CN116871974B - Robot automatic tool setting system based on infrared correlation photoelectric - Google Patents
Robot automatic tool setting system based on infrared correlation photoelectric Download PDFInfo
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- CN116871974B CN116871974B CN202310723654.6A CN202310723654A CN116871974B CN 116871974 B CN116871974 B CN 116871974B CN 202310723654 A CN202310723654 A CN 202310723654A CN 116871974 B CN116871974 B CN 116871974B
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- 230000008569 process Effects 0.000 claims abstract description 20
- 238000004364 calculation method Methods 0.000 claims abstract description 19
- 230000001960 triggered effect Effects 0.000 claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
- 230000005622 photoelectricity Effects 0.000 claims description 9
- 238000012986 modification Methods 0.000 claims description 6
- 230000004048 modification Effects 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 4
- 230000002618 waking effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 description 10
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000003801 milling Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides an infrared correlation photoelectric-based automatic tool setting system of a robot, which comprises the following components: the mobile control module is used for controlling the cutter to move to a preset position after the replacement of the cutter is completed; the tool setting control module is used for controlling the tool to move to the lower part of the preset position according to the preset distance, and judging the triggering state of the opposite-irradiation photoelectric switch after each movement is completed; the data calculation module is used for acquiring downward movement data of the cutter when the correlation photoelectric switch is triggered, and calculating the actual installation depth of the cutter based on the downward movement data; and the data compensation module is used for completing tool compensation based on the actual installation depth. The automatic tool setting system is utilized, the robot is used for automatically measuring, personnel intervention is not needed, the automatic tool setting system is safe and reliable, the tool setting process is short, production stopping is not needed, the working efficiency is greatly improved, meanwhile, the repeated positioning accuracy of the robot can reach 0.01mm, the reliability is high, and the measured data is stable and reliable.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to an infrared correlation photoelectric-based automatic tool setting system of a robot.
Background
At present, the application field of robot milling in China is wider and wider, more and more customers need to use the robot for milling, and a plurality of milling objects are made of metal materials, so that the abrasion on cutters is huge, and frequent cutter replacement is needed to ensure the processing quality. However, each time the depth of the installed tool is inconsistent, manual measurement is required to be performed on the installed tool, measured data is input into a robot program to perform tool compensation, and the manual measurement takes a long time to affect the production efficiency. Therefore, it is necessary to provide an infrared correlation photoelectric-based automatic tool setting system for robots.
Disclosure of Invention
The invention provides an infrared correlation photoelectric-based automatic tool setting system of a robot, which is used for solving the problem that the fluctuation of manual tool installation depth data in the tool compensation process can affect a product processed by using the tool, the manual measurement time is long, and the robot must be in a production stopping state in the measurement process, so that the production efficiency is affected. The automatic tool setting system is utilized, the robot is used for automatically measuring, personnel intervention is not needed, the automatic tool setting system is safe and reliable, the tool setting process is short, production stopping is not needed, the working efficiency is greatly improved, meanwhile, the repeated positioning accuracy of the robot can reach 0.01mm, the reliability is high, and the measured data is stable and reliable.
The invention provides an infrared correlation photoelectric-based automatic tool setting system of a robot, which comprises the following components:
the mobile control module is used for controlling the cutter to move to a preset position after the replacement of the cutter is completed;
the tool setting control module is used for controlling the tool to move to the lower part of the preset position according to the preset distance, and judging the triggering state of the opposite-irradiation photoelectric switch after each movement is completed;
the data calculation module is used for acquiring downward movement data of the cutter when the correlation photoelectric switch is triggered, and calculating the actual installation depth of the cutter based on the downward movement data;
and the data compensation module is used for completing tool compensation based on the actual installation depth.
