CN111633649A - Mechanical arm adjusting method and adjusting system thereof - Google Patents
Mechanical arm adjusting method and adjusting system thereof Download PDFInfo
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- CN111633649A CN111633649A CN202010458140.9A CN202010458140A CN111633649A CN 111633649 A CN111633649 A CN 111633649A CN 202010458140 A CN202010458140 A CN 202010458140A CN 111633649 A CN111633649 A CN 111633649A
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- 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
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a method and a system for adjusting a mechanical arm, wherein the method comprises the following steps: inputting a tool coordinate system to the tail end of the mechanical arm, and storing the tool coordinate system in a control unit; the robot performs an alignment step according to the contour of the object, the alignment step including: utilizing the tail end of the mechanical arm to contact the contour of the object, so as to obtain at least three teaching point positions on the object and store the three teaching point positions in the control unit; calculating the geometric center of the outline of the object according to the three teaching point positions; and moving the Z-axis of the tool coordinate system to align with the geometric center of the contour of the object. The invention can be applied to processing workpieces, picking and placing workpieces or picking and placing cutters, can directly clamp the workpieces to be processed to carry out quick alignment teaching in the state without auxiliary tools or sensors, and has simple and easy operation and time saving.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm adjusting method and an adjusting system.
Background
When the robot arm performs a specific task, one end surface of the robot arm is always required to be parallel to the working plane, so that the end effector arranged on the end surface can work smoothly. For example, the end effector may be a gripper for gripping a shaft and inserting the shaft into an insertion hole in a work plane of the aperture plate, and the robot arm must have the shaft perpendicular to the work plane when inserted into the insertion hole, so that the end face of the robot arm must be parallel to the work plane.
In addition, most of the existing methods for improving the efficiency of machine tool picking, placing, aligning and aligning are to add a sensor on the robot arm, and allow the tool to reach the picking, placing destination through the sensor, but the method still has many inconveniences for the operator, for example: the sensor needs to be installed at a certain cost, the sensor needs to be installed at a certain technology, the sensor needs to be connected with a controller on line and relevant parameters are set, the sensor is installed, for example, vision is utilized, image identification learning and setting operation needs to be done in advance, enough light sources are erected around the environment to facilitate image identification, after the image is captured, the vector of the target point and the current position is calculated, and the mechanical arm is moved to enable the vector length between the two points (the target point and the current position point) to be zero so as to achieve alignment. However, such a complicated operation procedure can only accomplish a single function of alignment, and if a pick-and-place operation is required, alignment correction is still required first, and a complete set of fast teaching methods including alignment and alignment is lacking.
Disclosure of Invention
In order to solve the above problems, a primary objective of the present invention is to provide a method and a system for adjusting a robot arm, which can achieve the function of aligning and aligning the center of a pick-and-place by teaching a point location quickly, so as to overcome errors in assembly or machinery, and improve the problem that the robot arm must adjust the posture to hold a workpiece to smoothly pick and place the workpiece at the pick-and-place.
Another objective of the present invention is to provide a method and a system for calibrating a robot arm, which can be easily and quickly operated, and can selectively attach a sensor to the end of the robot arm, thereby saving teaching time and equipment cost.
Another objective of the present invention is to provide a method and a system for calibrating a robot arm, wherein an auxiliary device or a sensor can be optionally used at the end of the robot arm to achieve the calibration accuracy.
A further object of the present invention is to provide a method and a system for calibrating a robot arm, which can directly clamp a workpiece or an auxiliary tool for fast alignment teaching without a sensor, and can determine a geometric center target by using inner and outer teaching points, wherein the teaching points are fast and convenient, and the workpiece to be processed is adjusted to touch the inner side or the outer side of a contour, so that the operation is simple and time-saving, and the problem that the determined point is not the geometric center due to the inaccurate contour line can be avoided.
According to the above object, the present invention provides a method for calibrating a robot arm, comprising the steps of:
inputting a tool coordinate system to the tail end of the mechanical arm, and storing the tool coordinate system in a control unit;
performing an alignment step on the end of the robot arm, comprising:
utilizing the tail end of the mechanical arm to contact the contour of an object, so as to obtain at least three teaching points on the object and store the teaching points in the control unit;
calculating the geometric center of the outline of the object according to the teaching point positions; and
the Z-axis of the tool coordinate system is moved to align with the geometric center of the contour of the object.
In a preferred embodiment of the present invention, the robot calibration method further comprises performing an alignment step before performing the alignment step, the alignment step comprising: randomly finding out three coordinate values of the three points on the plane of the object to be aligned so as to calculate a normal vector of a user coordinate system; and aligning a normal vector of the tool coordinate system with the normal vector of the user coordinate system, wherein the normal vector of the tool coordinate system and the normal vector of the user coordinate system are opposite in direction and parallel to each other in space.
In the preferred embodiment of the present invention, the three coordinate values of the three points arbitrarily found on the plane of the object are obtained by keeping the same point on the end in contact with the three points on the plane of the object.
In the preferred embodiment of the present invention, the geometric center of the contour aligned to the object is obtained by using a three-point circle center, a four-point rectangular geometric center or a multi-point polygonal geometric center.
In the preferred embodiment of the present invention, the end of the robot is an end effector.
In the preferred embodiment of the present invention, the end effector is a jaw or a sensor.
In a preferred embodiment of the present invention, the method for adjusting the robot arm further comprises a step of aligning, wherein the step of aligning comprises: reading the tool coordinate system from the control unit; selecting two of the teaching points in the aligning step on the same side of the contour of the object to form an X-direction vector of the contour; calculating an angle difference between an X-direction vector of the tool coordinate system and the X-direction vector of the contour, and taking the angle difference as a rotation angle of the mechanical arm; and rotating the end of the robot arm with the tool coordinate system according to the rotation angle so that the X-direction vector of the tool coordinate system is parallel to the X-direction vector of the contour.
In a preferred embodiment of the invention, the clamping jaws can clamp a workpiece to be machined or an accessory with a sharp point.
In the preferred embodiment of the present invention, three teach points are obtained by using the end of the robot arm to contact the inside or outside of the contour of the subject.
In the preferred embodiment of the invention, the plane of the object can be located at the material tray, the machine tool spindle chuck, the tool changing magazine changing position or the workpiece to be processed.
According to the above method for adjusting a robot arm, the present invention further provides a robot arm adjusting system, which includes:
a robot having a distal end, the robot including a control unit coupled to the robot for controlling the robot to perform a machining process, the control unit comprising: an input unit for inputting a tool coordinate system at the end of the robot arm and storing the tool coordinate system in a storage unit of the control unit; the computing unit is used for computing a normal vector of a user coordinate system according to three coordinate values of any three points on the plane of the object to be aligned; an alignment unit aligning the normal vector of the tool coordinate system with the normal vector of the user coordinate system, wherein the normal vector of the tool coordinate system and the normal vector of the user coordinate system are opposite in direction and parallel to each other in space; and an alignment unit for performing an alignment step on the object, contacting the contour of the object by using the end of the robot arm, thereby obtaining at least three teaching points from the object, calculating according to the teaching points to obtain a geometric center of the contour of the object, and moving the Z-axis of the tool coordinate system to align the geometric center of the contour of the object.
In the preferred embodiment of the present invention, the robot may be a joint robot, a horizontal multi-joint robot, a truss robot, or a parallel robot.
In the preferred embodiment of the present invention, the end of the robot is an end effector.
In a preferred embodiment of the invention, the end effector is a jaw or a sensor.
In a preferred embodiment of the invention, the clamping jaws can clamp a workpiece to be machined or an accessory with a sharp point.
In the preferred embodiment of the present invention, the sensor can be a contact force sensor or an electrical sensor.
In a preferred embodiment of the present invention, the control unit is further configured to perform a rotation step, the control unit is further configured to read the tool coordinate system, select two points of the teaching points in the alignment step on the same side of the contour of the object to form an X-direction vector of the contour, calculate an angle difference between the X-direction vector of the tool coordinate system and the X-direction vector of the contour, and use the angle difference as a rotation angle of the robot arm, wherein the end of the robot arm rotates according to the rotation angle such that the X-direction vector of the tool coordinate system is parallel to the X-direction vector of the contour.
