TW202100327A - Robot arm calibration system and method of robot arm calibration - Google Patents

Abstract

A robot arm calibration system and a method of robot arm calibration are provided. The method of robot arm calibration includes: performing, by a robot arm, a first action corresponding to a first X-Y plane; detecting, by a sensor, whether the robot arm is located in a sensing area; determining, during the first action of the robot arm, a first execution time of the first action according to time points when the robot arm leaves the sensing area and returns to the sensing area; and comparing the first execution time with a first reference time to determine whether the robot arm needs to be calibrated.

Description

Mechanical arm correction system and mechanical arm correction method

The present invention relates to a technology for calibrating a mechanical arm, and particularly relates to a mechanical arm correction system and a mechanical arm correction method.

The long-term operation process will cause the mechanical arm to wear out. For example, the robot arm may shift due to factors such as mechanical wear or material aging. For some manufacturing processes that require very precise robotic operation, these deviations often cause abnormalities in the manufacturing process.

In view of this, the present invention provides a robot arm calibration system and a robot arm calibration method, which can execute a preset action after the robot arm is turned on, so as to calibrate the robot arm.

The robot arm calibration system of the present invention includes a robot arm, a sensor and a processor. The robotic arm performs the first action corresponding to the first X-Y plane. The sensor detects whether the robotic arm is within the sensing range. The processor is coupled to the robot arm and the sensor, wherein the processor is configured to execute: during the first action of the robot arm, determine the first action of the first action according to the time point when the robot arm leaves the sensing range and returns to the sensing range An execution time; and compare the first execution time with the first reference time to determine whether the robotic arm needs to be corrected.

In an embodiment of the present invention, the aforementioned robotic arm calibration system further includes a storage medium. The storage medium is coupled to the processor, and the first reference time is pre-stored in the storage medium.

In an embodiment of the present invention, after the robotic arm performs the first action, the robotic arm moves along the Z axis and then performs a second action corresponding to the second XY plane, and the processor is further configured to perform: During the execution of the second action by the robot arm, determine the second execution time of the second action according to the time point when the robot arm leaves the sensing range and returns to the sensing range; and compare the second execution time with the second reference time to determine the robot arm Whether it needs to be corrected.

In an embodiment of the present invention, the aforementioned processor is coupled to the output device, and the processor sends a prompt through the output device in response to determining that the robot arm needs to be corrected.

In an embodiment of the present invention, the aforementioned sensor is a laser sensor, and the sensor is configured to direct the laser beam used for detection to the sensing range.

The robot arm calibration method of the present invention is suitable for a robot arm, and includes: the robot arm executes a first action corresponding to the first XY plane; a sensor detects whether the robot arm is within the sensing range; and the robot arm executes the first action During an action, the first execution time of the first action is determined according to the time point when the robot arm leaves the sensing range and returns to the sensing range; and the first execution time is compared with the first reference time to determine whether the robot arm needs to be corrected.

In an embodiment of the present invention, the aforementioned mechanical arm calibration method further includes: pre-storing the first reference time in a storage medium.

In an embodiment of the present invention, the above-mentioned robotic arm calibration method further includes: after the robotic arm performs the first action, the robotic arm moves along the Z axis and then executes the second action corresponding to the second XY plane; During the execution of the second action by the robot arm, determine the second execution time of the second action according to the time point when the robot arm leaves the sensing range and returns to the sensing range; and compare the second execution time with the second reference time to determine the robot arm Whether it needs to be corrected.

In an embodiment of the present invention, the above-mentioned mechanical arm calibration method further includes: in response to determining that the mechanical arm needs to be calibrated, sending a prompt through the output device.

In an embodiment of the present invention, the aforementioned sensor is a laser sensor, and the sensor is configured to direct the laser beam used for detection to the sensing range.

Based on the above, the robot arm calibration system of the present invention can determine whether the robot arm needs to be calibrated according to the execution time of the actions preset by the robot arm.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

In order to make the content of the present invention more comprehensible, the following embodiments are specifically cited as examples on which the present invention can indeed be implemented. In addition, wherever possible, elements/components/steps with the same reference numbers in the drawings and embodiments represent the same or similar components.

FIG. 1 illustrates a schematic diagram of a robot arm calibration system 10 according to an embodiment of the present invention. The robot arm calibration system 10 includes a processor 100, a storage medium 200, a sensor 300, and a robot arm 400.

The processor 100 is coupled to the storage medium 200, the sensor 300 and the robotic arm 400. The processor 100 is, for example, a central processing unit (CPU), or other programmable general-purpose or special-purpose micro control unit (MCU), microprocessor, or digital signal processing Digital signal processor (DSP), programmable controller, application specific integrated circuit (ASIC), graphics processing unit (GPU), arithmetic logic unit (ALU) , Complex programmable logic device (CPLD), field programmable gate array (FPGA) or other similar components or combinations of the above components.

The storage medium 200 is, for example, any type of fixed or removable random access memory (RAM), read-only memory (ROM), or flash memory. , Hard disk drive (HDD), solid state drive (solid state drive, SSD) or similar components or a combination of the above components, and used to store multiple modules that can be executed by the robotic arm calibration system 10 or the processor 100 Or various applications.

The sensor 300 is used to detect whether the robotic arm 400 is located at a specific position. Specifically, the sensor 300 is a laser sensor, which is configured to detect the laser beam 310 of the robot arm 400 toward a specific position on the XY plane to form a sensing range on the XY plane . FIG. 2 shows a top view of a robotic arm 400 according to an embodiment of the present invention. As shown in FIG. 2, when the robotic arm 400 is at a specific position within the sensing range EP, the sensor 300 can detect the presence of the robotic arm 400 through the laser beam 310. In contrast, when the robotic arm 400 is not at a specific position within the sensing range EP, the laser beam 310 of the sensor 300 will not be able to detect the existence of the robotic arm 400. It should be noted that the size of the sensing range EP may be related to the setting position of the sensor 300 or the appearance of the robotic arm 400.

Please refer to Figure 1 and Figure 2 at the same time, where X, Y and Z in Figure 1 and Figure 2 represent the three coordinate axes of the Cartesian coordinate system. The storage medium 200 may pre-store a look-up table related to the actions of the robot arm and the corresponding reference time, as shown in Table 1, wherein the look-up table can be regarded as a table recording the calibration procedure of the robot arm 400. It should be noted that in this embodiment, the reference time described in Table 1 is accumulated after the start of the calibration procedure of the robotic arm 400 (but the present invention is not limited to this). If the robot arm 400 has an offset phenomenon, the offset corresponding to each action will cause a time difference between the execution time of the action and the corresponding reference time. Therefore, the actions performed later will accumulate the time difference corresponding to the previous actions. In other words, the execution time of the action executed later may deviate from the reference time corresponding to the action. Table 1 action Reference time First action: move +10 cm along the X axis 9~15 seconds The second action: move -10 cm along the Y axis 14-20 seconds The third action: move -15 cm along the Z axis 19~30 seconds Fourth action: move +10 cm along the X axis 29~35 seconds The fifth action: move -10 cm along the Y axis 34~40 seconds … …

In this embodiment, when the robot arm 400 is activated, the processor 100 of the robot arm calibration system 10 can control the robot arm 400 to sequentially execute the actions described in Table 1 to perform the calibration procedure of the robot arm 400.

Specifically, after the robotic arm 400 is started, the processor 100 can control the robotic arm 400 to perform the first action according to Table 1. In the process of performing the first action, the robotic arm 400 moves +10 cm along the X axis, thereby leaving the sensing range EP of the sensor 300. Next, the robotic arm 400 moves -10 cm along the X axis to return to its position. After the robotic arm 400 returns, the robotic arm 400 will return to the sensing range EP of the sensor 300, and the first action will end.

