CN107696032A - A kind of construction method and device of the space coordinates based on mechanical arm - Google Patents
A kind of construction method and device of the space coordinates based on mechanical arm Download PDFInfo
- Publication number
- CN107696032A CN107696032A CN201710774638.4A CN201710774638A CN107696032A CN 107696032 A CN107696032 A CN 107696032A CN 201710774638 A CN201710774638 A CN 201710774638A CN 107696032 A CN107696032 A CN 107696032A
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- China
- Prior art keywords
- space coordinates
- mechanical arm
- axis positive
- positive direction
- origin
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a kind of construction method of the space coordinates based on mechanical arm, control the manipulator motion that the position of the mechanical arm is recorded as into origin to after one jiao of pallet first；Then control the mechanical arm to be moved according to from the origin and along one side of the pallet, the direction of motion of the mechanical arm along described one side is recorded as Y-axis positive direction；Then control the mechanical arm to be moved according to the adjacent side from the origin and along described one side, the direction of motion of the mechanical arm along the adjacent side is recorded as X-axis positive direction；X-axis positive direction vector described in the Y-axis positive direction vector is finally read, Z axis positive direction vector is obtained according to left hand helix rule.Present invention also offers a kind of device based on mechanical arm structure space coordinates, existing skew between the positioning carried out according to the space coordinates and the position of realistic space can be effectively reduced, improves the displacement accuracy and operating accuracy of the mechanical arm.
Description
Technical field
The present invention relates to mechanical arm control field, more particularly to a kind of construction method of the space coordinates based on mechanical arm
And device.
Background technology
Carry and palletizing operation occupies critical role in the logistics management of modern enterprise.In stacking work, stacking
Precision is particularly important, and palletizing mechanical arm is generally operated the confirmation of position using world coordinate system auxiliary at present.In actual code
In pile work, there is larger error in the data space and real work space that are formed due to world coordinate system, so according to described
When world coordinate system carries out stacking work, precision is relatively low, easily produces and actually piles up what position was not consistent with data space position
Situation, cause the generation of stacking accident.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of construction method of the space coordinates based on mechanical arm, can be effectively
Existing skew between the positioning carried out according to the space coordinates and the position of realistic space is reduced, improves the machinery
The displacement accuracy and operating accuracy of arm, reduce due to unnecessary loss and the generation of accident caused by error.
To achieve the above object, the embodiments of the invention provide a kind of structure side of the space coordinates based on mechanical arm
Method, including step：
After S1, the control manipulator motion to one jiao of pallet, the position of the mechanical arm is recorded as origin；
S2, the control mechanical arm move according to from the origin and along one side of the pallet, by the machinery
The direction of motion of the arm along described one side is recorded as Y-axis positive direction；
S3, the control mechanical arm move according to the adjacent side from the origin and along described one side, by the machinery
The direction of motion of the arm along the adjacent side is recorded as X-axis positive direction；
X-axis positive direction vector described in S4, the reading Y-axis positive direction vector, Z axis is being obtained just according to left hand helix rule
Direction vector.
Compared with prior art, the construction method of a kind of space coordinates based on mechanical arm disclosed by the invention, first
Control machinery arm is moved to one jiao of the pallet of carrying pile part, and original point position is carried out to the space coordinates；Then according to institute
The position of origin and the edge track of the pallet are stated, determines the Y-axis positive direction and X-axis positive direction of the space coordinates；Connect
The apposition for calculating the vector of X-axis positive direction described in the vector of the Y-axis positive direction, determines Z axis positive direction；Finally according to institute
State origin, the Y-axis positive direction, the X-axis positive direction and the Z axis positive direction and determine the space coordinates.Due to described
Space coordinates are built-up relative to the motion of the pallet based on the mechanical arm, reduce according to the space coordinates
Existing skew between the positioning of progress and the position of realistic space, improve the displacement accuracy and work essence of the mechanical arm
Degree, reduce due to unnecessary loss and the generation of accident caused by error.
As the improvement of such scheme, after step s4, in addition to step：
S5, the control mechanical arm move to specified location in user according to the space coordinates, in the mechanical arm
When physical location exceedes user's expection with coordinate position error, the space coordinates are modified.
As the improvement of such scheme, the step S5 is specifically included：
S51, the control manipulator motion to the origin, read user to the confirmation of the origin, are judging
Enter step S52 in the case that user's confirmation origin is errorless, otherwise return to step S1；
S52, the control mechanical arm move along the Y-axis positive direction from the origin, read user to the Y
The confirmation of axle positive direction, enter step S53 in the case where judging that user confirms that the Y-axis positive direction is errorless, otherwise return
Return step S2；
S53, the control mechanical arm move along the X-axis positive direction from the origin, read user to the X
The confirmation of axle positive direction, in the case where judging that user confirms that the X-axis positive direction is errorless, confirm that the space is sat
Mark system structure is completed, otherwise return to step S3.
