CN107138944A - The two workpiece automatic aligning methods based on spatial point error correction - Google Patents
The two workpiece automatic aligning methods based on spatial point error correction Download PDFInfo
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- CN107138944A CN107138944A CN201710353093.XA CN201710353093A CN107138944A CN 107138944 A CN107138944 A CN 107138944A CN 201710353093 A CN201710353093 A CN 201710353093A CN 107138944 A CN107138944 A CN 107138944A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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Abstract
The two workpiece automatic aligning methods based on spatial point error correction, are related to the automatic aligning method of two workpiece.The present invention sets up second workpiece ideal coordinates system Base1 first with measuring instrument, and in the cuspidated calibration element of mechanical arm tail end clamping band, tool coordinates system tool1 is calibrated at calibration element tip；Then the first workpiece is installed in mechanical arm tail end and makes two workpiece alignment movements, practical work piece coordinate system Base2 is determined by tool1；Obtain coordinate P ' of the center of the first piece-holder lateral ends under Base2, and coordinate P of the center of the first piece-holder lateral ends under Base1 is obtained with measuring instrument, the spin matrix R between Two coordinate system is obtained according to directional information of the Base2 X, Y, Z axis in Base1, the translation matrix T between Base1 and Base2 is calculated, is averaged；The error between two workpiece is modified according to R and T, the first workpiece, second workpiece are aligned automatically by control machinery arm.The automatic alignment of workpiece when the present invention installs workpiece for robot.
Description
Technical field
The present invention relates to the automatic aligning method of two workpiece.
Background technology
Assembling flange, the process of the workpiece such as pipe are substantially by manually completing at present, this hand assembled work
The method of part is less efficient, it is necessary to spend substantial amounts of manpower, increases cost.
Nowadays robot realizes that automated production is gradually replacing manual hand manipulation, and is directed to assembly flange, circle
The process of the workpiece such as pipe can also be completed using robot, but during the workpiece such as Automated assembly flange, pipe, due to assembling
There is systematic error in two workpiece at robotic end and subtable end, therefore cause to there is larger assembling in assembling process
Error.By taking robotic asssembly flange as an example, before automatic assembling, flange A is mounted in the end of robot, and flange B is arranged on small work
Systematic error occurs in the end of platform clamping device, two flanges, if as shown in figure 1, this error is not corrected, when two flanges continue to fill
Timing, it may appear that situation as shown in Figure 2.The systematic error of two workpiece eliminates process and stills need manpower intervention adjustment, it is impossible to complete
The problem of realizing that automation is installed entirely, and still have cost manpower, increase cost.
The content of the invention
The present invention, which is installed to solve current robot, to be occurred systematic error and causes that automation can not be fully achieved
The problem of installation.And then propose a kind of two workpiece automatic aligning methods based on spatial point error correction.
The two workpiece automatic aligning methods based on spatial point error correction, are to be based on workpiece automatic mounting machine tool arm job family
What system was realized, workpiece automatic mounting machine tool arm work system includes measuring instrument, big workbench, subtable and robotic
Arm, robot arm abbreviation mechanical arm, robot arm end abbreviation mechanical arm tail end；Subtable is located at big workbench
Table top on, subtable can move along a straight line along the guide rail of big workbench, second workpiece be arranged on subtable folder
The end of instrument is held, the clamping device of subtable is towards mechanical arm, and the first workpiece is clamped by mechanical arm；Measuring instrument and unskilled labourer
Make platform, the connectionless relation of big workbench, for measuring workpiece.
