CN116749197A - Robot positioning method and system using cross laser seat - Google Patents
Robot positioning method and system using cross laser seat Download PDFInfo
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- CN116749197A CN116749197A CN202310954174.0A CN202310954174A CN116749197A CN 116749197 A CN116749197 A CN 116749197A CN 202310954174 A CN202310954174 A CN 202310954174A CN 116749197 A CN116749197 A CN 116749197A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 12
- 230000001960 triggered effect Effects 0.000 claims description 6
- 238000011179 visual inspection Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000010727 head pressing Diseases 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
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Classifications
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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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- Automation & Control Theory (AREA)
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Abstract
The application provides a robot positioning method and a system using a cross laser seat, comprising the following steps: step 1: defining a cross laser seat central position point P1 and position deviations X=0, Y=0 and Z=0 in a file; step 2: changing a gluing needle head of the robot, controlling the robot to move to the center position point of the originally defined cross laser seat, and enabling the robot to move a preset distance in the negative direction at the current X, Y, Z position; step 3: controlling the robot to move in the positive X direction in the X axis direction; step 4: controlling the robot to move in the Y-axis positive Y direction; step 5: controlling the robot to move right above the Z axis; step 6: and recording the actual coordinate system position of the current robot, and updating the difference value between the actual coordinate system position and the original P1 position to a position deviation X, Y, Z record file. According to the application, the cross laser seat is adopted, and automatic positioning calibration is realized through robot programming, so that the problems of large manual visual inspection deviation and long manual operation time during equipment maintenance are solved.
Description
Technical Field
The application relates to the technical field of robot positioning, in particular to a robot positioning method and system by utilizing a cross laser seat.
Background
In the working processes of screwing, gluing, pressure testing and the like, the industrial robot brings a screw gun, a gluing head or a test pressing rod, and certain offset exists in the long-term running process or when the screw gun and the gluing head pressing rod are replaced, and the robot is recalibrated to the position point of the original coordinate system of the robot, so that the normal working of subsequent equipment is important.
After the conventional robot is driven by screws, coated with glue, pressure testing pressure bars and the like to run for a long time or be damaged and replaced, a technician is required to manually align at a positioning point, and the technician is required to visually inspect the center position by means of manpower, so that the problem of personal visual inspection and the influence of the internal installation position are solved, and larger deviation exists.
The patent document (application number: CN 201410449243.3) discloses a frequency shift transmitter capable of preventing current surge, and the patent adopts a three-stage surge current suppression circuit which can effectively suppress primary surge current and secondary surge current during starting, but still has surge current, has serious surge on harmonic current of a power grid, and has the advantages of complex structure, more components, inconvenient control, uncontrollable power-up process, asymmetric current waveform during power-up and larger reactive power.
Disclosure of Invention
Aiming at the defects in the prior art, the application aims to provide a robot positioning method and a system using a cross laser seat.
The robot positioning method using the cross laser seat provided by the application comprises the following steps:
step 1: defining a central position point P1 of a cross laser seat in a computer system, and defining the current robot system position deviations X=0, Y=0 and Z=0 in a file;
step 2: when the gluing needle head of the robot is replaced, the gluing needle head is installed on the Z-axis weight of the robot, then the robot is controlled to move to the center position point of the originally defined cross laser seat by sending an instruction through the computer, and the robot is enabled to move a preset distance in the negative direction at the current X, Y, Z position;
step 3: controlling the robot to move in the positive X direction along the X axis, wherein in the moving process of the robot, the X-direction laser of the cross laser seat is shielded, the level change signal of PNP-NO (X) is obtained by the robot IO, and the robot stops;
step 4: controlling the robot to move in the positive Y direction in the Y axis direction, wherein in the moving process of the robot, the laser in the Y direction of the cross laser seat is shielded, the level change signal of PNP-NO (Y) is obtained by the robot IO, and the robot stops;
step 5: controlling the robot to move right above the Z axis, stopping when the IO input ends 1 and 2 are both in low level, and ending the calibration of the Z axis;
step 6: and recording the actual coordinate system position of the current robot, and updating the difference value between the actual coordinate system position and the original P1 position to a position deviation X, Y, Z record file.
Preferably, +VDC and robot IO are connected with +24V power supply, PNP-NO (X) and PNP-NO (Y) are connected with the input end of robot IO respectively, the robot reads the IO state in real time, and the 0V interface and the Epson robot IO port are grounded together.
