CN111761577A

CN111761577A - Self-positioning type high-precision intelligent engraving machine and control method thereof

Info

Publication number: CN111761577A
Application number: CN202010590970.7A
Authority: CN
Inventors: 曹琴勇
Original assignee: Zhejiang Lovini Intelligent Engraving Machine Co ltd
Current assignee: Zhejiang Lovini Intelligent Engraving Machine Co ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2020-10-13

Abstract

The invention discloses a self-positioning high-precision intelligent carving machine and a control method thereof, wherein the self-positioning high-precision intelligent carving machine comprises a mechanical arm connected with a steering engine controller with a preset track program, and an electric drill is driven to carve a workpiece on a lower working platform; before the electric drill is carved, laser beams emitted by a laser generator are transmitted into a cavity of a laser ranging head arranged on a mechanical arm through optical fibers, the laser is applied to a calibration filament at an outlet at the lower end of the cavity to generate diffraction stripes on a working platform, proportional calculation is carried out by combining the actual length and width of the working platform to obtain a vertical distance deviation value of the electric drill, a track error is calculated after the vertical distance deviation value is compared with a position voltage signal fed back by a feedback potentiometer, and the track position parameter used for controlling the moving track of the mechanical arm in an original track program is added with the track error to realize the position calibration of the track program of the mechanical arm in the vertical direction; the automatic positioning device has the advantages of automatic positioning, high availability and high engraving precision.

Description

Self-positioning type high-precision intelligent engraving machine and control method thereof

Technical Field

The invention relates to an engraving machine, in particular to a self-positioning high-precision intelligent engraving machine and a control method thereof.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to the unique operation flexibility, the method is widely applied to the fields of industrial assembly, industrial processing, safety explosion prevention and the like. The robot system consists of a vision sensor, a mechanical arm system and a main control computer, wherein the mechanical arm system comprises a modularized mechanical arm and a mechanical arm.

The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

However, when the high-strength engraving machine is used for high-strength engraving work, the mechanical arm moves back and forth for a long distance in the process of processing one workpiece, so that the positioning position of the mechanical arm inevitably deviates, the positioning of the mechanical arm needs to be calibrated in time, and the accuracy of processing the engraving work is improved. If the correction is not performed in time, the engraving deviation of the product can be caused, and the serious result can be the result of waste. Therefore, a solution is urgently needed for how to improve the calibration precision of the tail end of the mechanical arm before engraving, particularly for the precision machining industry of engraving, and the improvement of the engraving precision is a target of continuous pursuit and optimization in the industry.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a control method of a self-positioning high-precision intelligent engraving machine.

In order to achieve the first purpose, the invention provides the following technical scheme:

a control method of a self-positioning high-precision intelligent carving machine comprises the steps that an electric drill is driven to carve a workpiece on a lower working platform through a mechanical arm connected with a steering engine controller with a preset track program;

before the electric drill is carved, laser beams emitted by a laser generator are transmitted into a cavity of a laser ranging head arranged on a mechanical arm through optical fibers, laser is applied to calibration filaments at an outlet at the lower end of the cavity to generate diffraction stripes on a working platform, and proportional calculation is carried out by combining the actual length and width of the working platform to obtain the vertical distance from the calibration filaments to the working platform;

the vertical distance is differenced with the initial vertical distance of the mechanical arm to obtain a vertical distance deviation value of the electric drill bit, a track error is calculated after the vertical distance deviation value is compared with a position voltage signal fed back by a feedback potentiometer, and the track position parameter used for controlling the moving track of the mechanical arm in an original track program is added with the track error to realize the position calibration of the track program of the mechanical arm in the vertical direction.

Further, the method further comprises:

the method comprises the steps that a mechanical arm is rotated 90 degrees and faces a shield screen which is arranged right opposite to the side face of a mechanical arm, a laser generator emits laser, the laser reaches a laser ranging head along an optical fiber, the laser is applied to a calibration filament, diffraction stripes with alternate light and shade are generated on the shield screen which is right opposite, the length of the shield screen is used as a reference, proportion calculation is carried out, the distance from the calibration filament to a diffraction center on the shield screen is calculated, the distance and the distance from the calibration filament to the left and right directions of the shield screen are made into a difference value, the difference value is compared with a position voltage signal fed back by a feedback potentiometer, a track error is calculated, a track position parameter used for controlling the moving track of the mechanical arm in an original track program is added with the left and right track error, and position calibration of.