Two described workpiece need the face being aligned to overlap, and two workpiece based on spatial point error correction are automatic
Alignment methods, comprise the following steps：
Step 1, the foundation of the ideal coordinates system of second workpiece：
Second workpiece be arranged on subtable clamping device end, the clamping device of subtable towards mechanical arm,
Center and the normal vector of second workpiece clamping lateral ends are measured using measuring instrument, the measurement coordinate system of measuring instrument is built
Stand in the center that second workpiece clamps lateral ends；Origin is in center using second workpiece clamping lateral ends, with second workpiece
The normal vector for clamping the center of lateral ends is X axis amount, and Y, the foundation of Z axis meet the right-hand rule, sets up second workpiece preferable
Coordinate system Base1；
The demarcation of step 2, tool coordinates system：
Step 2.1, in the cuspidated calibration element of mechanical arm tail end clamping band；
Step 2.2, manual control machine tool arm make the calibration element tip of clamping touch same on big workbench with any four posture
One mark point, tool coordinates system tool1 is calibrated at calibration element tip；
The demarcation of step 3, practical work piece coordinate system Base2：
Step 3.1, calibration element is removed, the first workpiece is installed in mechanical arm tail end；
Step 3.2, make subtable return zero-bit；
Step 3.3, the movement of manual control machine tool arm, the center and second workpiece for making the first piece-holder lateral ends are clamped
The center alignment of lateral ends, it is ensured that the first workpiece, the center line of second workpiece are overlapped；
Step 3.4, mobile subtable to optional position, repeat step 3.3；
Step 3.5, for the mechanical arm tail end corresponding to step 3.3 and step 3.4, assume machine when center line is overlapped twice
Tool arm end is provided with calibration element, and the sophisticated line in tool coordinates system tool1 of obtained calibration element is set to practical work piece seat
Mark system Base2 X-axis positive direction；
Step 3.6, manual control machine tool arm, the X-axis that the center of the first piece-holder lateral ends is moved into Base2 are empty
Between certain point of top, cross the point and make the vertical line of X-axis, as Base2 Y-axis；The Y-axis for defining practical work piece coordinate system Base2 is square
To；
Step 3.7, X/Y plane and the right-hand rule according to Base2, determine Base2 Z axis positive direction, it is determined that actual work
Part coordinate system Base2；
Step 4, acquisition update information are simultaneously corrected：
Step 4.1, the clamping lateral ends center that mechanical arm coordinate system tool0 origin is moved to the first workpiece；
Step 4.2, under Base2 coordinate systems, X-axis of the mechanical arm tail end along Base2 move several positions (two with
On)；Coordinate P ' of the center of corresponding first piece-holder lateral ends at several positions under Base2 can be obtained；
Step 4.3, X-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding first piece-holder lateral ends, obtains seat of the center of the first piece-holder lateral ends under Base1
P is marked, the centre coordinate fitting of this several clamping lateral ends is in alignment, and rectilinear direction vector is Base2 X
Directional information of the axle in Base1；
Step 4.4, under Base2 coordinate systems, Y-axis of the mechanical arm tail end along Base2 move several positions (two with
On)；Coordinate P ' of the center of corresponding first piece-holder lateral ends at several positions under Base2 can be obtained；
Step 4.5, Y-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding first piece-holder lateral ends, obtains seat of the center of the first piece-holder lateral ends under Base1
P is marked, the centre coordinate fitting of this several clamping lateral ends is in alignment, and rectilinear direction vector is Base2 Y
Directional information of the axle in Base1；
Step 4.6, Base2 X, Y-axis amount multiplication cross obtained into directional information of the Base2 Z axis in Base1；
The spin matrix R between Two coordinate system can be obtained according to directional information of the Base2 X, Y, Z axis in Base1；
Step 4.7, utilize corresponding first workpiece clamp at several positions described in spin matrix R and step 4.3,4.4
Hold coordinate of the center of lateral ends under Base1 and Base2 and calculate translation matrix T between Base1 and Base2, make even
Average；
Step 4.8, according to spin matrix R and translation matrix T the error between two workpiece is modified, passes through control machine
Tool arm is aligned automatically to the first workpiece, second workpiece.
Further, two workpiece needs the face being aligned to be regular circle, ellipse, rectangle or triangle.
Further, the spin matrixWherein,Respectively represent Base2 in Base1 X, Y,
The directional information of Z axis.
Further, the translation matrix T=P '-P × R.
Further, it is four positions that X-axis of the mechanical arm tail end described in step 4.2 along Base2, which moves several positions,.
Further, it is four positions that Y-axis of the mechanical arm tail end described in step 4.4 along Base2, which moves several positions,.
Further, the measuring instrument is three CMMs or laser tracker.
The invention has the advantages that：
The systematic error existed when assembling workpiece to robot automation using the present invention is modified, and then passes through amendment
Coordinate control robot afterwards with the workpiece precise motion on chuck to another workpiece aligned position, then welded or
Other operations of person, due to the degree of registration between two workpiece can be greatly enhanced using the present invention, so as to improve follow-up weldering
Connect or other operation success rate.In the error range for not influenceing subsequent operation, it is aligned using the present invention, two works
Alignment rate between part is more than 98%, to realize that robot automation's assembly flange of workpiece provides condition, has established base
Plinth.
Brief description of the drawings
Fig. 1 for assembling the first two flange between there is the schematic diagram of systematic error；
Fig. 2 is the schematic diagram after the two flanges alignment that there will be systematic error using existing alignment methods；
Fig. 3 is schematic diagram of the second flange on subtable in embodiment 1；
Fig. 4 be embodiment 1 in set up second flange ideal coordinates system Base1 schematic diagrames；
Fig. 5 is the schematic diagram after two flanges alignment after elimination systematic error in embodiment 1.
Embodiment
Embodiment one：
The two workpiece automatic aligning methods based on spatial point error correction, are to be based on workpiece automatic mounting machine tool arm job family
What system was realized, workpiece automatic mounting machine tool arm work system includes measuring instrument, big workbench, subtable and robotic
Arm, robot arm abbreviation mechanical arm, robot arm end abbreviation mechanical arm tail end；Subtable is located at big workbench
Table top on, subtable can move along a straight line along the guide rail of big workbench, second workpiece be arranged on subtable folder
The end of instrument is held, the clamping device of subtable is towards mechanical arm, and the first workpiece is clamped by mechanical arm；Measuring instrument and unskilled labourer
Make platform, the connectionless relation of big workbench, for measuring workpiece.
The two workpiece automatic aligning methods based on spatial point error correction comprise the following steps described in present embodiment：
Step 1, the foundation of the ideal coordinates system of second workpiece：
Second workpiece be arranged on subtable clamping device end, the clamping device of subtable towards mechanical arm,
Center and the normal vector of second workpiece clamping lateral ends are measured using measuring instrument, the measurement coordinate system of measuring instrument is built
Stand in the center that second workpiece clamps lateral ends；Origin is in center using second workpiece clamping lateral ends, with second workpiece
The normal vector for clamping the center of lateral ends is X axis amount, and Y, the foundation of Z axis meet the right-hand rule, sets up second workpiece preferable
Coordinate system Base1；
The demarcation of step 2, tool coordinates system：
Step 2.1, in the cuspidated calibration element of mechanical arm tail end clamping band；
Step 2.2, manual control machine tool arm make the calibration element tip of clamping touch same on big workbench with any four posture
One mark point, tool coordinates system tool1 is calibrated at calibration element tip；
The demarcation of step 3, practical work piece coordinate system Base2：
Step 3.1, calibration element is removed, the first workpiece is installed in mechanical arm tail end；
Step 3.2, make subtable return zero-bit；
Step 3.3, the movement of manual control machine tool arm, the center and second workpiece for making the first piece-holder lateral ends are clamped
The center alignment of lateral ends, it is ensured that the first workpiece, the center line of second workpiece are overlapped；
Step 3.4, mobile subtable to optional position, repeat step 3.3；
Step 3.5, for the mechanical arm tail end corresponding to step 3.3 and step 3.4, assume machine when center line is overlapped twice
Tool arm end is provided with calibration element, and the sophisticated line in tool coordinates system tool1 of obtained calibration element is set to practical work piece seat
Mark system Base2 X-axis positive direction；
Step 3.6, manual control machine tool arm, the X-axis that the center of the first piece-holder lateral ends is moved into Base2 are empty
Between certain point of top, cross the point and make the vertical line of X-axis, as Base2 Y-axis；The Y-axis for defining practical work piece coordinate system Base2 is square
To；
Step 3.7, X/Y plane and the right-hand rule according to Base2, determine Base2 Z axis positive direction, it is determined that actual work
Part coordinate system Base2；
Step 4, acquisition update information are simultaneously corrected：
Step 4.1, the clamping lateral ends center that mechanical arm coordinate system tool0 origin is moved to the first workpiece；
Step 4.2, under Base2 coordinate systems, X-axis of the mechanical arm tail end along Base2 move several positions (two with
On)；Coordinate P ' of the center of corresponding first piece-holder lateral ends at several positions under Base2 can be obtained；
Step 4.3, X-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding first piece-holder lateral ends, obtains seat of the center of the first piece-holder lateral ends under Base1
P is marked, the centre coordinate fitting of this several clamping lateral ends is in alignment, and rectilinear direction vector is Base2 X
Directional information of the axle in Base1；
Step 4.4, under Base2 coordinate systems, Y-axis of the mechanical arm tail end along Base2 move several positions (two with
On)；Coordinate P ' of the center of corresponding first piece-holder lateral ends at several positions under Base2 can be obtained；
Step 4.5, Y-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding first piece-holder lateral ends, obtains seat of the center of the first piece-holder lateral ends under Base1
P is marked, the centre coordinate fitting of this several clamping lateral ends is in alignment, and rectilinear direction vector is Base2 Y
Directional information of the axle in Base1；
Step 4.6, Base2 X, Y-axis amount multiplication cross obtained into directional information of the Base2 Z axis in Base1；
The spin matrix R between Two coordinate system can be obtained according to directional information of the Base2 X, Y, Z axis in Base1；
Step 4.7, utilize corresponding first workpiece clamp at several positions described in spin matrix R and step 4.3,4.4
Hold coordinate of the center of lateral ends under Base1 and Base2 and calculate translation matrix T between Base1 and Base2, make even
Average；
Step 4.8, according to spin matrix R and translation matrix T the error between two workpiece is modified, passes through control machine
Tool arm is aligned automatically to the first workpiece, second workpiece, will calculate obtained spin matrix R and translation matrix T is input to
In robot, mechanical arm is set to be aligned automatically with second workpiece with the first workpiece；Hereafter artificial participation control is no longer needed for,
Workpiece alignment is automatically performed according to the relation control machinery arm between each coordinate system by the control system of robot interior.Again this
Afterwards, the workpiece alignment of same model is also automatically performed by robot, without artificial participation.
Embodiment two：
Two workpiece described in present embodiment need the face being aligned to be regular circle, ellipse, rectangle or triangle.
Other steps and parameter are identical with embodiment one.
Embodiment three：
Spin matrix described in present embodimentWherein,Respectively represent Base2 in Base1 X,
Y, Z axis directional information.
Other steps and parameter are identical with embodiment one or two.
Embodiment four：
Translation matrix T=P '-P × R described in present embodiment.
Other steps and parameter are identical with one of embodiment one to three.
Embodiment five：
It is four positions that X-axis of the mechanical arm tail end along Base2 described in present embodiment step 4.2, which moves several positions,
Put.
Other steps and parameter are identical with one of embodiment one to four.
Embodiment six：
It is four positions that Y-axis of the mechanical arm tail end along Base2 described in present embodiment step 4.4, which moves several positions,
Put.
Other steps and parameter are identical with one of embodiment one to five.
Embodiment seven：
Measuring instrument described in present embodiment is three CMMs or laser tracker.
Other steps and parameter are identical with one of embodiment one to six.
Embodiment eight：
The first workpiece, second workpiece described in present embodiment are flange.
Other steps and parameter are identical with one of embodiment one to seven.
Embodiment nine：
The first workpiece, second workpiece described in present embodiment are pipe.
Other steps and parameter are identical with one of embodiment one to seven.
Embodiment ten：
The first workpiece, second workpiece described in present embodiment are respectively flange and pipe.
Other steps and parameter are identical with one of embodiment one to seven.
Embodiment
Embodiment 1
The two workpiece automatic aligning methods based on spatial point error correction, two described workpiece are flange, including following
Step：
Step 1, the foundation of the ideal coordinates system of second flange：
Second flange B is arranged on the end of subtable D clamping device, as shown in Figure 3；The clamping device of subtable
Towards mechanical arm, center and the normal vector of second flange small end face circumference are measured using measuring instrument, by the survey of measuring instrument
Establishment of coordinate system is measured at the center of second flange small end face circumference；Origin is in center using second flange small end face circumference, with
The normal vector at the center of two flange small end face circumference is X axis amount, and Y, the foundation of Z axis meet the right-hand rule, sets up second flange
Ideal coordinates system Base1；As shown in Figure 4；
The demarcation of step 2, tool coordinates system：
Step 2.1, in the cuspidated calibration element of mechanical arm tail end clamping band；
Step 2.2, manual control machine tool arm make the calibration element tip of clamping touch same on big workbench C with any four posture
One mark point, tool coordinates system tool1 is calibrated at calibration element tip；Tool1 is that automatic Calibration is given birth in robot control system
Into；
The demarcation of step 3, practical work piece coordinate system Base2：
Step 3.1, calibration element is removed, first flange A is installed in mechanical arm tail end；
Step 3.2, make subtable return zero-bit；
Step 3.3, the movement of manual control machine tool arm, are directed at the center of first flange and second flange small end face circumference,
Ensure first flange, the center line of second flange is overlapped；
Step 3.4, mobile subtable to optional position, repeat step 3.3；
Step 3.5, for the mechanical arm tail end corresponding to step 3.3 and step 3.4, assume machine when center line is overlapped twice
Tool arm end carries calibration element, and the sophisticated line in tool coordinates system tool1 of obtained calibration element is set to practical work piece seat
Mark system Base2 X-axis positive direction；Actually mechanical arm tail end clamping is first flange, has no calibration element, but in mechanical arm
Corresponding robot control system in, robot control system be based on calibration element tip under tool coordinates system tool1
Moved, that is, mechanical arm tail end is assumed to be to the sophisticated position line of calibration element during with calibration element；
Step 3.6, manual control machine tool arm, the center of first flange small end face circumference are moved to Base2 X-axis space
Top point, crosses the vertical line that the point makees X-axis, as Base2 Y-axis；Define practical work piece coordinate system Base2 Y-axis positive direction；
Step 3.7, X/Y plane and the right-hand rule according to Base2, determine Base2 Z axis positive direction, it is determined that actual work
Part coordinate system Base2；
Step 4, acquisition update information are simultaneously corrected：
Step 4.1, mechanical arm coordinate system tool0 origin moved at the small end face circle center of first flange；
Step 4.2, under Base2 coordinate systems, X-axis of the mechanical arm tail end along Base2 moves several positions；It can obtain
Coordinate P ' of the center of corresponding first flange small end face circumference under Base2 at several positions；Hand input-data is by machine
Tool arm coordinate system tool0 origin is moved at the small end face circle center of first flange, will be pressed from both sides on mobile mechanical arm end
The influence for holding the holder of first flange is eliminated, and it is exactly first flange small end face that mechanical arm tail end, which moves along the x-axis several positions,
The center position of circumference；
Step 4.3, X-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding first flange small end face circumference, obtains coordinate P of the center of first flange small end face circumference under Base1,
The centre coordinate fitting of this several small end face circumference is in alignment, and rectilinear direction vector is that Base2 X-axis exists
Directional information in Base1；
Step 4.4, under Base2 coordinate systems, Y-axis of the mechanical arm tail end along Base2 moves several positions, several positions
Put known to the coordinate under Base2；The center that corresponding first flange small end face circumference at several positions can be obtained exists
Coordinate P ' under Base2；
Step 4.5, Y-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding first flange small end face circumference, obtains coordinate P of the center of first flange small end face circumference under Base1,
The centre coordinate fitting of this several small end face circumference is in alignment, and rectilinear direction vector is that Base2 Y-axis exists
Directional information in Base1；
Step 4.6, Base2 X, Y-axis amount multiplication cross obtained into directional information of the Base2 Z axis in Base1；
The spin matrix R between Two coordinate system can be obtained according to directional information of the Base2 X, Y, Z axis in Base1；
Step 4.7, using corresponding first flange is small at several positions described in spin matrix R and step 4.3,4.4
Coordinate of the center of end face circumference under Base1 and Base2 calculates the translation matrix T between Base1 and Base2, is averaged
Value；
Step 4.8, according to spin matrix R and translation matrix T the error between two flanges is modified, passes through control machine
Tool arm is aligned automatically to first flange, second flange.After first flange and second flange alignment, as shown in Figure 5.