During the period when the robotic arm 400 performs the first action, the processor 100 may determine the first execution time of the first action according to the time point when the robotic arm 400 leaves the sensing range EP and returns to the sensing range EP. Then, the processor 100 can compare the first execution time with the reference time corresponding to the first action in Table 1, so as to determine whether the robotic arm needs to be corrected. For example, during the first action of the robotic arm 400, if the processor 100 detects through the sensor 300 that the robotic arm 400 leaves the sensing range EP at 10.5 seconds, and returns to sensing at 14.5 seconds Measuring the range EP, the processor 100 can determine that there is no offset of the robot 400 or the offset of the robot 400 based on the first execution time used by the robot 400 to perform the first action within the reference time of 10-15 seconds It has not yet reached the point where it needs to be corrected. In contrast, if the processor 100 detects through the sensor 300 that the robotic arm 400 leaves the sensing range EP at the 10th second and returns to the sensing range EP at the 15.5 second, the processor 100 can be based on the mechanical The first execution time used by the arm 400 to execute the first action is outside the reference time of 10-15 seconds, and it is determined that the robotic arm 400 needs to be corrected.

In the above description, the processor 100 needs to determine whether the robot arm 400 needs to be corrected according to the time point when the robot arm 400 leaves or returns to the sensing range EP. Therefore, each action for the X axis (for example, the first action or the fourth action shown in Table 1) needs to be configured so that the robot arm 400 can completely leave the sensing range EP of the sensor 300. If the processor 100 detects the movement of the robotic arm 400 along the X axis through the sensor 300 but the movement does not cause the robotic arm 400 to leave the sensing range EP, the processor 100 can determine that the action is Invalid action.

After performing the first action, the processor 100 can control the robotic arm 400 to perform the second action according to Table 1. The processor 100 can determine that the robot arm 400 does not have an offset based on the second execution time used by the robot arm 400 to perform the second action within the reference time of 14 to 20 seconds, or that the offset of the robot arm 400 has not yet reached the required value. The degree of correction. Relatively speaking, the processor 100 may determine that the robot arm 400 needs to be corrected based on the second execution time used by the robot arm 400 to execute the second action is outside the reference time of 14-20 seconds.

In the above description, the processor 100 needs to determine whether the robot arm 400 needs to be calibrated according to the time point when the robot arm 400 leaves or returns to the sensing range EP. Therefore, each action for the Y axis (for example, the second action or the fifth action shown in Table 1) needs to be configured so that the robot arm 400 can completely leave the sensing range EP of the sensor 300. If the processor 100 detects the movement of the robotic arm 400 along the Y axis through the sensor 300 but the movement does not cause the robotic arm 400 to leave the sensing range EP, the processor 100 can determine that the action is Invalid action.

After performing the first action and the second action corresponding to the X-Y plane, the processor 100 may control the robotic arm 400 to perform the third action, thereby causing the robotic arm 400 to move -15 cm along the Z axis. The third action also includes the homing instructions of the robotic arm 400. Therefore, the third action will end after the robotic arm 400 moves -15 cm along the Z axis. During the execution of the third action, the robotic arm 400 will not leave the sensing range EP of the sensor 300. Therefore, the processor 100 will not be able to determine whether the robotic arm 400 needs to be calibrated according to the time point when the robotic arm 400 leaves the sensing range EP or returns to the sensing range EP. In contrast, the processor 100 directly measures the distance moved by the robot arm 400 along the Z axis through the laser beam 310 of the sensor 300. The processor 100 can determine that the robot arm 400 does not have an offset based on the third execution time used by the robot arm 400 to perform the third action within the reference time of 19 to 30 seconds, or that the offset of the robot arm 400 has not yet reached the required value. The degree of correction. Relatively speaking, the processor 100 can determine that the robot arm 400 needs to be corrected based on the third execution time used by the robot arm 400 to execute the third action outside the reference time of 19-30 seconds.

After the third action is executed, the processor 100 may control the robotic arm 400 to sequentially execute the fourth action, the fifth action, etc. shown in Table 1 until the calibration procedure of the robotic arm 400 ends. It should be noted that although in this embodiment, the fourth action is the same as the first action (but the two respectively correspond to different X-Y planes), the present invention is not limited to this. For example, the fourth action may be "moving along the X axis + 20 cm" which is different from the first action.

In some embodiments, the processor 100 may be coupled to an output device such as a screen or a speaker. In response to the processor 100 determining that the robotic arm 400 needs to be calibrated, the processor 100 can issue a prompt through the output device to instruct the operator to calibrate the robotic arm 400.

