CN108789470A - A kind of configuration method of end-of-arm tooling - Google Patents
A kind of configuration method of end-of-arm tooling Download PDFInfo
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- CN108789470A CN108789470A CN201810621973.5A CN201810621973A CN108789470A CN 108789470 A CN108789470 A CN 108789470A CN 201810621973 A CN201810621973 A CN 201810621973A CN 108789470 A CN108789470 A CN 108789470A
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- tool
- tool operation
- arm tooling
- configuration method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a kind of end-of-arm tooling configuration methods, including：Call the tool model and device model pre-established；Based on Coordinate Setting tool default location T0；Based on Coordinate Setting tool mounting position T1；Obtain the transfer matrix M1 of tool mounting position T1 to tool default location T0；Based on Coordinate Setting tool operation position T2；Obtain the transfer matrix M2 of tool operation position T2 to tool mounting position T1；Tool model is installed to device model, Coordinate Setting equipment point of origin P 0 is based on；Obtain the transfer matrix M0 that equipment point of origin P 0 arrives tool default location T0；Computing device tip location P1, wherein P1=M2*M1*M0*P0.End-of-arm tooling configuration method disclosed by the invention, avoids the complicated processes demarcated using actual tool, reaches simplified operation, provides the effect of working efficiency.
Description
Technical field
The present invention relates to technical field of automation, more specifically, more particularly to a kind of configuration method of end-of-arm tooling.
Background technology
Current industrial robot tool quick replacement device by make robot replace automatically different end effectors or
Peripheral equipment keeps the application of robot more flexible, these end effectors and peripheral equipment include such as spot-welding gun, grab
Hand, vacuum tool, pneumatic and electro-motor etc..Tool fast replacing device includes a machine for being used for being mounted on robot arm
People side and a tool side for being used for being mounted on end effector, i.e. end-of-arm tooling.
In order to meet during being manufactured using automation equipment (including but not limited to industrial robot),
Equipment end needs to assemble all kinds of corresponding tools (such as fixture, sucker, welding gun, bistrique etc.) according to the difference of production technology.
Variety classes and the end-of-arm tooling of model are due to the difference on operating type and size, after being assembled in equipment, pair set
It needs to carry out the gripping point of calibration configuration, the job position of recording equipment, such as fixture for before being programmed operation, welding gun
Pad etc., by calculating offset of the job position for acquiring equipment relative to original equipment end.This kind of work step
Complexity, it is time-consuming and laborious, and be work that is single and repeating from principle.
Therefore, design it is a kind of can quickly calculate end-of-arm tooling configuration parameter method, be those skilled in the art urgently
It solves the problems, such as.
Invention content
The object of the present invention is to provide a kind of end-of-arm tooling configuration methods, to solve existing design in the process to end-of-arm tooling
Calibration configuration and job position, offset etc. be single and the calculating that repeats, cause design procedure complicated, time-consuming and laborious asks
Topic.
In order to solve the above technical problems, the present invention provides a kind of end-of-arm tooling configuration method, including：
Call the tool model and device model pre-established；
Based on Coordinate Setting tool default location T0；
Based on Coordinate Setting tool mounting position T1；
Obtain the transfer matrix M1 of the tool mounting position T1 to the tool default location T0；
Based on Coordinate Setting tool operation position T2；
Obtain the transfer matrix M2 of the tool operation position T2 to the tool mounting position T1；
The tool model is installed to the device model, Coordinate Setting equipment point of origin P 0 is based on；
Obtain the transfer matrix M0 that the equipment point of origin P 0 arrives the tool default location T0；
Computing device tip location P1, wherein P1=M2*M1*M0*P0.
Preferably, described to be specially based on Coordinate Setting tool mounting position T1：
Acquisition tool installs interface sectional view；
Based on coordinate system, the graphic feature computational geometry center of interface sectional view is installed according to the tool, and marks
For tool mounting position T1.
