sich außerhalb der Nullage befindet, treffen die Lichtstrahlen 2 von einer oder meh­ reren Sendedioden 1 nicht mehr auf den Koordinatenmittelpunkt der Fläche 6 der zugehörigen Empfangsdioden 3. Es werden dann Signale von den Empfangsdioden 3 über Leitungen 16 zu einer Auswerteeinheit 17 übertragen und je Empfangsdiode 3 zu x-, y-Koordinaten entspre­ chend der Stellung des jeweiligen Lichtpunktes 5 auf der Fläche 6 um­ gewandelt (siehe auch Fig. 1). Die ermittelten x-, y-Koordinaten werden daraufhin an einen Auswerterechner 18 übertragen, der aus dem durch die Koordinaten x und y gegebenen Istzustand der Stellungen der Sendedioden 1 Translationsvektoren für eine Koordinaten-Korrektur er­ mittelt und die Korrekturwerte über eine Leitung 22 in eine Steuer­ einheit 21 eingibt, die die Kupplung 15 über eine Leitung 23 und von dieser über mechanische Mittel zu einer Korrekturbewegung des Meß­ kegels 11 veranlaßt. Dieser Korrekturvorgang wiederholt sich so oft, bis die exakte Nullage des Meßkegels 11 oder zumindest ein vorge­ gebenes Toleranzfeld um die Nullage erreicht ist. Die Sendedioden 1 können auch von einer in der Greiferkupplung 15 angeordneten kohärenten Lichtquelle 20 ersetzt werden.The measuring arrangement is advised by a manipulator 14 which can be moved on all sides and which, with grippers 15 a of a coupling 15, comprises a rear flange 11 d of the measuring cone 11 . To avoid damage to the measuring arrangement 10 during the automatic approach of the gripper 15 a to the flange 11 d , a protective ring 9 is placed on the measuring cage 12 , which is provided with a labyrinth for threading the position and which has a current interruption when touched by the gripper 15 a caused in the control of the handling device 14 . If the measuring cone 11 is now outside the zero position when checking the reference point or when troubleshooting the control of the handling device 14 , the light beams 2 from one or more transmitting diodes 1 no longer strike the coordinate center of the surface 6 of the associated receiving diodes 3 . Signals are then transmitted from the receiving diodes 3 via lines 16 to an evaluation unit 17 and converted for each receiving diode 3 to x, y coordinates corresponding to the position of the respective light spot 5 on the surface 6 (see also FIG. 1). The determined x, y coordinates are then transmitted to an evaluation computer 18 , which determines translation vectors for a coordinate correction from the actual state of the positions of the transmitter diodes 1 given by the coordinates x and y , and the correction values via a line 22 into a control Unit 21 enters the clutch 15 via a line 23 and from this via mechanical means for a corrective movement of the measuring cone 11 . This correction process is repeated until the exact zero position of the measuring cone 11 or at least a pre-given tolerance range around the zero position is reached. The transmission diodes 1 can also be replaced by a coherent light source 20 arranged in the gripper coupling 15 .

Claims (9)

