CN109866069A - A kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning - Google Patents
A kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning Download PDFInfo
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Abstract
A kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning, the described method comprises the following steps: 1) being divided into three types according to the position where rectangle bin；2) the three continuous extreme coordinates and longitudinal direction number of rectangle bin are obtained by teaching machine；3) judge rectangle bin position type；4) when rectangle bin is parallel coordinates type, the specific location of each tapping hole is calculated；5) when rectangle bin is deviation reference axis type counterclockwise or rectangle bin is deviation reference axis type clockwise, by rectangle bin be the calculation of parallel coordinate axes type based on first calculate the positive direction position of each tapping hole, it reuses migration calculation method and obtains each tapping hole and deviate counterclockwise or the position compensation of clockwise, the specific location of each tapping hole is calculated by loop nesting.The present invention solves the problems, such as that truss manipulator difference rectangle bin, same rectangle bin different location, the teaching of feed bin different number tapping hole are complicated.
Description
Technical field
The present invention relates to a kind of calculation methods for the automatic positioning of truss manipulator rectangle bin tapping hole.
Background technique
As China's macroeconomic constantly increases, automatic technology is more and more widely used in various industries.
A major class of the manipulator as automatic technology, refer to during automated production using it is a kind of replace human arm crawl and
The automation equipment of travelling workpiece.Truss manipulator is a kind of right angle coordinate manipulator of large size, is mainly used for lathe in workshop
The work of loading and unloading.The motion process of truss manipulator is actually the parts machining to feeding bin feeding, discharge bin discharging
One substantially process.Charging tray is mainly based on rectangle in currently practical industrial production, and traditional truss manipulator is mainly with artificial hand
Dynamic teaching determines each blowing hole site of charging tray.When feed bin tapping hole is less, head feeding can be completed by manual teaching
Positioning, but manual teaching will be extremely complex when blowing hole number is excessive, the efficiency of teaching also will receive influence, in addition, material
The deviation of disk placement location also will affect the positioning accuracy of tapping hole.Similarly, when user replaces another rectangle bin, own
Tapping hole need to re-start teaching.In general, the teaching process of entire feed bin is relative complex cumbersome, extremely waste user when
Between and energy.In order to improve truss manipulator feed bin teaching efficiency, there is an urgent need to a kind of automatic positionings of rectangle bin tapping hole
Calculation method.
Summary of the invention
In order to solve existing truss manipulator feed bin blowing hole number is excessive, rectangle bin different sizes and feed bin are put
The problem of manual teaching complexity in seated position situation devious, the invention proposes one kind to be used for truss manipulator rectangle bin
The calculation method of tapping hole automatic positioning, main realize are automatically positioned each blowing hole site, the party for different rectangle charging trays
Method is calculated accordingly by obtaining three continuous extreme coordinates of rectangle bin, feed bin transverse direction number and longitudinal number,
Solve truss manipulator difference rectangle bin, same rectangle bin different location, feed bin different number tapping hole teaching complexity
The problem of.
