CN104741297B - Consumable accessory apex coordinate means for correcting and bearing calibration - Google Patents
Consumable accessory apex coordinate means for correcting and bearing calibration Download PDFInfo
- Publication number
- CN104741297B CN104741297B CN201510163594.2A CN201510163594A CN104741297B CN 104741297 B CN104741297 B CN 104741297B CN 201510163594 A CN201510163594 A CN 201510163594A CN 104741297 B CN104741297 B CN 104741297B
- Authority
- CN
- China
- Prior art keywords
- axis
- consumable accessory
- plane
- intake
- point
- 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.)
- Active
Links
Abstract
The present invention relates to a kind of consumable accessory apex coordinate means for correcting and bearing calibration, consumable accessory apex coordinate means for correcting includes two visual identifying systems, two visual identifying systems correspond to an intake plane A and an intake plane B respectively, intake plane A and intake plane B are mutually perpendicular to, there is an a calibration point a and calibration point b respectively on intake plane A and intake plane B, vertical line l1 and l2, l1 are made from the intersection L of from calibration point a and calibration point b to intake plane A and intake plane B the point c absorbed on intersection L of the plane A with absorbing plane B is intersected at l2.The structure of the means for correcting of the present invention is simple, small volume, can be assemblied on automatic equipment, can be directly corrected after consumable accessory is changed；The time of correction is short, and correction accuracy is high；Described consumable accessory can be the syringe needle of point gum machine, the first-class part of the spot welding of mash welder.
Description
Technical field
The present invention relates to a kind of consumable accessory apex coordinate means for correcting and bearing calibration.
Background technology
In the technical field of automatic machines and equipment, the coordinate position of specific a certain device or part is particularly significant
, such as spot welding head of the syringe needle of point gum machine, mash welder etc., once deviation, whole flowing water work occur for the coordinate of these parts
The track of work will shift.But these critical components is often again part the most used in whole equipment, easily
Damage, consequently, it is frequently necessary to change.
Generally, these parts are all changed by hand, and the coordinate of these consumable accessorys is also to be aligned by human eye, therefore
Deviation can occur for the coordinate often and before replacing, and correction accuracy is not high.
The content of the invention
The technical problem to be solved in the present invention is：In order to overcome coordinate after consumable accessory replacing that deviation, human eye correction essence occurs
The not high deficiency of degree, the present invention provide a kind of consumable accessory apex coordinate means for correcting and bearing calibration.
The technical solution adopted for the present invention to solve the technical problems is：A kind of consumable accessory apex coordinate means for correcting, bag
Two visual identifying systems are included, two visual identifying systems correspond to an intake plane A and an intake plane B, the intake respectively
Plane A and intake plane B is intersecting and is mutually perpendicular to, and has a calibration point a and a school respectively on intake plane A and intake plane B
B on schedule, vertical line l1 is made from the intersection L of from calibration point a and calibration point b to intake plane A and intake plane B and l2, l1 intersect with l2
A point c on intersection Ls of the intake plane A with absorbing plane B.
The visual identifying system is arranged in a cuboid housing, the intake plane A and intake plane B respectively with length
The two neighboring plane of cube housing is parallel or overlaps.Housing can be protected to visual identifying system, at the same time it can also incite somebody to action
Background of the inwall of housing as visual identifying system, improve the precision of visual identity.
The housing is square.
A kind of point gum machine, there is syringe needle, be point also with described consumable accessory apex coordinate means for correcting, the consumable accessory
The syringe needle of glue machine.
Described point gum machine, the syringe needle are driven by drive mechanism, and the direction of motion of the drive mechanism includes x-axis, y
Three directions of axle and z-axis, x-axis, y-axis and z-axis are mutually perpendicular to two-by-two, the intake plane A and plane determined by x-axis and y-axis
Parallel, the intake plane B is parallel with z-axis, and vertical with intake plane A.
A kind of consumable accessory apex coordinate bearing calibration, using described consumable accessory apex coordinate means for correcting, consumable accessory leads to
Mechanism of overdriving drives, and the direction of motion of drive mechanism includes three directions of x-axis, y-axis and z-axis, the two-phase of x-axis, y-axis and z-axis two
Mutually vertical, intake plane A is parallel with plane determined by x-axis and y-axis, and intake plane B is parallel with z-axis, and is hung down with intake plane A
Directly；Comprise the following steps：
(1) consumable accessory is moved in the means for correcting of consumable accessory summit；
(2) summit of consumable accessory is moved to calibration point a surface, and calibration point b according to the coordinate of drive mechanism
Front；Now, the position corresponding to consumable accessory summit is the surface for the calibration point a that drive mechanism thinks, and school
B front on schedule.