Preferably, described to be made based on Coordinate Setting tool when tool operation position is in the plane in kind of model
Industry position T2 is specially：
Obtain tool operation interface sectional view；
Based on coordinate system, according to the graphic feature computational geometry center of the tool operation interface sectional view, and mark
For tool operation position T2.
Preferably, described to be based on Coordinate Setting tool when tool operation position is not in the plane in kind of model
Job position T2 is specially：
Obtain tool operation interface sectional view；
Based on coordinate system, secondary graphics are built according to the graphic feature of the tool operation interface sectional view, calculate institute
The geometric center of secondary graphics is stated, and is labeled as tool operation position T2.
Preferably, described to be built according to the graphic feature of tool operation interface sectional view when tool is two finger fixture
Secondary graphics calculate the geometric center of the secondary graphics, and are specially labeled as tool operation position T2：
Obtain two location informations for referring to two finger tips of fixture；
Location information according to two finger tips establishes a virtual line as secondary graphics；
The geometric center of the secondary graphics is calculated, and is labeled as tool operation position T2.
Preferably, when tool is that N of the quantity more than 2 refers to fixture, the figure according to tool operation interface sectional view
Shape feature construction secondary graphics calculate the geometric center of the secondary graphics, and are specially labeled as tool operation position T2：
Obtain the location information that N refers to the N number of finger tip of fixture；
It is angular as secondary graphics that location information according to N number of finger tip establishes a virtual N；
The geometric center of the secondary graphics is calculated, and is labeled as tool operation position T2.
Preferably, described that interface section is installed according to tool when tool is the type for needing fastening to assemble when mounted
The graphic feature computational geometry center of figure, and be specially labeled as tool mounting position T1：
It is pre-installed according to the graphic feature computational geometry center of the tool operation interface sectional view, and labeled as tool
Position T10；
Position offset matrix M11 when acquisition tool fastens；
Marking tool installation site T1, wherein T1=T10*M11.
Preferably, after the computing device tip location P1, further include：
Generating Mesh files, wherein the Mesh files include tool model, device model and assembly parameter information,
The assembly parameter information includes the transfer matrix M1 and the transfer matrix M2.
Preferably, the coordinate system is cartesian coordinate system.
End-of-arm tooling configuration method provided by the present invention, by using method for visualizing, direct select tool configuration is closed
Key point (installation point/setting), is quickly calculated assembly parameter, avoids the complicated processes demarcated using actual tool, reach
It is operated to simplifying, the effect of working efficiency is provided.
Description of the drawings
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of specific implementation mode of the configuration method of end-of-arm tooling provided by the present invention；
Fig. 2 is the flow chart of another specific implementation mode of the configuration method of end-of-arm tooling provided by the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
A kind of flow chart of specific implementation mode of end-of-arm tooling configuration method provided by the present invention was as shown in Figure 1, should
Method includes：
Step S1：Call the tool model and device model pre-established；
Step S2：Based on Coordinate Setting tool default location T0；
Step S3：Based on Coordinate Setting tool mounting position T1；
Step S4：Obtain the transfer matrix M1 of tool mounting position T1 to tool default location T0；
Step S5：Based on Coordinate Setting tool operation position T2；
Step S6：Obtain the transfer matrix M2 of tool operation position T2 to tool mounting position T1；
Step S7：Tool model is installed to device model, Coordinate Setting equipment point of origin P 0 is based on；
Step S8：Obtain the transfer matrix M0 that equipment point of origin P 0 arrives tool default location T0；
Step S9：Computing device tip location P1, wherein P1=M2*M1*M0*P0.
In practice, before step S1, can in advance by using all kinds of CAD softwares for editing (such as solidworks,
ProE etc.), then the threedimensional model of structure is exported to the common CAD such as .stp or .iges by the threedimensional model of the build tool
Formatted file.
There are one for interactive entity object when calls tool and the purpose of device model are setting means parameter, and
Determine that the purpose of tool default location T0 is to establish an origin position to coordinate system, for subsequently calculating.
What tool mounting position T1 embodied is the actual installation position of target tool, the tool default location in simulated environment
T0 is likely to be at the center of gravity (in tool interior) of tool model, but the actual installation of tool position, that is, T1 is usually in tool
End, and the purpose for obtaining transfer matrix M1 is to be that the position as tool default location T0 changes in simulated environment
When can directly pass through calculating and obtain the new position tool mounting position T1
Tool mounting position T2 is the actual job position of tool, and the purpose for obtaining transfer matrix M2 is to install when tool
When the position positions T1 are updated, the position of T2 can be directly acquired by calculating
The origin for generally using device coordinate system point of origin P 0 common as two coordinate systems when installation, and obtain transfer matrix
The purpose of M0 is that obtain tool coordinates and ties up to relative position in device coordinate system, can when adjusting device position
With the synchronous position calculated and update tool model, the feelings that the modal position of equipment has adjusted and tool is also in situ will not be caused
Condition.
Certainly, in practice, step S3, S4 and step S5, S6 can also be replaced into row order, i.e., first obtains work
Have job position T2, then obtain tool mounting position T1, then according to T2/T1, M2/M1 is obtained, as long as because multiplatform environments mould
Type structure during setting does not change, and the relative position of T2, T1 and T0 would not change, obtained M2/
The value of M1 will not change, it is possible to first obtain T2/T1/T0 respectively and then calculate M1/M2 after the same method.
Preferably, step S3 is specially：
Step S31：Acquisition tool installs interface sectional view；
Step S32：Based on coordinate system, the graphic feature computational geometry center of interface sectional view is installed according to tool, and
Labeled as tool mounting position T1.
Due to the particularity of tool object, under normal circumstances, the installation interface section of tool is usually relatively conventional
Standard Symmetric Multivariate figure (such as square, rectangle is round, equilateral diamond shape, equilateral triangle etc.), can calculate several according to graphic feature
What center, and it is labeled as tool mounting position T1.
Preferably, when tool operation position is in the plane in kind of model, step S5 is specially：
Step S51：Obtain tool operation interface sectional view；
Step S52：Based on coordinate system, according to the graphic feature computational geometry center of tool operation interface sectional view, and
Labeled as tool operation position T2.
When tool operation position is located in the plane in kind of model, by finding the characteristic information of planar graph, quickly obtain
The coordinate information of tool operation position T2 is taken, it is illustrated below：
1) arc-welding welding gun：Rifle point is generally a disc, can directly choose the outside round frame of disc, by seeking rifle point circle
The center in face determines tool operation position T2.
2) square Pneumatic suction cup：Its sucker periphery is square frame, is used as by seeking square geometric center point
Tool operation position T2.
And when planar graph is not Standard Symmetric Multivariate figure, then by selecting work surface, then manually adjust alternate location
To suitable position as final tool operation position T2.)
Preferably, when tool operation position is not in the plane in kind of model, step S5 is specially：
Step S51：Obtain tool operation interface sectional view；
Step S53：Based on coordinate system, secondary graphics, meter are built according to the graphic feature of tool operation interface sectional view
The geometric center of secondary graphics is calculated, and is labeled as tool operation position T2.
When tool operation position is not in the plane in kind of model, i.e., setting is hanging, then can utilize existing letter
Breath one secondary graphics of structure, auxiliary quick obtaining tool operation position T2 coordinate informations.
Such as end-of-arm tooling be fixture when,
Preferably, when tool is two finger fixture, step S53 is specially：
Step S531：Obtain two location informations for referring to two finger tips of fixture；
Step S533：Location information according to two finger tips establishes a virtual line as secondary graphics；
Step S535：The geometric center of secondary graphics is calculated, and is labeled as tool operation position T2.
When end-of-arm tooling is two finger fixture, a virtual line AB is built by finger tip A, B location, by seeking wherein
Heart point determines tool operation position T2.
Preferably, when tool is that N of the quantity more than 2 refers to fixture, step S53 is specially：
Step S532：Obtain the location information that N refers to the N number of finger tip of fixture；
Step S534：It is angular as secondary graphics that location information according to N number of finger tip establishes a N；
Step S535：The geometric center of secondary graphics is calculated, and is labeled as tool operation position T2.
For example, when end-of-arm tooling is three finger fixture, pass through finger tip A, B, location of C builds a virtual triangle ABC (one
As be equilateral triangle), determine tool operation position T2 by seeking triangle center point.
Preferably, when tool is the type for needing fastening to assemble when mounted, step S32 is specially：
Step S321：According to the graphic feature computational geometry center of tool operation interface sectional view, and it is labeled as tool
Pre-installed position T10；
Step S322：Position offset matrix M11 when acquisition tool fastens；
Step S323：Marking tool installation site T1, wherein T1=M11*T10.
Such as model bottom surface be screw or latch structure bottom surface when, need to carry out fastening assembly in actual installation process,
And actual installation point is position after fastening, then can be adjusted accordingly according to actual fastening size, that is, calculates peace when fastening
Tool pre-installed position T10 is multiplied with it, just can obtain marking tool installation site T1 by holding position excursion matrix M11.
In practice, the one of which acquisition modes of excursion matrix M11 are as follows：By patterned operation interface,
First tool is assembled in equipment according to original tool pre-installed position T10, records the number of tool default location T0 at this time
Value, then artificially adjustment tool location records the number of this stylish tool default location T0 ' again to correct installation site
Value, the transition matrix then calculated between T0 and T0 ' can be obtained installation site excursion matrix M11.
Preferably, as shown in Fig. 2, after step S9, further include：
Step S10：Generate Mesh files, wherein Mesh files include tool model, device model and assembly parameter letter
Breath, assembly parameter information includes transfer matrix M1 and transfer matrix M2.
Mesh files can be again individually created after all calculating are completed, and can be saved in hard disk as a parameter
On, dynamic generation when can also be loaded into tool CAD model every time.Need to ensure is after tool object generates, to be operated
When (assembly, move etc.) always exist.
Preferably, coordinate system is cartesian coordinate system.
In practice, the coordinate system that the setting and calculating of above-mentioned position are based on can be carried out according to actual conditions
It selects, cartesian coordinate system is defaulted as in the present embodiment, naturally it is also possible to use other three-dimensional system of coordinates, be not repeated herein.
Each embodiment is described by the way of preferred or progressive in this specification, the highlights of each of the examples are
With the difference of other embodiments, just to refer each other for same or similar part between each embodiment.For embodiment public affairs
For the device opened, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to side
Method part illustrates.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
End-of-arm tooling configuration method provided by the present invention is described in detail above.It is used herein specifically a
Principle and implementation of the present invention are described for example, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
Protection domain in.
Claims (9)
1. a kind of end-of-arm tooling configuration method, which is characterized in that including：
Call the tool model and device model pre-established；
Based on Coordinate Setting tool default location T0；
Based on Coordinate Setting tool mounting position T1；
Obtain the transfer matrix M1 of the tool mounting position T1 to the tool default location T0；
Based on Coordinate Setting tool operation position T2；
Obtain the transfer matrix M2 of the tool operation position T2 to the tool mounting position T1；
The tool model is installed to the device model, Coordinate Setting equipment point of origin P 0 is based on；
Obtain the transfer matrix M0 that the equipment point of origin P 0 arrives the tool default location T0；
Computing device tip location P1, wherein P1=M2*M1*M0*P0.
2. end-of-arm tooling configuration method as described in claim 1, which is characterized in that described to be installed based on Coordinate Setting tool
Position T1 is specially：
Acquisition tool installs interface sectional view；
Based on coordinate system, the graphic feature computational geometry center of interface sectional view is installed according to the tool, and be labeled as work
Has installation site T1.
3. end-of-arm tooling configuration method as described in claim 1, which is characterized in that when tool operation position is in the reality of model
It is described to be specially based on Coordinate Setting tool operation position T2 when on object plane：
Obtain tool operation interface sectional view；
Based on coordinate system, according to the graphic feature computational geometry center of the tool operation interface sectional view, and it is labeled as work
Has job position T2.
4. end-of-arm tooling configuration method as described in claim 1, which is characterized in that when tool operation position is not in model
It is described to be specially based on Coordinate Setting tool operation position T2 when in plane in kind：
Obtain tool operation interface sectional view；
Based on coordinate system, secondary graphics are built according to the graphic feature of the tool operation interface sectional view, are calculated described auxiliary
The geometric center of figure is helped, and is labeled as tool operation position T2.
5. end-of-arm tooling configuration method as claimed in claim 4, which is characterized in that when tool is two finger fixture, described
Secondary graphics are built according to the graphic feature of tool operation interface sectional view, calculate the geometric center of the secondary graphics, and mark
Being denoted as tool operation position T2 is specially：
Obtain two location informations for referring to two finger tips of fixture；
Location information according to two finger tips establishes a virtual line as secondary graphics；
The geometric center of the secondary graphics is calculated, and is labeled as tool operation position T2.
6. end-of-arm tooling configuration method as claimed in claim 4, which is characterized in that when tool is that N of the quantity more than 2 refers to fixture
When, it is described that secondary graphics are built according to the graphic feature of tool operation interface sectional view, calculate the geometry of the secondary graphics
Center, and be specially labeled as tool operation position T2：
Obtain the location information that N refers to the N number of finger tip of fixture；
It is angular as secondary graphics that location information according to N number of finger tip establishes a virtual N；
The geometric center of the secondary graphics is calculated, and is labeled as tool operation position T2.
7. end-of-arm tooling configuration method as claimed in claim 2, which is characterized in that when tool is that fastening is needed to fill when mounted
When the type matched, the graphic feature computational geometry center that interface sectional view is installed according to tool, and pacify labeled as tool
Holding position T1 is specially：
According to the graphic feature computational geometry center of the tool operation interface sectional view, and it is labeled as tool pre-installed position
T10；
Position offset matrix M11 when acquisition tool fastens；
Marking tool installation site T1, wherein T1=T10*M11.
8. end-of-arm tooling configuration method as described in claim 1, which is characterized in that the computing device tip location P1 it
Afterwards, further include：
Generate Mesh files, wherein the Mesh files include tool model, device model and assembly parameter information, described
Assembly parameter information includes the transfer matrix M1 and the transfer matrix M2.
9. such as the end-of-arm tooling configuration method of claim 1 to 8 any one, which is characterized in that the coordinate system is flute
Karr coordinate system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810621973.5A CN108789470A (en) | 2018-06-15 | 2018-06-15 | A kind of configuration method of end-of-arm tooling |
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| CN201810621973.5A CN108789470A (en) | 2018-06-15 | 2018-06-15 | A kind of configuration method of end-of-arm tooling |
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| US20090044655A1 (en) * | 2007-07-05 | 2009-02-19 | Re2, Inc. | Defense Related Robotic Systems |
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| CN104199999A (en) * | 2014-07-17 | 2014-12-10 | 中国人民解放军国防科学技术大学 | Quantitative analysis method of influence of joint centralization error on locating precision of multi-freedom-degree mechanical arm tail end |
| US20160059424A1 (en) * | 2014-08-20 | 2016-03-03 | Ati Industrial Automation, Inc. | Safe robotic tool changer |
| CN107462154A (en) * | 2017-07-28 | 2017-12-12 | 深圳市圆梦精密技术研究院 | The pose measuring method of robot end's instrument |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090044655A1 (en) * | 2007-07-05 | 2009-02-19 | Re2, Inc. | Defense Related Robotic Systems |
| CN102087096A (en) * | 2010-11-12 | 2011-06-08 | 浙江大学 | Automatic calibration apparatus for robot tool coordinate system based on laser tracking measurement and method thereof |
| CN104199999A (en) * | 2014-07-17 | 2014-12-10 | 中国人民解放军国防科学技术大学 | Quantitative analysis method of influence of joint centralization error on locating precision of multi-freedom-degree mechanical arm tail end |
| US20160059424A1 (en) * | 2014-08-20 | 2016-03-03 | Ati Industrial Automation, Inc. | Safe robotic tool changer |
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