CN113280767A - Workpiece rapid automatic positioning method based on non-concentric circles - Google Patents
Workpiece rapid automatic positioning method based on non-concentric circles Download PDFInfo
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Abstract
The invention relates to a workpiece rapid automatic positioning method based on non-concentric circles, which comprises the following steps: firstly, taking the centers of two non-concentric circles of a workpiece as a base point, establishing a workpiece coordinate system, taking a circular workpiece as an example, taking the center of the outline of the workpiece as an original point of the coordinate system, selecting a circular hole which is closest to a workpiece identifier and is non-concentric with the outline of the workpiece as a positioning hole of the workpiece, and taking a straight line where the original point and the center of the positioning hole are located as a y axis of the workpiece coordinate system and pointing to the positive direction; then, unifying the workpiece coordinate system and the robot coordinate system; one set of coordinate system of the workpiece coordinate system and the robot coordinate system can be regarded as a new coordinate system obtained by the other set of coordinate system through translation and rotation operations, after the translation distance and the rotation angle are known, the corresponding relation between the two coordinate systems is calculated through a coordinate transformation formula, and the two coordinate systems are unified into the same coordinate system. The invention is suitable for quick and automatic positioning of any non-concentric circle workpiece, and is convenient for a robot to complete the operation task of the workpiece.
Description
Technical Field
The invention relates to a method for quickly and automatically positioning a workpiece, in particular to a method for quickly and automatically positioning a workpiece, which is convenient for a robot to complete a task of operating the workpiece.
Background
Since the coordinate system of the workpiece is different from the coordinate system of the robot, it is an essential process to unify the two different coordinate systems to the same coordinate system before the robot is operated to work on the workpiece. For a workpiece with non-concentric circles, the workpiece coordinate system can be determined through the centers of the two circles, so that a method which is simple to operate and easy to implement needs to be designed, the workpiece coordinate system is quickly positioned, the workpiece coordinate system and the robot coordinate system are unified into the same coordinate system through coordinate transformation, and the work task of the robot on the workpiece is conveniently completed.
Disclosure of Invention
The invention provides a non-concentric circle-based workpiece rapid automatic positioning method, which establishes a workpiece coordinate system by rapidly determining the circle center position of a non-concentric circle, unifies the workpiece coordinate system and a robot coordinate system into the same coordinate system through coordinate transformation, and facilitates further work tasks of a robot on a workpiece. Taking a circular workpiece as an example, taking the circle center of the workpiece outline as the origin of a workpiece coordinate system, selecting a circular hole which is marked with the model of the workpiece and is not concentric with the workpiece outline on the back of the workpiece as a positioning hole, and taking the straight line where the origin and the circle center of the positioning hole are positioned as the y axis of the workpiece coordinate system and pointing to the positive direction.
In order to achieve the purpose, the technical scheme of the invention is as follows: a workpiece rapid automatic positioning method based on non-concentric circles is characterized in that: the robot is suitable for workpieces with any non-concentric circular arc shapes and circular arc holes, can unify a workpiece coordinate system and a robot coordinate system into the same coordinate system, and is convenient for the robot to complete the operation task on the workpiece, and the steps are as follows:
a first step of establishing a coordinate system of the workpiece
Taking the centers of two non-concentric circles of the workpiece as base points, establishing a workpiece coordinate system, taking a circular workpiece as an example, taking the center of the outline of the workpiece as an original point of the coordinate system, selecting a round hole which is closest to the workpiece identifier and is non-concentric with the outline of the workpiece as a positioning hole of the workpiece, and taking a straight line where the original point and the center of the positioning hole are located as a y axis of the workpiece coordinate system and pointing to the positive direction;
second step, unifying the workpiece coordinate system and the robot coordinate system
The workpiece coordinate system is different from the robot coordinate system, one set of coordinate system can be regarded as a new coordinate system obtained by the other set of coordinate system through translation and rotation operations, and after the translation distance and the rotation angle are known, the corresponding relation between the two coordinate systems is calculated through a coordinate transformation formula, so that the two coordinate systems can be unified into the same coordinate system.