In a preferred embodiment of the present invention, three teach points are obtained by using the end of the robot arm to contact the inside or outside of the contour of the subject.
In a preferred embodiment of the invention, the plane of the object is located at the machine tool spindle chuck, the magazine, the tool changer or the workpiece to be machined.
In the preferred embodiment of the present invention, the robot calibration system can be applied to process a workpiece, pick and place a workpiece, or pick and place a tool.
According to the technical scheme, the adjusting method and the adjusting system of the mechanical arm provided by the invention have the following beneficial effects: the device can be applied to processing workpieces, picking and placing workpieces or picking and placing cutters, can directly clamp the workpieces to be processed to conduct quick alignment teaching in the state without auxiliary tools or sensors, can achieve the purpose of solving the geometric center target by utilizing an internal and external teaching point mode, is quick and convenient in teaching point, only needs to adjust the workpieces to be processed to touch with the inner side or the outer side of the outline, is simple and easy to operate, saves time, and can avoid the situation that the point obtained due to inaccurate outline is not the geometric center.
Drawings
Fig. 1 is a block diagram of a robot tuning system according to an embodiment of the invention.
FIG. 2 is a flowchart illustrating steps of a method for adjusting a robot arm according to an embodiment of the present invention.
Fig. 3A is a schematic diagram showing the tip of the robot arm contacting the teach point inside the tray hole according to one embodiment of the present invention.
Fig. 3B is a schematic diagram illustrating the tip of a robot arm contacting a teach point on the outside of a spindle chuck in accordance with another embodiment of the present invention.
Fig. 3C is a schematic diagram illustrating the tip of the robot arm touching the teach point to get the geometric center either inside or outside the contour of the subject according to one embodiment of the present invention.
FIG. 4A is a schematic diagram illustrating teaching two points inside each edge of the outline of a geometric figure according to one embodiment of the present invention.
FIG. 4B is a schematic diagram illustrating teaching vertices inboard of the outline of a geometric figure, according to one embodiment of the invention.
FIG. 5 is a flowchart illustrating steps of a method for adjusting a robot arm according to another embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating the rotation of the end of the robot arm according to the rotation angle according to an embodiment of the present invention.
In the drawings:
1-adjusting the system by the mechanical arm; 2-a control unit;
22-an input unit; 24-an arithmetic unit;
26-alignment unit; 28-an alignment unit;
30-a rotation unit; 32-a storage unit;
4-a mechanical arm; 42-terminal end;
5-a feed tray hole; 6, workpieces and bars to be processed;
7-spindle chuck.
Detailed Description
In order to make the technical solution of the embodiments of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by equivalent changes and modifications by one skilled in the art based on the embodiments of the present invention, shall fall within the scope of the present invention.
Please refer to fig. 1 first. FIG. 1 is a block diagram illustrating a robot tuning system according to the teachings of the present disclosure. In fig. 1, the robot calibration system 1 includes a control unit 2 and a robot 4, the control unit 2 is connected to the robot 4, and the control unit 2 is configured to control the robot 4 to perform a machining process, where the machining process refers to using the control unit 2 to control the robot 4 to move or control the robot 4 to perform a command action. In addition, the robot 4 has a distal end 42, and the distal end 42 may be an end effector, specifically, an end effector may be a gripper or a sensor, and in a preferred embodiment, the gripper may grip a workpiece to be processed or an auxiliary tool having a sharp point. In another preferred embodiment, the sensor may be a contact force sensor or an electrical sensor. The mechanical arm 4 may be a joint type mechanical arm, a horizontal multi-joint mechanical arm, a truss type mechanical arm, or a parallel type mechanical arm.
The control unit 2 comprises an input unit 22, a calculation unit 24, an alignment unit 26, and an alignment unit 28, wherein the input unit 22 is configured to input a tool coordinate system at the end 42 of the robot arm 4 and store the tool coordinate system in the storage unit 32 of the control unit 2. The computing unit 24 calculates the normal vector of the user coordinate system according to three coordinate values of any three points on the plane of the object (not shown in the figure) to be aligned, and it should be noted that the plane of the object (not shown in the figure) may be located at the spindle chuck of the machine tool, the tray, the tool changer or the workpiece to be machined. The alignment unit 26 aligns the normal vector of the tool coordinate system of the tip 42 of the robot arm 4 with the normal vector of the user coordinate system such that the normal vectors of the tool coordinate system and the user coordinate system are in opposite directions but parallel to each other in the same space. An alignment unit 28, the robot performs an alignment step according to the contour of an object (not shown), the end 42 of the robot 4 is used to contact the contour of the object (not shown), so as to obtain at least three teaching points from the object (not shown), the alignment unit 28 calculates the geometric center of the contour of the object (not shown) according to the teaching points, and moves the Z-axis of the tool coordinate system to align the geometric center of the contour of the object.
In another embodiment of the present invention, the control unit 2 further includes a rotation unit 30 for performing a rotation step, the control unit 20 reads the tool coordinate system, selects two points of the at least three teaching points in the alignment step previously performed by the alignment unit 28 on the same side of the contour of the object to form an X-direction vector of the contour, calculates an angle difference between the X-direction vector of the tool coordinate system and the X-direction vector of the contour, and uses the angle difference as a rotation angle of the robot arm 4, and the end 42 of the robot arm 4 rotates according to the rotation angle such that the X-direction vector of the tool coordinate system is parallel to the X-direction vector of the contour.
Please refer to fig. 2. FIG. 2 is a flowchart illustrating a method for adjusting a robot arm according to the disclosed technique. In fig. 2, step S10: a tool coordinate system is input to the end of the robot arm and stored in the control unit. In this step, the robot arm 4 holds a workpiece to be processed (not shown) or an auxiliary tool (not shown) having a sharp point, and hits a certain point with a plurality of different postures to obtain a plurality of solutions, and then a tool coordinate system of the end is established after calculation. If the end 42 is a workpiece to be machined or an accessory with a sharp point, the tool coordinate system is the tool coordinate system of the workpiece to be machined or the accessory with a sharp point, that is, the tool coordinate system is the tool coordinate system of the component with which the end of the robot arm 4 is the most.
Step S12: the aligning step of the end of the robot arm includes step S122: and finding out three coordinate values of the three points on the plane of the object to be aligned to calculate the normal vector of the user coordinate system. In this step, the plane of the end 42 of the robot arm 4 (whether or not there is a clamped object) on the object (not shown) to be aligned teaches three arbitrary non-collinear points to find three points to establish the user coordinate system, wherein the three points teach that the three arbitrary non-collinear points should maintain contact with three arbitrary points on the plane of the object (not shown) at the same point on the end 42 to ensure the accuracy of the establishment of the user coordinate system. The three coordinate values of these three points can be stored in the user coordinate system management file of the storage unit 32 in the control unit 2, and need not be re-established every time when the user is not in a new pick-and-place situation. In the embodiment of the present invention, the object (or object) to be aligned may be a place to be taken and placed, such as a spindle or a tray of a machine tool. Step S124 is followed: and aligning the normal vector of the tool coordinate system with the normal vector of the user coordinate system, wherein the normal vector of the tool coordinate system and the normal vector of the user coordinate system are opposite in direction and parallel to each other in space. In this step, the posture of the robot arm 4 is adjusted so that the normal vector of the tool coordinate system is aligned with the normal vector of the user coordinate system, and the alignment posture is that the normal vector of the tool coordinate system is opposite to the normal vector of the user coordinate system and is parallel in space. Note that, if the initial state of the tool coordinate system and the user coordinate system is the aligned state, the alignment step (step S12, step S122 to step S124) may be omitted, and the alignment step S14 of the robot arm 4 may be performed directly.
Step S14: the end of the robot is aligned, which includes step S142: the contour of the object is contacted by using the end of the mechanical arm, so that at least three teaching point positions are obtained from the object and are stored in the control unit. In this step, the robot 4 in the aligned posture continues to teach points on the contour of the object, as shown in fig. 3A and 3B, if the clamped workpiece 6 is a cylindrical bar, the bar 6 is contacted to the outside or inside of the contour of the object 5 (tray hole) or 7 (spindle chuck) to find the taught points, and the geometric center position of the contour is obtained after calculation, as shown in fig. 3C. In fig. 3C, points O1, O2, and O3 represent at least three outer teach points where the bar 6 contacts the outside of the contour of the object 5 (tray hole, fig. 3A)7 (spindle chuck, fig. 3B); likewise, points I1, I2, and I3 represent at least three inner teaching points of the inner side of the contour of the bar 6 contacting the object 5 (tray hole), 7 (spindle chuck).
Next, step S144: the geometric center of the contour of the object is calculated from the at least three teach points. In this step, the three teaching points (points O1, O2 and O3 or points I1, I2 and I3) obtained in step S162 can be calculated by using the three-point circle center.
It should be noted that, if the object is a rectangle or a polygon, the method for determining the geometric center of the rectangle or the polygon can be described as follows with reference to fig. 4A and 4B. The robot arm 4 holds the auxiliary tool (i.e. the bar 6 mentioned above), and forms a line with two teaching point positions on each side of the geometric figure contour, or inside and outside, respectively, i.e. the point M1 and the point M1 ', the point M2 and the point M2', the point M3 and the point M3 ', and the point M4 and the point M4' in fig. 4A, and these teaching point position data can be stored in the storage unit 32 to automatically calculate a virtual contour similar to the real contour, such as the line segment M1-M1 ', the line segment M2-M2', the line segment M3-M3 ', and the line segment M4-M4' in fig. 4A. It should be noted that, since the robot arm does not know where the bar contacts the contour of the object, but only knows that the center point of the bar passes through the Z-axis of the tool coordinate system, the robot arm can only know the center point of the bar, and therefore, the points M1 and M1 ', M2 and M2', M3 and M3 ', and M4 and M4' are the geometric center coordinates of the bar, and therefore, a graph similar to the contour of the object is formed by connecting the points, and the geometric center of the similar graph is exactly the same as the center of the contour. In fig. 4A, the object contour is a quadrangle, and two points are taught on one side, so that four teaching points (points M1 and M1 ', points M2 and M2', points M3 and M3 ', and points M4 and M4') are provided, so that a total of 8 points are available for calculating the geometric center of the quadrangle; alternatively, as shown in fig. 4B, the vertex positions of the four points P1, P2, P3 and P4 in the geometric figure are directly stored in the storage unit 32 by selecting the vertex teaching manner of the four points, and both manners can be applied to any polygon to obtain the geometric center of the polygon. Thus, the geometric center of the outline of the object may also include a four-point-defined rectangular geometric center or a multi-point-defined polygon geometric center having more than four sides. The geometric center of the object can be obtained by teaching points to the inner side or the outer side of the outline of the object, and the defect that the points obtained by the misaligned contour line are not the geometric center can be avoided.
Subsequently, step S146 is performed: the Z-axis of the tool coordinate system is moved to align with the geometric center of the contour of the object. Since the geometric center of the contour of the object has been obtained in step S144, the Z-axis of the tool coordinate system of the end 42 of the robot arm 4 may be moved to align the geometric center of the contour of the object, at which point the robot arm 4 may be operated to perform a machining process on the object.
Since when a polygonal workpiece to be processed is clamped to be taken and placed, such as a rectangle, if the alignment of the geometric center of the contour is completed, there is no difference in the rotation angle between the workpiece to be processed and the place to be taken and placed, in another embodiment of the present invention, an angle difference between the X-direction vector of the tool coordinate system and the X-direction vector of the place to be taken and placed (i.e., the contour) needs to be found out as the rotation angle to perform the alignment step. Note that steps S10 to S12 and S14 in fig. 5 are the same as those in fig. 2. Fig. 6 is also referred to in the description of fig. 5. Furthermore, the teach point in the polygon alignment technique can be used for the alignment step, so the alignment step is performed before the alignment step is performed. The correction step S16 includes step S162: the tool coordinate system is read by the control unit. In this step, since the robot arm 4 holds the auxiliary tool to obtain at least three teaching points from the contour of the object in the alignment step and stores the teaching points in the storage unit 32 of the control unit 2, the teaching points do not need to be found again when the alignment step is performed, and the at least three teaching points can be read from the storage unit 32. Step S164: two of the at least three teach points in the aligning step are selected on the same side of the contour of the object to form an X-direction vector of the contour. In this step, the X-direction vector of the contour of the objects 5 (e.g., the material tray hole of fig. 3A) and 7 (e.g., the spindle chuck of fig. 3B) is represented by a vector composed of two points selected from at least three teaching points, and it should be noted that, in this embodiment, the material tray hole 5 and the spindle chuck 7 are not limited to the patterns shown in fig. 3A and 3B. Step S166 is followed: and calculating an angle difference value between the X-direction vector of the tool coordinate system and the X-direction vector of the contour, and taking the angle difference value as the rotation angle of the mechanical arm. In this step, the arithmetic unit 24 calculates an angle difference between the X-direction vector representing the contour of the object by the vector constituted by the two points selected in step S164 and the X-direction vector of the tool coordinate system, and this angle difference is taken as the rotation angle θ of the robot arm 4.
Step S168: the end of the robot arm having the tool coordinate system is rotated according to the rotation angle such that the X-direction vector of the tool coordinate system is parallel to the X-direction vector of the profile. In this step, when taking and placing, the X-direction vector of the tool coordinate of the end 42 of the robot arm 4 rotates according to the rotation angle θ, i.e. as the arrow in fig. 6 indicates, the Z-axis of the tool coordinate system is aligned with the geometric center, and then the X-direction vector of the tool coordinate system is parallel to and in the same direction as the X-direction vector of the contour of the object, so as to complete the taking and placing smoothly. If the workpiece 6 to be processed is picked and placed in the same way, the rotation angle can be automatically read for use, and re-teaching is not required every time.
According to the embodiments, the method and the system for adjusting the manipulator arm disclosed by the invention can be applied to processing a workpiece, picking and placing the workpiece or picking and placing a cutter, can directly clamp the workpiece to be processed in a state without an auxiliary tool or a sensor to carry out rapid alignment teaching, can achieve the purpose of finding the geometric center by using the inner and outer teaching points, are rapid and convenient, only need to adjust the workpiece to be processed to touch the inner side or the outer side of the contour, are simple and time-saving to operate, and can avoid the situation that the found point is not the geometric center due to inaccurate contour line.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; while the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (20)
1. A method for adjusting and calibrating a mechanical arm is characterized by comprising the following steps:
inputting a tool coordinate system to a tail end of a mechanical arm, and storing the tool coordinate system in a control unit;
performing an alignment step on the end of the robot arm, comprising:
utilizing the tail end of the mechanical arm to contact a contour of an object, so as to obtain at least three teaching points on the object and store the teaching points in the control unit;
calculating a geometric center of the contour of the object according to the teaching point positions; and
a Z-axis of the tool coordinate system is moved to align with the geometric center of the contour of the object.
2. The robot arm calibration method of claim 1, comprising performing an alignment step before performing the alignment step, the alignment step comprising:
finding out three coordinate values of three points on a plane of the object to be aligned to calculate a normal vector of a user coordinate system; and
aligning a normal vector of the tool coordinate system with the normal vector of the user coordinate system, wherein the normal vector of the tool coordinate system and the normal vector of the user coordinate system are opposite in direction and parallel to each other in a space.
3. The method of claim 2, wherein the three coordinate values are maintained at the same point on the distal end in contact with the three points of the plane of the object.
4. The method of claim 1, wherein the geometric center of the contour aligned to the object is obtained using a three-point circular center, a four-point rectangular geometric center, or a multi-point polygonal geometric center.
5. The method of claim 1, wherein the end of the robot is an end effector.
6. The method of claim 1, wherein the end effector is a gripper or a sensor.
7. The method of claim 1, further comprising a step of aligning, wherein the step of aligning comprises:
reading the tool coordinate system from the control unit;
selecting two of the teaching points in the aligning step on the same side of the contour of the object to form an X-direction vector of the contour;
calculating an angle difference between an X-direction vector of the tool coordinate system and the X-direction vector of the contour, and taking the angle difference as a rotation angle of the mechanical arm; and
the end of the robot having the tool coordinate system rotates according to the rotation angle such that the X-direction vector of the tool coordinate system is parallel to the X-direction vector of the profile.
8. The method of claim 1, wherein the chuck jaws are adapted to hold a workpiece to be machined or an accessory having sharp points.
9. The method of claim 1, 2 or 4, wherein the teach points are obtained by contacting the end of the robot to the inside or outside of the contour of the object.
10. The method of claim 1 or 2, wherein the plane of the object is located on a magazine, a machine tool spindle chuck, a tool changer, or a workpiece to be machined.
11. A manipulator timing system, comprising:
a robot having a distal end, comprising a control unit coupled to the robot for controlling the robot to perform a manufacturing process, the control unit comprising:
an input unit for inputting a tool coordinate system at the end of the robot arm and storing the tool coordinate system in a storage unit of the control unit;
an arithmetic unit, which calculates a normal vector of a user coordinate system according to three coordinate values of any three points on a plane of an object to be aligned;
a aligning unit for aligning the normal vector of the tool coordinate system with the normal vector of the user coordinate system, wherein the normal vector of the tool coordinate system and the normal vector of the user coordinate system are opposite in direction and parallel to each other in space; and
an alignment unit for performing an alignment step on the object, using the end of the robot to contact the contour of the object, thereby obtaining at least three teaching points from the object, calculating according to the teaching points to obtain a geometric center of the contour of the object, and moving the Z-axis of the tool coordinate system to align the geometric center of the contour of the object.
12. The system of claim 11, wherein the robot is a joint robot, a horizontal multi-joint robot, a truss robot, or a parallel robot.
13. The system of claim 11, wherein the end is an effector.
14. The system of claim 13, wherein the end effector is a gripper or a sensor.
15. The system of claim 14, wherein the chuck is adapted to hold a workpiece to be machined or an accessory having sharp points.
16. The system of claim 14, wherein the sensor is a contact force sensor or an electrical sensor.
17. The system of claim 11, further comprising a rotation unit for performing a rotation step, wherein the control unit reads the tool coordinate system, selects an X-direction vector of the contour from two points of the teaching points in the alignment step on the same side of the contour of the object, calculates an angle difference between the X-direction vector of the tool coordinate system and the X-direction vector of the contour, and uses the angle difference as a rotation angle of the robot arm, wherein the end of the robot arm rotates according to the rotation angle such that the X-direction vector of the tool coordinate system is parallel to the X-direction vector of the contour.
18. The system of claim 11, wherein the teach points are obtained by contacting the end of the robot to the inside or outside of the contour of the object.
19. The system of claim 11, wherein the plane of the object is located on a spindle chuck of a machine tool, a magazine, a tool changer, or a workpiece to be machined.
20. The system of any of claims 11-19, wherein the system is adapted to process a workpiece, pick and place a workpiece, or pick and place a tool.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670179A (en) * | 2022-03-16 | 2022-06-28 | 江西瑞祥智能装备有限公司 | Robot workpiece coordinate system construction method and device, storage medium and terminal |
| CN114872020A (en) * | 2022-06-30 | 2022-08-09 | 西安奕斯伟材料科技有限公司 | System and method for demonstrating picking and placing of silicon wafer relative to bearing space by mechanical arm |
| CN115547907A (en) * | 2022-11-25 | 2022-12-30 | 泓浒(苏州)半导体科技有限公司 | Intelligent control method and system of mechanical arm for wafer transmission |
-
2020
- 2020-05-27 CN CN202010458140.9A patent/CN111633649A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670179A (en) * | 2022-03-16 | 2022-06-28 | 江西瑞祥智能装备有限公司 | Robot workpiece coordinate system construction method and device, storage medium and terminal |
| CN114872020A (en) * | 2022-06-30 | 2022-08-09 | 西安奕斯伟材料科技有限公司 | System and method for demonstrating picking and placing of silicon wafer relative to bearing space by mechanical arm |
| CN115547907A (en) * | 2022-11-25 | 2022-12-30 | 泓浒(苏州)半导体科技有限公司 | Intelligent control method and system of mechanical arm for wafer transmission |
| CN115547907B (en) * | 2022-11-25 | 2023-03-10 | 泓浒(苏州)半导体科技有限公司 | Intelligent control method and system of mechanical arm for wafer transmission |
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