Preferably, the step 3 includes: the diameter of the needle is 2mm, the moving speed of the robot is 1mm/s, and a robot control instruction, namely Move Here+X (10) Till Sw (1) =on, represents that the X axis moves forward by 10mm at the maximum at the current position until the IO input port 1 is at a high level; after the instruction is executed, the X-axis of the robot just triggers the X-axis laser position, the instruction Move heat+X (1) is executed again, the robot is enabled to Move towards the positive X direction by half of the diameter of the needle, namely 1mm, and the calibration X direction is finished.
Preferably, the step 4 includes: a robot control command Move heat+y (10) Till Sw (2) =on, which represents that the Y-axis is moved maximally 10mm forward at the current position until the IO input port 2 is high; after the instruction is executed, the robot Y-axis executes the instruction Move heat+Y (1) again at the position of the X-axis laser just triggered, so that the robot moves half of the diameter of the needle head in the positive Y direction, namely 1mm, and the calibration in the Y direction is finished.
Preferably, the step 5 includes: the command Move heat+z (5) Till Sw (1) =off And Sw (2) =off, which represents that the Z-axis is moved up to the current position by a maximum of 5mm until the IO inputs 1 And 2 are both low, and the calibration of the Z-axis ends.
The robot positioning system using the cross laser seat provided by the application comprises:
module M1: defining a central position point P1 of a cross laser seat in a computer system, and defining the current robot system position deviations X=0, Y=0 and Z=0 in a file;
module M2: when the gluing needle head of the robot is replaced, the gluing needle head is installed on the Z-axis weight of the robot, then the robot is controlled to move to the center position point of the originally defined cross laser seat by sending an instruction through the computer, and the robot is enabled to move a preset distance in the negative direction at the current X, Y, Z position;
module M3: controlling the robot to move in the positive X direction along the X axis, wherein in the moving process of the robot, the X-direction laser of the cross laser seat is shielded, the level change signal of PNP-NO (X) is obtained by the robot IO, and the robot stops;
module M4: controlling the robot to move in the positive Y direction in the Y axis direction, wherein in the moving process of the robot, the laser in the Y direction of the cross laser seat is shielded, the level change signal of PNP-NO (Y) is obtained by the robot IO, and the robot stops;
module M5: controlling the robot to move right above the Z axis, stopping when the IO input ends 1 and 2 are both in low level, and ending the calibration of the Z axis;
module M6: and recording the actual coordinate system position of the current robot, and updating the difference value between the actual coordinate system position and the original P1 position to a position deviation X, Y, Z record file.
Preferably, +VDC and robot IO are connected with +24V power supply, PNP-NO (X) and PNP-NO (Y) are connected with the input end of robot IO respectively, the robot reads the IO state in real time, and the 0V interface and the Epson robot IO port are grounded together.
Preferably, the module M3 includes: the diameter of the needle is 2mm, the moving speed of the robot is 1mm/s, and a robot control instruction, namely Move Here+X (10) Till Sw (1) =on, represents that the X axis moves forward by 10mm at the maximum at the current position until the IO input port 1 is at a high level; after the instruction is executed, the X-axis of the robot just triggers the X-axis laser position, the instruction Move heat+X (1) is executed again, the robot is enabled to Move towards the positive X direction by half of the diameter of the needle, namely 1mm, and the calibration X direction is finished.
Preferably, the module M4 includes: a robot control command Move heat+y (10) Till Sw (2) =on, which represents that the Y-axis is moved maximally 10mm forward at the current position until the IO input port 2 is high; after the instruction is executed, the robot Y-axis executes the instruction Move heat+Y (1) again at the position of the X-axis laser just triggered, so that the robot moves half of the diameter of the needle head in the positive Y direction, namely 1mm, and the calibration in the Y direction is finished.
Preferably, the module M5 includes: the command Move heat+z (5) Till Sw (1) =off And Sw (2) =off, which represents that the Z-axis is moved up to the current position by a maximum of 5mm until the IO inputs 1 And 2 are both low, and the calibration of the Z-axis ends.
Compared with the prior art, the application has the following beneficial effects:
(1) The application adopts the cross laser seat, realizes automatic positioning and calibration by robot programming, and solves the problems of large manual visual inspection deviation and long manual operation time during equipment maintenance;
(2) The scheme of the application can automatically calibrate when the equipment is initialized, solves the problem of increasing the gradual deviation of the position in the equipment operation, and improves the equipment operation stability.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a cross laser mount size diagram;
fig. 2 is a diagram of a cross laser mount input-output interface.
Detailed Description
The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.