The technical solution adopted by the present invention to solve the technical problems is as follows:
A kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning, the described method comprises the following steps:
1) using truss manipulator as rectangular co-ordinate referential, x-axis origin direction and z-axis origin direction are the same side the case where
Under, three types are divided into according to the position where rectangle bin: rectangle bin parallel coordinate axes；Rectangle bin is biased to sit counterclockwise
Parameter；Rectangle bin is biased to reference axis clockwise, is divided into three kinds of calculations according to three kinds of different types；
2) the three continuous extreme coordinates and longitudinal number (v of rectangle bin are obtained by teaching machine firstnum), described three
In a continuous extreme coordinates, starting point is the endpoint (x close to x-axis and z-axis origin1,y1), with the counter clockwise direction of starting point into
Row chooses remaining two continuous extreme coordinates (x2,y2)(x3,y3), feed bin transverse direction number (hnum)；
3) by comparing y1、y2Size judges that rectangle bin position is which type in step 1), works as y1=y2
When, rectangle bin is this type of parallel coordinate axes；Work as y2> y1When, rectangle bin is to be biased to this type of reference axis counterclockwise；
Work as y2< y1When, rectangle bin is to be biased to this type of reference axis clockwise；
4) when rectangle bin is parallel coordinates type, x is first calculated2With x1Difference, then by its difference and lateral number
(hnum) be divided by, obtained value is the substantially spacing between lateral tapping hole, similarly, the substantially spacing between longitudinal tapping hole is calculated, then
Spacing is carried out, the specific location of each tapping hole is just calculated by loop nesting；
5) when rectangle bin is deviation reference axis type counterclockwise or rectangle bin is deviation reference axis type clockwise,
By rectangle bin be the calculation of parallel coordinate axes type based on first calculate the positive direction position of each tapping hole, reuse
Migration calculation method obtains each tapping hole and deviates counterclockwise or the position compensation of clockwise, just by loop nesting
Calculate the specific location of each tapping hole.
Further, in the step 4), when rectangle bin is parallel coordinates type, x is first calculated2With x1Difference, then
By its difference and lateral number (hnum) be divided by, obtained value is the substantially spacing (HD) between lateral tapping hole, and formula is as follows:
HD=(x2-x1)/(hnum-1) (1)
Similarly, the substantially spacing (VD) between longitudinal tapping hole is calculated, formula is as follows:
VD=(y3-y2)/(vnum-1) (2)
Wherein vnumRepresent feed bin longitudinal direction number；
Spacing is carried out again, the specific location of each tapping hole is then calculated by loop nesting, and formula is as follows:
Px=x1+ i*HD+0.5 (i=0,1,2...hnum-1) (3)
Py=y1+ j*VD+0.5 (j=0,1,2...vnum-1) (4)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral blowing
Hole serial number defaults laterally the first tapping hole serial number 0 here, and j represents longitudinal tapping hole serial number, defaults longitudinal first blowing here
Hole serial number 0.
Further, in the step 5), when rectangle bin is to be biased to reference axis type counterclockwise, it is with rectangle bin
The positive direction position that each tapping hole is first calculated based on the calculation of parallel coordinate axes type obtains each blowing by step 4)
The positive direction position in hole is (Px,Py), then by calculating x2With x3Difference, then by its difference and longitudinal number (vnum) be divided by,
Obtained value is the migration (DeltaH) of lateral tapping hole, and formula is as follows:
DeltaH=(x2-x3)/(vnum-1) (5)
Similarly, the migration (DeltaV) between longitudinal tapping hole is calculated, formula is as follows:
DeltaV=(y2-y1)/(hnum-1) (6)
Then the specific location of each tapping hole is calculated by loop nesting, formula is as follows:
Px=Px+ j*DeltaH (j=0,1,2...vnum-1) (7)
Py=Py- i*DeltaV (i=0,1,2...hnum-1) (8)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral blowing
Hole serial number defaults laterally the first tapping hole serial number 0 here, and j represents longitudinal tapping hole serial number, defaults longitudinal first blowing here
Hole serial number 0.
In the step 5), when rectangle bin is to be biased to reference axis type clockwise, using rectangle bin as parallel coordinates
The positive direction position that each tapping hole is first calculated based on the calculation of axis type is obtained the pros of each tapping hole by step 4)
It is (P to positionx,Py), then by calculating x3With x2Difference, then by its difference and longitudinal number (vnum) be divided by, obtained value
It is the migration (DeltaH) of lateral tapping hole, formula is as follows:
DeltaH=(x3-x2)/(vnum-1) (9)
Similarly, the migration (DeltaV) between longitudinal tapping hole is calculated, formula is as follows:
DeltaV=(y1-y2)/(hnum-1) (10)
Then the specific location of each tapping hole is calculated by loop nesting, formula is as follows:
Px=Px+ j*DeltaH (j=0,1,2...vnum-1) (11)
Py=Py- i*DeltaV (i=0,1,2...hnum-1) (12)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral blowing
Hole serial number defaults laterally the first tapping hole serial number 0 here, and j represents longitudinal tapping hole serial number, defaults longitudinal first blowing here
Hole serial number 0.
