DEVICE AND METHOD FOR MEASURING OBJECTS

Abstract

A device for receiving an object for three-dimensional measurement includes at least one bearing point for bearing the object, the at least one bearing point being configured to limit the object movement in at least one degree of freedom of the object and the entirety of all used bearing points being configured to limit the object movement in exactly all degrees of freedom of the object.

Claims

1. A device for receiving an object for three-dimensional measurement, the device comprising: at least one bearing point for bearing the object, the at least one bearing point being configured to limit a movement of the object in at least one degree of freedom of the object and an entirety of all of the at least one bearing point being configured to limit the movement of the object in all degrees of freedom of the object.

2. The device according to claim 1, wherein the device is configured to receive the object through a plurality of bearing points, but only to a maximum of six bearing points, and wherein none of the plurality of bearing points restricts a same group of degrees of freedom.

3. The device according to claim 1, wherein the at least one bearing point are formed of balls, rollers, friction holders, linear bearings and/or elastic holders.

4. The device according to claim 1, wherein the at least one bearing point includes three similar roller supports arranged neither concentrically nor parallel to each other.

5. The device according to claim 1, wherein the at least one bearing point is configured to magnetically, electromagnetically, electrostatically and/or pneumatically bear the object at the at least one bearing point.

6. The device according to claim 1, wherein the at least one bearing point includes suction elements or microstructured surfaces.

7. A device for receiving an object for three-dimensional measurement, the device comprising: at least one bearing point for bearing the object, the at least one bearing point including an element for dispensing compressed air and a holding element.

8. The device according to claim 7, wherein the holding element is a suction element.

9. The device according to claim 7, wherein the holding element and the element for dispensing the compressed air are two separate elements.

10. The device according to claim 7, wherein the holding element and the element for dispensing the compressed air are formed in combination as one element.

11. The device according to claim 7, wherein the device has one or more linear and rotation axes for a total displacement of the device.

12. A method for receiving an object in a device, the method comprising the steps of: (a) receiving the object in the device having at least one bearing point formed to bear the object by a holding element and to dispense compressed air; (b) detaching the holding element from the at least one bearing point of the device and dispensing the compressed air at the at least one bearing point; (c) switching off the compressed air at the at least one bearing point and closing the holding element of the at least one bearing point; (d) repeating steps (b) and (c) for further bearing points formed to bear the object by the holding element and to dispense the compressed air.

13. A method for measuring an object, the method comprising: receiving the object in a device for receiving the object; three-dimensionally measuring the object; detecting bearing points of the device; and calculating a state without tension of the object from measurement data of the object and a position and orientation of bearing points.

14. The method according to claim 13, wherein the device for receiving the object includes at least one bearing point for bearing the object, the at least one bearing point being configured to limit a movement of the object in at least one degree of freedom of the object and an entirety of all of the at least one bearing point being configured to limit the movement of the object in all degrees of freedom of the object.

15. The method according to claim 13, wherein the receiving of the object in the device for receiving the object includes the steps of: (a) receiving the object in the device having at least one bearing point formed to bear the object by a holding element and to dispense compressed air; (b) detaching the holding element from the at least one bearing point of the device and dispensing the compressed air at the at least one bearing point; (c) switching off the compressed air at the at least one bearing point and closing the holding element of the at least one bearing point; (d) repeating steps (b) and (c) for further bearing points formed to bear the object by the holding element and to dispense the compressed air.

16. The method according to claim 13, wherein the position and orientation of the bearing points result from a detection of measured detectable features of the device.

17. The method according to claim 13, wherein the detecting of the bearing points and the three-dimensionally measuring of the object occur in the same process.

18. A measuring system comprising: a sensor for three-dimensional measurement of the object; the device for receiving the object, the device for receiving the object including the at least one bearing point for bearing the object, the at least one bearing point being configured to limit a movement of the object in at least one degree of freedom of the object and an entirety of all of the at least one bearing point being configured to limit the movement of the object in all degrees of freedom of the object; and the measuring system being configured to carry out the method according to claim 12.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The disclosure will now be described with reference to the drawings wherein:

[0035] FIG. 1 shows a component on a bearing point which holds in all 6 degrees of freedom;

[0036] FIG. 2 shows a component on three bearing points as 3-2-1 clamping;

[0037] FIG. 3 shows a component on six bearing points;