1. Optoelektronische Meßanordnung zur Ermittlung der relativen Lage eines Meßkörpers gegenüber einem Referenzkörper aus den Signalen positionsempfindlicher Empfangsdioden, denen jeweils eine Lichtquelle zugeordnet ist und wobei die Zahl der erfaßbaren Freiheitsgrade von der Zahl der positionsempfindlichen Empfangsdioden abhängt, gekennzeichnet durch drei am Referenzkörper (12) angeordnete, jeweils zweidimensional messende und durch ihre Flächennormale ein räumliches Koordinatensystem aufspannende positionsempfindliche Empfangsdioden (3) auf die im Ruhezustand der Meßanordnung vom Meßkörper (11) aus drei Lichtbündel (2) senkrecht gerichtet sind und aus deren Signalpaaren (x′, y′) sechs Lagesignale entsprechend den sechs Freiheitsgraden des Meßkörpers (11) angebbar sind.1.Optoelectronic measuring arrangement for determining the relative position of a measuring body relative to a reference body from the signals of position-sensitive receiving diodes, to which a light source is assigned in each case and the number of degrees of freedom that can be determined depends on the number of position-sensitive receiving diodes, characterized by three on the reference body ( 12 ) Position-sensitive receiving diodes ( 3 ), each measuring two-dimensionally and spanning a spatial coordinate system due to their surface normal, which are directed perpendicularly from the measuring body ( 11 ) from three light beams ( 2 ) in the idle state of the measuring arrangement and from their signal pairs (x ′, y ′) six position signals can be specified in accordance with the six degrees of freedom of the measuring body ( 11 ). 2. Meßanordnung nach Anspruch 1, gekennzeichnet durch Laserdioden zur Erzeugung der Lichtstrahlen (2) oder durch eine kohärente Lichtquelle (20), deren Licht durch Lichtleiter oder Lichtleiter-Optiken zu den Empfangsdioden (3) geleitet wird.2. Measuring arrangement according to claim 1, characterized by laser diodes for generating the light beams ( 2 ) or by a coherent light source ( 20 ), the light of which is guided through optical fibers or optical fiber optics to the receiving diodes ( 3 ). 3. Meßanordnung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Empfangsdioden (3) in einem um den Meßkörper (11) herum befindlichen, als Referenzkörper dienenden Meßkäfig (12) angeordnet sind und im Ruhezustand der Meßanordnung die optische Achse der Lichtbündel (2) jeweils mit einer Koordinatenachse zusammenfällt, die durch den Mittelpunkt der dieser Koordinatenachse zugeordneten Empfangsdiode (3) geht.3. Measuring arrangement according to claim 1 or 2, characterized in that the receiving diodes ( 3 ) in a around the measuring body ( 11 ) located, serving as a reference body measuring cage ( 12 ) are arranged and in the idle state of the measuring arrangement, the optical axis of the light beams ( 2nd ) each coincides with a coordinate axis that passes through the center of the receiving diode ( 3 ) assigned to this coordinate axis. 4. Meßanordnung nach Anspruch 1, dadurch gekennzeichnet, daß die Empfangsdioden (3) Quadranten-, Matrix- oder Lateraleffektdioden sind.4. Measuring arrangement according to claim 1, characterized in that the receiving diodes ( 3 ) are quadrant, matrix or lateral effect diodes. 5. Meßanordnung nach Anspruch 1, dadurch gekennzeichnet, daß der Meßkörper (11) und der Meßkäfig (12) durch elastische Elemente miteinander verbunden sind.5. Measuring arrangement according to claim 1, characterized in that the measuring body ( 11 ) and the measuring cage ( 12 ) are interconnected by elastic elements. 6. Meßanordnung nach Anspruch 5, dadurch gekennzeichnet, daß die elastischen Elemente jeweils gegenüberliegende Lichtsender (1) und Empfangsdioden (3) staub- und wasserdicht umschließende Federbälge (13) sind.6. Measuring arrangement according to claim 5, characterized in that the elastic elements are opposite light emitters ( 1 ) and receiving diodes ( 3 ) dust and waterproof enclosing bellows ( 13 ). 7. Meßanordnung nach den Ansprüchen 1 bis 6, dadurch gekennzeichnet, daß an dem Meßkörper (11) ein Handgriff angeordnet ist und die von den Empfangsdioden (3) erzeugten, eine Translation und eine Rotation darstellenden drei Signalpaare (x′, y′) zur Fernsteuerung eines Handhabungsgerätes (14) dienen.7. Measuring arrangement according to claims 1 to 6, characterized in that a handle is arranged on the measuring body ( 11 ) and the generated by the receiving diodes ( 3 ), a translation and a rotation representing three signal pairs (x ', y') for Serve remote control of a handling device ( 14 ). 8. Meßanordnung nach den Ansprüchen 1 bis 6, dadurch gekennzeichnet, daß an dem Meßkörper (11) ein Flansch ( 11 d) für den Eingriff einer Kupplung oder eines Greifers (15 a) eines mehrachsigen Handhabungsgerätes (14) angeordnet ist. 8. Measuring arrangement according to claims 1 to 6, characterized in that a flange ( 11 d) for the engagement of a coupling or a gripper ( 15 a) of a multi-axis handling device ( 14 ) is arranged on the measuring body ( 11 ). 9. Meßanordnung nach Anspruch 8, dadurch gekennzeichnet, daß die von den Empfangsdioden (3) erzeugten drei Signalpaare (x′, y′) durch eine Auswerteinheit (17) und einen Auswertrechner (18) zu Korrekturenwerten umgerechnet und einer mehrachsigen Steuereinheit (21) des Handhabungsgerätes (14) zugeführt werden.9. Measuring arrangement according to claim 8, characterized in that the three signal pairs (x ', y' ) generated by the receiving diodes ( 3 ') are converted by an evaluation unit ( 17 ) and an evaluation computer ( 18 ) to correction values and a multi-axis control unit ( 21 ) of the handling device ( 14 ) are supplied.
DE19833314089 1983-04-19 1983-04-19 Measuring arrangement for identifying the position of a point Granted DE3314089A1 (en)

