TWI671606B - Method of using an alternative path compensation system for manipulator - Google Patents

Abstract

The present invention is a method for using a robotic arm selectable path compensation system. A laser tracker tracks the actual position information of the robot arm, and compares the actual position information measured by the laser tracking device with the original input movement path of the robot arm. When a difference is found, a compensation path is generated. The laser tracking device quickly compensates for the path error of the robotic arm to achieve the effect of quickly compensating the path.

Description

Method for using robot arm selectable path compensation system

The invention relates to the field of machining of a mechanical arm of a processing machine, and particularly to a method for using a selectable path compensation system of a mechanical arm.

In processing lines that require a lot of repetitive and identical operations, the robotic arm 13 capable of uninterrupted and non-fatigue failure has gradually taken the traditional manpower; the general robotic arm control system 10 mainly includes a control unit 11, a communication interface 12 and A robot arm 13, the communication interface 12 is connected to the control unit 11 and the robot arm 13 signal, and the user can input the path information of the robot arm 13 in the control unit 11 and transmit the path information through the control unit 11 Go to the communication interface 12, and then analyze the path information through the communication interface 12, and adjust different motors on the robot arm 13 according to the path information, so that the robot arm 13 can perform processing according to the path information.

However, each type of the robot arm 13 has a slight error when it moves. Therefore, the robot arm control system 10 further includes a camera 14 which shoots towards the robot arm 13 to generate a processed image, and processes the processed image. The image is transmitted to the control unit 11. The control unit 11 analyzes the processed image by image analysis software, and then obtains the actual position information of the robot arm 13. The control unit 11 uses the analyzed actual position information and The path information is compared. If it is analyzed that the actual position information does not match the path information, the control unit 11 adjusts the path information so that the robot arm 13 can conform to the displacement path to be processed by the path information during actual processing.

Because the control unit 11 analyzes the processed image with image analysis software, which is a relatively complicated software technology, it actually takes a lot of time, which leads to a lot of time required to accurately obtain the processing displacement path of the robot arm 13 to compensate for the displacement path of the robot arm 13 time.

The purpose of the present invention is to solve the problem that it takes a lot of time to accurately obtain the machining displacement path of the robotic arm to compensate for the displacement path of the robotic arm, thereby increasing the speed of generating the robotic arm compensation path.

In order to achieve the foregoing object, the present invention is a robot arm selectable path compensation system including: a control unit having a compensation path storage module and a selection module, the compensation path storage module having a preset database And repeated measurement database, the selection module information is connected to the compensation path storage module; a robotic arm is connected to the control unit; a laser tracking device has a tracker and a reflection ball, and the tracker is connected with The control unit is connected with information, and the tracker can send a confirmation position request to the reflection ball, the reflection ball is used to receive the confirmation position request, and return an actual position information to the tracker.

In a preferred embodiment, it further has a first communication interface and a second communication interface. The first communication interface information is connected to the control unit and the robot arm, and the robot arm can read through the first communication interface. The information transmitted by the control unit is used to control the movement of the robot arm, and the second communication interface information is connected to the control unit and the tracker of the laser tracking device.

In a preferred embodiment, the robot arm further has a processor, the first communication interface is connected to the processor information, the processor receives the information and then processes the information, and operates the robot arm according to the information.

The invention achieves the object of the invention, and a method for using a robotic arm selectable path compensation system includes: a basic setting step, inputting a basic position coordinate in the control unit, and the basic position coordinate is transmitted to the machine through the first communication interface. Arm, and the robotic arm is defined as a base position after moving and positioning according to the base position coordinates; a preset detection step, the reflection ball is clamped to the processing head of the robotic arm, and a first is input to the control unit Displacement coordinate, through the first communication interface, the robot arm moves according to the first displacement coordinate, and when the robot arm moves and positions according to the displacement coordinate, the control unit controls the tracker to issue the confirmation position request to the reflection ball, After receiving the position confirmation request, the reflection ball reflects the actual position information, and the tracker transmits the actual position information of the reflection ball to the control unit, and the control unit performs the calculation based on the actual position information of the reflection ball and the first displacement coordinate. Compare and calculate the difference between the actual position information and the first displacement coordinate and generate a Compensation path, the compensation path is stored in the preset database of the compensation path storage module; repeated measurement steps, a processing path is input to the control unit, the robot arm performs the processing path, and the control unit controls the mine The tracker of the tracking device retransmits the position confirmation request to the reflection ball, and the reflection ball transmits the actual position information after receiving the position confirmation request, and the laser tracking device transmits the actual position information to the control. Unit and compares the actual position information with the control unit, and the control unit compares the processing path with the processing path according to the actual position information. If the comparison is different, a recompensation path is generated and stored in the retest database , The control unit transmits a signal to the robot arm according to the recompensation path stored in the retest database, so that the robot arm performs processing path compensation according to the recompensation path.