Preferably, the movement control module in the robot automatic tool setting system based on infrared correlation photoelectricity comprises:
the cutter monitoring unit is used for monitoring the cutter installation state and sending a cutter setting movement instruction to the movement control unit after confirming that the cutter is replaced;
the mobile control unit is used for acquiring the position coordinates of the preset position after receiving the tool setting movement instruction, and controlling the tool to move to the preset position based on the position coordinates;
and the switch starting unit is used for sending a wake-up instruction to the correlation photoelectric switch after the cutter moves to a preset position, and waking up the correlation photoelectric switch.
Preferably, in an automatic tool setting control module of a robot based on infrared correlation photoelectric, the tool setting control module comprises:
the displacement control unit is used for controlling the cutter to move to the lower part of the preset position according to the preset distance;
the state judging unit is used for judging the triggering state of the opposite-shooting photoelectric switch after each movement is completed, judging that the opposite-shooting photoelectric switch is triggered when the laser of the opposite-shooting photoelectric switch is blocked, and sending a movement termination instruction to the displacement control unit;
otherwise, judging that the photoelectric switch is not triggered, and simultaneously sending a continuous movement instruction to the displacement control unit.
Preferably, in an automatic tool setting control module of a robot based on infrared correlation photoelectricity, the tool setting control module further comprises:
and the data recording unit is used for recording the current moving distance and the moving times of the cutter after each movement is completed and updating the downward moving data of the cutter.
Preferably, in an automatic tool setting control module of a robot based on infrared correlation photoelectricity, the tool setting control module further comprises:
the distance planning submodule is used for setting a preset distance and comprises the following steps:
the first determining unit is used for determining an accuracy adjustment line in the downward movement process of the cutter based on historical downward movement data of a plurality of historical cutters;
a second determining unit for dividing the downward movement process of the cutter into a first stage and a second stage according to the precision adjustment line;
a distance setting unit, configured to determine a preset distance corresponding to the first stage based on the depth corresponding to the precision adjustment line, and determine a single preset distance of the second stage based on a preset tool setting precision;
and the plan generating unit is used for generating a tool downward movement plan based on the preset distance setting result of the distance setting unit and sending the tool downward movement plan to the value displacement control unit.
Preferably, in an automatic tool setting system of a robot based on infrared correlation photoelectric, a first determining unit includes:
the data acquisition unit is used for acquiring historical downward movement data packets of a plurality of historical cutters, and respectively describing downward movement changes of each historical cutter to obtain a displacement contrast graph and downward movement depth of each historical cutter, wherein the downward movement depth refers to the distance of the historical cutter from a preset position to a position triggering a correlation photoelectric switch;
the first processing unit is used for obtaining the fluctuation range of the downward movement depth according to the displacement comparison graph and calculating the first average downward movement depth of a plurality of historical cutters based on the downward movement depth of each historical cutter;
the data classification unit is used for classifying the historical tools according to the difference of the robots for installing the historical tools to obtain a plurality of tool sets;
and the second processing unit is used for comparing the cutter sets, determining cutter installation difference coefficients, obtaining maximum error values based on the cutter installation difference coefficients and the fluctuation range, and calculating the depth corresponding to the precision adjustment line according to the maximum error values and the first average downshifting depth.
Preferably, in an infrared correlation photoelectric based robot automatic tool setting system, the second processing unit includes:
a set screening subunit, configured to screen the tool sets according to the number of historical tools in each tool set, and determine that the tool set is a failed set when the number of historical tools in the tool set is less than a preset value;
when the number of the historical cutters in the cutter set is larger than or equal to a preset value, judging the cutter set to be a qualified set;
the data comparison subunit is used for respectively calculating second average downward movement depths corresponding to each qualified set, and comparing a plurality of second average downward movement depths to obtain a cutter installation difference coefficient;
and the data determining subunit is used for obtaining a maximum error value according to the cutter installation difference coefficient and the lower limit value of the fluctuation range, and calculating the depth corresponding to the precision adjusting line according to the lower limit value of the fluctuation range, the maximum error value and the first average downshifting depth.