Further, the method further comprises:

the mechanical arm comprises a base, a lower joint arm, an upper joint arm, three steering engines and a steering engine controller, wherein the end part of the upper joint arm is provided with a mechanical arm;

the mechanical arm then executes a position calibration procedure in the front-back direction, and the mechanical arm rotates the lower joint arm by 90 degrees relative to the base through the steering engine, so that the laser ranging head is aligned with a screen which is opposite to the front and is used for measuring the position in the front-back direction;

the laser generator emits laser which reaches the laser ranging head along the optical fiber, the laser is applied to the calibration filament, and diffraction stripes with alternate light and shade are generated on the shield;

calculating the distance from the calibration filament to the diffraction center on the shield by taking the length of the length and the width of the shield as reference and performing proportion calculation; making a difference value between the distance and the distance from the initial calibration filament to the left and right directions of the baffle screen, thereby obtaining a front and back distance deviation value of the electric drill bit; and after comparing the position voltage signal fed back by the feedback potentiometer, calculating a track error, and adding a track position parameter used for controlling the moving track of the mechanical arm in the original track program to the front and back track error to realize the calibration of the front and back direction positions of the track program of the mechanical arm.

Aiming at the defects in the prior art, the invention aims to provide a self-positioning high-precision intelligent engraving machine.

In order to achieve the second purpose, the invention provides the following technical scheme:

the utility model provides a from high accuracy intelligence engraver of locate mode which characterized in that includes:

a laser generator for generating a laser beam;

the end part of the optical fiber is aligned to the light path of the laser emitted by the laser generator and is used for transmitting the laser emitted by the laser generator;

the electric drill is fixedly arranged on the end part of the manipulator and is used for precisely carving the workpiece;

the working platform is arranged below the electric drill bit;

the laser ranging head is fixedly arranged on the end part of the manipulator and is arranged on the side edge of the electric drill bit, and a cylindrical cavity is arranged inside the laser ranging head;

the calibration filament is transversely fixed at an outlet at the lower end of the laser ranging head; the end part of the other end of the optical fiber is coaxially arranged at an upper end inlet of a cavity of the laser ranging head, a lower end outlet coaxial with the upper end inlet is arranged at the lower end of the cavity, when laser enters the cavity through the optical fiber, the laser directly strikes on the calibration filament, diffraction stripe light spots are generated on a working platform below the laser, and the height of the electric drill in the vertical direction is accurately positioned through the stripe light spots.

Furthermore, a band-pass filter positioned above the outlet at the lower end is obliquely arranged in the cavity of the laser ranging head, and an image acquisition camera with an image acquisition light path facing the lower surface of the band-pass filter is arranged on the side wall of the laser ranging head. The position needing to be bent on the image acquisition light path of the acquisition camera is reflected by the total reflection lens and changes the direction.

The acquisition camera is further in signal connection with a steering engine controller, and a position feedback potentiometer in signal connection with the steering engine controller is arranged at the steering engine.

Furthermore, the three steering engines are respectively positioned at the bottom of the base, the joint of the base and the lower joint arm, and the joint of the lower joint arm and the upper joint arm and are respectively used for rotation of the base, adjustment of the included angle between the base and the lower joint arm, and adjustment of the included angle between the lower joint arm and the upper joint arm, a pulse encoder is arranged in the steering engine controller and outputs pulse signals corresponding to the rotation amount of the rotating shafts of the three steering engines according to a set track program so as to control the rotation angle of the rotating shafts of the three steering engines.

Furthermore, a coupling lens for collimating and focusing the laser beam into the optical fiber is arranged on the optical path of the laser beam emitted by the laser generator.

Furthermore, a convex lens is arranged above the band-pass filter in the cavity.

Furthermore, the diameter of the calibration thread is less than 0.5 mm.

Compared with the prior art, the invention has the advantages that: after the engraver starts, carry out the automation level of vertical direction and horizontal direction automatically, degree of automation is high, and the precision of calibration obtains very big promotion owing to utilized the volatility of light, the diffraction of light, has improved glyptic accuracy, has reduced the error. The waste rate is reduced, the enterprise cost is reduced, and the technological level and the quality of the carved product are improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of an engraving machine of an embodiment;

FIG. 2 is a schematic diagram of an internal structure of the laser ranging head according to the embodiment;

FIG. 3 is a schematic structural view of a relative position between the robot arm and the screen in the embodiment;

fig. 4 is a schematic step diagram of a control method of a self-positioning high-precision intelligent engraving machine in the first embodiment;

FIG. 5 is a schematic diagram of a laser generator and a coupling lens according to an embodiment;

FIG. 6 is a diagram illustrating the formula for measuring distance by light diffraction;

FIGS. 7 to 11 are control circuit diagrams of the engraving machine of this embodiment

FIG. 7 is a schematic diagram of the circuit and piping connections of the robot arm in the embodiment;

FIG. 8 is a diagram of a power module in an embodiment, controlling the power on/off;

FIG. 9 illustrates an embodiment of a temperature monitoring module;

FIG. 10 is a frequency converter of the steering engine in the embodiment;

fig. 11 is a logic control module in an embodiment, which is used for on-off logic control in a circuit.

Reference numerals: 1. a steering engine controller; 2. a mechanical arm; 3. an electric drill; 4. a working platform; 5. a laser generator; 6. an optical fiber; 7. a laser ranging head; 8. a cavity; 9. calibrating the filaments; 10. a manipulator; 11. blocking the screen; 12. a base; 13. a lower articulated arm; 14. an upper joint arm; 15. a steering engine; 16. a band-pass filter; 17. a collecting camera; 18. a total reflection lens; 19. a coupling lens; 20. a convex lens; 21. a dust-proof housing; 22. an upper end inlet; 23. and a lower end outlet.

Detailed Description

The invention is described in detail below with reference to the figures and examples.

The steps and/or actions of a method or algorithm described in connection with the aspects disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. In addition, in some aspects, the processor and the storage medium may reside in an ASIC. Additionally, the ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal. Additionally, in some aspects, the steps and/or actions of a method or algorithm may reside as one or any combination or set of codes and/or instructions on a machine readable medium and/or computer readable medium, which may be incorporated into a computer program product.

However, when the high-strength engraving machine is used for high-strength engraving work, the mechanical arm moves back and forth for a long distance in the process of processing one workpiece, so that the positioning position of the mechanical arm inevitably deviates, the positioning of the mechanical arm needs to be calibrated in time, and the accuracy of processing the engraving work is improved. If the correction is not performed in time, the engraving deviation of the product can be caused, and the serious result can be the result of waste. In order to improve the precision of engraving, the tail end of the mechanical arm is automatically calibrated with high precision before engraving, and the precision engraving industry is particularly necessary.

Therefore, the present embodiment proposes the following embodiments for how to perform high-precision calibration before engraving the end of the robot arm. The front, back, left and right in the embodiment are defined by the position of the working platform relative to the base, the working platform is positioned in front of the base, and the direction is the front-back direction of the mechanical arm.

As shown in fig. 1 and 4, a control method of a self-positioning type high-precision intelligent engraving machine comprises the following steps:

an electric drill 3 arranged on a manipulator 10 at the tail end of the mechanical arm 2 is driven to carve a workpiece on a lower working platform 4 through the mechanical arm 2 connected with a controller 1 of a steering engine 15 with a preset track program;

as shown in fig. 5 and 2, before the electric drill 3 is engraved, a laser beam emitted by a laser generator 5 is transmitted into a cavity 8 of a laser ranging head 7 mounted on the mechanical arm 2 through an optical fiber 6, the laser is applied to a calibration filament 9 at a lower end outlet 23 of the cavity 8, as shown in fig. 1 and 6, a diffraction stripe is generated on the working platform 4, and a vertical distance from the calibration filament 9 to the working platform 4 is obtained by performing proportion calculation by combining with the actual length and width of the working platform 4;

the vertical distance is different from the initial vertical distance of the mechanical arm 2, so that a vertical distance deviation value of the electric drill 3 is obtained, a track error is calculated after the vertical distance deviation value is compared with a position voltage signal fed back by a feedback potentiometer, and the track position parameter used for controlling the movement track of the mechanical arm 2 in the original track program is added with the track error, so that the accurate and quick vertical direction calibration of the track program of the mechanical arm 2 can be realized.

As shown in fig. 1, the robot arm 2 includes a base 12, a lower joint arm 13, an upper joint arm 14, three steering engines 15, and a steering engine 15 controller 1, and a manipulator 10 is mounted at an end of the upper joint arm 14.

As shown in fig. 2 and 3, the robot arm 2 is similarly calibrated in the left-right and front-rear directions. After the mechanical arm 2 finishes the calibration of the vertical distance, the mechanical arm 10 is rotated to 90 degrees, the laser generator 5 emits laser which reaches the laser ranging head 7 along the optical fiber 6 on a baffle screen 11 facing the side face, the laser is shone on the calibration filament 9, and diffraction stripes with alternate light and shade are generated on the baffle screen 11 facing the laser. By taking the length of the length and the width of the shield 11 as reference and calculating the distance from the calibration filament 9 to the diffraction center on the shield 11 in a proportional calculation mode with the same distance in the vertical direction, the distance is differed from the distance from the initial calibration filament 9 to the left and right directions of the shield 11, so that the left and right distance deviation value of the electric drill 3 is obtained. After comparing with the position voltage signal fed back by the feedback potentiometer, the track error is calculated, and the track position parameter for controlling the moving track of the mechanical arm 2 in the original track program is added with the left and right track error, so that the accurate and rapid left and right direction position calibration of the track program of the mechanical arm 2 can be realized.

The mechanical arm 2 executes a position calibration procedure in the front-back direction, and the mechanical arm 2 rotates the lower joint arm 13 by 90 degrees relative to the base 12 through the steering engine 15, so that the laser ranging head 7 is aligned with the front-right front screen 11 for measuring the front-back direction position; the laser generator 5 emits laser which reaches the laser ranging head 7 along the optical fiber 6, the laser is shot on the calibration filament 9, and diffraction stripes with alternate light and shade are generated on the shield 11; calculating the distance from the calibration filament 9 to the diffraction center on the shield 11 in a proportional calculation mode with the same distance in the vertical direction by taking the length of the length and the width of the shield 11 as reference; the distance between the front and back direction of the shield 11 and the distance between the mechanical arm 2 and the front and back direction of the shield 11 are differentiated, so that a front and back distance deviation value of the electric drill 3 is obtained; after the position voltage signal fed back by the feedback potentiometer is compared, the track error is calculated, and the track position parameter used for controlling the moving track of the mechanical arm 2 in the original track program is added with the front and back track error, so that the accurate and quick calibration of the front and back direction position of the track program of the mechanical arm 2 can be realized.

Then, the workpiece is fixed on the working platform 4, and the mechanical arm 2 executes the predetermined engraving trajectory program to drive the electric drill 3 on the mechanical arm 10 to engrave.

The intelligent engraving machine of the embodiment realizes automatic positioning, has high self-positioning calibration precision, improves the engraving quality, reduces the defective workpiece rate and reduces the enterprise cost.

In a second embodiment, as shown in fig. 1, 2 and 5, a self-positioning high-precision intelligent engraving machine comprises:

a laser generator 5 for generating a laser beam;

the end part of the optical fiber 6 is aligned to the light path of the laser emitted by the laser generator 5 and is used for transmitting the laser emitted by the laser generator 5;

the mechanical arm 2 comprises a base 12, a lower joint arm 13, an upper joint arm 14, three steering engines 15 and a steering engine 15 controller 1, wherein a mechanical arm 10 is installed at the end part of the upper joint arm 14;

the electric drill 3 is fixedly arranged at the end part of the mechanical arm 10 and is used for precisely carving the workpiece;

the working platform 4 is arranged below the electric drill 3;

the laser distance measuring head 7 is fixedly arranged on the end part of the manipulator 10 and is arranged on the side edge of the electric drill 3, and a cylindrical cavity 8 is arranged inside the laser distance measuring head 7;

and the calibration filament 9 is transversely fixed at the outlet 23 at the lower end of the laser ranging head 7, and the diameter of the calibration filament 9 is less than 0.5 mm.

The laser distance measuring head 7 and the electric drill 3 are mounted in a dust-proof housing 21. The structure of the laser ranging head 7 is shown in fig. 2. The two ends of the calibration filament 9 can be fastened on the shell of the laser ranging head 7 through screws.