In a preferred embodiment, a compensation path covering step is provided after the retesting step. The compensation path originally stored in the preset database is deleted, and the recompensation path stored in the retesting database is transmitted to The preset database is stored so that the recompensation path covers the compensation path and becomes a compensation path in the preset database.

Therefore, the user can directly know the precise position of the processing head of the robotic arm through the tracker and the reflection ball of the laser tracking device, so that the control unit can directly compare the precise position of the processing head of the robotic arm and the movement of input movement. Path to directly generate a compensation path. Since the image is not recognized by the image recognition software, the speed of generating a compensation path is greatly improved, and the robot arm uses the compensation path in the preset database to optimize the machinery. Arm processed products.

More preferably, the selection module allows the user to select from the compensation path storage module to use the compensation path stored in the preset database or the recompensation path in the retest database before starting processing. It is also possible to use the selection module to select different compensation paths for the robot arm of different models, so that different types of robot arms can be applied to the present invention.

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10‧‧‧ Robotic arm control system

11‧‧‧Control unit

12‧‧‧ the first communication interface

13‧‧‧ robot arm

14‧‧‧ Camera

this invention

20‧‧‧Control unit

21‧‧‧Compensation path storage module

211‧‧‧ preset database

212‧‧‧Retest database

22‧‧‧Select Module

30‧‧‧ robotic arm

31‧‧‧Processor

40‧‧‧laser tracking device

41‧‧‧Tracker

42‧‧‧Reflector

50‧‧‧First communication interface

60‧‧‧Second communication interface

A‧‧‧Basic Setting Procedure

B‧‧‧default detection steps

C‧‧‧Retesting steps

D‧‧‧ Compensation path coverage steps

Figure 1 is a system diagram of a conventional robotic arm control system.

FIG. 2 is a schematic structural diagram of a preferred embodiment of the present invention.

FIG. 3 is a system diagram of a robotic arm selectable path compensation system in a preferred embodiment of the present invention.

FIG. 4 is a flowchart of a method for using the present invention in a preferred embodiment.

Please refer to FIG. 2 and FIG. 3. The present invention is a mechanical arm selectable path compensation system, including: A control unit 20 has a compensation path storage module 21 and a selection module 22. The compensation path storage module 21 has a preset database 211 and a retest database 212. The selection module 22 is connected to information. The compensation path storage module 21; a robot arm 30 connected to the control unit 20 for control; a laser tracking device 40 having a tracker 41 and a reflection ball 42; the tracker 41 is informationally connected to the control unit 20 Moreover, the tracker 41 can send a confirmation position request to the reflection ball 42 for receiving the confirmation position request and reflecting an actual position information to the tracker 41.

In this embodiment, there is another first communication interface 50 and a second communication interface 60. The first communication interface 50 is informationally connected to the control unit 20 and the robot arm 30, and the first communication interface 50 enables the The robot arm 30 can read the information transmitted by the control unit 20 and thereby control the movement of the robot arm 30, and the second communication interface 60 information is connected to the control unit 20 and the tracker 41 of the laser tracking device 40 The signals transmitted by the tracker 41 can be read by the control unit 20 through the second communication interface 60.

Particularly, the robot arm 30 further has a processor 31. The first communication interface 50 is connected to the processor 31 information. The processor 31 receives the information and then processes the information, and operates the robot arm 30 according to the information. .