Example 1:
the application provides a robot positioning method by utilizing a cross laser seat, which comprises the following steps:
as shown in fig. 1 and 2, an industrial robot, such as an Epson Scara robot, is controlled by a computer through a network, the Epson robot is provided with a high-speed input IO interface, a cross laser seat adopts an OGLW2-70T4-2PS6 of CAPTRON company, the repetition precision is 0.01mm, and the actual positioning requirement can be met; the +VDC and the Epson robot IO are connected with a power supply +24V in common, the PNP-NO (X) and the PNP-NO (Y) are respectively connected with a high-speed IO input end of the robot, the Epson robot can read the IO state in real time, and the 0V interface and an Epson robot IO port are grounded in common.
Assuming that the current robot is equipped with a glue-coated needle, the diameter of which is assumed to be 2mm, the device defines a central position point P1 of the cross laser seat in the computer system at the time of initial construction, and defines that the current robot system position deviations x=0, y=0, z=0 are in the file, the needle may be knocked out during the operation of the robot, or a new needle needs to be repositioned due to damage to the needle. The whole calibration process is as follows:
1. the Z-axis weight of the Epson robot is provided with a gluing needle;
2. the computer sends an instruction to control the Epson robot to move to the center position point of the originally defined cross laser seat, and the current X position of the robot is reduced by 5mm, the Y position of the robot is reduced by 5mm, and the Z position of the robot is reduced by 2mm, so that the current needle head of the robot is approximately at the X-5, Y-5 and Z-2 positions in the center of the cross laser;
3. the robot X moves slowly along the axial direction of the X, the moving speed is 1mm/s, in the moving process of the robot, the X-direction laser of the cross laser seat is shielded, the level change signal of PNP-NO (X) is obtained by the Epson robot IO, and the robot stops; a robot control command Move heat+x (10) Till Sw (1) =on, which represents that the X-axis is moved maximally 10mm in the forward direction at the current position until the IO input port 1 is high; after the instruction is executed, the X-axis of the robot just triggers the X-axis laser position, the instruction Move Here+X (1) is executed again, the robot is moved by 1mm (the diameter of the needle is half of 2 mm) to the positive X direction, and the X-direction calibration is finished;
4. the robot Y moves slowly along the axial direction of the Y, the moving speed is 1mm/s, in the moving process of the robot, the Y-direction laser of the cross laser seat is shielded, the level change signal of PNP-NO (Y) is obtained by the Epson robot IO, and the robot stops; a robot control command Move heat+y (10) Till Sw (2) =on, which represents that the Y-axis is moved maximally 10mm forward at the current position until the IO input port 2 is high; after the instruction is executed, the robot Y-axis executes the instruction Move heat+Y (1) again at the position of the laser of the X-axis just triggered, so that the robot moves by 1mm (the diameter of the needle is half of 2 mm) towards the positive Y direction, and the calibration of the Y direction is finished;
5. at this time, epson robots X and Y input ports Sw (1) =on, sw (2) =on trigger states;
6. the robot Z moves slowly right above the axial direction, the moving speed is 1mm/s, the motion heat+Z (5) Till Sw (1) =off And Sw (2) =off, the instruction represents that the Z axis moves upwards by 5mm at the maximum at the current position until the IO input ends 1 And 2 are both in low level, and the calibration of the Z axis is finished;
7. at the moment, the position of a needle end point X, Y, Z carried by the robot is just at the center point of the cross laser seat, the actual coordinate system position of the current robot is recorded, and the difference value between the actual coordinate system position and the original P1 position is updated to a position deviation X, Y, Z record file;
8. adding X, Y, Z position deviations to all the subsequent position moving points of the Epson robot;
all the above actions are executed by the upper computer after programming and the calibration can be executed by default when the device is initialized.
Example 2:
the application also provides a robot positioning system using the cross laser seat, which can be realized by executing the flow steps of the robot positioning method using the cross laser seat, namely, a person skilled in the art can understand the robot positioning method using the cross laser seat as a preferred implementation mode of the robot positioning system using the cross laser seat.
The robot positioning system using the cross laser seat provided by the application comprises: module M1: defining a central position point P1 of a cross laser seat in a computer system, and defining the current robot system position deviations X=0, Y=0 and Z=0 in a file; module M2: when the gluing needle head of the robot is replaced, the gluing needle head is installed on the Z-axis weight of the robot, then the robot is controlled to move to the center position point of the originally defined cross laser seat by sending an instruction through the computer, and the robot is enabled to move a preset distance in the negative direction at the current X, Y, Z position; module M3: controlling the robot to move in the positive X direction along the X axis, wherein in the moving process of the robot, the X-direction laser of the cross laser seat is shielded, the level change signal of PNP-NO (X) is obtained by the robot IO, and the robot stops; module M4: controlling the robot to move in the positive Y direction in the Y axis direction, wherein in the moving process of the robot, the laser in the Y direction of the cross laser seat is shielded, the level change signal of PNP-NO (Y) is obtained by the robot IO, and the robot stops; module M5: controlling the robot to move right above the Z axis, stopping when the IO input ends 1 and 2 are both in low level, and ending the calibration of the Z axis; module M6: and recording the actual coordinate system position of the current robot, and updating the difference value between the actual coordinate system position and the original P1 position to a position deviation X, Y, Z record file.
The +VDC and the robot IO are connected with a power supply +24V in common, the PNP-NO (X) and the PNP-NO (Y) are respectively connected with the input end of the robot IO, the robot reads the IO state in real time, and the 0V interface and the Epson robot IO port are grounded in common.
The module M3 includes: the diameter of the needle is 2mm, the moving speed of the robot is 1mm/s, and a robot control instruction, namely Move Here+X (10) Till Sw (1) =on, represents that the X axis moves forward by 10mm at the maximum at the current position until the IO input port 1 is at a high level; after the instruction is executed, the X-axis of the robot just triggers the X-axis laser position, the instruction Move heat+X (1) is executed again, the robot is enabled to Move towards the positive X direction by half of the diameter of the needle, namely 1mm, and the calibration X direction is finished.
The module M4 includes: a robot control command Move heat+y (10) Till Sw (2) =on, which represents that the Y-axis is moved maximally 10mm forward at the current position until the IO input port 2 is high; after the instruction is executed, the robot Y-axis executes the instruction Move heat+Y (1) again at the position of the X-axis laser just triggered, so that the robot moves half of the diameter of the needle head in the positive Y direction, namely 1mm, and the calibration in the Y direction is finished.
The module M5 includes: the command Move heat+z (5) Till Sw (1) =off And Sw (2) =off, which represents that the Z-axis is moved up to the current position by a maximum of 5mm until the IO inputs 1 And 2 are both low, and the calibration of the Z-axis ends.
Those skilled in the art will appreciate that the systems, apparatus, and their respective modules provided herein may be implemented entirely by logic programming of method steps such that the systems, apparatus, and their respective modules are implemented as logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., in addition to the systems, apparatus, and their respective modules being implemented as pure computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present application may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. A robot positioning method using a cross laser mount, comprising:
step 1: defining a central position point P1 of a cross laser seat in a computer system, and defining the current robot system position deviations X=0, Y=0 and Z=0 in a file;
step 2: when the gluing needle head of the robot is replaced, the gluing needle head is installed on the Z-axis weight of the robot, then the robot is controlled to move to the center position point of the originally defined cross laser seat by sending an instruction through the computer, and the robot is enabled to move a preset distance in the negative direction at the current X, Y, Z position;
step 3: controlling the robot to move in the positive X direction along the X axis, wherein in the moving process of the robot, the X-direction laser of the cross laser seat is shielded, the level change signal of PNP-NO (X) is obtained by the robot IO, and the robot stops;
step 4: controlling the robot to move in the positive Y direction in the Y axis direction, wherein in the moving process of the robot, the laser in the Y direction of the cross laser seat is shielded, the level change signal of PNP-NO (Y) is obtained by the robot IO, and the robot stops;
step 5: controlling the robot to move right above the Z axis, stopping when the IO input ends 1 and 2 are both in low level, and ending the calibration of the Z axis;
step 6: and recording the actual coordinate system position of the current robot, and updating the difference value between the actual coordinate system position and the original P1 position to a position deviation X, Y, Z record file.
2. The robot positioning method using the cross laser base according to claim 1, wherein +vdc and robot IO are commonly connected with +24v power supply, PNP-NO (X) and PNP-NO (Y) are respectively connected to the robot IO input end, the robot reads the IO state in real time, and the 0V interface is commonly grounded to the Epson robot IO port.
3. The method for positioning a robot using a cross laser stand according to claim 1, wherein the step 3 comprises: the diameter of the needle is 2mm, the moving speed of the robot is 1mm/s, and a robot control instruction, namely Move Here+X (10) Till Sw (1) =on, represents that the X axis moves forward by 10mm at the maximum at the current position until the IO input port 1 is at a high level; after the instruction is executed, the X-axis of the robot just triggers the X-axis laser position, the instruction Move heat+X (1) is executed again, the robot is enabled to Move towards the positive X direction by half of the diameter of the needle, namely 1mm, and the calibration X direction is finished.
4. The method for positioning a robot using a cross laser stand according to claim 3, wherein the step 4 comprises: a robot control command Move heat+y (10) Till Sw (2) =on, which represents that the Y-axis is moved maximally 10mm forward at the current position until the IO input port 2 is high; after the instruction is executed, the robot Y-axis executes the instruction Move heat+Y (1) again at the position of the X-axis laser just triggered, so that the robot moves half of the diameter of the needle head in the positive Y direction, namely 1mm, and the calibration in the Y direction is finished.
5. The method for positioning a robot using a cross laser mount according to claim 4, wherein the step 5 comprises: the command Move heat+z (5) Till Sw (1) =off And Sw (2) =off, which represents that the Z-axis is moved up to the current position by a maximum of 5mm until the IO inputs 1 And 2 are both low, and the calibration of the Z-axis ends.
6. A robotic positioning system utilizing a cross laser mount, comprising:
module M1: defining a central position point P1 of a cross laser seat in a computer system, and defining the current robot system position deviations X=0, Y=0 and Z=0 in a file;
module M2: when the gluing needle head of the robot is replaced, the gluing needle head is installed on the Z-axis weight of the robot, then the robot is controlled to move to the center position point of the originally defined cross laser seat by sending an instruction through the computer, and the robot is enabled to move a preset distance in the negative direction at the current X, Y, Z position;
module M3: controlling the robot to move in the positive X direction along the X axis, wherein in the moving process of the robot, the X-direction laser of the cross laser seat is shielded, the level change signal of PNP-NO (X) is obtained by the robot IO, and the robot stops;
module M4: controlling the robot to move in the positive Y direction in the Y axis direction, wherein in the moving process of the robot, the laser in the Y direction of the cross laser seat is shielded, the level change signal of PNP-NO (Y) is obtained by the robot IO, and the robot stops;
module M5: controlling the robot to move right above the Z axis, stopping when the IO input ends 1 and 2 are both in low level, and ending the calibration of the Z axis;
module M6: and recording the actual coordinate system position of the current robot, and updating the difference value between the actual coordinate system position and the original P1 position to a position deviation X, Y, Z record file.
7. The robot positioning system using the cross laser holder according to claim 6, wherein +vdc and robot IO are commonly connected to +24v, PNP-NO (X) and PNP-NO (Y) are respectively connected to the robot IO input terminal, the robot reads the IO state in real time, and the 0V interface is commonly connected to the Epson robot IO port.
8. The robotic positioning system using a cross laser mount according to claim 6, wherein the module M3 comprises: the diameter of the needle is 2mm, the moving speed of the robot is 1mm/s, and a robot control instruction, namely Move Here+X (10) Till Sw (1) =on, represents that the X axis moves forward by 10mm at the maximum at the current position until the IO input port 1 is at a high level; after the instruction is executed, the X-axis of the robot just triggers the X-axis laser position, the instruction Move heat+X (1) is executed again, the robot is enabled to Move towards the positive X direction by half of the diameter of the needle, namely 1mm, and the calibration X direction is finished.
9. The robotic positioning system utilizing a cross laser mount according to claim 8, wherein the module M4 comprises: a robot control command Move heat+y (10) Till Sw (2) =on, which represents that the Y-axis is moved maximally 10mm forward at the current position until the IO input port 2 is high; after the instruction is executed, the robot Y-axis executes the instruction Move heat+Y (1) again at the position of the X-axis laser just triggered, so that the robot moves half of the diameter of the needle head in the positive Y direction, namely 1mm, and the calibration in the Y direction is finished.
10. The robotic positioning system using a cross laser mount according to claim 9, wherein the module M5 comprises: the command Move heat+z (5) Till Sw (1) =off And Sw (2) =off, which represents that the Z-axis is moved up to the current position by a maximum of 5mm until the IO inputs 1 And 2 are both low, and the calibration of the Z-axis ends.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310954174.0A CN116749197A (en) | 2023-07-31 | 2023-07-31 | Robot positioning method and system using cross laser seat |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310954174.0A CN116749197A (en) | 2023-07-31 | 2023-07-31 | Robot positioning method and system using cross laser seat |
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| CN116749197A true CN116749197A (en) | 2023-09-15 |
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