[0038] FIG. 4 shows a component on three bearing points as 2-2-2 clamping;

[0039] FIG. 5 shows a component on three bearing points as 2-2-2 clamping with a radial arrangement;

[0040] FIG. 6 shows a 3D view of a roller support with optically recordable features;

[0041] FIG. 7 shows a component holder with suction-pressure elements according to an exemplary embodiment of the disclosure; and

[0042] FIG. 8 shows a flow chart of a method for obtaining measurement data of an object in a state without tension according to an exemplary embodiment of the disclosure.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

[0043] FIG. 1 shows a schematic representation of a component 1 held at a bearing point 2. The component holder, here only symbolically indicated, blocks in the bearing point 2 exactly the six possible degrees of freedom of the component. At bearing point 2, displacements in all three directions as well as rotations about all three axes of rotation are prevented. For example, a bearing point 2 can be realized by clamping.

[0044] FIG. 2 symbolically shows a component 1, which is held in a component holder at three bearing points, whereby the bearing points 3, 4, and 5 each limit the component 1 in a different number of degrees of freedom. The movement limitations at the respective bearing points 3, 4, and 5 are symbolized by arrows.

[0045] Bearing point 3 limits component 1 in three degrees of freedom. For example, bearing point 3 is a rubberized bearing point. Component 1 is held at bearing point 3 in such a way that all displacements are prevented. However, component 1 can still rotate in all three space directions thanks to the remaining three degrees of rotational freedom. Due to the additional bearing of component 1 in bearing point 4, two further degrees of freedom are restricted. For example, bearing point 4 can be provided in the form of a roller support. Component 1 can only rotate around a rotation axis passing through bearing points 3 and 4. Bearing point 5 blocks the last remaining degree of freedom. An exemplary embodiment of such a bearing point 5 would be a stop or a ball bearing point.

[0046] FIG. 3 shows a schematic representation of a component 1, which is held at six bearing points 6, 7, 8, 9, 10, and 11 in a component holder. Each bearing point 6, 7, 8, 9, 10, and 11 is arranged in such a way that it suppresses a component movement in a direction symbolically represented by the arrows. Component 1 is limited in six degrees of freedom.

[0047] FIG. 4 shows a top view of a component 12 which is held in a component holder at three bearing points 13, 14, and 15. The bearing points 13, 14, and 15 in the schematic representation shown are arranged as differently sized rollers which can rotate around the dashed axes of rotation. Each of the bearing points 13, 14, and 15 restricts component 12 in two degrees of freedom.

[0048] FIG. 5 shows a further exemplary embodiment of a component holder in a top view. The component holder has three bearing points 16 in the form of rollers, whereby the rollers 16 in the shown example have the same size and are arranged radially to each other. The component 12 is received by the three bearing points 16, whereby the bearing points 16, here in the form of rollers, each limit two degrees of freedom of the component 12.

[0049] As shown in FIG. 6, the rollers 16 of the component holder are each held individually in a roller support 20 in a bearing holder 17 and are rotatable about an axis of rotation 19. It is particularly advantageous if each roller 16 is arranged in a separate roller support 20, whereby the individual rollers 16 of the component holder can easily be arranged in adapted positions depending on the size and shape of the component. The component holder shown as an example in FIG. 5 could then have three individual roller supports 20, which can be positioned variably relative to each other. If, for example, the component holder is intended to accommodate components of a similar shape over and over again, the individual roller supports 20 can also be firmly connected to each other, for example by a common bottom plate. The roller support 20 shown in FIG. 6 has reference features 18 in the form of reference marks on the bearing support 17. If the geometric data of the roller supports 20 including the rollers 16 and the reference features 18 are known, for example by optically measuring the roller supports 20, the rollers 16 and the reference features 18 in one measuring process, the position of the bearing point 16 can be inferred from a determination of the position of the reference features 18.

[0050] FIG. 7 shows another exemplary embodiment of a component holder. In the exemplary embodiment shown, the component holder has three bearing points 21, 22, and 23. These bearing points 21, 22, and 23 are equipped with suction elements 24. Via a suction line 27, a vacuum can be generated in the suction element 24 between the suction element 24 and the component. The suction line 27 is shown here only schematically as a supply to bearing point 21, 22, and 23 and can also continue further within bearing points 21, 22, and 23, for example up to the suction element 24. In addition, each bearing point 21, 22, and 23 has the possibility to dispense compressed air with the aid of a compressed air line 27. The compressed air strength can be regulated so that the component can hover during compressed air operation. The compressed air line 27 and the suction line 27 can be combined in the example shown and provided as internal lines. However, it is also possible to use separate lines, whereby these can be combined within the suction element 24, or the compressed air line 27 can also be located separately next to the suction element 24. The bearing points 21, 22, and 23 have reference features 18 in the form of reference marks. In the exemplary embodiment shown here, the bearing points 21, 22, and 23 also have joints 26, which make it possible to align the suction element 24 in a desired direction.