The above is the structural configuration and connection relationship of the present invention in a preferred embodiment. The method of using the present invention is as follows: a basic setting step A, inputting a basic position coordinate in the control unit 20, the basic position coordinate It is transmitted to the robotic arm 30 through the first communication interface 50, and the robotic arm 30 is defined as a basic position after moving and positioning according to the basic position coordinates; a preset detection step B, the reflection ball 42 is clamped in the The processing head of the robot arm 30 inputs a first displacement coordinate to the control unit 20, and the robot arm 30 passes through the first communication interface 50 According to the first displacement coordinate, the control unit 20 controls the tracker 41 to issue the confirmation position request to the reflection ball 42. The reflection ball 42 reflects the actual position information after receiving the confirmation position request, and the tracker 41 transmits the actual position information of the reflection ball 42 to the control unit 20, and the control unit 20 compares the actual position information of the reflection ball 42 with the first displacement coordinate, and calculates the actual position information and the first displacement The difference between the coordinates generates a compensation path, which is stored in the preset database 211 of the compensation path storage module 21; step C is repeated, and a processing path is input to the control unit 20, and the robot arm 30 moves according to the processing path, the control unit 20 controls the tracker 41 of the laser tracking device 40 to retransmit the confirmation position request to the reflection ball 42, and the reflection ball 42 reflects the actual position after receiving the confirmation position request Information, the laser tracking device 40 then transmits the actual position information to the control unit 20, and the actual position information and the control unit 20, the control The unit 20 compares the processing path with the actual location information. If a difference is found, a recompensation path is generated and stored in the retest database 212. The control unit 20 stores the retest database 212 according to the actual position information. The recompensation path transmits a signal to the robot arm 30, so that the robot arm 30 performs processing path compensation according to the recompensation path.

A compensation path covers step D. The compensation path originally stored in the preset database 211 is deleted, and the recompensation path stored in the retest database 212 is transferred to the preset database 211 for storage, so that the recompensation is performed. The path covers the compensation path and becomes a compensation path in the preset database 211.

Therefore, the user directly knows the precise position of the processing head of the robot arm 30 through the tracker 41 and the reflection ball 42 of the laser tracking device 40, so that the control unit 20 can directly compare the accuracy of the processing head of the robot arm 30. Position and input the movement path to directly generate the compensation path. Since the image does not need to be recognized by the image recognition software, the speed of generating the compensation path is greatly improved. The robot arm 30 is caused to use the compensation path in the preset database 211 to optimize the products processed by the robot arm 30.

More preferably, the selection module 22 allows the user to select and use the compensation path stored in the preset database 211 or the retest database 212 from the compensation path storage module 21 before starting processing. The recompensation path can also use the selection module 22 to select different compensation paths for the robot arm 30 of different models, so that the robot arm 30 of different models can be applied to the present invention.

Claims (2)

A method for using a robotic arm selectable path compensation system includes: a basic setting step, inputting a basic position coordinate in a control unit, the basic position coordinate is transmitted to a mechanical arm, and the robot arm moves according to the basic position coordinate Defined as a basic position after positioning; a preset detection step, a reflection ball is clamped on a processing head of the robot arm, and a first displacement coordinate is input in a control unit, and the robot arm is based on the first displacement When the coordinates are moved to the positioning, the control unit controls a tracker to send a confirmation position request to the reflection ball, the reflection ball reflects an actual position information after receiving the confirmation position request, and the tracker transmits the actual position information of the reflection ball to The control unit compares the actual position information of the reflection ball with the first displacement coordinate, calculates a difference between the actual position information and the first displacement coordinate and generates a compensation path, and the compensation path is stored. In a preset database of the compensation path storage module; repeated testing steps for the control unit Into a processing path, the robot arm moves according to the processing path, the control unit controls the tracker of the laser tracking device to re-emit the confirmation position request to the reflection ball, and the reflection ball reflects the confirmation position request Actual position information, the laser tracking device transmits the actual position information to the control unit, and compares the actual position information with the control unit, and the control unit compares the processing path with the processing path according to the actual position information, if When the difference is compared, a recompensation path is generated and stored in the retesting database, and the control unit transmits a signal to the robotic arm according to the recompensation path stored in the retesting database, so that the robotic arm is based on the recompensation. The path is compensated for the machining path. The use method of the robotic arm selectable path compensation system according to claim 1, wherein after the retesting step, there is a compensation path covering step, and the compensation path originally stored in the preset database is deleted and stored. The recompensation path in the retesting database is transmitted to the preset database for storage, so that the recompensation path covers the compensation path and becomes the compensation path in the preset database.