US 12,066,808 B2
Parametric and modal work-holding method for automated inspection
Jonathan J. O'Hare, East Greenwich, RI (US); and Jonathan Dove, Woodstock, IL (US)
Assigned to Hexagon Metrology, Inc., North Kingstown, RI (US)
Filed by Hexagon Metrology, Inc., North Kingstown, RI (US)
Filed on Nov. 24, 2021, as Appl. No. 17/535,104.
Prior Publication US 2023/0161317 A1, May 25, 2023
Int. Cl. G05B 19/401 (2006.01); G01B 21/04 (2006.01)
CPC G05B 19/401 (2013.01) [G01B 21/047 (2013.01); G05B 2219/37193 (2013.01); G05B 2219/50391 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of sequentially delivering each workpiece of a plurality of workpieces, each workpiece being from a different family of workpieces, to a workholder to hold the workpiece during inspection by an inspection instrument of an inspection system, the inspection system comprising the inspection instrument, a robot having an end effector configured to grasp each workpiece, the robot disposed to move each workpiece directly to a measurement volume of the inspection instrument, and a control system in control communication with the robot, the method comprising:
providing a plurality of non-identical workpieces for inspection by the workpiece inspection system, each workpiece of the plurality of workpieces being from a different family of a plurality of families of workpieces;
providing a plurality of workpiece delivery rulesets, each ruleset of the plurality of workpiece delivery rulesets corresponding, respectively, to a family from the plurality of families of workpieces; and, for each such non-identical workpiece:
retrieving, from the plurality of workpiece delivery rulesets, a ruleset corresponding to the family of said workpiece, said corresponding ruleset comprising a set of parameters to automatically customize transfer of the workpiece to the workholder, said set of parameters including a parameter specifying an orientation of the end effector relative to the workpiece prior to grasping the workpiece for delivery to the workholder; and
sequentially, using the control system to:
(a) customize at least one of
the operation of the robot pursuant to the parameters of the corresponding ruleset to orient the end effector relative to the workpiece prior to grasping the workpiece with the end effector; and subsequently,
(b) operate the robot to deliver said non-identical workpiece to the workholder.