Compared with prior art, the construction method of a kind of space coordinates based on mechanical arm disclosed by the invention, passes through
The Build Order of the space coordinates is followed, whether verifies the origin, the Y-axis positive direction and the X-axis positive direction successively
Meet that user is expected, when occurring in the origin, the Y-axis positive direction and the X-axis positive direction to meet that user is expected situation,
Corresponding construction step is returned to modify.By verifying the space coordinates, reduce the space coordinates and tie up to work
During the error that is likely to occur.
As the improvement of such scheme, step S2 asks for unit vector Y by the direction of motion of the mechanical arm, by the list
Bit vector Y direction is recorded as the Y-axis positive direction.
As the improvement of such scheme, step S3 asks for unit vector X by the direction of motion of the mechanical arm, by the list
Bit vector X direction is recorded as the X-axis positive direction.
As the improvement of such scheme, step S4 obtains unit vector Y by the Y-axis positive direction, by the X-axis positive direction
Unit vector X is obtained, unit vector Z is obtained by the vector cross-products for asking for the unit vector Y and the unit vector X, will
The direction record Z axis positive direction of the unit vector Z.
As the improvement of such scheme, also include step after step s4：
S6, the step S1 to step S4 is circulated successively to multiple pallets, obtain multiple space coordinates,
Before carrying out stacking work to the single pallet, the space coordinates corresponding to the single pallet are called.
As the improvement of such scheme, pass through one jiao of world coordinates for comparing the pallet and the space coordinates
The world coordinates of origin, judge whether the space coordinates correspond to the pallet to realize.
As the improvement of such scheme, when one jiao of world coordinates and the origin of the space coordinates of the pallet
The difference of world coordinates then assert that the space coordinates correspond to the pallet in error range.
Compared with prior art, the construction method of a kind of space coordinates based on mechanical arm disclosed by the invention, passes through
Corresponding space coordinates are built respectively to multiple pallets, when carrying out stacking work to the single pallet, call phase
The space coordinates answered aid in the stacking work.Under corresponding space coordinates auxiliary, the mechanical arm is improved
Carry out the degree of intelligence and stacking precision during more pallet stacking work.
Present invention also offers a kind of device based on mechanical arm structure space coordinates, including：Origin memory module, use
In the origin position for storing the space coordinates；Y direction memory module, for storing the Y-axis of the space coordinates just
Direction vector；X-direction memory module, for storing the X-axis positive direction vector of the space coordinates；Z axis computing module, use
In the Z axis positive direction vector for calculating the space coordinates and stored.
Compared with prior art, a kind of device based on mechanical arm structure space coordinates disclosed by the invention, passes through original
Point memory module stores the origin position data of the space coordinates；The sky is stored by the Y direction memory module
Between coordinate system Y-axis positive direction vector；The X-axis positive direction of the space coordinates is stored by the X-direction memory module
Vector；Z axis positive direction vector is calculated by the Z axis computing module and stores the Z axis positive direction vector.Due to the space
It is built-up relative to the motion of the pallet that the basic parameter of coordinate system is based on the mechanical arm, reduces according to the sky
Between coordinate system carry out positioning and realistic space position between existing skew, improve the mechanical arm displacement accuracy and
Operating accuracy, reduce due to unnecessary loss and the generation of accident caused by error.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the construction method of the space coordinates based on mechanical arm in the embodiment of the present invention.
Fig. 2 is a kind of step S5 of the space coordinates based on mechanical arm particular flow sheet in the embodiment of the present invention.
Fig. 3 is a kind of structural representation of the device based on mechanical arm structure space coordinates in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
A kind of construction method of space coordinates based on mechanical arm provided in an embodiment of the present invention, the mechanical arm is more
Articulated mechanical arm, including pickup portion and motion portion.The pickup portion is used to pick and place pile part；The motion portion joins including multiple joints
It is dynamic, for driving the pickup portion of the mechanical arm to realize three-D displacement.The mechanical arm piles up the pile part on pallet, institute
It is stacking pallet to state pallet, and loading end is square, including but not limited to flat board pallet, Post Pallets and box pallet.
Referring to Fig. 1 to Fig. 2, a kind of construction method for space coordinates based on mechanical arm that the embodiment of the present invention 1 provides
Including step：
After S1, the control manipulator motion to one jiao of pallet, the position of the mechanical arm is recorded as origin.
Specifically, control the motion portion of the mechanical arm to be moved, the machine is driven by the motion portion of the mechanical arm
The pickup portion of tool arm is moved to one jiao of the pallet.One jiao of the pallet is according to the pickup portion of the mechanical arm
When, the attitude information of the mechanical arm determines one jiao of positional information of the pallet, and is recorded as the original of space coordinates
Point.In other cases or position of the mechanical arm in addition to the pickup portion moves to the one of the pallet
Angle, can also by machine vision or distance perspective should the methods of determine one jiao of positional information of the pallet, do not influence to invent
The beneficial effect of acquirement.
S2, the control mechanical arm move according to from the origin and along one side of the pallet, by the machinery
The direction of motion of the arm along described one side is recorded as Y-axis positive direction.
Specifically, control the motion portion of the mechanical arm to be moved, the machine is driven by the motion portion of the mechanical arm
The pickup portion of tool arm is from one jiao of the pallet, i.e., the origin of described space coordinates sets out, and one side along the pallet is entered
Row is unidirectional mobile.The mobile side unidirectionally moved of the progress in the pickup portion is obtained by the attitudes vibration of the mechanical arm
To obtaining unit vector Y, the unit vector Y be recorded as to the Y-axis positive direction of the space coordinates.In other cases,
It can also be that position of the mechanical arm in addition to the pickup portion carries out the unidirectional movement, machine vision can also be passed through
Or distance perspective should the methods of obtain the path and direction unidirectionally moved, do not influence the beneficial effect that obtains of the present invention.
S3, the control mechanical arm move according to the adjacent side from the origin and along described one side, by the machinery
The direction of motion of the arm along the adjacent side is recorded as X-axis positive direction.
Specifically, control the motion portion of the mechanical arm to be moved, the machine is driven by the motion portion of the mechanical arm
The pickup portion of tool arm returns from along described one side of the pallet, i.e., returns to institute along the Y-axis negative direction of the space coordinates
State origin.Then unidirectionally moved along the adjacent side from the origin again.Become by the posture of the mechanical arm
Change the moving direction unidirectionally moved along the adjacent side for obtaining the pickup portion, obtain unit vector X, will be along the Unit Vector
Amount X is recorded as the X-axis positive direction of the space coordinates.In other cases or the mechanical arm takes except described
Position outside part portion carry out it is described unidirectional mobile, can also by machine vision or distance perspective should the methods of obtain along the neighbour
The path and direction of the unidirectional movement on side, the beneficial effect that the present invention obtains is not influenceed.
X-axis positive direction vector described in S4, the reading Y-axis positive direction vector, Z axis is being obtained just according to left hand helix rule
Direction vector.
Specifically, the Y-axis positive direction of read step S2 records, obtains the unit vector Y；Read step S3 is recorded
The X-axis positive direction, obtain unit vector X.The unit vector Y and unit vector X is subjected to vector calculus：Y*X
=-Z, obtain unit vector Z.The direction of the unit vector Z is recorded as to the Z axis positive direction of the space coordinates.
Built according to the position of the origin, the Y-axis positive direction, the X-axis positive direction and the Z axis positive direction and store the sky
Between coordinate system.
Preferably, the construction method of the space coordinates also includes optional step S5.
S5, the control mechanical arm move to specified location in user according to the space coordinates, in the mechanical arm
When physical location exceedes user's expection with coordinate position error, the space coordinates are modified.Specifically, referring to Fig. 2,
Step S5 includes：
S51, the motion portion of the control mechanical arm are moved, and the mechanical arm is driven by the motion portion of the mechanical arm
Pickup portion move to the origin, confirmation of the user to the origin position is read, if user confirms the pickup portion
Position be correctly in described one jiao of the pallet, then into step S52；Otherwise return to step S1.
S52, the motion portion of the control mechanical arm are moved, and the mechanical arm is driven by the motion portion of the mechanical arm
Pickup portion from the origin, moved along the Y-axis positive direction, read user to the Y-axis positive direction really
Information is recognized, if user confirms that the correct of pickup portion is moved along described one side of the pallet, into step S53；It is no
Then return to step S2.
S53, the motion portion of the control mechanical arm are moved, and the mechanical arm is driven by the motion portion of the mechanical arm
Pickup portion return to the origin, and from the origin, moved along the X-axis positive direction, read user to institute
The confirmation of X-axis positive direction is stated, if user confirms that the pickup portion correctly moves along the adjacent side on described one side, institute
State space coordinates to be verified, the space coordinates structure is completed；Otherwise return to step S3.