Calculation method in step 4) will be converted into program execution, and the motor of control truss manipulator reaches specified
Tapping hole position, be certain instruction to be sent by program to controller, then sent by the timer in controller corresponding
Umber of pulse to motor, to control the moving distance of motor, and the umber of pulse in program must be integer value, but in step 4)
Calculation formula calculate last blowing pitch of holes and be not necessarily integer value, if the substantially spacing of tapping hole is directly equal to arteries and veins
Number is rushed to program, then the position of actually truss robot movement to tapping hole there will certainly be error, and more rearward
Tapping hole location error is bigger, a kind of method for taking spacing, by each spacing add 0.5 offset, then
Rounding will achieve the effect that round up, so that error is minimized.
The present invention has the advantages that (1) is suitable for different types of rectangle bin；(2) be suitable for same rectangle bin but
The case where in different location；(3) it is suitable for same type rectangle bin but the different situation (4) of blowing hole number for rectangle
The teaching method process of feed bin is simple, high-efficient；(5) this method is realized based on STM32F103, the single-chip microcontroller powerful, body
Product it is small, can be fine meet truss manipulator rectangle bin tapping hole automatic positioning calculation method.
Detailed description of the invention
Fig. 1 is that rectangle bin is parallel to reference axis position view.
Fig. 2 is that rectangle bin is biased to reference axis position view counterclockwise.
The position Fig. 3 rectangle bin is biased to reference axis position view clockwise.
The calculation flow chart of the position Fig. 4 rectangle bin tapping hole automatic positioning.
Specific embodiment
Embodiments of the present invention are further described with reference to the accompanying drawing.
Referring to Fig.1~Fig. 4, a kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning, the method
The following steps are included:
1) using truss manipulator as rectangular co-ordinate referential, x-axis origin direction and z-axis origin direction are the same side the case where
Under, three types are divided into according to the position where rectangle bin: rectangle bin parallel coordinate axes；Rectangle bin is biased to sit counterclockwise
Parameter；Rectangle bin is biased to reference axis clockwise, is divided into three kinds of calculations according to three kinds of different types；
2) by three continuous extreme coordinates of teaching machine acquisition rectangle bin, (starting point is former close to x-axis and z-axis first
Endpoint (the x of point1,y1), it carries out choosing remaining two continuous extreme coordinates (x with the counter clockwise direction of starting point2,y2)(x3,
y3)), feed bin transverse direction number (hnum) and longitudinal number (vnum)；
3) by comparing y1、y2Size judges that rectangle bin position is which type in step (1), works as y1=y2
When, rectangle bin is this type of parallel coordinate axes；Work as y2> y1When, rectangle bin is to be biased to this type of reference axis counterclockwise；
Work as y2< y1When, rectangle bin is to be biased to this type of reference axis clockwise；
4) when rectangle bin is parallel coordinates type, x is first calculated2With x1Difference, then by its difference and lateral number
(hnum) be divided by, obtained value is the substantially spacing (HD) between lateral tapping hole, and formula is as follows:
HD=(x2-x1)/(hnum-1) (1)
Similarly, the substantially spacing (VD) between longitudinal tapping hole is calculated, formula is as follows:
VD=(y3-y2)/(vnum-1) (2)
Wherein vnumRepresent feed bin longitudinal direction number
Spacing is carried out again, the specific location of each tapping hole is then calculated by loop nesting, and formula is as follows:
Px=x1+ i*HD+0.5 (i=0,1,2...hnum-1) (3)
Py=y1+ j*VD+0.5 (j=0,1,2...vnum-1) (4)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral blowing