(3) relative position on consumable accessory summit and calibration point a or calibration point b is constantly detected by visual identifying system, will
Consumable accessory summit is moved to calibration point a surface, and calibration point b front, record now consumable accessory summit respectively along x
The coordinate value of axle, y-axis and z-axis movement.
(4) motion-compensated values using the coordinate value of step (3) record as consumable accessory.
In step (3), consumable accessory summit is first moved to intake plane A calibration point a position along x-axis and y-axis direction,
Record moving coordinate value Δ x, Δ y；Then consumable accessory summit is moved to intake plane B central point b position along the z-axis direction,
Record moving coordinate value Δ z.
In step (4), moving coordinate value Δ x, Δ y and Δ z are motion-compensated values (Δ x, Δ y, the Δ of consumable accessory coordinate
z).J-th point of (Xj,Yj,Zj) coordinate after compensation is (Xj+ Δ x, Yj+ Δ y, Zj+Δz).Δ x, Δ y and Δ z carry positive losing side
To using the point at place after consumable accessory summit movement in step (2) as zero point o.
The invention has the advantages that consumable accessory apex coordinate means for correcting and the bearing calibration of the present invention, means for correcting
Structure it is simple, small volume, can be assemblied on automatic equipment, can be directly corrected after consumable accessory is changed；Correction
Time it is short, correction accuracy is high；Described consumable accessory can be the syringe needle of point gum machine, the first-class part of the spot welding of mash welder.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the consumable accessory apex coordinate means for correcting of the present invention.
In Fig. 1,1, housing.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As shown in figure 1, a kind of consumable accessory apex coordinate means for correcting of the present invention, including two visual identifying systems, two
Individual visual identifying system corresponds to an intake plane A and an intake plane B, the intake plane A respectively and intake plane B intersects and
It is mutually perpendicular to, there is an a calibration point a and calibration point b respectively on intake plane A and intake plane B, by calibration point a and calibration point
The intersection L of from b to intake plane A and intake plane B make vertical line l1 and l2, l1 and intersect at intake plane A with absorbing plane B's with l2
A point c on intersection L.
The visual identifying system is arranged in a cuboid housing 1, and the housing 1 in Fig. 1 is square.Absorb plane A
With intake plane B it is parallel with the two neighboring plane of cuboid housing 1 respectively or overlap.Housing 1 can be to visual identifying system
Protected, at the same time it can also the background using the inwall of housing 1 as visual identifying system, improve the precision of visual identity.
A kind of point gum machine, there is syringe needle and described consumable accessory apex coordinate means for correcting, the consumable accessory is point gum machine
Syringe needle, the syringe needle driven by drive mechanism, and the direction of motion of drive mechanism includes three directions of x-axis, y-axis and z-axis, x
Axle, y-axis and z-axis are mutually perpendicular to two-by-two, and intake plane A is parallel with plane determined by x-axis and y-axis, and intake plane B is put down with z-axis
OK, it is and vertical with intake plane A.
A kind of consumable accessory apex coordinate bearing calibration, using described consumable accessory apex coordinate means for correcting, consumable accessory leads to
Mechanism of overdriving drives, and the direction of motion of drive mechanism includes three directions of x-axis, y-axis and z-axis, the two-phase of x-axis, y-axis and z-axis two
Mutually vertical, intake plane A is parallel with plane determined by x-axis and y-axis, and intake plane B is parallel with z-axis, and is hung down with intake plane A
Directly；Comprise the following steps：
(1) consumable accessory is moved in the means for correcting of consumable accessory summit；
(2) summit of consumable accessory is moved to calibration point a surface, and calibration point b according to the coordinate of drive mechanism
Front；Now, the position corresponding to consumable accessory summit is the surface for the calibration point a that drive mechanism thinks, and school
B front on schedule.
(3) relative position on consumable accessory summit and calibration point a or calibration point b is constantly detected by visual identifying system, will
Consumable accessory summit is moved to calibration point a surface, and calibration point b front, record now consumable accessory summit respectively along x
The coordinate value of axle, y-axis and z-axis movement：Consumable accessory summit is first moved to intake plane A calibration point a along x-axis and y-axis direction
Position, record moving coordinate value Δ x, Δ y；Then consumable accessory summit is moved to intake plane B central point b along the z-axis direction
Position, record moving coordinate value Δ z.