Preferably, in an automatic tool setting system of a robot based on infrared correlation photoelectricity, the data calculation module comprises:
the data acquisition unit is used for acquiring downward movement data recorded by the data recording unit when the correlation photoelectric switch is triggered;
the first calculation unit is used for determining the moving times of the cutter and the actual distance corresponding to each movement based on the downward movement data, and calculating to obtain the total moving distance of the cutter;
the error calculation unit is used for comparing the total moving distance with the standard moving distance of the cutter under the standard installation condition to obtain a moving error value;
and the second calculation unit is used for calculating the actual installation depth of the cutter according to the movement error and the standard installation depth of the cutter under the standard installation condition.
Preferably, the data compensation module in the robot automatic tool setting system based on infrared correlation photoelectricity comprises:
the instruction generation unit is used for generating an assignment instruction according to the actual installation depth;
and the data modification unit is used for modifying the TCP numerical value corresponding to the cutter based on the assignment instruction to complete automatic compensation of the cutter.
An automatic tool setting system of robot based on infrared correlation photoelectricity, its characterized in that still includes:
and the switch closing control module is used for monitoring time after confirming that the current cutter is set, and sending a closing instruction to the correlation photoelectric switch to close the correlation photoelectric switch when a new cutter does not appear in the preset time when the preset position is within the preset time.
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 thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of an infrared correlation photoelectric based robotic automatic tool setting system of the present invention;
FIG. 2 is a schematic diagram of an infrared correlation photoelectric based robotic automatic tool setting device;
FIG. 3 is a schematic diagram of a robot automatic tool setting system movement control module based on infrared correlation photoelectric in the invention;
FIG. 4 is a schematic diagram of a tool setting control module of the automatic tool setting system of the robot based on infrared correlation photoelectric;
FIG. 5 is a schematic diagram of a data calculation module of the automatic tool setting system of the robot based on infrared correlation photoelectric;
fig. 6 is a schematic diagram of a data compensation module of an automatic tool setting system of a robot based on infrared correlation photoelectric technology.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1:
the invention provides an infrared correlation photoelectric-based automatic tool setting system of a robot, as shown in fig. 1, comprising:
the mobile control module is used for controlling the cutter to move to a preset position after the replacement of the cutter is completed;
the tool setting control module is used for controlling the tool to move to the lower part of the preset position according to the preset distance, and judging the triggering state of the opposite-irradiation photoelectric switch after each movement is completed;
the data calculation module is used for acquiring downward movement data of the cutter when the correlation photoelectric switch is triggered, and calculating the actual installation depth of the cutter based on the downward movement data;
and the data compensation module is used for completing tool compensation based on the actual installation depth.
In this embodiment, the preset position is located above the optoelectronic switch.
In this embodiment, the correlation photoelectric switch is composed of an infrared correlation photoelectric sensor.
In this embodiment, as shown in fig. 2, an automatic tool setting device of a robot based on infrared opposite-shooting photoelectric is provided with the automatic tool setting system of a robot based on infrared opposite-shooting photoelectric, wherein 1 represents a tool; 2 represents a correlation photoelectric switch; 3 represents a supporting frame.
The beneficial effects of the embodiment are that: according to the invention, the following replacement of the cutter is monitored through the movement control module, and after the replacement of the cutter is completed, the cutter is controlled to move to a preset position, so that each new cutter is ensured to be automatically aligned; the tool setting precision can be adjusted according to actual machining requirements through repeated positioning of the tool setting control module, the data calculation module obtains downward movement data of the tool when the correlation photoelectric switch is triggered, calculates the actual installation depth of the tool based on the downward movement data, then performs tool compensation through the data compensation module, the whole process does not need manual participation completely, automatic measurement of a robot is realized, the safety and reliability are realized, the tool setting process is short, production stop is not needed, the working efficiency is greatly improved, repeated positioning measurement precision can be set, the highest precision can reach 0.01mm, the reliability is strong, and the measured data is stable and reliable.
Example 2:
on the basis of embodiment 1, a movement control module in an infrared correlation photoelectric based robot automatic tool setting system, as shown in fig. 3, includes:
the cutter monitoring unit is used for monitoring the cutter installation state and sending a cutter setting movement instruction to the movement control unit after confirming that the cutter is replaced;
the mobile control unit is used for acquiring the position coordinates of the preset position after receiving the tool setting movement instruction, and controlling the tool to move to the preset position based on the position coordinates;
and the switch starting unit is used for sending a wake-up instruction to the correlation photoelectric switch after the cutter moves to a preset position, and waking up the correlation photoelectric switch.
In this embodiment, the tool setting movement command refers to a control command that instructs the robot to move to a preset position after the tool is replaced.
In this embodiment, the wake-up instruction refers to a control instruction for waking up the correlation photoelectric switch to perform normal operation.
The beneficial effects of the embodiment are that: according to the invention, the cutter monitoring unit monitors the mounting state of the cutter, after the completion of the replacement of the cutter is confirmed, a cutter setting movement instruction is timely sent to the movement control unit, so that each new cutter is guaranteed to be subjected to cutter setting detection after being mounted, the machining precision is effectively improved, the movement control unit obtains the position coordinates of the preset position after receiving the cutter setting movement instruction, and based on the position coordinates, the cutter is controlled to move to the preset position, the movement precision of the robot is improved, the time for the robot to carry the cutter to move to the preset position is reduced, and the cutter setting efficiency is improved; and after the cutter moves to a preset position, the switch opening unit sends a wake-up instruction to the opposite-shooting photoelectric switch to wake up the opposite-shooting photoelectric switch, so that the opposite-shooting photoelectric switch is ensured to work normally.
Example 3:
based on embodiment 1, in an automatic tool setting control module of a robot based on infrared correlation photoelectric, as shown in fig. 4, the tool setting control module includes:
the displacement control unit is used for controlling the cutter to move to the lower part of the preset position according to the preset distance;
the state judging unit is used for judging the triggering state of the opposite-shooting photoelectric switch after each movement is completed, judging that the opposite-shooting photoelectric switch is triggered when the laser of the opposite-shooting photoelectric switch is blocked, and sending a movement termination instruction to the displacement control unit;
otherwise, judging that the photoelectric switch is not triggered, and simultaneously sending a continuous movement instruction to the displacement control unit.
The beneficial effects of the embodiment are that: the displacement control unit is used for controlling the cutter to move to the lower part of the preset position according to the preset distance; and after the completion of each movement, the state judgment unit judges the triggering state of the opposite-shooting photoelectric switch to realize repeated positioning in the tool setting process of the tool, meanwhile, the opposite-shooting photoelectric switch is triggered immediately after the tool enters an infrared irradiation area of the opposite-shooting photoelectric switch, and the accuracy of the depth confirmation of the tool is improved.
Example 4:
based on embodiment 3, in an automatic tool setting control module of a robot based on infrared correlation photoelectric, as shown in fig. 4, the tool setting control module further includes:
and the data recording unit is used for recording the current moving distance and the moving times of the cutter after each movement is completed and updating the downward moving data of the cutter.
The beneficial effects of the embodiment are that: after each movement is completed, the current movement distance and the movement times of the cutter are recorded, downward movement data of the cutter are updated, and the actual depth of the cutter is calculated to provide data support.
Example 5:
based on embodiment 3, in an automatic tool setting control module of a robot based on infrared correlation photoelectric, as shown in fig. 4, the tool setting control module further includes:
the distance planning submodule is used for setting a preset distance and comprises the following steps:
the first determining unit is used for determining an accuracy adjustment line in the downward movement process of the cutter based on historical downward movement data of a plurality of historical cutters;
a second determining unit for dividing the downward movement process of the cutter into a first stage and a second stage according to the precision adjustment line;
a distance setting unit, configured to determine a preset distance corresponding to the first stage based on the depth corresponding to the precision adjustment line, and determine a single preset distance of the second stage based on a preset tool setting precision;
and the plan generating unit is used for generating a tool downward movement plan based on the preset distance setting result of the distance setting unit and sending the tool downward movement plan to the value displacement control unit.
In this embodiment, the precision adjustment line refers to a dividing line for performing movement precision adjustment on a preset distance of movement of the tool.
In this embodiment, the first stage refers to a process of moving the tool from the preset position to the position of the precision adjustment line, that is, a process of moving the tool downward for the first time; the second stage is the moving process of the cutter under the position of the precision adjusting line, and the cutter repeatedly moves at the same distance for a plurality of times in the moving process.
In the embodiment, the preset tool setting precision can reach 0.01mm, the default value is 1mm, and a user can perform self-defined adjustment according to the production precision requirement.
The beneficial effects of the embodiment are that: according to the method, based on historical downward movement data of a plurality of historical cutters, an accuracy adjustment line in the downward movement process of the cutters is determined, the downward movement process of the cutters is divided into a first stage and a second stage, a preset distance corresponding to the first stage is determined based on the corresponding depth of the accuracy adjustment line, meanwhile, based on preset cutter setting accuracy, a single preset distance of the second stage is determined, a cutter downward movement plan is generated, and the displacement control unit with the downward movement plan sending value is used for controlling the cutters to move downward, so that the problem that the cutter needs to move many times from a preset position to a trigger position due to higher preset cutter setting accuracy, and the cutter setting time is long is avoided; under the condition of ensuring accurate tool setting, the time consumed for tool setting is shortened, and the tool setting efficiency is improved.
Example 6:
on the basis of embodiment 5, in an automatic tool setting system of a robot based on infrared correlation photoelectric, a first determining unit includes:
the data acquisition unit is used for acquiring historical downward movement data packets of a plurality of historical cutters, and respectively describing downward movement changes of each historical cutter to obtain a displacement contrast graph and downward movement depth of each historical cutter, wherein the downward movement depth refers to the distance of the historical cutter from a preset position to a position triggering a correlation photoelectric switch;
the first processing unit is used for obtaining the fluctuation range of the downward movement depth according to the displacement comparison graph and calculating the first average downward movement depth of a plurality of historical cutters based on the downward movement depth of each historical cutter;
the data classification unit is used for classifying the historical tools according to the difference of the robots for installing the historical tools to obtain a plurality of tool sets;
and the second processing unit is used for comparing the cutter sets, determining cutter installation difference coefficients, obtaining maximum error values based on the cutter installation difference coefficients and the fluctuation range, and calculating the depth corresponding to the precision adjustment line according to the maximum error values and the first average downshifting depth.
In this embodiment, the history tool refers to a tool that has been detected by the tool setting system according to the present invention.
In this embodiment, the historical downward movement data packet refers to a data packet containing all downward movement data of the whole tool setting process of the historical tool.
In this embodiment, the displacement contrast map refers to a map of tool displacement that represents a number of historical final trigger positions of the tool.
In this embodiment, the fluctuation range refers to a range corresponding to the depth of the final trigger positions of the plurality of historical tools.
In this embodiment, the first average downshifting depth is an average calculated from downshifting depths of all historical tools.
In this embodiment, the tool set refers to a set of historical tools of the same robot.
In the present embodiment, the tool mounting difference coefficient refers to the degree of influence of individual differences in the actual depth of the tool due to the difference in the tool mounting robot.
The beneficial effects of the embodiment are that: according to the invention, the fluctuation range of the downward movement depth is obtained according to the displacement comparison graph, and the first average downward movement depth of a plurality of historical cutters is calculated based on the downward movement depth of each historical cutter; and classifying the historical tools according to the difference of the historical tool mounting robots to obtain a plurality of tool sets, comparing the tool sets, determining a tool mounting difference coefficient, obtaining a maximum error value based on the tool mounting difference coefficient and a fluctuation range, determining the depth corresponding to the precision adjustment line according to the maximum error value and the depth calculated by the first average downward movement depth, and determining the depth corresponding to the precision adjustment line by fusing the common specification of the downward movement depth of the tools and the individual difference, wherein the depth corresponding to the precision adjustment line is ensured to be smaller than the trigger depth of the correlation photoelectric switch of the current tool, and the effects of shortening the tool setting time and improving the tool setting efficiency under the condition of ensuring the tool setting accuracy are achieved.
Example 7:
based on embodiment 6, in an automatic tool setting system of a robot based on infrared correlation photoelectric, a second processing unit includes:
a set screening subunit, configured to screen the tool sets according to the number of historical tools in each tool set, and determine that the tool set is a failed set when the number of historical tools in the tool set is less than a preset value;
when the number of the historical cutters in the cutter set is larger than or equal to a preset value, judging the cutter set to be a qualified set;
the data comparison subunit is used for respectively calculating second average downward movement depths corresponding to each qualified set, and comparing a plurality of second average downward movement depths to obtain a cutter installation difference coefficient;
and the data determining subunit is used for obtaining a maximum error value according to the cutter installation difference coefficient and the lower limit value of the fluctuation range, and calculating the depth corresponding to the precision adjusting line according to the lower limit value of the fluctuation range, the maximum error value and the first average downshifting depth.
In this embodiment, the second average downshifting depth refers to the average downshifting depth of the tools in the qualified collection.
In this embodiment, the tool mounting difference coefficient is specifically calculated as follows:
wherein, beta represents a cutter installation difference coefficient; m represents the number of qualified sets; h is a j A second average downshifting depth representing a j-th qualified set; n represents the total number of historical tools, where n > m; h is a i Representing the downshifting depth of the ith historical cutter;representing a first average downshifting depth; e, e (·) An exponential function with a base e, e being a natural tree valued at 2.72.
In this embodiment, the depth corresponding to the precision adjustment line is calculated as follows:
wherein h is Wire (C) Representing the depth corresponding to the precision adjustment line; r is R min Representing the lower limit value of the fluctuation range.
The beneficial effects of the embodiment are that: the method comprises the steps of screening cutter sets according to the number of historical cutters in each cutter set, and judging the cutter sets as unqualified sets when the number of the historical cutters in the cutter sets is smaller than a preset value; when the number of historical cutters in the cutter set is larger than or equal to a preset value, judging that the cutter set is a qualified set, selecting a data set which can change the individual installation difference as far as possible, improving the accuracy of a cutter installation difference coefficient, correcting the lower limit value of a fluctuation range according to the cutter installation difference coefficient to obtain a maximum error value, and ensuring that the precision adjustment line is above the triggering position of the correlation photoelectric switch of the current cutter according to the depth corresponding to the precision adjustment line calculated by the maximum error value and the first average downward movement depth.
Example 8:
based on embodiment 4, in an infrared correlation photoelectric based robot automatic tool setting system, as shown in fig. 5, the data calculation module includes:
the data acquisition unit is used for acquiring downward movement data recorded by the data recording unit when the correlation photoelectric switch is triggered;
the first calculation unit is used for determining the moving times of the cutter and the actual distance corresponding to each movement based on the downward movement data, and calculating to obtain the total moving distance of the cutter;
the error calculation unit is used for comparing the total moving distance with the standard moving distance of the cutter under the standard installation condition to obtain a moving error value;
and the second calculation unit is used for calculating the actual installation depth of the cutter according to the movement error and the standard installation depth of the cutter under the standard installation condition.