[0051] For measurement, the component is first placed arbitrarily on the suction elements 24 of the three bearing points 21, 22, and 23 and held in place with negative pressure. The vacuum is then switched off at a suction element 24, for example at bearing point 21, and compressed air is added instead. The component is brought into a hovered state above bearing point 21. By hovering the component on bearing point 21, any tension present at bearing points 22 and 23 can be balanced out. The component relieves. The compressed air is then switched off and a vacuum is generated again under the suction element 24 of bearing point 21. This process of alternating suction and hovering is then repeated for further bearing points, for example bearing point 22. This can be done for various bearing points 21, 22, and 23 until the component has reached a sufficiently relieved state. Then all suction elements 24 of the bearing points 21, 22, and 23 are activated and the measurement of the component can start. This holding state corresponds to a static determined bearing, since the suction elements 24 do not apply any additional forces other than those caused by gravity. It can be formulated as if the statically determined state (hovering on the suction cups) has been frozen.

[0052] Next, with reference to FIG. 8, the sequence of a method for obtaining measurement data of an object in a state without tension is to be explained as an example.

[0053] First (step S1) the object, for example a component, is received in a component holder. The component holder has at least one bearing point and is suitable for receiving the object in a defined low tension state. The component holder receives the component with the aid of the bearing points in such a way that object movements within the component holder are prevented, but no tensions are added into the object by the component holder.

[0054] In step S2, the object is measured three-dimensionally. Ideally, a component 12 that is held in a component holder, for example according to the principle of FIG. 5, would be without tension. In reality, however, a weight force acts on component 12. In a computational procedure, the influence of the weight force on component 12 can be calculated out of the measurement data of component 12 using simulation methods in order to obtain virtual measurement data of the component in a tension-free state. For this it is necessary to know the points of attack of the weight force. These points of attack can be determined with the help of the position of the bearing points, which is determined in step S3.

[0055] The steps S2 Measurement of the object and S3 Acquisition of the bearing points can also be carried out in reverse order or in the same measurement process.

[0056] In order to determine the position of the bearing points 16 and the measurement data in relation to each other particularly easily, it is advantageous to determine the position of the bearing points 16 directly during the measurement of the component 12. In order to make this procedure particularly simple, reference features 18 are attached to the bearing holder 17, as shown in FIG. 6. The reference features 18 shown in FIG. 6 in the form of reference marks are exemplary, other designs are conceivable. For example, the reference features 18 can be attached to the bearing holders 17 in various ways or can also be specially designed parts of the bearing holder 17, and the reference features 18 can also contain codings. For example, once the geometry data of the roller receiving 20 including the reference features 18, have been determined in a measuring process, it is sufficient to determine the reference characteristics 18 of the roller support from the known measuring dimensions of the roller support 20 to infer the roller 16 when measuring a component 12. This also applies, for example, to the bearing points 21, 22, 23 shown in FIG. 7. Here, if the geometry of the bearing points 21, 22, 23 is known, the position of the suction elements 24 and thus the points of attack of the weight force can be determined by determining the reference features 18.

[0057] With the help of computer-aided methods in step S4, a model of component 1 and 12 can then be calculated in a state without tension from the data obtained. This model can then be used to make further evaluations of component 1 and 12, such as sizes or distance measurements, or it can also serve as a basis, for example, to simulate a specially tensioned state of component 1 and 12.

[0058] For example, a state without tension of the object can be calculated from the measurement data, the positions and orientations of the bearing points, as well as a model of the component that is suitable for calculation, whereby the bearing points are recognized from the measurement data and corresponding local degrees of freedom limitations of the component are provided in a model.

[0059] It is understood that the foregoing description is that of the exemplary embodiments of the disclosure and that various changes and modifications may be made thereto without departing from the spirit and scope of the disclosure as defined in the appended claims.