CN114310884B - Method for automatically grabbing mechanical arm in different coordinate systems - Google Patents
Method for automatically grabbing mechanical arm in different coordinate systems Download PDFInfo
- Publication number
- CN114310884B CN114310884B CN202111608913.8A CN202111608913A CN114310884B CN 114310884 B CN114310884 B CN 114310884B CN 202111608913 A CN202111608913 A CN 202111608913A CN 114310884 B CN114310884 B CN 114310884B
- Authority
- CN
- China
- Prior art keywords
- coordinate
- manipulator
- coordinate system
- axis
- different
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention relates to a method for automatically grabbing manipulators in different coordinate systems, which comprises the following steps: s1: the first manipulator grabs the object and places the object on a production line, and the processor records a first coordinate (X, Y, Z) of the object in a first coordinate system; s2: the object moves to a second coordinate system along with the assembly line on the assembly line; s3: the processor calculates the first coordinate data according to a compensation algorithm to obtain second coordinate data (X ', Y ', Z ') of the object in a second coordinate system; s4: and the second manipulator receives the second coordinate data and accurately grabs the objects on the assembly line. The method can continue to accurately and automatically grasp the coordinates obtained by the subsequent manipulator according to the compensation algorithm after the objects on the production line are manually operated, and the problem that the manipulator cannot accurately grasp the objects after the manual operation is avoided without manual confirmation.
Description
Technical Field
The invention relates to the technical field of automatic positioning and grabbing of manipulators, in particular to a method for automatically acquiring and calculating coordinates of a sand core by a plurality of manipulators in different coordinate systems of a production line in the casting industry and realizing accurate and automatic grabbing.
Background
In the conventional casting industry process, a casting worker fills resin sand mixed with resin in a wood pattern, and the sand is solidified to form a sand core, and a lifting tool such as a gantry crane is required to be used in the process. The technological processes of sand core forming, drawing, transferring, core assembling and the like are all independent of a crane. This phenomenon is gradually replaced by manipulators in the modern foundry industry.
In modern advanced casting processes, sand core forming has been changed from wood pattern sand filling to 3D printer or core shooting forming, and the sand cores after forming are transported and assembled by a manipulator. Although the manipulator is used for transferring the sand core, the problem of offline sand core wire-up is unavoidable in the process that the whole sand core flows to different working procedures. The outstanding problem is that the sand core is fully automatically transported when the off-line sand core is manually arranged on the assembly line.
The prior art only meets the requirements that the same sand core is formed, cleaned, dip-coated, dried, and the sand core cannot be manually moved without being offline in the core assembling process, if the automatic transfer of the manual intervention occurs, the coordinates of the sand core are in error, and the manipulator automatically positions and grabs the sand core, so that the sand core is damaged or the manipulator is damaged when the sand core is clamped. Or a plurality of manipulators with different coordinate systems appear on the same assembly line, and if all the manipulators are automatically operated, the sand core can be smoothly transported in the individual working procedures. Once a certain manipulator is manually operated, the whole transferring process is affected by coordinate errors, and automatic clamping operation cannot be realized.
Disclosure of Invention
Based on this, it is necessary to provide a method for automatically grabbing the manipulator in different coordinate systems, aiming at the problem that the manipulator cannot realize automatic grabbing operation in the prior art for manually drying and prognosis.
A method for automatically grabbing by a manipulator in different coordinate systems, the method comprising the following steps:
s1: the first manipulator grabs the object and places the object on a production line, and the processor records a first coordinate (X, Y, Z) of the object in a first coordinate system;
s2: the object moves to a second coordinate system along with the assembly line on the assembly line;
s3: the processor calculates the first coordinate data according to a compensation algorithm to obtain second coordinate data (X ', Y ', Z ') of the object in a second coordinate system;
s4: and the second manipulator receives the second coordinate data and accurately grabs the objects on the assembly line.
Further, the compensation algorithm in step S2:
X'=（X1/X2）*X+△X1+△X2，Y'=Y,Z'=（Z1/Z2）*Z+△Z
wherein X1/X2 and Z1/Z2 are relative magnification coefficients of X-axis coordinates and Z-axis coordinates in a first coordinate system and a second coordinate system, deltaX 2 and DeltaZ are deviation compensation values of the X-axis and the Z-axis brought by different clamps of the manipulator, and DeltaX 1 is an absolute position coordinate of an object relative to the second manipulator in the second coordinate system.
Further, Δx1 is measured with a ranging sensor.