Hole serial number defaults laterally the first tapping hole serial number 0 here, and j represents longitudinal tapping hole serial number, defaults longitudinal first blowing here
Hole serial number 0；
5) when rectangle bin is to be biased to reference axis type counterclockwise, using rectangle bin as the calculating of parallel coordinate axes type
The positive direction position that each tapping hole is first calculated based on mode is (P by the positive direction position that step 4) obtains each tapping holex,
Py), then by calculating x2With x3Difference, then by its difference and longitudinal number (vnum) be divided by, obtained value is lateral tapping hole
Migration (DeltaH), formula is as follows:
DeltaH=(x2-x3)/(vnum-1) (5)
Similarly, the migration (DeltaV) between longitudinal tapping hole is calculated, formula is as follows:
DeltaV=(y2-y1)/(hnum-1) (6)
Then the specific location of each tapping hole is calculated by loop nesting, formula is as follows:
Px=Px- j*DeltaH (j=0,1,2...vnum-1) (7)
Py=Py+ i*DeltaV (i=0,1,2...hnum-1) (8)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral blowing
Hole serial number defaults laterally the first tapping hole serial number 0 here, and j represents longitudinal tapping hole serial number, defaults longitudinal first blowing here
Hole serial number 0；
6) when rectangle bin is to be biased to reference axis type clockwise, using rectangle bin as the calculating of parallel coordinate axes type
The positive direction position that each tapping hole is first calculated based on mode is (P by the positive direction position that step 4) obtains each tapping holex,
Py), then by calculating x3With x2Difference, then by its difference and longitudinal number (vnum) be divided by, obtained value is lateral tapping hole
Migration (DeltaH), formula is as follows:
DeltaH=(x3-x2)/(vnum-1) (9)
Similarly, the migration (DeltaV) between longitudinal tapping hole is calculated, formula is as follows:
DeltaV=(y1-y2)/(hnum-1) (10)
Then the specific location of each tapping hole is calculated by loop nesting, formula is as follows:
Px=Px+ j*DeltaH (j=0,1,2...vnum-1) (11)
Py=Py- i*DeltaV (i=0,1,2...hnum-1) (12)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral blowing
Hole serial number defaults laterally the first tapping hole serial number 0 here, and j represents longitudinal tapping hole serial number, defaults longitudinal first blowing here
Hole serial number 0；
Further, the calculation method in step 4) will be converted into program execution.Control the motor of truss manipulator
The position for reaching specified tapping hole is that certain instruction is sent by program to controller, then by the timer in controller
Corresponding umber of pulse is sent to motor, so that the moving distance of motor is controlled, and the umber of pulse in program must be integer value, but
Calculation formula in step 4) calculates last blowing pitch of holes and is not necessarily integer value, if we by tapping hole substantially between
Away from being directly equal to umber of pulse to program, then the position of actually truss robot movement to tapping hole there will certainly be error,
And tapping hole location error more rearward is bigger；This this method a kind of take spacing method, by each
Spacing adds 0.5 offset, then is rounded and will achieve the effect that round up, so that error is minimized.
A kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning proposed by the present invention.Pass through teaching machine
(starting point is the endpoint (x close to x-axis and z-axis origin to the continuous extreme coordinates of three of acquisition rectangle bin1,y1), with starting point
Counter clockwise direction carry out choosing remaining two continuous extreme coordinates (x2,y2)(x3,y3)), feed bin transverse direction number (hnum) and
Longitudinal number (vnum).System will judge the placement position of rectangle bin in advance, and pass through corresponding distance computation, spacing
And migration obtains the specific location of each tapping hole.Solve truss manipulator difference rectangle bin, same rectangle bin
The problem of different location, feed bin different number tapping hole teaching complexity.
Claims (5)
1. a kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning, which is characterized in that the method includes
Following steps:
1) using truss manipulator as rectangular co-ordinate referential, x-axis origin direction and z-axis origin direction in the case where the same side,
It is divided into three types according to the position where rectangle bin: rectangle bin parallel coordinate axes；Rectangle bin is biased to coordinate counterclockwise
Axis；Rectangle bin is biased to reference axis clockwise, is divided into three kinds of calculations according to three kinds of different types；
2) the three continuous extreme coordinates and longitudinal number (v of rectangle bin are obtained by teaching machine firstnum), three companies
In continuous extreme coordinates, starting point is the endpoint (x close to x-axis and z-axis origin1,y1), it is selected with the counter clockwise direction of starting point
Take remaining two continuous extreme coordinates (x2,y2)(x3,y3), feed bin transverse direction number (hnum)；
3) by comparing y1、y2Size judges that rectangle bin position is which type in step 1), works as y1=y2When, square
Shape feed bin is this type of parallel coordinate axes；Work as y2> y1When, rectangle bin is to be biased to this type of reference axis counterclockwise；Work as y2
< y1When, rectangle bin is to be biased to this type of reference axis clockwise；
4) when rectangle bin is parallel coordinates type, x is first calculated2With x1Difference, then by its difference and lateral number
(hnum) be divided by, obtained value is the substantially spacing between lateral tapping hole, similarly, the substantially spacing between longitudinal tapping hole is calculated, then
Spacing is carried out, the specific location of each tapping hole is just calculated by loop nesting；
5) when rectangle bin is deviation reference axis type counterclockwise or rectangle bin is deviation reference axis type clockwise, with square
Shape feed bin is the positive direction position that each tapping hole is first calculated based on the calculation of parallel coordinate axes type, reuses offset
Compensation calculation method obtains each tapping hole and deviates counterclockwise or the position compensation of clockwise, is just calculated by loop nesting
The specific location of each tapping hole.
2. a kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning as described in claim 1, feature
It is: in the step 4), when rectangle bin is parallel coordinates type, first calculates x2With x1Difference, then by its difference with
Lateral number (hnum) be divided by, obtained value is the substantially spacing (HD) between lateral tapping hole, and formula is as follows:
HD=(x2-x1)/(hnum-1) (1)
Similarly, the substantially spacing (VD) between longitudinal tapping hole is calculated, formula is as follows:
VD=(y3-y2)/(vnum-1) (2)
Wherein vnumRepresent feed bin longitudinal direction number；
Spacing is carried out again, the specific location of each tapping hole is then calculated by loop nesting, and formula is as follows:
Px=x1+ i*HD+0.5 (i=0,1,2...hnum-1) (3)
Py=y1+ j*VD+0.5 (j=0,1,2...vnum-1) (4)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral tapping hole sequence
Number, laterally the first tapping hole serial number 0 is defaulted here, and j represents longitudinal tapping hole serial number, defaults longitudinal first tapping hole sequence here
Number be 0.
3. a kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning as claimed in claim 2, feature
It is: in the step 5), when rectangle bin is to be biased to reference axis type counterclockwise, using rectangle bin as parallel coordinate axes class
The positive direction position that each tapping hole is first calculated based on the calculation of type is obtained the positive direction position of each tapping hole by step 4)
It is set to (Px,Py), then by calculating x2With x3Difference, then by its difference and longitudinal number (vnum) be divided by, obtained value is horizontal
To the migration (DeltaH) of tapping hole, formula is as follows:
DeltaH=(x2-x3)/(vnum-1) (5)
Similarly, the migration (DeltaV) between longitudinal tapping hole is calculated, formula is as follows:
DeltaV=(y2-y1)/(hnum-1) (6)
Then the specific location of each tapping hole is calculated by loop nesting, formula is as follows:
Px=Px+ j*DeltaH (j=0,1,2...vnum-1) (7)
Py=Py- i*DeltaV (i=0,1,2...hnum-1) (8)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral tapping hole sequence
Number, laterally the first tapping hole serial number 0 is defaulted here, and j represents longitudinal tapping hole serial number, defaults longitudinal first tapping hole sequence here
Number be 0.