The present embodiment is that an even flange small end face is aligned, if flange side surface progress pair that will be to two flanges
If standard, first flange small end face circle center and second flange small end face circle center are corresponded to respectively and replace with first flange
Large end face circle center (first flange flange side surface circle center) and second flange large end face circle center (second flange method
Blue side surface circle center), the flange side surface for then can be achieved two flanges according to such scheme is aligned.
Embodiment 2
The two workpiece automatic aligning methods based on spatial point error correction, two described workpiece are respectively flange, pipe, bag
Include following steps：
Step 1, the foundation of the ideal coordinates system of pipe：
Pipe is arranged on the end of the clamping device of subtable, and the clamping device of subtable is utilized towards mechanical arm
Measuring instrument measures center and the normal vector of pipe clamping lateral ends circumference, and the measurement establishment of coordinate system of measuring instrument is existed
The center of the clamping lateral ends circumference of pipe；Center using pipe clamping lateral ends circumference is outer with pipe clamping as origin
The normal vector at the center of side one end circumference is X axis amount, and Y, the foundation of Z axis meet the right-hand rule, sets up pipe ideal coordinates system
Base1；
The demarcation of step 2, tool coordinates system：
Step 2.1, in the cuspidated calibration element of mechanical arm tail end clamping band；
Step 2.2, manual control machine tool arm make the calibration element tip of clamping touch same on big workbench with any four posture
One mark point, tool coordinates system tool1 is calibrated at calibration element tip；
The demarcation of step 3, practical work piece coordinate system Base2：
Step 3.1, calibration element is removed, in mechanical arm tail end mounting flange；
Step 3.2, make subtable return zero-bit；
Step 3.3, the movement of manual control machine tool arm, make flange and pipe clamp the center alignment of lateral ends circumference, really
Protect flange, the center line of pipe is overlapped；
Step 3.4, mobile subtable to optional position, repeat step 3.3；
Step 3.5, for the mechanical arm tail end corresponding to step 3.3 and step 3.4, assume machine when center line is overlapped twice
Tool arm end carries calibration element, and the sophisticated line in tool coordinates system tool1 of obtained calibration element is set to practical work piece seat
Mark system Base2 X-axis positive direction；
Step 3.6, manual control machine tool arm, the center of flange small end face circumference are moved to Base2 X-axis space above
Certain point, crosses the vertical line that the point makees X-axis, as Base2 Y-axis；Define practical work piece coordinate system Base2 Y-axis positive direction；
Step 3.7, X/Y plane and the right-hand rule according to Base2, determine Base2 Z axis positive direction, it is determined that actual work
Part coordinate system Base2；
Step 4, acquisition update information are simultaneously corrected：
Step 4.1, mechanical arm coordinate system tool0 origin moved at the small end face circle center of flange；
Step 4.2, under Base2 coordinate systems, X-axis of the mechanical arm tail end along Base2 moves several positions；It can obtain
Coordinate P ' of the center of corresponding flange small end face circumference under Base2 at several positions；
Step 4.3, X-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding flange small end face circumference, obtains coordinate P of the center of flange small end face circumference under Base1, and this is some
The centre coordinate fitting of individual small end face circumference is in alignment, and rectilinear direction vector is Base2 X-axis in Base1
Directional information；
Step 4.4, under Base2 coordinate systems, Y-axis of the mechanical arm tail end along Base2 moves several positions；It can obtain
Coordinate P ' of the center of corresponding flange small end face circumference under Base2 at several positions；
Step 4.5, Y-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
The center of corresponding flange small end face circumference, obtains coordinate P of the center of flange small end face circumference under Base1, and this is some
The centre coordinate fitting of individual small end face circumference is in alignment, and rectilinear direction vector is Base2 Y-axis in Base1
Directional information；
Step 4.6, Base2 X, Y-axis amount multiplication cross obtained into directional information of the Base2 Z axis in Base1；
The spin matrix R between Two coordinate system can be obtained according to directional information of the Base2 X, Y, Z axis in Base1；
Step 4.7, utilize corresponding flange small end face at several positions described in spin matrix R and step 4.3,4.4
Coordinate of the center of circumference under Base1 and Base2 calculates the translation matrix T between Base1 and Base2, averages；
Step 4.8, according to spin matrix R and translation matrix T the error between two flanges is modified, passes through control machine
Tool arm is aligned automatically to flange, pipe.
