CN106607919B - Automatic positioning device and positioning method for robot remote tool coordinate posture - Google Patents
Automatic positioning device and positioning method for robot remote tool coordinate posture Download PDFInfo
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- CN106607919B CN106607919B CN201510706412.1A CN201510706412A CN106607919B CN 106607919 B CN106607919 B CN 106607919B CN 201510706412 A CN201510706412 A CN 201510706412A CN 106607919 B CN106607919 B CN 106607919B
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Abstract
The invention discloses a robot remote tool coordinate attitude automatic positioning device and a positioning method thereof, comprising a first test end arranged on a robot flange and a second test end arranged on a remote tool central point, wherein the first test end and the second test end are connected through a data line, the first test end consists of a gyroscope sensor and a laser sensor, the second test end is a gyroscope sensor, and the first test end and the second test end are finally connected with a robot terminal through the data line. The device for automatically positioning the attitude and the coordinate of the central point of the remote tool in a non-contact manner and the positioning method thereof greatly save labor and time, realize the full-automatic positioning of the coordinate and the attitude of the central point of the remote tool, liberate labor force and improve productivity.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot remote tool coordinate posture automatic positioning device and a positioning method thereof.
Background
Currently, in some robotic applications, remote tools are used, such as: grinding, polishing, deburring, and the like. As shown in fig. 1, the remote Tool is fixed on the ground and not mounted on the robot executing end, however, it is troublesome to position the posture of the remote Tool, and generally, the position of the Tool center Point (Tool center Point) is measured by a 4-Point method and then the posture of the Tool is determined, which is time-consuming and inaccurate in positioning the posture of the Tool. Therefore, if a simple and accurate method is found to locate the posture of the tool coordinate system, the debugging time of the robot can be shortened, and the production efficiency can be improved.
Disclosure of Invention
In order to overcome the defects, the invention provides the automatic positioning device for the coordinate posture of the robot remote tool and the positioning method thereof, which solve the problem of positioning the posture of the robot remote tool coordinate system, have simple whole process and are easy to operate.
The technical scheme adopted by the invention for solving the technical problem is as follows: the utility model provides a long-range instrument coordinate gesture automatic positioning device of robot, is including installing the first test end on the robot flange to and install the second test end on long-range instrument central point, first test end and second test end pass through the data line and connect, first test end comprises a gyroscope sensor and a laser sensor, the second test end is a gyroscope sensor, first test end and second test end pass through the final robot terminal of connecting of data line.
An automatic positioning method of a robot remote tool coordinate posture automatic positioning device comprises the following steps:
step one, acquiring the posture of a central point of a remote tool: firstly, fixing a first testing end on a flange of a robot, fixing a second testing end on a central point of a remote tool for a moment, then automatically recording the posture of the point by the robot, acquiring the posture of the central point of the remote tool through reading the difference of the postures of two gyroscope sensors and calculating by a DSP (digital signal processor), and transmitting the posture of the central point of the remote tool to a robot terminal through a group of connecting wires;
and secondly, acquiring the coordinates of the central point of the remote tool: and moving away the second testing end on the remote tool, measuring the distance from the robot flange plate to the surface of the central point of the remote tool by using the laser sensor on the first testing end, and obtaining the coordinate of the central point of the remote tool through calculation because the posture and the coordinate of the robot flange plate are known.
As a further improvement of the present invention, the coordinate calculation method of the center point of the remote tool is as follows:
1) posture: two groups of Euler angle values ZYZ or XYZ detected by a gyroscope sensor are utilized, one group is the Euler angle representing the central point attitude of the remote tool, the other group is the Euler angle representing the current flange attitude of the robot, and the difference is calculated, so that the attitude of the remote tool relative to the flange of the robot is obtained.
2) Coordinates are as follows: the distance from the central point of the remote tool to the robot flange plate is measured by using the laser sensor, and the coordinates of the central point of the remote tool can be obtained by adding the coordinates of the current robot flange plate.
The invention has the beneficial effects that: the device for automatically positioning the attitude and the coordinate of the central point of the remote tool in a non-contact manner greatly saves manpower and time, realizes the full-automatic positioning of the coordinate and the attitude of the central point of the remote tool, liberates labor force and improves productivity.
Drawings
FIG. 1 is a schematic diagram of a prior art remote tool implemented in a robot;
FIG. 2 is a schematic view of an automatic positioning apparatus according to the present invention;
the following are marked in the figure: 1-a robot flange; 2-a first test end; 3-a second test end; 4-a remote tool; 5-data line.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
Fig. 2 shows an embodiment of the coordinate posture automatic positioning device of the robot remote tool according to the present invention, which includes a first testing terminal 2 installed on a robot flange 1, and a second testing terminal 3 installed on a central point of a remote tool 4, the first testing terminal 2 and the second testing terminal 3 are connected through a data line 5, the first testing terminal 2 is composed of a gyro sensor and a laser sensor, the second testing terminal 3 is a gyro sensor, and the first testing terminal 2 and the second testing terminal 3 are finally connected to a robot terminal through a data line.