Further, the distance measuring sensor is a laser distance measuring sensor, and the laser distance measuring sensor is connected with the processor by adopting a 485 communication interface or an Ethernet communication interface.
Further, the article is a sand core.
Further, the sand core is manufactured by adopting a 3D printing method, a core shooting method or a wood pattern sand filling method.
According to the method for automatically grabbing the manipulator in the different coordinate systems, provided by the invention, stable transmission of coordinates among the manipulator in the different coordinate systems is realized through compensation operation, and after an object on a production line is manually operated, the subsequent manipulator can continue to accurately and automatically grab the actual coordinates obtained after the operation according to the compensation algorithm, and manual confirmation is not needed.
Drawings
FIG. 1 is a schematic diagram of a method for gripping a manipulator in different pipelines according to the present invention
Description of the embodiments
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," "top," "bottom," "top," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In one embodiment, a method for automatically grabbing a manipulator in different coordinate systems includes the following steps: s1: the first manipulator grabs the object and places the object on a production line, and the processor records a first coordinate (X, Y, Z) of the object in a first coordinate system; s2: the object moves to a second coordinate system along with the assembly line on the assembly line; s3: the processor calculates the first coordinate data according to a compensation algorithm to obtain second coordinate data (X ', Y ', Z ') of the object in a second coordinate system; s4: and the second manipulator receives the second coordinate data and accurately grabs the objects on the assembly line.
According to the method for automatically grabbing the manipulator in the different coordinate systems, provided by the invention, stable transmission of coordinates among the manipulator in the different coordinate systems is realized through compensation operation, and after an object on a production line is manually operated, the subsequent manipulator can continue to accurately and automatically grab the actual coordinates obtained through operation according to the compensation algorithm, and manual confirmation is not needed.
The method for automatically grabbing the manipulator in the different coordinate systems will be described with reference to the specific embodiment, so as to further understand the concept of the method for automatically grabbing the manipulator in the different coordinate systems, please refer to fig. 1, fig. 1 is a schematic diagram of the manipulator in two different coordinate systems in the pipeline, wherein the first manipulator 1 establishes a first coordinate system, the second manipulator 4 establishes a second coordinate system, the tray 5 is placed on the pipeline, the first manipulator automatically grabs the object 2 and places the object 2 on the tray 5, the processor records the first coordinates (X, Y, Z) of the object 2 in the first coordinate system, the pipeline drives the tray 5 and the object 2 to move, and the first coordinates (X, Y, Z) are then bound and recorded in the pipeline system, when the object 2 arrives at the next process, the second manipulator 4 is required to grab the first coordinates (X, Y, Z) recorded in the processor and transferred to the second manipulator 4. The processor performs a compensation algorithm operation on the first coordinate to obtain coordinates (X ', Y ', Z ') of the object 2 in the second coordinate system, so that the second manipulator 4 accurately grabs the object according to the second coordinates.
In an embodiment, in a standard situation, i.e. in a pipeline without manual intervention, the object 2 is automatically placed on a tray on the pipeline by the first manipulator 1, where the coordinates of the object 2 in the first coordinate system are (X1, Y1, Z1), the object 2 moves along with the pipeline, and when the next process is reached, the object 2 is automatically grabbed by the second manipulator 2, where the coordinates of the object 2 in the second coordinate system are (X2, Y2, Z2), and since the object 2 on the pipeline is transported in the standard situation, the second manipulator 4 can accurately grab the object 2 according to the coordinates (X2, Y2, Z2) in the second coordinate system. Moreover, in the standard case, the coordinates (X1, Y1, Z1) in the first coordinate system and the coordinates (X2, Y2, Z2) in the second coordinate system are both actually measurable. In the pipeline in which the object 2 is actually involved manually, the magnification or reduction of the first coordinate system and the second coordinate system is also considered, that is, the magnification or reduction of the first coordinate system and the second coordinate system is considered when determining the coordinates of the object 2 in the second coordinate system. The magnification or reduction factor is denoted as an magnification factor, and is denoted as X1/X2 and Z1/Z2.
In one embodiment, the specific steps are as follows:
s1: the first manipulator grabs the object and places the object on a production line, and the processor records a first coordinate (X, Y, Z) of the object in a first coordinate system; s2: the object moves to a second coordinate system along with the assembly line on the assembly line; s3: the processor calculates the first coordinate data according to a compensation algorithm to obtain second coordinate data (X ', Y ', Z ') of the object in a second coordinate system; s4: and the second manipulator receives the second coordinate data and accurately grabs the objects on the assembly line.
The compensation algorithm:
the horizontal reference planes of the Z axes of the first manipulator 1 and the second manipulator 4 are all the earth, so that the Z axis only needs to consider the amplification factor and then add the compensation value, namely the Z axis coordinate of the object 2 in the second coordinate system is as follows: z' = (Z1/Z2) z+ [ delta ] Z.
As with the Z-axis coordinate calculation method, the calculation of the X-axis coordinate also first determines the relative magnification or reduction ratio of the first coordinate system and the second coordinate system, that is, the magnification factor X1/X2, where the determination method of X1/X2 is as described in the previous embodiment. However, the determination of the X-axis coordinate is different from the determination of the Z-axis coordinate, because X has no fixed reference point, and the tray 5 carrying the object 2 moves during the operation of the pipeline, and the tray 5 is displaced to different degrees by the multiple operations of the roller table and the warehouse stacker on the pipeline, the X-axis coordinate is not only determined by the reference point compensation, but also a distance measuring sensor is used, preferably a laser distance measuring sensor 3 is used, the laser distance measuring sensor 3 is arranged beside the second manipulator 4, and the laser distance measuring sensor 3 can measure the absolute position of the object 2 or the tray 5 carrying the object 2 corresponding to the second manipulator in the second coordinate system, which is denoted as Δx1, and transmit the value to the processor. Further, the X-axis coordinate X' = (X1/X2) x+Δx1+Δx2 of the object 2 in the second coordinate system can be obtained.
Namely, the X-axis coordinate and the Z-axis coordinate of the object 2 in the second coordinate system can be obtained by the above calculation:
X'=（X1/X2）*X +△X1+△X2，Y'=Y,Z'=（Z1/Z2）*Z+△Z
wherein X1/X2 and Z1/Z2 are the magnification factors of the X-axis coordinate and the Z-axis coordinate, which can be calculated by the previous embodiment.
DeltaX 2 and DeltaZ are offset compensation values of X axis and Z axis caused by different clamps of the manipulator.
In another embodiment, the laser ranging sensor 3 is preferably a 485 communication interface or an ethernet communication interface connected to the processor, because both the 485 communication interface and the ethernet communication interface can provide stable data transmission, and has strong interference resistance.
In another embodiment, the article may be a sand core; the sand core can be manufactured by a 3D printing method, a core shooting method or a wood mould sand filling method.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (4)
1. The method for automatically grabbing the manipulator in different coordinate systems is characterized by comprising the following steps of:
s1: a first manipulator grabs an object and places the object on a production line, and a processor records first coordinate data (X, Y, Z) of the object in a first coordinate system, wherein the first coordinate system is established by the first manipulator;
s2: the object moves on the assembly line along with the assembly line to a second coordinate system, and the second coordinate system is established by a second manipulator;
s3: the processor calculates the first coordinate data according to a compensation algorithm to obtain second coordinate data (X ', Y ', Z ') of the object in a second coordinate system;
s4: the second manipulator receives the second coordinate data and accurately grabs the objects on the assembly line;
the compensation algorithm in the step S3:
X'=（X1/X2）*X+△X1+△X2，Y'=Y，Z'=（Z1/Z2）*Z+△Z
wherein X1/X2 is the relative magnification coefficient of the X-axis coordinate of the first coordinate system and the X-axis coordinate of the second coordinate system, Z1/Z2 is the relative magnification coefficient of the Z-axis coordinate of the first coordinate system and the Z-axis coordinate of the second coordinate system, and X1, X2, Z1 and Z2 are all actually measured in a standard condition, namely in a pipeline without manual intervention; deltaX 2 is a deviation compensation value of an X axis brought by different clamps of the manipulator, deltaZ is a deviation compensation value of a Z axis brought by different clamps of the manipulator, deltaX 1 is an absolute position coordinate of an object relative to the second manipulator in a second coordinate system;
a range sensor is used to measure Δx1.
2. The method for automatically grabbing manipulators in different coordinate systems according to claim 1, wherein the distance measuring sensor is a laser distance measuring sensor, and the laser distance measuring sensor is connected with the processor by adopting a 485 communication interface or an Ethernet communication interface.
3. The method of claim 1, wherein the object is a sand core.
4. A method of automatically grabbing a manipulator in a different coordinate system according to claim 3, wherein the sand core is manufactured by a 3D printing method, a core shooting method or a wood pattern sand filling method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111608913.8A CN114310884B (en) | 2021-12-28 | 2021-12-28 | Method for automatically grabbing mechanical arm in different coordinate systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111608913.8A CN114310884B (en) | 2021-12-28 | 2021-12-28 | Method for automatically grabbing mechanical arm in different coordinate systems |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114310884A CN114310884A (en) | 2022-04-12 |
| CN114310884B true CN114310884B (en) | 2023-10-13 |
Family
ID=81012879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111608913.8A Active CN114310884B (en) | 2021-12-28 | 2021-12-28 | Method for automatically grabbing mechanical arm in different coordinate systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114310884B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03280106A (en) * | 1990-03-29 | 1991-12-11 | Hitachi Metals Ltd | System for transforming visual sensor coordinate information and robot reference coordinate information |
| JP2013233650A (en) * | 2013-07-12 | 2013-11-21 | Yaskawa Electric Corp | Robot system |
| CN109754421A (en) * | 2018-12-31 | 2019-05-14 | 深圳市越疆科技有限公司 | A kind of vision calibration method, device and robot controller |
| CN110267770A (en) * | 2017-02-10 | 2019-09-20 | 川崎重工业株式会社 | Robot system and its control method |
| CN110281238A (en) * | 2019-06-17 | 2019-09-27 | 深圳视觉龙智能传感器有限公司 | Assembly line multi-robot scaling method, device, computer equipment and storage medium |
| CN112731864A (en) * | 2020-12-21 | 2021-04-30 | 北京理工大学 | Machine tool machining error compensation method and device and part machining machine tool |
-
2021
- 2021-12-28 CN CN202111608913.8A patent/CN114310884B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03280106A (en) * | 1990-03-29 | 1991-12-11 | Hitachi Metals Ltd | System for transforming visual sensor coordinate information and robot reference coordinate information |
| JP2013233650A (en) * | 2013-07-12 | 2013-11-21 | Yaskawa Electric Corp | Robot system |
| CN110267770A (en) * | 2017-02-10 | 2019-09-20 | 川崎重工业株式会社 | Robot system and its control method |
| CN109754421A (en) * | 2018-12-31 | 2019-05-14 | 深圳市越疆科技有限公司 | A kind of vision calibration method, device and robot controller |
| CN110281238A (en) * | 2019-06-17 | 2019-09-27 | 深圳视觉龙智能传感器有限公司 | Assembly line multi-robot scaling method, device, computer equipment and storage medium |
| CN112731864A (en) * | 2020-12-21 | 2021-04-30 | 北京理工大学 | Machine tool machining error compensation method and device and part machining machine tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114310884A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11794346B2 (en) | Robotic system with error detection and dynamic packing mechanism | |
| EP1676679A2 (en) | Robot controller for correcting a target position of a robot hand by means of a visual sensor | |
| EP3542969B1 (en) | Working-position correcting method and working robot | |
| GB2208553A (en) | Communications adaptor for automated factory system | |
| EP2122422B1 (en) | A method and an apparatus for compensating for geometrical errors between work objects and a holding device | |
| CN101383311A (en) | Wafer transmission system | |
| CN104039511A (en) | Imaging inspection device, and control device and control method therefor | |
| EP3542973B1 (en) | Work robot and work position correction method | |
| CN114310884B (en) | Method for automatically grabbing mechanical arm in different coordinate systems | |
| CN210824350U (en) | Transfer robot | |
| CN110303505B (en) | Position information recovery method for robot | |
| CN108972564B (en) | Control system of palletizing robot | |
| CN113714795A (en) | Full-automatic packaging system of three way catalyst converter | |
| US20130037199A1 (en) | Joining method and joining appliance | |
| JP6299769B2 (en) | Robot system | |
| US20200139551A1 (en) | Robot system | |
| EP2636057B1 (en) | Method for calibrating a robot mounted on active magnetic bearings | |
| JP2009129056A (en) | Actual article management method and system | |
| JP2004261881A (en) | Work welding system, work welding method, and work welding program | |
| CN112008758B (en) | Intelligent detection method for grabbing height of industrial robot tray | |
| CN115609586A (en) | Robot high-precision assembling method based on grabbing pose constraint | |
| WO2012014771A1 (en) | Bending system and bending method | |
| CN115237056A (en) | Multi-tool rapid deviation rectifying method for industrial robot | |
| Eto et al. | Development of automated high-speed depalletizing system for complex stacking on roll box pallets | |
| JP2001022423A (en) | Method for optimizing operating speed and acceleration of conveyance robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |