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WO2018120140A1 - Dispositif de marquage d'emplacement - Google Patents

Dispositif de marquage d'emplacement Download PDF

Info

Publication number
WO2018120140A1
WO2018120140A1 PCT/CN2016/113773 CN2016113773W WO2018120140A1 WO 2018120140 A1 WO2018120140 A1 WO 2018120140A1 CN 2016113773 W CN2016113773 W CN 2016113773W WO 2018120140 A1 WO2018120140 A1 WO 2018120140A1
Authority
WO
WIPO (PCT)
Prior art keywords
coordinate
predetermined
sensing component
robot tool
robot
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.)
Ceased
Application number
PCT/CN2016/113773
Other languages
English (en)
Chinese (zh)
Inventor
蒋华
刘子雨
马鑫
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.)
Shenzhen A&E Intelligent Technology Institute Co Ltd
Original Assignee
Shenzhen A&E Intelligent Technology Institute Co Ltd
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.)
Filing date
Publication date
Application filed by Shenzhen A&E Intelligent Technology Institute Co Ltd filed Critical Shenzhen A&E Intelligent Technology Institute Co Ltd
Priority to CN201680086651.4A priority Critical patent/CN109311161B/zh
Priority to PCT/CN2016/113773 priority patent/WO2018120140A1/fr
Publication of WO2018120140A1 publication Critical patent/WO2018120140A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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

Definitions

  • the present invention relates to the field of robot technology, and in particular, to a position calibration device.
  • industrial robots are gradually applied in the operations of making holes, riveting and assembling parts such as airplanes and automobiles.
  • production efficiency can be greatly improved, product quality and consistency can be ensured, and production cycles can be shortened.
  • the application of industrial robots has become a new trend in industrial automation.
  • Industrial robots perform various tasks by installing different tools at the end, and the accuracy of the tool coordinate system of each tool directly affects the trajectory accuracy of the robot.
  • the calibration of most industrial robot tool coordinate systems adopts the tool verification method, that is, the robot touches a certain position point with different postures, records the change matrix of the end coordinate system to the base coordinate system in different postures, and calculates the tool center point. Relative to the position of the end coordinate system.
  • the detection methods of the detection robot touching a certain point in different postures mainly include: 1) visually determining whether the tool tip is in contact with the fixed point; 2) using a laser tracker to determine whether to contact the fixed point; 3) using an industrial camera Help determine if it is in contact with a fixed point.
  • the first method will produce a large error due to various factors such as the light environment and the operator's vision; the second and third methods can improve the accuracy of the judgment, but the cost is very high, in many It is not practical in the case.
  • the technical problem mainly solved by the present invention is to provide a position calibration device capable of accurately calibrating the tool coordinate system of the robot and ensuring the trajectory accuracy of the robot.
  • a technical solution adopted by the present invention is to provide a position calibration device, including:
  • a first sensing component sensing whether the robot tool reaches a predetermined first coordinate
  • a second sensing component sensing whether the robot tool reaches a predetermined second coordinate
  • a control component electrically connected to the first sensing component and the second sensing component, wherein the first sensing component senses that the robot tool reaches a predetermined first coordinate, and the second transmission When the sensing component senses that the robot tool reaches a predetermined second coordinate, determining that the robot tool has reached a predetermined position point; wherein the first coordinate and the second coordinate together constitute a three-dimensional position of the position point coordinate.
  • the first coordinate is a two-dimensional coordinate of the three-dimensional coordinates of the position point
  • the second coordinate is another one-dimensional coordinate of the three-dimensional coordinate of the position point.
  • At least one of the first sensing component and the second sensing component is a non-contact sensing component.
  • the first sensing component includes a photoelectric sensing component, and the photoelectric sensing component includes a light source emitter and a light sensor, and the light source emitter is spaced apart from the light sensor;
  • the light source emitter emits a light beam having a diffusion angle smaller than a predetermined value, and when the light sensor does not sense the light beam, the control component determines that the robot tool reaches a predetermined first coordinate.
  • the second sensing component comprises a displacement sensor, one end of the displacement sensor being fixed relative to the light source emitter or the light sensor, when the robot tool reaches a predetermined first coordinate and along the light beam
  • the control component determines that the robot tool reaches a predetermined second coordinate.
  • the device further comprises:
  • An upper base, the light source emitter is fixed to a center of an upper surface of the upper base, and is covered by a transparent casing; the displacement sensor is fixed to a center of a lower surface of the upper base;
  • the guiding rod is vertically disposed between the lower surface of the upper base and the upper surface of the lower base, and one end of the guiding rod is fixed to the upper surface of the lower base.
  • the control component further includes a first indicator light and a second indicator light, and when it is determined that the robot tool reaches a predetermined first coordinate, controlling the first indicator light to emit light, and determining that the robot tool arrives The second indicator light is controlled to emit light when the second coordinate is predetermined.
  • the control component is electrically coupled to the control cabinet of the robot.
  • the control component determines that the robot tool reaches a predetermined first coordinate
  • the control component issues an instruction to the control cabinet of the robot.
  • the cabinet controls the robot tool to stop moving.
  • the two ends of the guiding rod are respectively fixed to the upper surface of the upper base and the upper surface of the lower base;
  • the middle of the guiding rod is provided with a partition, and a reset spring is disposed on the sleeve for resetting the upper base after the position calibration is completed;
  • the guide bars have at least two.
  • the upper surface of the upper base is provided with a hole or a groove having an inner diameter matching the outer diameter of the guide rod, and the other end of the guide rod penetrates the hole or the groove such that the upper base is at Sliding on the guide rod;
  • the guide rod is sleeved with a spring for resetting the upper base after the position calibration is completed;
  • the guide bars have at least two.
  • the device further comprises a housing for protecting the first sensing component and the second sensing component.
  • the invention provides a position calibration device, by using the cooperation of the first sensing component and the second sensing component, using the first coordinate and the second coordinate to accurately determine whether the robot reaches a certain position, thereby Accurately calibrate the robot's tool coordinate system to ensure the trajectory accuracy of the robot.
  • FIG. 1 is a schematic structural view of an embodiment of a position calibration device of the present invention
  • Figure 2 is a bottom cross-sectional view showing an embodiment of the position calibration device of the present invention
  • FIG. 3 is a schematic structural view of an embodiment of a position calibration device of the present invention.
  • FIG. 4 is a schematic structural view of a control component of an embodiment of a position calibration device of the present invention.
  • Figure 5 is a cross-sectional view showing a guide rod of an embodiment of the position calibration device of the present invention.
  • Figure 6 is a schematic structural view of an embodiment of a position calibration device of the present invention.
  • Figure 7 is a schematic structural view of another embodiment of the position calibration device of the present invention.
  • Figure 8 is a block diagram showing another embodiment of the position calibration device of the present invention.
  • an embodiment of a position calibration device of the present invention includes:
  • the first sensing component 10 senses whether the robot tool reaches a predetermined first coordinate
  • a second sensing component 20 sensing whether the robot tool reaches a predetermined second coordinate
  • the control component 30 is electrically connected to the first sensing component 10 and the second sensing component 20, and the first sensing component 10 senses that the robot tool reaches a predetermined first coordinate, and the second sensing component 20 senses When the robot tool reaches the predetermined second coordinate, it is determined that the robot tool has reached a predetermined position point; wherein the first coordinate and the second coordinate together constitute a three-dimensional coordinate of the position point.
  • the first coordinate is one of two-dimensional coordinates in the three-dimensional coordinates of the position point
  • the second coordinate is another one-dimensional coordinate in the three-dimensional coordinates of the position point.
  • At least one of the first sensing component 10 and the second sensing component 20 is a non-contact sensing component.
  • the first sensing component 10 includes a photoelectric sensing component
  • the photoelectric sensing component includes a light source emitter 101 and a light sensor 102.