The automatic positioning method for the coordinate posture of the robot remote tool comprises the following steps:
step one, acquiring the posture of a central point of a remote tool: firstly, fixing a first testing end 2 on a flange of a robot, fixing a second testing end 3 on a central point of a remote tool 4 for a moment, then automatically recording the posture of the point by the robot, acquiring the posture of the central point of the remote tool 4 by reading the posture difference of two gyroscope sensors and calculating through a DSP (digital signal processor), and transmitting the posture of the central point of the remote tool 4 to a robot terminal through a group of connecting wires;
and secondly, acquiring the coordinates of the central point of the remote tool: and (3) removing the second testing end 3 on the remote tool 4, measuring the distance from the robot flange plate 1 to the surface of the central point of the remote tool 4 by using the laser sensor on the first testing end 2, and obtaining the coordinate of the central point of the remote tool 4 by calculation because the posture and the coordinate of the robot flange plate 1 are known.
The coordinate calculation method of the central point of the remote tool 4 is as follows:
1) posture: two groups of Euler angle values ZYZ or XYZ detected by the gyroscope sensor are used, one group is the Euler angle representing the central point attitude of the remote tool 4, and the other group is the Euler angle representing the current attitude of the robot flange plate 1, and the attitude of the remote tool 4 relative to the robot flange plate 1 is obtained by calculating the difference.
2) Coordinates are as follows: the distance from the central point of the remote tool 4 to the robot flange 1 is measured by a laser sensor, and the coordinates of the central point of the remote tool 4 can be obtained by adding up the current coordinates of the robot flange 1.
Claims (3)
1. The utility model provides a robot remote tool coordinate gesture automatic positioning device which characterized in that: including installing first test end (2) on robot ring flange (1) to and install second test end (3) on remote tool (4) central point, first test end (2) and second test end (3) are connected through data line (5), first test end (2) comprise a gyroscope sensor and a laser sensor, second test end (3) are a gyroscope sensor, first test end (2) and second test end (3) pass through the data line and finally connect the robot terminal.
2. A method of automatic positioning of a robotic remote tool coordinate pose automatic positioning device as claimed in claim 1 comprising the steps of:
step one, acquiring the posture of a central point of a remote tool: firstly, fixing a first testing end (2) on a flange of a robot, fixing a second testing end (3) on the central point of a remote tool (4) for a moment, then automatically recording the posture of the point by the robot, acquiring the posture of the central point of the remote tool (4) by reading the posture difference of two gyroscope sensors and calculating through a DSP (digital signal processor), and transmitting the posture of the central point of the remote tool (4) to a robot terminal through a group of connecting wires;
and secondly, acquiring the coordinates of the central point of the remote tool: and (3) moving away the second testing end (3) on the remote tool (4), measuring the distance from the robot flange plate (1) to the surface of the central point of the remote tool (4) by using the laser sensor on the first testing end (2), and obtaining the coordinate of the central point of the remote tool (4) through calculation because the posture and the coordinate of the robot flange plate (1) are known.
3. A method for automatic positioning of a robot remote tool coordinate pose automatic positioning device according to claim 2, characterized by the fact that the coordinate calculation method of the remote tool (4) center point is as follows:
1) posture: two groups of Euler angle values ZYZ or XYZ detected by a gyroscope sensor are utilized, one group is the Euler angle representing the central point attitude of the remote tool (4), the other group is the Euler angle representing the current attitude of the robot flange plate (1), and the attitude of the remote tool (4) relative to the robot flange plate (1) is obtained by calculating the difference of the Euler angles;
2) coordinates are as follows: the distance from the central point of the remote tool (4) to the robot flange plate (1) is measured by using a laser sensor, and the coordinates of the central point of the remote tool (4) can be obtained by adding the current coordinates of the robot flange plate (1) known.
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| CN201510706412.1A CN106607919B (en) | 2015-10-27 | 2015-10-27 | Automatic positioning device and positioning method for robot remote tool coordinate posture |
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| CN201510706412.1A CN106607919B (en) | 2015-10-27 | 2015-10-27 | Automatic positioning device and positioning method for robot remote tool coordinate posture |
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| CN106607919B true CN106607919B (en) | 2020-07-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205184788U (en) * | 2015-10-27 | 2016-04-27 | 柯昆（昆山）自动化有限公司 | Long -range instrument coordinate gesture automatic positioning device of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205184788U (en) * | 2015-10-27 | 2016-04-27 | 柯昆（昆山）自动化有限公司 | Long -range instrument coordinate gesture automatic positioning device of robot |
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