A kind of construction method for space coordinates based on mechanical arm that the embodiment of the present invention 1 provides, first control machinery
Arm is moved to one jiao of the pallet of carrying pile part, and original point position is carried out to the space coordinates；Then according to the origin
Position and the edge track of the pallet, determine the Y-axis positive direction and X-axis positive direction of the space coordinates；Then institute is calculated
The apposition of the vector of X-axis positive direction described in the vector of Y-axis positive direction is stated, determines Z axis positive direction；Finally according to the origin,
The Y-axis positive direction, the X-axis positive direction and the Z axis positive direction determine the space coordinates.Due to the space coordinates
System is built-up relative to the motion of the pallet based on the mechanical arm, reduces and determines according to what the space coordinates were carried out
Existing skew between position and the position of realistic space, improve the displacement accuracy and operating accuracy of the mechanical arm, reduce by
Unnecessary loss and the generation of accident caused by error.
Referring to Fig. 2, a kind of construction method for space coordinates based on mechanical arm that the embodiment of the present invention 2 provides, it is applicable
It is both needed to pile up the situation of pile part in the pallet of multiple diverse locations.It is assumed that the quantity of the pallet is 3, the sky that the present embodiment provides
Between the construction method of coordinate system include the methods of structure space coordinates as described in the embodiment of the present invention 1, to the first pallet, the
Two pallets and the 3rd pallet build corresponding first coordinate system, the second coordinate system and three-coordinate respectively, and the present embodiment also wraps
Include step：
S6, the step S1 to step S4 is circulated successively to multiple pallets, obtain multiple space coordinates,
Before carrying out stacking work to the single pallet, the space coordinates corresponding to the single pallet are called.
Before stacking work starts, control the pickup portion of the mechanical arm to be moved to one jiao of presently described pallet, read
The our times coordinate in the pickup portion, and by the our times coordinate and first coordinate system, the second coordinate system and the
The world coordinates of each self-corresponding origin of three-coordinate is compared, and coordinate system corresponding to presently described pallet is determined, according to institute
Stating coordinate system corresponding to pallet controls the mechanical arm to proceed by stacking work.
In this step, by the our times coordinate successively world coordinates with first coordinate origin, described
The world coordinates of the world coordinates of second coordinate origin and the three-coordinate origin is compared, and obtains the first comparison knot
Fruit, the second comparison result and the 3rd comparison result, from first comparison result, second comparison result and the 3rd ratio
To one of selection in result in error range.Such as first comparison result is in the error range, then by
First comparison result, very first time coordinate system is selected to control the mechanical arm to open as coordinate system corresponding to the pallet
Begin to carry out stacking work.
The construction method for a kind of space coordinates based on mechanical arm that the embodiment of the present invention 2 provides, by embodiment 1
On the basis of, one-to-one space coordinates are built respectively to the pallet of multiple diverse locations.The mechanical arm is for certain
Before the pallet of one position carries out stacking work, the space coordinates corresponding to the pallet of the position can be called
System, improve the operating accuracy that the mechanical arm work multiposition stacking, reduce due to caused by error it is unnecessary loss with
The generation of accident.
It is a kind of structure for device based on mechanical arm structure space coordinates that the embodiment of the present invention 3 provides referring to Fig. 3
Schematic diagram.
A kind of device 1 for structure space coordinates that the embodiment of the present invention 3 provides includes：Origin memory module 11, is used for
The origin position of the space coordinates obtained in storage implementation example 1；Y direction memory module 13, for storage implementation example 1
The Y-axis positive direction vector of the space coordinates of middle acquisition；X-direction memory module 12, for being obtained in storage implementation example 1
The space coordinates X-axis positive direction vector；Z axis computing module 14, the Z axis for calculating the space coordinates are square
To vector and stored.
A kind of work of device modules based on mechanical arm structure space coordinates provided in an embodiment of the present invention is former
Reason and process refer to a kind of construction method of space coordinates based on mechanical arm of above-described embodiment, will not be described here.