Embodiment 3
The two workpiece automatic aligning methods based on spatial point error correction, two described workpiece are respectively flange, pipe, bag
Include following steps：
Step 1, the foundation of the ideal coordinates system of flange：
Flange is arranged on the end of the clamping device of subtable, and the clamping device of subtable is utilized towards mechanical arm
Measuring instrument measures center and the normal vector of flange small end face circumference, and the measurement establishment of coordinate system of measuring instrument is small in flange
The center of end face circumference；Origin is in center using flange small end face circumference, and the normal vector using the center of flange small end face circumference is X
Axial vector, Y, the foundation of Z axis meet the right-hand rule, set up flange ideal coordinates system Base1；
The demarcation of step 2, tool coordinates system：
Step 2.1, in the cuspidated calibration element of mechanical arm tail end clamping band；
Step 2.2, manual control machine tool arm make the calibration element tip of clamping touch same on big workbench with any four posture
One mark point, tool coordinates system tool1 is calibrated at calibration element tip；
The demarcation of step 3, practical work piece coordinate system Base2：
Step 3.1, calibration element is removed, pipe is installed in mechanical arm tail end；
Step 3.2, make subtable return zero-bit；
Step 3.3, the movement of manual control machine tool arm, are directed at the center of pipe and flange small end face circumference, it is ensured that pipe,
The center line of flange is overlapped；
Step 3.4, mobile subtable to optional position, repeat step 3.3；
Step 3.5, for the mechanical arm tail end corresponding to step 3.3 and step 3.4, assume machine when center line is overlapped twice
Tool arm end carries calibration element, and the sophisticated line in tool coordinates system tool1 of obtained calibration element is set to practical work piece seat
Mark system Base2 X-axis positive direction；
Step 3.6, manual control machine tool arm, the X-axis that the center that pipe is clamped into lateral ends circumference is moved to Base2 are empty
Between certain point of top, cross the point and make the vertical line of X-axis, as Base2 Y-axis；The Y-axis for defining practical work piece coordinate system Base2 is square
To；
Step 3.7, X/Y plane and the right-hand rule according to Base2, determine Base2 Z axis positive direction, it is determined that actual work
Part coordinate system Base2；
Step 4, acquisition update information are simultaneously corrected：
Step 4.1, mechanical arm coordinate system tool0 origin moved at the small end face circle center of pipe；
Step 4.2, under Base2 coordinate systems, X-axis of the mobile mechanical arm end along Base2 moves several positions；Can
Obtain coordinate P ' of the center of corresponding pipe clamping lateral ends circumference at several positions under Base2；
Step 4.3, X-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
Corresponding pipe clamps the center of lateral ends circumference, obtains seat of the center of pipe clamping lateral ends circumference under Base1
P is marked, the centre coordinate fitting that this several pipe is clamped into lateral ends circumference is in alignment, and the rectilinear direction vector is
Directional information of the Base2 X-axis in Base1；
Step 4.4, under Base2 coordinate systems, Y-axis of the mobile mechanical arm end along Base2 moves several positions；Can
Obtain coordinate P ' of the center of corresponding pipe clamping lateral ends circumference at several positions under Base2；
Step 4.5, Y-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
Corresponding pipe clamps the center of lateral ends circumference, obtains seat of the center of pipe clamping lateral ends circumference under Base1
P is marked, the centre coordinate fitting that this some pipe is clamped into lateral ends circumference is in alignment, and the rectilinear direction vector is
Directional information of the Base2 Y-axis in Base1；
Step 4.6, X, Y-axis amount multiplication cross obtained into directional information of the Base2 Z axis in Base1；
The spin matrix R between Two coordinate system can be obtained according to directional information of the Base2 X, Y, Z axis in Base1；
Step 4.7, using described in spin matrix R and step 4.3,4.4 at several positions corresponding pipe clamp it is outer
Coordinate of the center of side one end circumference under Base1 and Base2 calculates the translation matrix T between Base1 and Base2, makes even
Average；
Step 4.8, according to spin matrix R and translation matrix T the error between two flanges is modified, passes through control machine
Tool arm is aligned automatically to pipe, flange.
Embodiment 4
The two workpiece automatic aligning methods based on spatial point error correction, two described workpiece are pipe, including following
Step：
Step 1, the foundation of the ideal coordinates system of the second pipe：
Second pipe be arranged on subtable clamping device end, the clamping device of subtable towards mechanical arm,
Center and the normal vector of the second pipe clamping lateral ends circumference are measured using measuring instrument, by the measurement coordinate of measuring instrument
System sets up the center that lateral ends circumference is clamped in the second pipe；The center of lateral ends circumference is clamped as original using the second pipe
Point, the normal vector using the center of the second pipe clamping lateral ends circumference is X axis amount, and Y, the foundation of Z axis meet the right-hand rule,
Set up the second pipe ideal coordinates system Base1；
The demarcation of step 2, tool coordinates system：
Step 2.1, in the cuspidated calibration element of mechanical arm tail end clamping band；
Step 2.2, manual control machine tool arm make the calibration element tip of clamping touch same on big workbench with any four posture
One mark point, tool coordinates system tool1 is calibrated at calibration element tip；
The demarcation of step 3, practical work piece coordinate system Base2：
Step 3.1, calibration element is removed, the first pipe is installed in mechanical arm tail end；
Step 3.2, make subtable return zero-bit；
Step 3.3, the movement of manual control machine tool arm, make the first pipe and the second pipe clamp the center of lateral ends circumference
Alignment, it is ensured that the first pipe, the center line of the second pipe are overlapped；
Step 3.4, mobile subtable to optional position, repeat step 3.3；
Step 3.5, for the mechanical arm tail end corresponding to step 3.3 and step 3.4, assume machine when center line is overlapped twice
Tool arm end carries calibration element, and the sophisticated line in tool coordinates system tool1 of obtained calibration element is set to practical work piece seat
Mark system Base2 X-axis positive direction；
Step 3.6, manual control machine tool arm, the center that the first pipe is clamped into lateral ends circumference are moved to Base2 X
Certain point above shaft space, crosses the vertical line that the point makees X-axis, as Base2 Y-axis；Define practical work piece coordinate system Base2 Y-axis
Positive direction；
Step 3.7, X/Y plane and the right-hand rule according to Base2, determine Base2 Z axis positive direction, it is determined that actual work
Part coordinate system Base2；
Step 4, acquisition update information are simultaneously corrected：
Step 4.1, the clamping lateral ends circle center that mechanical arm coordinate system tool0 origin is moved to the first pipe
Place；
Step 4.2, under Base2 coordinate systems, X-axis of the mechanical arm tail end along Base2 moves several positions；It can obtain
Coordinate P ' of the center of corresponding first pipe clamping lateral ends circumference under Base2 at several positions；
Step 4.3, X-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
Corresponding first pipe clamps the center of lateral ends circumference, and the center for obtaining the first pipe clamping lateral ends circumference exists
Coordinate P under Base1, in alignment, the rectilinear direction is fitted by the centre coordinate of this several clamping lateral ends circumference
Vector is directional information of the Base2 X-axis in Base1；
Step 4.4, under Base2 coordinate systems, Y-axis of the mechanical arm tail end along Base2 moves several positions；It can obtain
Coordinate P ' of the center of corresponding first pipe clamping lateral ends circumference under Base2 at several positions；
Step 4.5, Y-axis of the mechanical arm tail end along Base2 is measured respectively using measuring instrument move at several positions
Corresponding first pipe clamps the center of lateral ends circumference, and the center for obtaining the first pipe clamping lateral ends circumference exists
Coordinate P under Base1, in alignment, the rectilinear direction is fitted by the centre coordinate of this several clamping lateral ends circumference
Vector is directional information of the Base2 Y-axis in Base1；
Step 4.6, Base2 X, Y-axis amount multiplication cross obtained into directional information of the Base2 Z axis in Base1；
The spin matrix R between Two coordinate system can be obtained according to directional information of the Base2 X, Y, Z axis in Base1；
Step 4.7, utilize corresponding first circular tube clip at several positions described in spin matrix R and step 4.3,4.4
Hold coordinate of the center of lateral ends circumference under Base1 and Base2 and calculate translation matrix T between Base1 and Base2,
Average；
Step 4.8, according to spin matrix R and translation matrix T the error between two pipes is modified, passes through control machine
Tool arm is aligned automatically to the first pipe, the second pipe.
Claims (10)
1. the two workpiece automatic aligning methods based on spatial point error correction, two described workpiece need the face being aligned to weigh
Close, it is characterised in that the two workpiece automatic aligning methods based on spatial point error correction, comprise the following steps：
Step 1, the foundation of the ideal coordinates system of second workpiece：
Second workpiece is arranged on the end of the clamping device of subtable, and the clamping device of subtable is utilized towards mechanical arm
Measuring instrument measures center and the normal vector of second workpiece clamping lateral ends, and the measurement establishment of coordinate system of measuring instrument is existed
Second workpiece clamps the center of lateral ends；Center using second workpiece clamping lateral ends is clamped as origin with second workpiece
The normal vector at the center of lateral ends is X axis amount, and Y, the foundation of Z axis meet the right-hand rule, sets up second workpiece ideal coordinates
It is Base1；
The demarcation of step 2, tool coordinates system：
Step 2.1, in the cuspidated calibration element of mechanical arm tail end clamping band；
Step 2.2, manual control machine tool arm make the calibration element tip of clamping touch same mark on big workbench with any four posture
Remember point, tool coordinates system tool1 is calibrated at calibration element tip；
The demarcation of step 3, practical work piece coordinate system Base2：
Step 3.1, calibration element is removed, the first workpiece is installed in mechanical arm tail end；
Step 3.2, make subtable return zero-bit；
Step 3.3, the movement of manual control machine tool arm, the center and second workpiece for making the first piece-holder lateral ends clamp outside
The center alignment of one end, it is ensured that the first workpiece, the center line of second workpiece are overlapped；
Step 3.4, mobile subtable to optional position, repeat step 3.3；
Step 3.5, for the mechanical arm tail end corresponding to step 3.3 and step 3.4, assume mechanical arm when center line is overlapped twice
End is provided with calibration element, and the sophisticated line in tool coordinates system tool1 of obtained calibration element is set to practical work piece coordinate system
Base2 X-axis positive direction；
Step 3.6, manual control machine tool arm, Base2 X-axis is moved to spatially by the center of the first piece-holder lateral ends
Certain point of side, crosses the vertical line that the point makees X-axis, as Base2 Y-axis；Define practical work piece coordinate system Base2 Y-axis positive direction；
Step 3.7, X/Y plane and the right-hand rule according to Base2, determine Base2 Z axis positive direction, determine that practical work piece is sat
Mark system Base2；
Step 4, acquisition update information are simultaneously corrected：
Step 4.1, the clamping lateral ends center that mechanical arm coordinate system tool0 origin is moved to the first workpiece；
Step 4.2, under Base2 coordinate systems, X-axis of the mechanical arm tail end along Base2 moves several positions；It can obtain some
Coordinate P ' of the center of corresponding first piece-holder lateral ends under Base2 at individual position；
Step 4.3, X-axis of the mechanical arm tail end along Base2 is measured using measuring instrument respectively move correspondence at several positions
The first piece-holder lateral ends center, obtain coordinate P of the center of the first piece-holder lateral ends under Base1,
The centre coordinate fitting of this several clamping lateral ends is in alignment, and rectilinear direction vector is that Base2 X-axis exists
Directional information in Base1；
Step 4.4, under Base2 coordinate systems, Y-axis of the mechanical arm tail end along Base2 moves several positions；It can obtain some
Coordinate P ' of the center of corresponding first piece-holder lateral ends under Base2 at individual position；
Step 4.5, Y-axis of the mechanical arm tail end along Base2 is measured using measuring instrument respectively move correspondence at several positions
The first piece-holder lateral ends center, obtain coordinate P of the center of the first piece-holder lateral ends under Base1,
The centre coordinate fitting of this several clamping lateral ends is in alignment, and rectilinear direction vector is that Base2 Y-axis exists
Directional information in Base1；
Step 4.6, Base2 X, Y-axis amount multiplication cross obtained into directional information of the Base2 Z axis in Base1；
The spin matrix R between Two coordinate system can be obtained according to directional information of the Base2 X, Y, Z axis in Base1；
Step 4.7, using described in spin matrix R and step 4.3,4.4 at several positions outside corresponding first piece-holder
Coordinate of the center of side one end under Base1 and Base2 calculates the translation matrix T between Base1 and Base2, averages；
Step 4.8, according to spin matrix R and translation matrix T the error between two workpiece is modified, passes through control machinery arm
First workpiece, second workpiece are aligned automatically.
2. the two workpiece automatic aligning methods according to claim 1 based on spatial point error correction, it is characterised in that institute
Stating two workpiece needs the face being aligned to be regular circle, ellipse, rectangle or triangle.
3. the two workpiece automatic aligning methods according to claim 2 based on spatial point error correction, it is characterised in that institute
State spin matrixWherein,The directional information of Base2 X, Y, Z axis in Base1 is represented respectively.
4. the two workpiece automatic aligning methods according to claim 3 based on spatial point error correction, it is characterised in that institute
State translation matrix T=P '-P × R.
5. the two workpiece automatic aligning methods based on spatial point error correction according to one of Claims 1-4, its feature
It is, it is four positions that X-axis of the mechanical arm tail end described in step 4.2 along Base2, which moves several positions,.
6. the two workpiece automatic aligning methods according to claim 5 based on spatial point error correction, it is characterised in that step
It is four positions that Y-axis of the mechanical arm tail end along Base2 described in rapid 4.4, which moves several positions,.
7. the two workpiece automatic aligning methods according to claim 6 based on spatial point error correction, it is characterised in that institute
Measuring instrument is stated for three CMMs or laser tracker.
8. the two workpiece automatic aligning methods according to claim 7 based on spatial point error correction, it is characterised in that institute
The first workpiece, the second workpiece stated are flange.
9. the two workpiece automatic aligning methods according to claim 7 based on spatial point error correction, it is characterised in that institute
The first workpiece, the second workpiece stated are pipe.
10. the two workpiece automatic aligning methods according to claim 7 based on spatial point error correction, it is characterised in that
Described the first workpiece, second workpiece are respectively flange and pipe.
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