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DE19833314089 DE3314089A1 (en) 1983-04-19 1983-04-19 Measuring arrangement for identifying the position of a point

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DE19833314089 DE3314089A1 (en) 1983-04-19 1983-04-19 Measuring arrangement for identifying the position of a point

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DE3314089A1 DE3314089A1 (en) 1984-10-25
DE3314089C2 true DE3314089C2 (en) 1987-10-15

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DE4129829A1 (en) * 1991-09-07 1993-03-11 Brodhag Angelika Automatic unloading appts. for bar-shaped food products - positions grippers on defined surfaces of bar, automatically removes bar from stack and places it at defined position
DE4239389A1 (en) * 1992-11-24 1994-05-26 Zam Ev Optical position-measuring device with fluorescent light guide track - employs stationary LED and flexible light guide for excitation of mobile source of fluorescence measured at each end for comparison
DE4302434A1 (en) * 1993-01-29 1994-08-04 Hans Richter Determining relative position between two structural parts
DE4308456A1 (en) * 1993-03-17 1994-09-22 Ems Technik Gmbh Device for determining the position of a positioning body relative to a reference body
DE4409530A1 (en) * 1993-03-19 1994-10-06 Basys Ges Fuer Anwender Und Sy Contactlessly operating measuring device for six degrees of freedom, and its use to determine the two-dimensionally defined location of a measuring element
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DE10158775A1 (en) * 2001-11-30 2003-06-26 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
DE10158777A1 (en) * 2001-11-30 2003-06-26 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
DE10302048B3 (en) * 2003-01-21 2004-09-16 Daimlerchrysler Ag Optical sensor for use in industrial measurement environments has a light shield in the form of brushes arranged around the sensor to shut out interference light and closely match the surface of an object to be measured
DE102006016677A1 (en) * 2006-04-08 2007-10-11 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Object`s e.g. solid object, geometrical characteristics e.g. surface forms of component range, measuring method, involves converting relative measuring data under consideration of detected spatial position of one of reference objects

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DE4108388C2 (en) * 1991-03-15 2000-10-12 Wabco Gmbh & Co Ohg Device for contactless detection of at least two positions of a switching element
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DE4129829A1 (en) * 1991-09-07 1993-03-11 Brodhag Angelika Automatic unloading appts. for bar-shaped food products - positions grippers on defined surfaces of bar, automatically removes bar from stack and places it at defined position
DE4239389A1 (en) * 1992-11-24 1994-05-26 Zam Ev Optical position-measuring device with fluorescent light guide track - employs stationary LED and flexible light guide for excitation of mobile source of fluorescence measured at each end for comparison
DE4302434A1 (en) * 1993-01-29 1994-08-04 Hans Richter Determining relative position between two structural parts
DE4308456A1 (en) * 1993-03-17 1994-09-22 Ems Technik Gmbh Device for determining the position of a positioning body relative to a reference body
DE4409530A1 (en) * 1993-03-19 1994-10-06 Basys Ges Fuer Anwender Und Sy Contactlessly operating measuring device for six degrees of freedom, and its use to determine the two-dimensionally defined location of a measuring element
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DE10158775A1 (en) * 2001-11-30 2003-06-26 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
DE10158777A1 (en) * 2001-11-30 2003-06-26 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
DE10158776A1 (en) * 2001-11-30 2003-06-26 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
DE10158777B4 (en) * 2001-11-30 2004-05-06 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
DE10158776B4 (en) * 2001-11-30 2004-05-13 3Dconnexion Gmbh Arrangement for detecting relative movements or relative positions of two objects
US6753519B2 (en) 2001-11-30 2004-06-22 3Dconnexion Gmbh Arrangement for the detection of relative movements or relative positions of two objects
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DE10302048B3 (en) * 2003-01-21 2004-09-16 Daimlerchrysler Ag Optical sensor for use in industrial measurement environments has a light shield in the form of brushes arranged around the sensor to shut out interference light and closely match the surface of an object to be measured
DE102006016677A1 (en) * 2006-04-08 2007-10-11 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Object`s e.g. solid object, geometrical characteristics e.g. surface forms of component range, measuring method, involves converting relative measuring data under consideration of detected spatial position of one of reference objects

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