The end part of the other end of the optical fiber 6 is coaxially arranged at an upper end inlet 22 of a cavity 8 of the laser ranging head 7, a lower end outlet 23 which is coaxial with the upper end inlet 22 is arranged at the lower end of the cavity 8, when laser enters the cavity 8 through the optical fiber 6, the laser directly strikes the calibration filament 9, and diffraction stripe light spots are generated on a working platform 4 below the calibration filament. And the height of the electric drill 3 in the vertical direction is accurately positioned by the stripe light spot.

As shown in fig. 1 and 2, a bandpass filter 16 is obliquely arranged in the cavity 8 and located above the lower end outlet 23, and the side wall of the laser range head 7 is provided with an image acquisition optical path facing the acquisition camera 17 on the lower surface of the bandpass filter 16. The image collection optical path of the collection camera 17 where bending is required is reflected and redirected by the total reflection mirror 18.

The acquisition camera 17 is further in signal connection with the steering engine 15 controller 1, and a position feedback potentiometer in signal connection with the steering engine 15 controller 1 is arranged at the steering engine 15.

The three steering engines 15 are respectively located at the bottom of the base 12, the joint of the base 12 and the lower joint arm 13, and the joint of the lower joint arm 13 and the upper joint arm 14, and are respectively used for rotation of the base 12, adjustment of the included angle between the base 12 and the lower joint arm 13, and adjustment of the included angle between the lower joint arm 13 and the upper joint arm 14, so that the change of the spatial position of the electric drill 3 can be realized by controlling the rotating shaft angles of the three steering engines 15 in a general view.

The steering engine 15 is internally provided with a pulse encoder in the controller 1, and the pulse encoder outputs pulse signals corresponding to the rotation amount of the rotating shafts of the three steering engines 15 according to a set track program so as to control the rotation angles of the rotating shafts of the three steering engines 15. So as to realize the control of the space moving track of the mechanical arm 2 according to the track program.

As shown in fig. 1, 2 and 6, the principle of using the diffraction spot generated by the calibration filament 9 to measure the distance is as follows: the opaque linear object is diffracted by utilizing the fluctuation of light, and the principle of the diffraction is the same as that of single slit diffraction, and the pattern is also the same. According to the laser wavelength, mark the diameter of filament 9, the interval between the bar facula, and then the accurate distance of calculating laser rangefinder head 7 apart from work platform 4, because laser rangefinder head 7 is fixed at the side of electric drill 3, the position is relatively fixed, and then calculate the distance of electric drill 3 apart from work platform 4, carry out the comparison difference with the perpendicular distance of demarcation with it, after comparing with the position voltage signal that the feedback potentiometer feedbacks, calculate the orbit error, the orbit position parameter that is used for controlling arm 2 and removes the orbit in the original orbit procedure adds the orbit error, can realize carrying out accurate and quick calibration to the orbit procedure of arm 2.

The laser generator 5 may be a low power ammonia-neon laser shining on a calibration filament 9 having a diameter of less than 0.5 mm. The calibration filaments 9 may be made of steel wire. The diffraction stripes with the same brightness and shade appear on the working platform 4 below the diffraction stripe, the image below the laser ranging head 7 is shot through the collecting camera 17, the length of the length and the width of the working platform 4 is known, the length between positions with the minimum diffraction on the working platform 4 can be calculated according to the proportion of the relative length, namely the length of the minimum diffraction on the same level is measured according to the image, half of the length is the distance h from the minimum to the diffraction center, then the distance L from the calibrated filament 9 to the diffraction center of the working platform 4 is measured, and according to the diffraction formula:

d*sinθ＝m*λ

the wavelength λ of the laser beam emitted by the laser emitter is known, wherein d is the known diameter of the calibration thread 9. Theta is a diffraction angle, and two right-angle sides of the theta angle are h and L respectively. m is the order of the diffraction minima, i.e. the dark fringes of the chosen order.

Obtaining:

d*h＝(m*λ)/(h²+L²)

as shown in fig. 1 and 6, except for L, are known, so that the exact vertical distance of the calibration thread 9 from the working platform 4 is calculated. The relative positions of the electric drill 3 and the calibration thread 9 are fixed. The vertical distance is differentiated from the initial vertical distance of the mechanical arm 2, so that a vertical distance deviation value of the electric drill 3 is obtained. And adding the vertical distance deviation value into the original track program to realize track calibration. Namely, after comparing the position voltage signal with the position voltage signal fed back by the feedback potentiometer, the track error is calculated, and the track position parameter used for controlling the moving track of the mechanical arm 2 in the original track program is added with the track error, so that the track program of the mechanical arm 2 can be accurately and quickly calibrated. The vertical distance measured by the method can reach the accuracy of less than 0.005mm, the diameter of the calibration filament 9 is further reduced, and the accuracy can be further improved.

In the above process, the length between the tiny diffraction dark stripes of the same order can be manually measured and input by a person, or the length of the length and the width of the working platform 4 and the distance between the dark stripes in the image can be drawn by an algorithm on the image shot by the collecting camera 17, and the actual length and the width of the working platform 4 are combined to perform proportional calculation to obtain the distance h from the dark stripes to the diffraction center. The working platform 4 and the diffraction spots of fixed wavelength colors can also be identified by software algorithms, such as edge algorithms, image recognition. And (5) automatically measuring the length of the working platform 4 and the proportion of h, and automatically calculating h. The effect of quickly checking the vertical distance is achieved.

As shown in fig. 2 and 3, the same manner is applied to the horizontal position verification of the robot arm 2. A screen 11 is placed facing each other on the side and in front of the engraving machine, said screen 11 being fixed in a fixed position on the ground by means of rivets. After the engraver carries out the verification of the vertical position, the position verification in the left-right direction is carried out.

The mechanical arm 2 executes a position verification program in the left-right direction, the mechanical arm 2 rotates the mechanical arm 10 to 90 degrees to align with the blocking screen 11 with the opposite side, as shown in fig. 5 and 2, the laser generator 5 emits laser which reaches the laser ranging head 7 along the optical fiber 6, the laser is applied to the calibration filament 9, and diffraction stripes with alternate light and dark are generated on the blocking screen 11 with the opposite side. By taking the length of the length and width of the screen 11 as a reference, the above calculation formula is combined: d x h ═ (m x λ)/(h)²+L²). And calculating the distance from the calibration filament 9 to the diffraction center on the screen 11 in a proportional calculation mode with the same distance in the vertical direction.

Also due to the fixed relative position of the electric drill 3 and the calibration thread 9. And (4) making a difference value between the distance and the distance from the initial calibration filament 9 to the left and right directions of the baffle screen 11, thereby obtaining a left and right distance deviation value of the electric drill 3. And adding the left-right distance deviation value into the original track program to realize track calibration. Namely, after comparing the position voltage signal with the position voltage signal fed back by the feedback potentiometer, the track error is calculated, and the track position parameter for controlling the moving track of the mechanical arm 2 in the original track program is added with the left and right track error, so that the accurate and rapid left and right direction position calibration of the track program of the mechanical arm 2 can be realized. The precision of the left and right distance measured by the method can reach below 0.005mm, the diameter of the calibration filament 9 is further reduced, and the precision can be further improved.

As shown in fig. 3 and fig. 2, the mechanical arm 2 then executes a front-back direction position verification procedure, at this time, the mechanical arm 10 is at 90 degrees rotated to the horizontal direction, and the mechanical arm 2 then rotates the lower joint arm 13 by 90 degrees relative to the base 12 through the steering engine 15, so that the laser distance measuring head 7 is aligned with the front-right front-facing shield 11 for measuring the front-back direction position. The laser generator 5 emits laser which reaches the laser ranging head 7 along the optical fiber 6, the laser is irradiated on the calibration filament 9, and diffraction stripes with alternate light and shade are generated on the shield 11. By taking the length of the length and width of the screen 11 as a reference, the above calculation formula is combined: d x h ═ (m x λ)/(h)²+L²). And calculating the distance from the calibration filament 9 to the diffraction center on the screen 11 in a proportional calculation mode with the same distance in the vertical direction.

Also due to the fixed relative position of the electric drill 3 and the calibration thread 9. The distance between the front and back direction of the shield 11 and the distance between the mechanical arm 2 and the front and back direction of the shield 11 are different, so that the front and back distance deviation value of the electric drill 3 is obtained. And adding the front-back distance deviation value into the original track program to realize track calibration. Namely, after comparing the position voltage signal with the position voltage signal fed back by the feedback potentiometer, the track error is calculated, and the track position parameter used for controlling the moving track of the mechanical arm 2 in the original track program is added with the front and back track error, so that the accurate and quick calibration of the front and back direction position of the track program of the mechanical arm 2 can be realized.

As shown in fig. 5, a coupling lens 19 for collimating and focusing the laser beam into the optical fiber 6 is disposed on the optical path of the laser beam generated by the laser generator 5. The laser beam generated by the laser generator 5 is converged and diverged by the coupling lens 19.

As shown in fig. 2, a convex lens 20 is mounted above the bandpass filter 16 in the cavity 8. The laser beam emitted by the laser generator 5 gradually diverges after the propagation process, and the laser emitted by the laser ranging head 7 is converged into a more straight and fine laser beam through the convergence of the convex lens 20. Thereby achieving a better diffraction effect.

And FIGS. 7 to 11 are control circuit diagrams of the engraving machine of the present embodiment. The control of the drive of the steering engine 15, the supply of power, the logic control, the system temperature monitoring and the system voltage monitoring in the engraving process, the control of the inlet and outlet electromagnetic valves of cooling liquid and cooling gas and the control of pressurization and pressure reduction in the engraving process are realized. The robot arm 2 used is a kuka robot arm 2. The circuit of a particular engraver is shown in the figure. The carving machine is high in availability, intelligence, full automation, high precision, long in service life, rich in functions and high in safety.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. A control method of a self-positioning high-precision intelligent engraving machine is characterized by comprising the following steps of driving an electric drill (3) arranged on a mechanical arm (10) at the tail end of the mechanical arm (2) to engrave a workpiece on a lower working platform (4) through the mechanical arm (2) connected with a controller (1) of a steering engine (15) with a preset track program;

before the electric drill (3) is carved, laser beams emitted by a laser generator (5) are transmitted into a cavity (8) of a laser ranging head (7) arranged on a mechanical arm (2) through an optical fiber (6), laser is shot on a calibration filament (9) of a lower end outlet (23) of the cavity (8), diffraction stripes are generated on a working platform (4), and proportional calculation is carried out by combining the actual length and width of the working platform (4) to obtain the vertical distance from the calibration filament (9) to the working platform (4);

the vertical distance is differenced with the initial vertical distance of the mechanical arm (2) to obtain a vertical distance deviation value of the electric drill (3), a track error is calculated after the vertical distance deviation value is compared with a position voltage signal fed back by a feedback potentiometer, and the track position parameter used for controlling the moving track of the mechanical arm (2) in an original track program is added with the track error, so that the position calibration in the vertical direction of the track program of the mechanical arm (2) is realized.

2. The control method of the self-positioning high-precision intelligent engraving machine according to claim 1, characterized by further comprising the following steps:

the mechanical arm (10) is rotated to 90 degrees and faces to a baffle screen (11) which is just opposite to the side surface of the mechanical arm (2), the laser generator (5) emits laser which reaches the laser ranging head (7) along the optical fiber (6), the laser is shot onto the calibration filament (9), diffraction stripes with alternate light and shade are generated on the opposite blocking screen (11), the length of the length and the width of the blocking screen (11) is taken as reference, proportion calculation is carried out, the distance from the calibration filament (9) to the diffraction center on the blocking screen (11) is calculated, the distance is differed with the distance from the initial calibration filament (9) to the left and right directions of the blocking screen (11), and after comparing the position voltage signal fed back by the feedback potentiometer, calculating a track error, and adding a left track position parameter and a right track error to a track position parameter for controlling the moving track of the mechanical arm (2) in the original track program to realize the position calibration of the left direction and the right direction of the track program of the mechanical arm (2).

3. The control method of the self-positioning high-precision intelligent engraving machine according to claim 2, characterized by further comprising the following steps:

the mechanical arm (2) comprises a base (12), a lower joint arm (13), an upper joint arm (14), three steering engines (15) and a steering engine (15) controller (1), and a mechanical arm (10) is mounted at the end part of the upper joint arm (14);

the mechanical arm (2) executes a position calibration program in the front-back direction, and the mechanical arm (2) rotates the lower joint arm (13) by 90 degrees relative to the base (12) through the steering engine (15), so that the laser distance measuring head (7) is aligned to the front opposite screen (11) for measuring the front-back direction position;

the laser generator (5) emits laser which reaches the laser ranging head (7) along the optical fiber (6), the laser is shot on the calibration filament (9), and diffraction stripes with alternate light and shade are generated on the shield (11);

calculating the distance from the calibration filament (9) to the diffraction center on the screen (11) by taking the length of the length and the width of the screen (11) as reference and performing proportion calculation; the distance is differenced with the distance from the initial calibration filament (9) to the left and right direction of the baffle screen (11), so that a front and back distance deviation value of the electric drill bit (3) is obtained; and after comparing the position voltage signal fed back by the feedback potentiometer, calculating a track error, and adding a track position parameter for controlling the moving track of the mechanical arm (2) in the original track program with the front and rear track error to realize the calibration of the front and rear direction positions of the track program of the mechanical arm (2).

4. The utility model provides a from high accuracy intelligence engraver of locate mode which characterized in that includes:

a laser generator (5) for generating a laser beam;

the end part of the optical fiber (6) is aligned to the light path of the laser emitted by the laser generator (5) and is used for transmitting the laser emitted by the laser generator (5);

the electric drill bit (3) is fixedly arranged on the end part of the manipulator (10) and is used for precisely carving the workpiece;

the working platform (4) is arranged below the electric drill bit (3);

the laser ranging head (7) is fixedly arranged on the end part of the manipulator (10) and is arranged on the side edge of the electric drill (3), and a cylindrical cavity (8) is arranged inside the laser ranging head (7);

the calibration filament (9) is transversely fixed at an outlet (23) at the lower end of the laser ranging head (7); the end part of the other end of the optical fiber (6) is coaxially arranged at an upper end inlet (22) of a cavity (8) of the laser ranging head (7), a lower end outlet (23) coaxial with the upper end inlet (22) is arranged at the lower end of the cavity (8), when laser enters the cavity (8) through the optical fiber (6), the laser directly strikes the calibration filament (9), diffraction stripe light spots are generated on a working platform (4) below, and the accurate positioning of the height of the electric drill bit (3) in the vertical direction is carried out through the stripe light spots.

5. The self-positioning high-precision intelligent engraving machine according to claim 4, wherein a band-pass filter (16) positioned above a lower end outlet (23) is obliquely arranged in the cavity (8) of the laser ranging head (7), and the side wall of the laser ranging head (7) is provided with a collecting camera (17) with an image collecting light path facing the lower surface of the band-pass filter (16);

the place needing to be bent on the image collecting light path of the collecting camera (17) is reflected by a total reflection lens (18) and the direction is changed;

the acquisition camera (17) is further in signal connection with the steering engine (15) controller (1), and a position feedback potentiometer in signal connection with the steering engine (15) controller (1) is arranged at the steering engine (15).

6. The self-positioning high-precision intelligent engraving machine according to claim 5, wherein the three steering engines (15) are respectively positioned at the bottom of the base (12), the joint of the base (12) and the lower joint arm (13), and the joint of the lower joint arm (13) and the upper joint arm (14) and are respectively used for rotation of the base (12), adjustment of the included angle between the base (12) and the lower joint arm (13), and adjustment of the included angle between the lower joint arm (13) and the upper joint arm (14), a pulse encoder is arranged in the steering engine (15) controller (1), and outputs pulse signals corresponding to the rotating shafts of the three steering engines (15) according to a set track program so as to control the rotating angles of the rotating shafts of the three steering engines (15).

7. The self-positioning high-precision intelligent engraving machine according to claim 4, characterized in that the laser generator (5) emits a laser beam which is optically provided with a coupling lens (19) for collimating and focusing the laser beam into the optical fiber (6).

8. The self-positioning high-precision intelligent engraving machine according to claim 4, wherein a convex lens (20) is arranged above the band-pass filter (16) in the cavity (8).

9. A self-positioning high-precision intelligent engraving machine according to claim 4, characterized in that the diameter of the calibration thread (9) is less than 0.5 mm.