Further, the specific method for unifying the workpiece coordinate system and the robot coordinate system is as follows:
(1) taking a circular workpiece as an example, searching any three points on a contour circle of the workpiece, wherein the three points are connected end to form an arbitrary triangle, the contour circle is a circumscribed circle of the arbitrary triangle, the center of the circumscribed circle is equivalent to the outer center of the triangle, namely the intersection point of perpendicular bisectors of three sides of the triangle is obtained, theoretically, the three lines are intersected in pairs, the intersection point is the same point, and the position of the center of the circle is obtained by taking the average value of the three intersection points in consideration of the existence of errors; after the circle center position of the workpiece outline and the circle center position of the positioning hole are respectively obtained, the size of the slope k between two coordinate axes is calculated:
wherein (x)1,y1)、(x2,y2) Coordinate values of the circle center of the workpiece outline and the circle center of the positioning hole in a robot coordinate system respectively, wherein alpha represents an included angle between the two coordinate systems, namely a rotation angle;
the rotation angle of the workpiece coordinate system relative to the robot coordinate system is:
coordinate conversion formula of the workpiece coordinate system relative to the robot coordinate system:
x1＝x·cos(α)-y·sin(α)+x0
y1＝y·cos(α)+x·sin(α)+y0
wherein (x, y) represents coordinate values on the workpiece coordinate system, (x)1,y1) Is the coordinate value on the robot coordinate system, (x)0,y0) The coordinate value of the origin of the workpiece coordinate system in the robot coordinate system;
coordinate data on the two coordinate systems can be unified to one coordinate system of the robot coordinate system through a coordinate transformation formula, so that the subsequent operation process is not influenced by different coordinate systems;
(2) taking a square workpiece as an example, a straight line in which two non-concentric circle centers of the workpiece are located is an x axis of a workpiece coordinate system, the midpoint of the two circle centers is an origin of the workpiece coordinate system, the positive direction of the y axis of the workpiece coordinate system points to a workpiece identifier, and the positive direction of the x axis obeys a right-hand spiral rule, so that the establishment of the workpiece coordinate system can be completed quickly; and the coordinate system of the workpiece and the coordinate system of the robot can be unified into the same coordinate system through the coordinate transformation formula above, so that the robot can conveniently finish the operation task of the workpiece.
The invention has the beneficial effects that:
the invention designs a workpiece rapid automatic positioning method based on non-concentric circles, which can rapidly match a workpiece coordinate system, unify the workpiece coordinate system and a robot coordinate system in the same coordinate system, and facilitate the robot to complete the work task on the workpiece. The method is simple to operate and easy to realize, and can be well applied to actual production environments.
Drawings
FIG. 1 is a schematic diagram of the positioning of a circular workpiece;
FIG. 2 is a schematic view of the center of a circle;
FIG. 3 is a schematic diagram of the positioning of a square workpiece.
Detailed Description
The invention is further described with reference to the following figures and examples.
The invention provides a workpiece rapid automatic positioning method based on non-concentric circles, which is easier to realize, solves the problems of complex design and difficult operation of the original positioning method, is simple to operate and easy to realize, and can be widely applied to production environments.
The first scheme is as follows:
the robot has a set of coordinate system belonging to the motor system, and is correspondent to the command for controlling motor operation, and is oriented to the instruction system of control program. The workpiece also has a set of coordinate systems corresponding to the position information on the workpiece.
FIG. 1 is a schematic diagram of positioning a circular workpiece, in which the center of the workpiece contour is the origin O of the coordinate system, the circular hole closest to the workpiece identifier and non-concentric with the workpiece contour is selected as the positioning hole of the workpiece, and the origin O and the center O of the positioning hole1The straight line is the y-axis of the workpiece coordinate system and points to the positive direction.
Although the object coordinate system and the robot coordinate system are different, a certain relation exists between the two coordinate systems. One set of coordinate system can be considered as a new coordinate system obtained by the other set of coordinate system through translation and rotation operations. After the translation distance and the rotation angle are known, the corresponding relation between the two coordinate systems can be calculated through a coordinate transformation formula, and at the moment, the two coordinate systems can be unified into the same coordinate system.
FIG. 2 is a schematic diagram of the positioning of the circle center. The solid line in the figure represents the circular outline a of the workpiece, and any A, B, C three points are automatically found on the outline circle a through a position sensor on the robot, and the three points are connected end to form an arbitrary triangle ABC which is represented by a dotted line in the figure. At this moment, the circle is the circumscribed circle of the arbitrary triangle, and the calculation of the center O of the circumscribed circle is equivalent to the calculation of the outer center of the triangle, i.e. the calculation of the intersection point of the three perpendicular bisectors of the triangle. The two-dot chain line in the figure indicates a perpendicular bisector c of each side, and theoretically, these three lines intersect two by two, and the intersection point is the same point. Taking the error into account, the position of the center of the circle can be obtained by taking the average value of the three intersection points.
After the circle center position of the workpiece contour and the circle center position of the positioning hole are respectively obtained, the size of the slope k between two coordinate axes can be calculated:
wherein (x)1,y1)、(x2,y2) The coordinate values of the center of the workpiece contour circle and the center of the positioning hole in the robot coordinate system are respectively. In the formula, α represents an included angle between two coordinate systems, namely, a rotation angle.
The rotation angle of the workpiece coordinate system relative to the robot coordinate system is:
coordinate conversion formula of the workpiece coordinate system relative to the robot coordinate system:
x1＝x·cos(α)-y·sin(α)+x0
y1＝y·cos(α)+x·sin(α)+y0
wherein (x, y) represents coordinates on the workpiece coordinate systemValue (x)1,y1) Is the coordinate value on the robot coordinate system, (x)0,y0) Is the coordinate value of the origin of the workpiece coordinate system in the robot coordinate system.
Coordinate data on the two coordinate systems can be unified to one coordinate system of the robot coordinate system through a coordinate transformation formula, so that the subsequent operation process is not influenced by different coordinate systems.
Scheme II:
for any workpiece with non-concentric circular arc shape and circular arc hole, the establishment of a workpiece coordinate system can be rapidly completed through the positions of the centers of two non-concentric circles, and the workpiece coordinate system and the robot coordinate system are unified into the same coordinate system, so that the robot can conveniently complete the operation task on the workpiece.
FIG. 3 is a schematic diagram of the positioning of a square workpiece. Using centers O and O of two non-concentric circles of the workpiece1The straight line is the x-axis of the workpiece coordinate system, the midpoint of the two circle centers is the origin of the workpiece coordinate system, the positive direction of the y-axis of the workpiece coordinate system points to the workpiece identifier, and the positive direction of the x-axis follows the right-hand spiral rule.
By the method illustrated in fig. 2, the position of the center of the non-concentric circle is quickly located, a workpiece coordinate system is established, and after the positions of the centers of the two non-concentric circles are respectively obtained, the magnitude of the slope k between the two coordinate axes can be calculated:
wherein (x)1,y1)、(x2,y2) Respectively are coordinate values of two non-concentric circle centers in a robot coordinate system. In the formula, α represents an included angle between two coordinate systems, namely, a rotation angle.
The rotation angle of the workpiece coordinate system relative to the robot coordinate system is:
α＝arctan(k)
coordinate conversion formula of the workpiece coordinate system relative to the robot coordinate system:
x1＝x·cos(α)-y·sin(α)+x0
y1＝y·cos(α)+x·sin(α)+y0
wherein (x, y) represents coordinate values on the workpiece coordinate system, (x)1,y1) Is the coordinate value on the robot coordinate system, (x)0,y0) Is the coordinate value of the origin of the workpiece coordinate system in the robot coordinate system.
Coordinate data on the two coordinate systems can be unified to one coordinate system of the robot coordinate system through a coordinate transformation formula, and the robot can complete work tasks on workpieces conveniently.
Claims (2)
1. A workpiece rapid automatic positioning method based on non-concentric circles is characterized in that: the robot is suitable for workpieces with any non-concentric circular arc shapes and circular arc holes, can unify a workpiece coordinate system and a robot coordinate system into the same coordinate system, and is convenient for the robot to complete the operation task on the workpiece, and the steps are as follows:
a first step of establishing a coordinate system of the workpiece
Taking the centers of two non-concentric circles of the workpiece as base points, establishing a workpiece coordinate system, taking a circular workpiece as an example, taking the center of the outline of the workpiece as an original point of the coordinate system, selecting a round hole which is closest to the workpiece identifier and is non-concentric with the outline of the workpiece as a positioning hole of the workpiece, and taking a straight line where the original point and the center of the positioning hole are located as a y axis of the workpiece coordinate system and pointing to the positive direction;
second step, unifying the workpiece coordinate system and the robot coordinate system
The workpiece coordinate system is different from the robot coordinate system, one set of coordinate system can be regarded as a new coordinate system obtained by the other set of coordinate system through translation and rotation operations, and after the translation distance and the rotation angle are known, the corresponding relation between the two coordinate systems is calculated through a coordinate transformation formula, so that the two coordinate systems can be unified into the same coordinate system.
2. The method for rapidly and automatically positioning the workpiece based on the non-concentric circles as claimed in claim 1, wherein: the specific method for unifying the workpiece coordinate system and the robot coordinate system is as follows:
(1) taking a circular workpiece as an example, searching any three points on a contour circle of the workpiece, wherein the three points are connected end to form an arbitrary triangle, the contour circle is a circumscribed circle of the arbitrary triangle, the center of the circumscribed circle is equivalent to the outer center of the triangle, namely the intersection point of perpendicular bisectors of three sides of the triangle is obtained, theoretically, the three lines are intersected in pairs, the intersection point is the same point, and the position of the center of the circle is obtained by taking the average value of the three intersection points in consideration of the existence of errors; after the circle center position of the workpiece outline and the circle center position of the positioning hole are respectively obtained, the size of the slope k between two coordinate axes is calculated:
wherein (x)1,y1)、(x2,y2) Coordinate values of the circle center of the workpiece outline and the circle center of the positioning hole in a robot coordinate system respectively, wherein alpha represents an included angle between the two coordinate systems, namely a rotation angle;
the rotation angle of the workpiece coordinate system relative to the robot coordinate system is:
coordinate conversion formula of the workpiece coordinate system relative to the robot coordinate system:
x1＝x·cos(α)-y·sin(α)+x0
y1＝y·cos(α)+x·sin(α)+y0
wherein (x, y) represents coordinate values on the workpiece coordinate system, (x)1,y1) Is the coordinate value on the robot coordinate system, (x)0,y0) The coordinate value of the origin of the workpiece coordinate system in the robot coordinate system;
coordinate data on the two coordinate systems can be unified to one coordinate system of the robot coordinate system through a coordinate transformation formula, so that the subsequent operation process is not influenced by different coordinate systems;
(2) taking a square workpiece as an example, a straight line in which two non-concentric circle centers of the workpiece are located is an x axis of a workpiece coordinate system, the midpoint of the two circle centers is an origin of the workpiece coordinate system, the positive direction of the y axis of the workpiece coordinate system points to a workpiece identifier, and the positive direction of the x axis obeys a right-hand spiral rule, so that the establishment of the workpiece coordinate system can be completed quickly; and the coordinate system of the workpiece and the coordinate system of the robot can be unified into the same coordinate system through the coordinate transformation formula above, so that the robot can conveniently finish the operation task of the workpiece.
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