(4) motion-compensated values using the coordinate value of step (3) record as consumable accessory：Moving coordinate value Δ x, Δ y and Δ z
As motion-compensated values (the Δ x, Δ y, Δ z) of consumable accessory coordinate.J-th point of (Xj,Yj,Zj) coordinate after compensation is (Xj+Δ
X, Yj+ Δ y, Zj+ Δ z), Δ x, Δ y and Δ z carry positive negative direction, with the point at place after consumable accessory summit movement in step (2)
For zero point o.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (8)
- A kind of 1. consumable accessory apex coordinate means for correcting, it is characterised in that：Including two visual identifying systems, two visual identitys Corresponding an intake plane A and an intake plane B, the intake plane A and intake plane B intersect and are mutually perpendicular to system respectively, There is an a calibration point a and calibration point b respectively on intake plane A and intake plane B, it is flat from calibration point a and calibration point b to intake Face A and intake plane B intersection L makees vertical line l1 and l2, l1 and intersected at l2 on intersection L of the intake plane A with absorbing plane B One point c.
- 2. the consumable accessory apex coordinate means for correcting as described in claim 1, it is characterised in that：The visual identifying system is set Put in a cuboid housing（1）It is interior, the intake plane A and intake plane B respectively with cuboid housing（1）It is two neighboring flat Face is parallel or overlaps.
- 3. the consumable accessory apex coordinate means for correcting as described in claim 2, it is characterised in that：The housing（1）For pros Body.
- 4. a kind of point gum machine, there is syringe needle, it is characterised in that：Also there is the consumable accessory as any one of claim 1-3 Apex coordinate means for correcting, the consumable accessory are the syringe needle of point gum machine.
- 5. point gum machine as claimed in claim 4, the syringe needle is driven by drive mechanism, the direction of motion of the drive mechanism Including three directions of x-axis, y-axis and z-axis, x-axis, y-axis and z-axis are mutually perpendicular to two-by-two, it is characterised in that：Intake the plane A and x Axle is parallel with plane determined by y-axis, and the intake plane B is parallel with z-axis, and vertical with intake plane A.
- 6. a kind of consumable accessory apex coordinate bearing calibration, it is characterised in that using easy as any one of claim 1-3 Part apex coordinate means for correcting is damaged, consumable accessory is driven by drive mechanism, and the direction of motion of drive mechanism includes x-axis, y-axis and z Three directions of axle, x-axis, y-axis and z-axis are mutually perpendicular to two-by-two, and intake plane A is parallel with plane determined by x-axis and y-axis, intake Plane B is parallel with z-axis, and vertical with intake plane A；Comprise the following steps：（1）Consumable accessory is moved in the means for correcting of consumable accessory summit；（2）The summit of consumable accessory is moved to calibration point a surface according to the coordinate of drive mechanism, and calibration point b is just Front；（3）The relative position on consumable accessory summit and calibration point a or calibration point b is constantly detected by visual identifying system, by rapid wear Part summit is moved to calibration point a surface, and calibration point b front, record now consumable accessory summit respectively along x-axis, y Axle and the coordinate value of z-axis movement；（4）By step（3）Motion-compensated values of the coordinate value of record as consumable accessory.
- 7. the consumable accessory apex coordinate bearing calibration as described in claim 6, it is characterised in that：Step（3）In, first by rapid wear Part summit moves to intake plane A calibration point a position, record moving coordinate value Δ x, Δ y along x-axis and y-axis direction；Then consumable accessory summit is moved to intake plane B central point b position, record moving coordinate value Δ z along the z-axis direction.