  • the light source emitter 101 is spaced apart from the light sensor 102; wherein the light source emits
  • the device 101 emits a light beam having a diffusion angle smaller than a predetermined value.
  • the control unit 30 determines that the robot tool reaches the predetermined first coordinate.
  • the second sensing component 20 includes a displacement sensor. One end of the displacement sensor is fixed relative to the light source emitter 101.
  • the control component 30 determines. The predetermined second coordinate is reached for the robot tool.
  • the light source emitter 101 may also be a laser emitter or other sensor capable of positioning the first coordinate; the displacement sensor may also be a distance measuring or sensing sensor such as a light spot sensor or a pressure sensor.
  • the embodiment of the position calibration apparatus of the present invention further includes:
  • the upper base 40, the light source emitter 101 is fixed to the center of the upper surface of the upper base 40, and is covered by a transparent casing 401; the displacement sensor 20 is fixed to the center of the lower surface of the upper base 40;
  • the guiding rod 60 is vertically disposed between the lower surface of the upper base 40 and the upper surface of the lower base 50, and one end of the guiding rod 60 is fixed to the upper surface of the lower base 50.
  • the position of the light source emitter and the light sensor are interchangeable, that is, the light sensor is disposed at the center of the upper surface of the upper base 40, and the light source emitter is disposed at a position outside the upper base 40 corresponding to the light sensor. .
  • the control component 30 further includes a first indicator light 301 and a second indicator light 302.
  • the first indicator light 301 is controlled to emit light
  • the robot is determined to be
  • the second indicator light 302 is controlled to emit light.
  • the control component 30 is electrically coupled to the control cabinet 80 of the robot.
  • the control component 30 determines that the robot tool 701 reaches the predetermined first coordinate
  • the control component 30 issues an instruction to the control cabinet 80 of the robot to control.
  • the robot tool 701 pushes the upper base 40 to move in the direction of the beam.
  • the control unit 30 issues an instruction to the control cabinet 80 of the robot to control the robot tool 701 to stop moving.
  • the light source emitter 101 at the center of the upper surface of the upper base 40 emits a light beam having a diffusion angle smaller than a predetermined value, passes through the transparent casing 401, is received by the light sensor 102, and is formed on the transparent casing 401.
  • the robot 70 moves from the direction to the calibration device from any direction, so that the light beam emitted from the robot tool 701 to the light source emitter 101 approaches, and when the robot tool 701 will contact the light spot (the naked eye determines that the robot tool 701 is in contact with the light spot, it is not necessarily Contacting) blocks the light beam.
  • the control component 30 determines that the robot tool 701 reaches the predetermined first coordinate, controls the first indicator light 301 to emit light, and issues an instruction to the IO of the robot control cabinet 80.
  • the end moves the upper base 40 in the direction of the beam by the control robot tool 701; when the displacement sensor 101 detects that the robot tool 701 pushes the upper base 40 to move by a predetermined distance, the control component 30 determines that the robot tool 701 reaches the predetermined second coordinate, The second indicator light 302 is controlled to emit light, and an instruction is issued to the IO end of the robot control cabinet 80 to control the robot tool 701 to stop moving to complete the position calibration.
  • the movement of the robot tool 701 in the direction of the beam reaches the second coordinate in order to eliminate possible gaps between the robot 70 and the upper base 40.
  • the guide bar 60 resets the upper base 40 and waits for the next calibration.
  • control component 30 can send control commands via the PLC of robot control cabinet 80.
  • the robot control cabinet 80 may be disposed on the robot 70, and the control assembly 30 may also be disposed on the upper base 40 or the lower base 50 of the calibration device.
  • the guide rod 60 includes an intermediate fixing rod and an outer spring.
  • the middle portion of the fixing rod is provided with a partition to provide a space for the upper base 40 to move; and an external spring is used to reset the upper base 40 after the position calibration is completed.
  • the position calibration device further includes a housing 90, the upper base 40, the guide rod 60 and the lower base 50 are disposed within the housing 90, for the first sensing assembly 10 and the second sensing assembly 20 To protection.
  • another embodiment of the position calibration device of the present invention includes:
  • first sensing component 10 a first sensing component 10
  • second sensing component 20 a control component 30, an upper base 400, a lower base 50, and a guide bar 600, wherein the first sensing component 10, the second sensing component 20, and the control component 30
  • the structure and function of the lower base 50 are the same as those of the first sensing component, the second sensing component, the control component and the lower base in the above embodiment of the position calibration device, and are not described herein again.
  • four guide bars 600 are disposed, and are evenly distributed around the displacement sensor 20; the lower surface of the upper base 400 is provided with a hole or slot 402 having an inner diameter matching the outer diameter of the guide bar 600, the hole or The slot 402 extends through the upper base 400; one end of the guide rod 600 is fixed to the upper surface of the lower base 50, and the other end of the guide rod 600 penetrates the upper base 400 to slide the upper base 400 on the guide rod 600.
  • the guide rod 600 is sleeved with a spring for resetting the upper base 400 after the position calibration is completed.
  • the lower surface of the upper base 400 is provided with a hole or slot 402 having an inner diameter matching the outer diameter of the guide rod 600, and the hole or groove 402 in the upper base 400 is deep but does not penetrate the upper base 400.
  • One end of the guiding rod 600 is fixed to the upper surface of the lower base 50, and the other end of the guiding rod 600 is deeped into the upper base 400 to slide the upper base 400 on the guiding rod 600, and the length of the hole or slot 402 of the upper base 400
  • the difference in length from the portion of the guide bar 600 that is located in the hole or slot 402 is greater than the distance that the upper base 400 moves in the direction of the beam.
  • the embodiment of the present invention provides a position calibration device, by using the cooperation of the first sensing component and the second sensing component, using the first coordinate and the second coordinate to accurately determine whether the robot reaches a certain position, Thereby the robot's tool coordinate system is more accurately calibrated to ensure the trajectory accuracy of the robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de marquage d'emplacement comprenant un premier ensemble capteur (10) permettant de détecter si un outil robotique (701) a atteint des premières coordonnées pré-configurées ; un second ensemble capteur (20) permettant de détecter si l'outil robotique (701) a atteint des secondes coordonnées pré-configurées ; et un ensemble de commande (30) permettant de déterminer si l'outil robotique (701) a atteint un point d'emplacement pré-configuré. Le dispositif de marquage d'emplacement utilise les opérations combinées du premier ensemble capteur (10) et du second ensemble capteur (20) et utilise les premières coordonnées et les secondes coordonnées pour déterminer avec précision si l'outil robotique (701) a atteint un certain point d'emplacement, ce qui permet d'obtenir un marquage plus précis d'un système de coordonnées d'outil d'un robot (70) et de garantir la précision de la trajectoire du robot (70).
PCT/CN2016/113773 2016-12-30 2016-12-30 Dispositif de marquage d'emplacement Ceased WO2018120140A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680086651.4A CN109311161B (zh) 2016-12-30 2016-12-30 一种位置标定装置
PCT/CN2016/113773 WO2018120140A1 (fr) 2016-12-30 2016-12-30 Dispositif de marquage d'emplacement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/113773 WO2018120140A1 (fr) 2016-12-30 2016-12-30 Dispositif de marquage d'emplacement

Publications (1)

Publication Number Publication Date
WO2018120140A1 true WO2018120140A1 (fr) 2018-07-05

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PCT/CN2016/113773 Ceased WO2018120140A1 (fr) 2016-12-30 2016-12-30 Dispositif de marquage d'emplacement

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CN (1) CN109311161B (fr)
WO (1) WO2018120140A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110253552A (zh) * 2019-07-15 2019-09-20 昆山瑞航自动化设备科技有限公司 一种三轴多点定位方法及机构
US20250100150A1 (en) * 2023-09-26 2025-03-27 BACA Systems, LLC Automated tool center point calibration

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JP2011148045A (ja) * 2010-01-22 2011-08-04 Shinmaywa Industries Ltd ツール座標系の較正装置及び較正方法
CN102294695A (zh) * 2010-06-25 2011-12-28 鸿富锦精密工业（深圳）有限公司 机器人标定方法及标定系统
CN105818132A (zh) * 2016-03-31 2016-08-03 湖南化工职业技术学院 一种工业机器人吸盘式工具手标定定位方法
CN106113035A (zh) * 2016-06-16 2016-11-16 华中科技大学 一种六自由度工业机器人末端工具坐标系标定装置及方法
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US5400638A (en) * 1992-01-14 1995-03-28 Korea Institute Of Science And Technology Calibration system for compensation of arm length variation of an industrial robot due to peripheral temperature change
CN102706277B (zh) * 2012-05-25 2014-11-05 南京理工大学 一种基于全方位点约束的工业机器人在线零位标定装置及方法
CN104827480A (zh) * 2014-02-11 2015-08-12 泰科电子(上海)有限公司 机器人系统的自动标定方法
CN105945948B (zh) * 2016-05-25 2018-03-23 南京工程学院 一种应用于工业机器人的tcp在线快速标定方法及装置
CN206724895U (zh) * 2016-12-30 2017-12-08 深圳配天智能技术研究院有限公司 一种位置标定装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011148045A (ja) * 2010-01-22 2011-08-04 Shinmaywa Industries Ltd ツール座標系の較正装置及び較正方法
CN102294695A (zh) * 2010-06-25 2011-12-28 鸿富锦精密工业（深圳）有限公司 机器人标定方法及标定系统
CN105818132A (zh) * 2016-03-31 2016-08-03 湖南化工职业技术学院 一种工业机器人吸盘式工具手标定定位方法
CN205734940U (zh) * 2016-05-25 2016-11-30 南京工程学院 一种应用于工业机器人的tcp在线快速标定装置
CN106113035A (zh) * 2016-06-16 2016-11-16 华中科技大学 一种六自由度工业机器人末端工具坐标系标定装置及方法

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Publication number Publication date
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CN109311161A (zh) 2019-02-05

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