FIG. 3 illustrates a flowchart of a method for calibrating a robot arm according to an embodiment of the present invention, wherein the method for calibrating a robot arm is applicable to a robot arm, and the method for calibrating a robot arm can be used by the robot arm calibration system 10 shown in FIG. Implement. In step S301, the robotic arm 400 executes a first action corresponding to the first X-Y plane. In step S303, the sensor 300 detects whether the robotic arm 400 is within the sensing range EP. In step S305, during the first action performed by the robotic arm 400, the first execution time of the first action is determined according to the time point when the robotic arm 400 leaves the sensing range EP and returns to the sensing range EP. In step S307, the first execution time and the first reference time are compared to determine whether the robotic arm 400 needs to be corrected.

In summary, the robot arm calibration system of the present invention can detect the execution time of the robot arm performing a preset action through the laser beam sensor, and then determine whether the execution time of the action is within the error range according to the lookup table Inside. If the execution time of the action exceeds the error range, the processor may determine that the robot arm may need to be corrected, and notify the operator of the robot arm of the determination result.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.

10: Robotic arm correction system 100: processor 200: storage media 300: Sensor 310: Laser beam 400: Robotic arm EP: Sensing range S301, S303, S305, S307: steps

Fig. 1 illustrates a schematic diagram of a mechanical arm calibration system according to an embodiment of the present invention. Fig. 2 shows a top view of a robotic arm according to an embodiment of the present invention. Fig. 3 shows a flowchart of a method for calibrating a robot arm according to an embodiment of the present invention.

S301, S303, S305, S307: steps

Claims (10)

A mechanical arm correction system, including: The robotic arm performs the first action corresponding to the first X-Y plane; A sensor to detect whether the robotic arm is within the sensing range; and A processor coupled to the robotic arm and the sensor, wherein the processor is configured to execute: During the execution of the first action by the robotic arm, judging the first execution time of the first action according to the time point when the robotic arm leaves the sensing range and returns to the sensing range; and The first execution time and the first reference time are compared to determine whether the robotic arm needs to be corrected. The robot arm correction system described in item 1 of the scope of patent application further includes: A storage medium coupled to the processor, wherein the first reference time is pre-stored in the storage medium. The robot arm calibration system described in the first item of the scope of patent application, wherein after the robot arm performs the first action, the robot arm moves along the Z axis and then executes the corresponding to the second XY plane The second action, and the processor is further configured to perform: During the second action performed by the robotic arm, judging the second execution time of the second action according to the time point when the robotic arm leaves the sensing range and returns to the sensing range; and The second execution time and the second reference time are compared to determine whether the robotic arm needs to be corrected. The robot arm calibration system according to the first item of the scope of patent application, wherein the processor is coupled to an output device, and the processor sends a prompt through the output device in response to determining that the robot arm needs to be corrected. The robot arm calibration system described in the first item of the scope of patent application, wherein the sensor is a laser sensor, and the sensor is set to direct the laser beam for detection to the sensor Measuring range. A correction method for a robotic arm, suitable for robotic arms, including: The first action corresponding to the first X-Y plane is executed by the robotic arm; The sensor detects whether the robotic arm is within the sensing range; During the execution of the first action by the robotic arm, judging the first execution time of the first action according to the time point when the robotic arm leaves the sensing range and returns to the sensing range; and The first execution time and the first reference time are compared to determine whether the robotic arm needs to be corrected. As described in item 6 of the scope of patent application, the robot arm calibration method further includes: The first reference time is pre-stored in the storage medium. As described in item 6 of the scope of patent application, the robot arm calibration method further includes: After the robotic arm performs the first action, the robotic arm moves along the Z axis and then performs a second action corresponding to the second X-Y plane; During the second action performed by the robotic arm, judging the second execution time of the second action according to the time point when the robotic arm leaves the sensing range and returns to the sensing range; and The second execution time and the second reference time are compared to determine whether the robotic arm needs to be corrected. As described in item 6 of the scope of patent application, the robot arm calibration method further includes: in response to determining that the robot arm needs to be calibrated, sending a prompt through an output device. The robot arm calibration method as described in item 6 of the scope of patent application, wherein the sensor is a laser sensor, and the sensor is set to direct the laser beam for detection to the sensor Measuring range.

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