The beneficial effects of the embodiment are that: according to the invention, when the opposite-shooting photoelectric switch is triggered, the calculation of the actual installation depth of the cutter is completed according to the downward movement data, and the automatic measurement of the cutter depth is realized.
Example 9:
on the basis of embodiment 1, the data compensation module in the robot automatic tool setting system based on infrared correlation photoelectricity, as shown in fig. 6, comprises:
the instruction generation unit is used for generating an assignment instruction according to the actual installation depth;
and the data modification unit is used for modifying the TCP numerical value corresponding to the cutter based on the assignment instruction to complete automatic compensation of the cutter.
In this embodiment, the TCP value refers to tool depth data in the system, where TCP represents Tool Center Point, tool center point.
In this embodiment, the assignment instruction refers to a control data modification unit modifying a TCP value obtained in the robot system into a control instruction.
The beneficial effects of the embodiment are that: according to the invention, the assignment command is generated according to the actual installation depth, and then the TCP value corresponding to the tool is corrected based on the assignment command, so that the automatic compensation of the tool is completed, the automatic tool compensation after the robot changes the tool is realized, the installation depth of the tool is measured without manual intervention input, the automatic tool compensation time after the tool is changed is shortened, and the production efficiency is improved.
Example 10:
on the basis of embodiment 2, an automatic tool setting system of robot based on infrared correlation photoelectricity is characterized by further comprising:
and the switch closing control module is used for monitoring time after confirming that the current cutter is set, and sending a closing instruction to the correlation photoelectric switch to close the correlation photoelectric switch when a new cutter does not appear in the preset time when the preset position is within the preset time.
The beneficial effects of the embodiment are that: according to the method, after the completion of tool setting of the current tool is confirmed, time monitoring is carried out, namely the idle-on time of the opposite-shooting photoelectric switch is monitored, and when no new tool appears in the preset position within the preset time, a closing instruction is sent to the opposite-shooting photoelectric switch, and the opposite-shooting photoelectric switch is closed, so that the waste of production resources caused by long-time idle-on of the opposite-shooting photoelectric switch is avoided.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. An automatic tool setting system of robot based on infrared correlation photoelectricity, characterized by comprising:
the mobile control module is used for controlling the cutter to move to a preset position after the replacement of the cutter is completed;
the tool setting control module is used for controlling the tool to move to the lower part of the preset position according to the preset distance, and judging the triggering state of the opposite-irradiation photoelectric switch after each movement is completed;
the data calculation module is used for acquiring downward movement data of the cutter when the correlation photoelectric switch is triggered, and calculating the actual installation depth of the cutter based on the downward movement data;
the data compensation module is used for completing cutter compensation based on the actual installation depth;
wherein, tool setting control module includes:
the displacement control unit is used for controlling the cutter to move to the lower part of the preset position according to the preset distance;
the state judging unit is used for judging the triggering state of the opposite-shooting photoelectric switch after each movement is completed, judging that the opposite-shooting photoelectric switch is triggered when the laser of the opposite-shooting photoelectric switch is blocked, and sending a movement termination instruction to the displacement control unit;
otherwise, judging that the correlation photoelectric switch is not triggered, and simultaneously sending a continuous movement instruction to a displacement control unit;
tool setting control module still includes:
the distance planning submodule is used for setting a preset distance and comprises the following steps:
a first determining unit for determining an accuracy adjustment line in the downward movement process of the tool based on the historical downward movement data of the plurality of historical tools;
a second determining unit for dividing the downward movement process of the cutter into a first stage and a second stage according to the precision adjustment line;
a distance setting unit, configured to determine a preset distance corresponding to the first stage based on the depth corresponding to the precision adjustment line, and determine a single preset distance of the second stage based on a preset tool setting precision;
a plan generating unit for generating a tool downward movement plan based on a preset distance setting result of the distance setting unit, and transmitting the tool downward movement plan to a displacement control unit;
wherein the first determining unit includes:
the data acquisition unit is used for acquiring historical downward movement data packets of a plurality of historical cutters, and respectively describing downward movement changes of each historical cutter to obtain a displacement contrast graph and downward movement depth of each historical cutter, wherein the downward movement depth refers to the distance of the historical cutter from a preset position to a position triggering a correlation photoelectric switch;
the first processing unit is used for obtaining the fluctuation range of the downward movement depth according to the displacement comparison graph and calculating the first average downward movement depth of a plurality of historical cutters based on the downward movement depth of each historical cutter;
the data classification unit is used for classifying the historical tools according to the difference of the robots for installing the historical tools to obtain a plurality of tool sets;
the second processing unit is used for comparing the cutter sets, determining cutter installation difference coefficients, obtaining maximum error values based on the cutter installation difference coefficients and the fluctuation range, and calculating the depth corresponding to the precision adjustment line according to the maximum error values and the first average downshifting depth;
a second processing unit comprising:
a set screening subunit, configured to screen the tool sets according to the number of historical tools in each tool set, and determine that the tool set is a failed set when the number of historical tools in the tool set is less than a preset value;
when the number of the historical cutters in the cutter set is larger than or equal to a preset value, judging the cutter set to be a qualified set;
the data comparison subunit is used for respectively calculating second average downward movement depths corresponding to each qualified set, and comparing a plurality of second average downward movement depths to obtain a cutter installation difference coefficient;
and the data determining subunit is used for obtaining a maximum error value according to the cutter installation difference coefficient and the lower limit value of the fluctuation range, and calculating to obtain the depth corresponding to the precision adjusting line according to the lower limit value of the fluctuation range, the maximum error value and the first average downshifting depth.
2. The automatic tool setting system of a robot based on infrared correlation optics of claim 1, wherein the movement control module comprises:
the cutter monitoring unit is used for monitoring the cutter installation state and sending a cutter setting movement instruction to the movement control unit after confirming that the cutter is replaced;
the mobile control unit is used for acquiring the position coordinates of the preset position after receiving the tool setting movement instruction, and controlling the tool to move to the preset position based on the position coordinates;
and the switch starting unit is used for sending a wake-up instruction to the correlation photoelectric switch after the cutter moves to a preset position, and waking up the correlation photoelectric switch.
3. The automatic tool setting system of a robot based on infrared correlation optics of claim 1, wherein the tool setting control module further comprises:
and the data recording unit is used for recording the current moving distance and the moving times of the cutter after each movement is completed and updating the downward moving data of the cutter.
4. A robot automatic tool setting system based on infrared correlation optics as claimed in claim 3, wherein the data calculation module comprises:
the data acquisition unit is used for acquiring downward movement data recorded by the data recording unit when the correlation photoelectric switch is triggered;
the first calculation unit is used for determining the moving times of the cutter and the actual distance corresponding to each movement based on the downward movement data, and calculating to obtain the total moving distance of the cutter;
the error calculation unit is used for comparing the total moving distance with the standard moving distance of the cutter under the standard installation condition to obtain a moving error value;
and the second calculation unit is used for calculating the actual installation depth of the cutter according to the movement error and the standard installation depth of the cutter under the standard installation condition.
5. The automatic tool setting system of a robot based on infrared correlation optics of claim 1, wherein the data compensation module comprises:
the instruction generation unit is used for generating an assignment instruction according to the actual installation depth;
and the data modification unit is used for modifying the TCP numerical value corresponding to the cutter based on the assignment instruction to complete automatic compensation of the cutter.
6. The automatic tool setting system of a robot based on infrared correlation optics as set forth in claim 2, further comprising:
and the switch closing control module is used for monitoring time after confirming that the current cutter is set, and sending a closing instruction to the correlation photoelectric switch to close the correlation photoelectric switch when a new cutter does not appear in the preset time when the preset position is within the preset time.
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