Compared with prior art, a kind of device based on mechanical arm structure space coordinates disclosed by the invention, passes through original
Point memory module stores the origin position data of the space coordinates；The sky is stored by the Y direction memory module
Between coordinate system Y-axis positive direction vector；The X-axis positive direction of the space coordinates is stored by the X-direction memory module
Vector；Z axis positive direction vector is calculated by the Z axis computing module and stores the Z axis positive direction vector.Due to the space
It is built-up relative to the motion of the pallet that the basic parameter of coordinate system is based on the mechanical arm, reduces according to the sky
Between coordinate system carry out positioning and realistic space position between existing skew, improve the mechanical arm displacement accuracy and
Operating accuracy, reduce due to unnecessary loss and the generation of accident caused by error.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of construction method of the space coordinates based on mechanical arm, it is characterised in that including step：
After S1, the control manipulator motion to one jiao of pallet, the position of the mechanical arm is recorded as origin；
S2, the control mechanical arm move according to from the origin and along one side of the pallet, by the mechanical arm edge
The direction of motion on described one side is recorded as Y-axis positive direction；
S3, the control mechanical arm move according to the adjacent side from the origin and along described one side, by the mechanical arm edge
The direction of motion of the adjacent side is recorded as X-axis positive direction；
X-axis positive direction vector described in S4, the reading Y-axis positive direction vector, Z axis positive direction is obtained according to left hand helix rule
Vector.
2. the construction method of space coordinates as claimed in claim 1, it is characterised in that after step s4, in addition to step
Suddenly：
S5, the control mechanical arm move to specified location in user according to the space coordinates, in the reality of the mechanical arm
When position exceedes user's expection with coordinate position error, the space coordinates are modified.
3. the construction method of space coordinates as claimed in claim 2, it is characterised in that the step S5 is specifically included：
S51, the control manipulator motion to the origin, read user to the confirmation of the origin, are judging user
Confirm to enter step S52 in the case that the origin is errorless, otherwise return to step S1；
S52, the control mechanical arm are moved along the Y-axis positive direction from the origin, read user to the Y-axis just
The confirmation in direction, enter step S53 in the case where judging that user confirms that the Y-axis positive direction is errorless, otherwise return to step
Rapid S2；
S53, the control mechanical arm are moved along the X-axis positive direction from the origin, read user to the X-axis just
The confirmation in direction, in the case where judging that user confirms that the X-axis positive direction is errorless, confirm the space coordinates
Structure is completed, otherwise return to step S3.
4. the construction method of space coordinates as claimed in claim 1, it is characterised in that step S2 by the mechanical arm fortune
Unit vector Y is asked in dynamic direction, and the direction of the unit vector Y is recorded as into the Y-axis positive direction.
5. the construction method of space coordinates as claimed in claim 1, it is characterised in that step S3 by the mechanical arm fortune
Unit vector X is asked in dynamic direction, and the direction of the unit vector X is recorded as into the X-axis positive direction.
6. the construction method of space coordinates as claimed in claim 1, it is characterised in that step S4 is by the Y-axis positive direction
Unit vector Y is obtained, unit vector X is obtained by the X-axis positive direction, by asking for the unit vector Y and the Unit Vector
Amount X vector cross-products obtain unit vector Z, and the direction of the unit vector Z is recorded into Z axis positive direction.
7. the construction method of space coordinates as claimed in claim 1, it is characterised in that also include step after step s4
Suddenly：
S6, the step S1 to step S4 is circulated successively to multiple pallets, multiple space coordinates are obtained, to list
Before the individual pallet carries out stacking work, the space coordinates corresponding to the single pallet are called.
8. the construction method of space coordinates as claimed in claim 7, it is characterised in that by one jiao that compares the pallet
World coordinates and the space coordinates origin world coordinates, judge whether the space coordinates correspond to institute to realize
State pallet.
9. the construction method of space coordinates as claimed in claim 8, it is characterised in that when one jiao of the world of the pallet
The difference of the world coordinates of coordinate and the origin of the space coordinates then assert the space coordinates pair in error range
Answer the pallet.
A kind of 10. device based on mechanical arm structure space coordinates, it is characterised in that including：
Origin memory module, for storing the origin position data of the space coordinates；
Y direction memory module, for storing the Y-axis positive direction vector of the space coordinates；
X-direction memory module, for storing the X-axis positive direction vector of the space coordinates；
Z axis computing module, for calculating the Z axis positive direction vector of the space coordinates and being stored.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710774638.4A CN107696032A (en) | 2017-08-31 | 2017-08-31 | A kind of construction method and device of the space coordinates based on mechanical arm |
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| CN201710774638.4A CN107696032A (en) | 2017-08-31 | 2017-08-31 | A kind of construction method and device of the space coordinates based on mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113246116A (en) * | 2020-02-07 | 2021-08-13 | 复盛应用科技股份有限公司 | Mechanical arm correction method |
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| CN113246116B (en) * | 2020-02-07 | 2022-08-23 | 复盛应用科技股份有限公司 | Mechanical arm correction method |
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