4. a kind of calculation method of truss manipulator rectangle bin tapping hole automatic positioning as claimed in claim 2, feature
It is: in the step 5), when rectangle bin is to be biased to reference axis type clockwise, using rectangle bin as parallel coordinate axes class
The positive direction position that each tapping hole is first calculated based on the calculation of type is obtained the positive direction position of each tapping hole by step 4)
It is set to (Px,Py), then by calculating x3With x2Difference, then by its difference and longitudinal number (vnum) be divided by, obtained value is horizontal
To the migration (DeltaH) of tapping hole, formula is as follows:
DeltaH=(x3-x2)/(vnum-1) (9)
Similarly, the migration (DeltaV) between longitudinal tapping hole is calculated, formula is as follows:
DeltaV=(y1-y2)/(hnum-1) (10)
Then the specific location of each tapping hole is calculated by loop nesting, formula is as follows:
Px=Px+ j*DeltaH (j=0,1,2...vnum-1) (11)
Py=Py- i*DeltaV (i=0,1,2...hnum-1) (12)
Wherein PxRepresent the x value of each tapping hole coordinate, PyThe y value of each tapping hole coordinate is represented, i represents lateral tapping hole sequence
Number, laterally the first tapping hole serial number 0 is defaulted here, and j represents longitudinal tapping hole serial number, defaults longitudinal first tapping hole sequence here
Number be 0.
5. the calculation method that a kind of truss manipulator rectangle bin tapping hole as described in one of Claims 1 to 4 is automatically positioned,
It is characterized by: the calculation method in step 4) will be converted into program execution, the motor of control truss manipulator reaches
The position of specified tapping hole is certain instruction to be sent by program to controller, then sent by the timer in controller
Corresponding umber of pulse is to motor, so that the moving distance of motor is controlled, and the umber of pulse in program must be integer value, but step
4) calculation formula in calculates last blowing pitch of holes and is not necessarily integer value, if directly by the substantially spacing of tapping hole etc.
In umber of pulse to program, then the position of actually truss robot movement to tapping hole there will certainly be error, and more lean on
Tapping hole location error afterwards is bigger, a kind of method for taking spacing, by the compensation for adding 0.5 to each spacing
Value, then be rounded and will achieve the effect that round up, so that error is minimized.
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| CN108581590A (en) * | 2018-05-02 | 2018-09-28 | 上海西码机床科技股份有限公司 | Truss-like method for controlling robot and system for lathe automatic loading/unloading |
| CN108910384A (en) * | 2018-09-12 | 2018-11-30 | 昆山巨林科教实业有限公司 | A kind of calculation method of the warehouse compartment information of tiered warehouse facility |
| CN108908344A (en) * | 2018-08-17 | 2018-11-30 | 云南电网有限责任公司昆明供电局 | A kind of crusing robot mechanical arm tail end space-location method |
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2019
- 2019-01-15 CN CN201910034651.5A patent/CN109866069B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59142617A (en) * | 1983-02-02 | 1984-08-15 | Mitsubishi Electric Corp | Controller for robot |
| CN108044629A (en) * | 2018-01-11 | 2018-05-18 | 广东科达洁能股份有限公司 | A kind of ceramic tile truss manipulator and its walking manner |
| CN108581590A (en) * | 2018-05-02 | 2018-09-28 | 上海西码机床科技股份有限公司 | Truss-like method for controlling robot and system for lathe automatic loading/unloading |
| CN108908344A (en) * | 2018-08-17 | 2018-11-30 | 云南电网有限责任公司昆明供电局 | A kind of crusing robot mechanical arm tail end space-location method |
| CN108910384A (en) * | 2018-09-12 | 2018-11-30 | 昆山巨林科教实业有限公司 | A kind of calculation method of the warehouse compartment information of tiered warehouse facility |
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