- 8. consumable accessory apex coordinate bearing calibration as claimed in claim 7, it is characterised in that：Step（4）In, moving coordinate value Δ x, Δ y and Δ z are the motion-compensated values of consumable accessory coordinate（Δ x, Δ y, Δ z）, j-th point（Xj,Yj,Zj）After compensation Coordinate is（Xj+ Δ x, Yj+ Δ y, Zj+Δz）, Δ x, Δ y and Δ z carry positive negative direction, with step（2）Middle consumable accessory summit is moved Point where after dynamic is zero point o.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510163594.2A CN104741297B (en) | 2015-04-08 | 2015-04-08 | Consumable accessory apex coordinate means for correcting and bearing calibration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510163594.2A CN104741297B (en) | 2015-04-08 | 2015-04-08 | Consumable accessory apex coordinate means for correcting and bearing calibration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104741297A CN104741297A (en) | 2015-07-01 |
| CN104741297B true CN104741297B (en) | 2018-01-16 |
Family
ID=53581879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510163594.2A Active CN104741297B (en) | 2015-04-08 | 2015-04-08 | Consumable accessory apex coordinate means for correcting and bearing calibration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104741297B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007045994B1 (en) * | 2005-10-19 | 2007-09-27 | Labcoat Ltd | Drop location verification system |
| CN101740348A (en) * | 2008-11-20 | 2010-06-16 | 先进自动器材有限公司 | Vision system for positioning a bonding tool |
| CN102538707A (en) * | 2011-12-13 | 2012-07-04 | 中科中涵激光设备（福建）股份有限公司 | Three dimensional localization device and method for workpiece |
| CN202533779U (en) * | 2012-03-01 | 2012-11-14 | 深圳众为兴技术股份有限公司 | Automatic correction device of dispensing machine |
| CN103792760A (en) * | 2014-01-14 | 2014-05-14 | 宁波舜宇光电信息有限公司 | Localization computing and position correction method for automatic focusing executive mechanism |
| CN104138825A (en) * | 2013-05-08 | 2014-11-12 | 冠伟科技股份有限公司 | Dispenser positioning method |
| CN204544662U (en) * | 2015-04-08 | 2015-08-12 | 常州铭赛机器人科技股份有限公司 | Consumable accessory apex coordinate means for correcting |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3967518B2 (en) * | 2000-03-06 | 2007-08-29 | 株式会社新川 | Offset measurement method, tool position detection method, and bonding apparatus |
-
2015
- 2015-04-08 CN CN201510163594.2A patent/CN104741297B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007045994B1 (en) * | 2005-10-19 | 2007-09-27 | Labcoat Ltd | Drop location verification system |
| CN101740348A (en) * | 2008-11-20 | 2010-06-16 | 先进自动器材有限公司 | Vision system for positioning a bonding tool |
| CN102538707A (en) * | 2011-12-13 | 2012-07-04 | 中科中涵激光设备（福建）股份有限公司 | Three dimensional localization device and method for workpiece |
| CN202533779U (en) * | 2012-03-01 | 2012-11-14 | 深圳众为兴技术股份有限公司 | Automatic correction device of dispensing machine |
| CN104138825A (en) * | 2013-05-08 | 2014-11-12 | 冠伟科技股份有限公司 | Dispenser positioning method |
| CN103792760A (en) * | 2014-01-14 | 2014-05-14 | 宁波舜宇光电信息有限公司 | Localization computing and position correction method for automatic focusing executive mechanism |
| CN204544662U (en) * | 2015-04-08 | 2015-08-12 | 常州铭赛机器人科技股份有限公司 | Consumable accessory apex coordinate means for correcting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104741297A (en) | 2015-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102017009939B4 (en) | Method and system for operating a mobile robot | |
| CN105345194B (en) | A kind of PCB pad localization methods based on machine vision | |
| CN205701313U (en) | A kind of three-shaft linkage positioning dispensing mechanism | |
| CN104175330B (en) | A kind of six joint industrial robot real-time servo tracking means based on aiming mechanism | |
| CN103990893B (en) | Mechanical type welding seam tracking device | |
| CN103154839B (en) | Correction method during feed shaft reversion | |
| CN103713579B (en) | A kind of industrial robot operation method | |
| CN108620782A (en) | The box shape steel structure scene all-position welding machine of view-based access control model servo | |
| CN103567695B (en) | Cylinder assembling device | |
| CN104602872A (en) | Work device | |
| CN106078029A (en) | A kind of welding manipulator operation platform and welding method | |
| CN212493722U (en) | Five-axis gluing equipment | |
| CN215030623U (en) | High-precision automatic height-adjusting high-speed dispenser | |
| CN104924096A (en) | Five-axis linkage bevel angle workbench | |
| CN201579538U (en) | Optical fiber transmission automatic laser welding system special for plate solar collector | |
| CN204544662U (en) | Consumable accessory apex coordinate means for correcting | |
| CN104741297B (en) | Consumable accessory apex coordinate means for correcting and bearing calibration | |
| CN103192399B (en) | A kind of micro-vision hand and eye calibrating system and method for based target motion | |
| CN104061888A (en) | Robot three-dimensional laser machining head TCP coordinate correcting method and device | |
| CN202741932U (en) | Four-axle numerically-controlled automobile fuel tank imitating seam welder | |
| CN203830884U (en) | Mechanical welded joint tracking device | |
| CN205380337U (en) | Vision soldering tin machine | |
| CN105954760A (en) | Automatic alignment method for tunnel heading machine | |
| CN205704171U (en) | A kind of planer-type welding robot | |
| CN205464817U (en) | Three -dimensional welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |