TWI721895B - Robot arm adjustment method and the adjustment system thereof - Google Patents
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本發明涉及機械手臂技術領域,特別是一種機械手臂調校方法及調效系統。 The invention relates to the technical field of mechanical arms, in particular to a mechanical arm adjustment method and an effect adjustment system.
機械手臂在進行特定工作時,其一末端面常需要平行於工作平面,才能使設於末端面的末端效應器順利進行工作。例如,末端效應器可能是夾爪,用以夾取軸桿並將此軸桿插置於孔板的工作平面上的插置孔,機械手臂必需使軸桿在插入該插置孔時垂直於工作平面,因此機械手臂的末端面必需平行於工作平面。 When the robotic arm is performing a specific task, one of its end faces often needs to be parallel to the working plane, so that the end effector arranged on the end face can work smoothly. For example, the end effector may be a clamping jaw, which is used to clamp the shaft and insert the shaft into the insertion hole on the working plane of the orifice. The robot arm must make the shaft perpendicular to the insertion hole when inserted into the hole. The working plane, so the end face of the robot arm must be parallel to the working plane.
另外,目前為了提升機床取放對正、對準效率的方法多半是在機械手臂上加裝感測器,透過感測器讓工具可以到達取放目的地,但此方法仍對操作者有諸多不便,例如:加裝感測器需要耗費一定成本、加裝感測器需要一定的技術,且需要再與控制器連線並且設定相關參數、加裝感測器例如利用視覺,事前需要做好影像辨識學習、設定作業,環境周圍架設足夠光源以利影像辨識,在擷取到影像之後再計算目標點與現在位置的向量,移動機械手臂使兩點(目標點與現在位置點)之間的向量長度為零以達到對準。但如此複雜的操作程序只能完成對準的單一功能,若要進行取放作業,則仍然需要先進行對正校正、缺乏完整一套包含對正及對準的快速教導方法。 In addition, in order to improve the efficiency of machine tool pick-and-place alignment and alignment, most of the methods are to install sensors on the robot arm, through which the tool can reach the pick-and-place destination, but this method still has many advantages for the operator. Inconvenience, such as: installing a sensor requires a certain cost, installing a sensor requires a certain technology, and needs to connect to the controller and set related parameters, and install a sensor such as vision, which needs to be done beforehand. Image recognition learning and setting tasks, setting up enough light sources around the environment to facilitate image recognition, and then calculating the vector between the target point and the current position after capturing the image, and moving the robot arm to make the distance between the two points (target point and current position point) The vector length is zero to achieve alignment. However, such a complicated operating procedure can only complete the single function of alignment. If you want to perform pick-and-place operations, you still need to perform alignment correction first, and there is a lack of a complete set of quick teaching methods that include alignment and alignment.
為了改善上述問題,本發明的主要目的在於提供一種機械手臂調校方法及其調校系統,藉由快速教導點位以達到對正及對準取放處中心的功能,以克服因組裝或是機械上的誤差,並改善機械手臂夾持工件必需調整姿態才能於取放處順利取放料的問題。 In order to improve the above-mentioned problems, the main purpose of the present invention is to provide a mechanical arm adjustment method and adjustment system, which can achieve the functions of alignment and aligning the center of the pick and place by quickly teaching the points to overcome the problems caused by assembly or Mechanical errors, and to improve the problem that the robot arm must adjust the posture to hold the workpiece to smoothly pick and place the material at the pick and place.
本發明的另一目的在於提供一種操作簡易快速的機械手臂調校方法及其調校系統,在機械手臂的末端可選擇性的加裝感測器,能夠節省教導時間與設備成本。 Another object of the present invention is to provide a simple and quick-to-operate robotic arm calibration method and a calibration system thereof. Sensors can be optionally installed at the end of the robotic arm, which can save teaching time and equipment costs.
本發明的再一目的是在於提供一種機械手臂調校方法及其調校系統,在機械手臂的末端可以視需求選配輔具或是感測器來達到調校的精準度。 Another object of the present invention is to provide a method for adjusting a robotic arm and a system for adjusting it. At the end of the robotic arm, an auxiliary device or a sensor can be selected as required to achieve the accuracy of the adjustment.
本發明的更一目的是在於提供一種機械手臂調校方法及其調校方法,在無感測器的狀態下可以直接夾取工件或輔具進行快速對準教導,可利用內外側教點方式求出幾何中心目標,且教點快速方便,只需將待加工工件調整至與輪廓內側或外側碰觸,操作簡易且省時,亦可以避免因對不準輪廓線而導致所求出的點並非幾何中心。 A further object of the present invention is to provide a mechanical arm adjustment method and the adjustment method thereof, which can directly clamp workpieces or auxiliary tools for rapid alignment teaching without a sensor, and can use the inner and outer teaching methods Find the geometric center target, and teach the points quickly and conveniently. You only need to adjust the workpiece to be processed to touch the inside or outside of the contour. The operation is simple and time-saving. It can also avoid the point obtained due to misalignment of the contour line. Not the geometric center.
根據上述目的,本發明提供一種機械手臂調校方法,其步驟包含:向機械手臂的末端上輸入工具座標系,並將此工具座標系儲存於控制單元;對機械手臂的末端進行對準步驟,其對準步驟包括:利用機械手臂的末端對物件的輪廓進行接觸,從而由物件上得到至少三個教導點位並將此三個教導點位儲存於控制單元;根據這三個教導點位計算得到物件的輪廓的幾何中心;以及移動工具座標系的Z軸以對準物件的輪廓的幾何中心。 According to the above objective, the present invention provides a method for adjusting a robot arm, the steps of which include: inputting a tool coordinate system to the end of the robot arm, and storing the tool coordinate system in the control unit; performing an alignment step on the end of the robot arm, The alignment steps include: using the end of the robotic arm to contact the contour of the object, thereby obtaining at least three teaching points from the object and storing the three teaching points in the control unit; calculating according to the three teaching points Obtain the geometric center of the contour of the object; and move the Z axis of the tool coordinate system to align with the geometric center of the contour of the object.
在本發明的較佳實施例中,機械手臂調校方法更包含在執行對準步驟之前執行對正步驟,其中對正步驟包含:在欲進行對正步驟的物件的平面上任意找出三點的三個座標值以計算出用戶座標系的法向量;以及將工具座標系的法向量對正於用戶座標系的法向量,其中工具座標系的法向量與用戶座標系的法向量方向相反且在空間中彼此平行。 In a preferred embodiment of the present invention, the robot arm calibration method further includes performing an alignment step before performing the alignment step, wherein the alignment step includes: randomly finding three points on the plane of the object for which the alignment step is to be performed To calculate the normal vector of the user coordinate system; and align the normal vector of the tool coordinate system with the normal vector of the user coordinate system, where the normal vector of the tool coordinate system is opposite to the normal vector of the user coordinate system and Parallel to each other in space.
在本發明的較佳實施例中,物件的平面上任意找出三點的三個座標值是保持以末端上的同一點與物件的平面的三點接觸所得到的座標值。 In a preferred embodiment of the present invention, the three coordinate values of three points found arbitrarily on the plane of the object are the coordinate values obtained by keeping the same point on the end in contact with the plane of the object at three points.
在本發明的較佳實施例中,對準於物件的輪廓的幾何中心是利用三點定圓心、四點定矩形幾何中心或是多點定出多邊形幾何中心所得到。 In a preferred embodiment of the present invention, the geometric center aligned with the contour of the object is obtained by using a three-point centering, a four-point centering a rectangular geometric center, or a multi-point determining a polygonal geometric center.
在本發明的較佳實施例中,機械手臂的末端為端效器。 In a preferred embodiment of the present invention, the end of the robotic arm is an end effector.
在本發明的較佳實施例中,端效器為夾爪或是感測器。 In a preferred embodiment of the present invention, the end effector is a clamping jaw or a sensor.
在本發明的較佳實施例中,機械手臂調校方法更包含轉正步驟,其轉正步驟包含:由控制單元中讀取工具座標系;在物件的輪廓的同一邊上選擇對準步驟中的至少三個教導點位中的其中兩點形成輪廓的X方向向量;計算工具座標系的X方向向量與輪廓的X方向向量之間的角度差值,並將此角度差值作為機械手臂的旋轉角度;以及具有此工具座標系的機械手臂的末端依據旋轉角度進行旋轉使得工具座標系的X方向向量平行於輪廓的X方向向量。 In a preferred embodiment of the present invention, the mechanical arm calibration method further includes a straightening step, and the straightening step includes: reading the tool coordinate system from the control unit; selecting at least one of the alignment steps on the same side of the contour of the object Two of the three teaching points form the X direction vector of the contour; calculate the angle difference between the X direction vector of the tool coordinate system and the X direction vector of the contour, and use this angle difference as the rotation angle of the robot arm ; And the end of the robotic arm with this tool coordinate system is rotated according to the rotation angle so that the X-direction vector of the tool coordinate system is parallel to the X-direction vector of the contour.
在本發明的較佳實施例中,夾爪可夾持待加工工件或是具有尖點的輔具。 In a preferred embodiment of the present invention, the clamping jaws can clamp a workpiece to be processed or an auxiliary tool with sharp points.
在本發明的較佳實施例中,三個教導點位是利用機械手臂的末端對物件的輪廓的內側或是外側進行接觸所得到。 In the preferred embodiment of the present invention, the three teaching points are obtained by using the end of the robotic arm to contact the inside or outside of the contour of the object.
在本發明的較佳實施例中,物件的平面可以位於料盤、機床主軸卡盤、換刀刀庫換刀處或是待加工工件。 In a preferred embodiment of the present invention, the plane of the object can be located on the material tray, the spindle chuck of the machine tool, the tool change place of the tool changer, or the workpiece to be processed.
根據上述的機械手臂調校方法,本發明還提供一種機械手臂調校系統,其包括:具有末端的機械手臂,其包含與機械手臂連接的控制單元,用以控制機械手臂進行加工製程,其中控制單元包括:輸入單元、運算單元、對正單元以及對準單元,輸入單元用以輸入在機械手臂末端的工具座標系,並將此工具座標系儲存於控制單元;運算單元,依據欲進行對正步驟的物件的平面上任意三點的三個座標值以計算出用戶座標系的法向量;對正單元,將工具座標系的法向量對正於用戶座標系的法向量,其中工具座標系的法向量與用戶座標系的法向量方向相反且在空間中彼此平行;以及對準單元,機械手臂依據物件的輪廓進行對準步驟,利用機械手臂,對物件的輪廓進行接觸,從而由物件上得到至少三個教導點位,根據這三個教導點位計算以得到物件的輪廓的幾何中心並移動此工具座標系的Z軸以對準物件的輪廓的幾何中心。 According to the above-mentioned robotic arm calibration method, the present invention also provides a robotic arm calibration system, which includes: a robotic arm with an end, which includes a control unit connected to the robotic arm for controlling the robotic arm to perform a processing process, wherein the control The unit includes: an input unit, arithmetic unit, an alignment unit, and an alignment unit. The input unit is used to input the tool coordinate system at the end of the robotic arm, and store the tool coordinate system in the control unit; the arithmetic unit, according to the desired alignment The three coordinate values of any three points on the plane of the object in the step are used to calculate the normal vector of the user coordinate system; the alignment unit aligns the normal vector of the tool coordinate system with the normal vector of the user coordinate system, where the normal vector of the tool coordinate system The direction of the normal vector and the normal vector of the user coordinate system are opposite and parallel to each other in space; and the alignment unit, the robot arm performs the alignment step according to the contour of the object, and uses the robot arm to contact the contour of the object to obtain the result from the object At least three teaching points are calculated based on these three teaching points to obtain the geometric center of the contour of the object and move the Z axis of the tool coordinate system to align with the geometric center of the contour of the object.
在本發明的較佳實施例中,機械手臂可以是關節型機械手臂、水平式多關節機械手臂、術架型機械手臂或是並聯式機械手臂。 In the preferred embodiment of the present invention, the robotic arm can be an articulated robotic arm, a horizontal multi-joint robotic arm, a surgical frame robotic arm, or a parallel robotic arm.
在本發明的較佳實施例中,機械手臂的末端為端效器。 In a preferred embodiment of the present invention, the end of the robotic arm is an end effector.
在本發明的較佳實施例中,端效器為夾爪或是感測器。 In a preferred embodiment of the present invention, the end effector is a clamping jaw or a sensor.
在本發明的較佳實施例中,夾爪可夾持待加工工件或是具有尖點的輔具。 In a preferred embodiment of the present invention, the clamping jaws can clamp a workpiece to be processed or an auxiliary tool with sharp points.
在本發明的較佳實施例中,感測器可以是接觸式力感測器或是電性感測器。 In a preferred embodiment of the present invention, the sensor can be a contact force sensor or an electrical sensor.
在本發明的較佳實施例中,機械手臂調校系統更包含旋轉單元,此旋轉單元用以執行轉正步驟,由控制單元讀取工具座標系,在物件的輪廓的同一邊上選擇對準步驟中的至少三個教導點位中的其中兩點形成輪廓的X方向向量,計算工具座標系的X方向向量與輪廓的X方向向量的角度差 值,將此角度差值作為機械手臂的旋轉角度,此機械手臂的末端依據旋轉角度進行旋轉使得工具座標系的X方向向量平行於輪廓的X方向向量。 In a preferred embodiment of the present invention, the robotic arm calibration system further includes a rotating unit for performing the normalization step. The control unit reads the tool coordinate system and selects the alignment step on the same side of the contour of the object. Two of the at least three teaching points in the X-direction vector of the contour are formed, and the angle difference between the X-direction vector of the tool coordinate system and the X-direction vector of the contour is calculated The angle difference is regarded as the rotation angle of the robot arm. The end of the robot arm rotates according to the rotation angle so that the X direction vector of the tool coordinate system is parallel to the X direction vector of the contour.
在本發明的較佳實施例中,三個教導點位是利用機械手臂的末端對物件的輪廓的內側或是外側進行接觸所得到。 In the preferred embodiment of the present invention, the three teaching points are obtained by using the end of the robotic arm to contact the inside or outside of the contour of the object.
在本發明的較佳實施例中,物件的平面位於機床主軸卡盤、料盤、換刀刀庫換刀處或是待加工工件。 In a preferred embodiment of the present invention, the plane of the object is located at the spindle chuck of the machine tool, the material tray, the tool-changing tool magazine, or the workpiece to be processed.
在本發明的較佳實施例中,機械手臂調校系統可應用於加工工件、取放工件或取放刀具。 In a preferred embodiment of the present invention, the mechanical arm adjustment system can be applied to processing workpieces, picking and placing workpieces, or picking and placing tools.
1:機械手臂調校系統 1: Robotic arm adjustment system
2:控制單元 2: control unit
22:輸入單元 22: Input unit
24:運算單元 24: arithmetic unit
26:對正單元 26: Alignment unit
28:對準單元 28: Alignment unit
30:旋轉單元 30: Rotating unit
32:儲存單元 32: storage unit
4:機械手臂 4: Robotic arm
42:末端 42: end
5:料盤孔 5: Material tray hole
6:待加工工件、棒材 6: Workpieces and bars to be processed
7:主軸卡盤 7: Spindle chuck
步驟S10-步驟S16:機械手臂調校方法步驟流程 Step S10-Step S16: Step process of the mechanical arm adjustment method
步驟S122-步驟S124:對正步驟流程 Step S122-Step S124: Alignment step flow
步驟S142-步驟S146:對準步驟流程 Step S142-Step S146: Alignment step flow
步驟S162-步驟S168:轉正步驟流程 Step S162-Step S168: Step-to-correction process
圖1是根據本發明所揭露的技術,表示機械手臂調校系統的方塊圖。 FIG. 1 is a block diagram showing a system for adjusting a mechanical arm according to the technology disclosed in the present invention.
圖2是根據本發明所揭露的技術,表示機械手臂調校方法的步驟流程圖。 FIG. 2 is a flow chart showing the steps of a method for adjusting a robot arm according to the technology disclosed in the present invention.
圖3A是根據本發明所揭露的技術,表示機械手臂的末端在料盤孔的內側接觸教點的示意圖。 3A is a schematic diagram showing that the end of the robotic arm contacts the teaching point inside the tray hole according to the technology disclosed in the present invention.
圖3B是根據本發明所揭露的技術,表示機械手臂的末端在主軸卡盤的外側接觸教點的示意圖。 FIG. 3B is a schematic diagram showing that the end of the robotic arm contacts the teaching point on the outside of the spindle chuck according to the technology disclosed in the present invention.
圖3C是根據本發明所揭露的技術,表示機械手臂的末端在物件的輪廓的內側或是外側接觸教點以得到幾何中心的示意圖。 3C is a schematic diagram showing that the end of the robotic arm touches the teaching point inside or outside the contour of the object to obtain the geometric center according to the technology disclosed in the present invention.
圖4A是根據本發明所揭露的技術,表示在幾何圖形的輪廓的各邊線的內側教導兩點的示意圖。 FIG. 4A is a schematic diagram showing two points taught on the inner side of each edge of the contour of a geometric figure according to the technology disclosed in the present invention.
圖4B是根據本發明所揭露的技術,表示在幾何圖形的輪廓的內側教導頂點的示意圖。 FIG. 4B is a schematic diagram showing the teaching of the vertex inside the contour of the geometric figure according to the technology disclosed in the present invention.
圖5是根據本發明所揭露的技術,表示機械手臂調校方法的另一實施例的步驟流程圖。 FIG. 5 is a flowchart showing the steps of another embodiment of a method for adjusting a robot arm according to the technology disclosed in the present invention.
圖6是根據本發明所揭露的技術,表示機械手臂的末端依據旋轉角度進行旋轉的示意圖。 FIG. 6 is a schematic diagram showing that the end of the robot arm rotates according to the rotation angle according to the technology disclosed in the present invention.
首先請參考圖1。圖1是根據本發明所揭露的技術,表示機械手臂調校系統的方塊圖。在圖1中,機械手臂調校系統1包括控制單元2及機械手臂4,控制單元2與機械手臂4連接,控制單元2用以控制機械手臂4執行加工製程,在此要說明的是,加工製程指的是利用控制單元2控制機械手臂4移動或是控制機械手臂4執行指令動作。此外,機械手臂4具有末端42,此末端42可以是端效器,具體來說,端效器可以是夾爪或是感測器,於一較佳實施例中,夾爪可以夾持待加工工件或是具有尖點的輔具。於另一較佳實施例中,感測器可以是接觸式力感測器或是電性感測器。而機械手臂4可以是關節型機械手臂、水平式多關節機械手臂、術架型機械手臂、或並聯式機械手臂。
Please refer to Figure 1 first. FIG. 1 is a block diagram showing a system for adjusting a mechanical arm according to the technology disclosed in the present invention. In Figure 1, the robotic
控制單元2包括輸入單元22、運算單元24、對正單元26、對準單元28,其中輸入單元22用以輸入在機械手臂4的末端42的工具座標系,並且將此工具座標系儲存在控制單元2中的儲存單元32。運算單元24,依據欲進行對正步驟的物件(未在圖中表示)的平面上任意三點的三個座標值以計算出用戶座標系的法向量,在此要說明的是,物件(未在圖中表示)的平面可以位於機床主軸卡盤、料盤、換刀刀庫換刀處或待加工工件。對正單元26,將機械手臂4的末端42的工具座標系的法向量對正於用戶座標系的法向量,使得工具座標系的法向量與用戶座標系的法向量的方向相反,但是在同一個
空間中是彼此平行。對準單元28,機械手臂依據一物件(未在圖中表示)的輪廓執行對準步驟,利用機械手臂4的末端42對物件(未在圖中表示)的輪廓進行接觸,從而由物件(未在圖中表示)上得到至少三個教導點位,對準單元28再根據這些教導點位計算來得到物件(未在圖中表示)的輪廓的幾何中心,並移動工具座標系的Z軸以對準物件的輪廓的幾何中心。
The
於本發明的另一實施例中,控制單元2還包括旋轉單元30,用以執行轉正步驟,由控制單元2讀取工具座標系,在物件的輪廓的同一邊上選擇先前利用對準單元28所執行的對準步驟中的至少三個教導點位中的其中兩點來形成輪廓的X方向向量,計算工具座標系的X方向向量與輪廓的X方向向量的角度差值,將此角度差值作為機械手臂4的旋轉角度,機械手臂4的末端42依據旋轉角度進行旋轉使得工具座標系的X方向向量平行於輪廓的X方向向量。
In another embodiment of the present invention, the
接著請參考圖2。圖2是根據本發明所揭露的技術,表示機械手臂調校方法的步驟流程圖。在圖2中,步驟S10:向機械手臂的末端上輸入工具座標系,並將此工具座標系儲存於控制單元。於此步驟中,機械手臂4夾持待加工工件(未在圖中表示)或是具有尖點的輔具(未在圖中表示),利用多種不同姿態對某定點相碰,以得到多組解,計算後建立此末端的工具座標系。若末端42為待加工工件或是具有尖點的輔具,則其工具座標系為待加工工件或是具有尖點的輔具的工具座標系,也就是說以機械手臂4的最末端是什麼元件,則工具座標系為該元件的工具座標系。
Then please refer to Figure 2. FIG. 2 is a flow chart showing the steps of a method for adjusting a robot arm according to the technology disclosed in the present invention. In Fig. 2, step S10: input the tool coordinate system to the end of the robotic arm, and store the tool coordinate system in the control unit. In this step, the
步驟S12:對機械手臂的末端進行對正步驟,其包括步驟S122:在欲進行對正步驟的物件的平面上任意找出三點的三個座標值以計算出用戶座標系的法向量。在此步驟中,以機械手臂4的末端42(無論是否有夾持物件)在欲對正的物件(未在圖中表示)上的平面教任意不共線三點,以找到的
三點來建立用戶座標系,其中教任意不共線三點須保持以末端42上的同一點與物件(未在圖中表示)的平面的任意三點接觸,以確保用戶座標系建立的準確。而這三點的三個座標值可以儲存在控制單元2中的儲存單元32的用戶座標系管理檔案內,在非新的取放情境時,不需要每次都重新建立。在本發明的實施例中,欲對正的對象(或稱物件)可以是機床的主軸或料盤等取放處。接著步驟S124:將工具座標系的法向量對正於用戶座標系的法向量,其中工具座標系的法向量與用戶座標系的法向量的方向相反且在空間中彼此平行。在此步驟中,調整機械手臂4姿態,使得工具座標系的法向量與用戶座標系的法向量對正,而對正姿態則是將工具座標系的法向量與用戶座標的法向量的方向相反、且在空間中平行。要說明的是,如果工具座標系與用戶座標系的初始狀態就是對正的狀態,就可以省略上述對正步驟(步驟S12及步驟S122-步驟S124),而直接進行機械手臂4的對準步驟S14。
Step S12: Perform an alignment step on the end of the robotic arm, which includes Step S122: randomly find three coordinate values of three points on the plane of the object to be aligned to calculate the normal vector of the user coordinate system. In this step, use the
步驟S14:對機械手臂的末端進行對準步驟,其包括步驟S142:利用機械手臂的末端對物件的輪廓進行接觸,從而由物件上得到至少三個教導點位並將這些教導點位儲存於控制單元。在此步驟中,以對準姿態的機械手臂4繼續在物件的輪廓上教導點位,如圖3A及圖3B所示,若夾持的工件6為圓柱棒材,則將棒材6在物件5(料盤孔)、7(主軸卡盤)的輪廓的外側或是內側接觸找教導點位,計算後得到輪廓的幾何中心位置,如圖3C所示。
在圖3C中,點O1、O2及O3表示棒材6接觸在物件5(料盤孔,圖3A)7(主軸卡盤,圖3B)的輪廓的外側的至少三個外側教導點位;同樣的,點I1、I2及I3表示棒材6接觸物件5(料盤孔)、7(主軸卡盤)的輪廓的內側的至少三個內側教導點位。
Step S14: align the end of the robot arm, which includes step S142: Use the end of the robot arm to contact the contour of the object, so as to obtain at least three teaching points from the object and store these teaching points in the control unit. In this step, the
接下來步驟S144:根據至少三個教導點位計算物件的輪廓的幾何中心。在此步驟中可以利用步驟S162所得到三個教導點位(點O1、O2及O3或點I1、I2及I3)以三點定圓心計算得到。 Next step S144: Calculate the geometric center of the contour of the object according to at least three teaching points. In this step, the three teaching points (points O 1 , O 2 and O 3 or points I 1 , I 2 and I 3 ) obtained in step S162 can be used to calculate the three-point centering.
在此要說明的是,若物件為矩形或是多邊形,則求得矩形或是多邊形幾何中心的方法可參考圖4A及圖4B並說明如下。機械手臂4夾持輔具(即如同前述的棒材6),在幾何圖形輪廓的每條邊線上或是內側、外側各以兩個教導點位構成一線,即如圖4A中的點M1與點M1’、點M2與點M2’、點M3與點M3’以及點M4與點M4’,上述這些教導點位資料可儲存於儲存單元32中,自動推算出相似於真實輪廓的虛擬輪廓,如圖4A中的M1-M1’線段、M2-M2’線段、M3-M3’線段及M4-M4’線段。要說明的是,由於機械手臂不會知道棒材哪處與物件輪廓接觸,只能知道棒材的中心點通過工具座標系的Z軸,因此機械手臂只能知道棒材中心點位,因此上述的點M1與點M1’、點M2與點M2’、點M3與點M3’以及點M4與點M4’為棒材的幾何中心座標,因此依據這些點位連接起來組成一個相似於物件輪廓的圖形,而此相似圖形的幾何中心恰與輪廓中心相同位置。又在圖4A中,物件輪廓為四邊形,於一邊教導兩個點位,因此共有四組教導點位(點M1與點M1’、點M2與點M2’、點M3與點M3’以及點M4與點M4’),故一共有8個點位才可以計算出四邊形的幾何中心;或是如圖4B中,以選擇幾何圖形中的四個點P1、P2、P3、P4的頂點教導方式,直接將這四個點的頂點位置儲存於儲存單元32中,而上述這兩種方式都可以適用於任何多邊形來得到多邊形的幾何中心。因此,計算物件的輪廓的幾何中心還可以包括四點定矩形幾何中心或是多點定出多邊形幾何中心。可利用對物件的輪廓的內側或外側進行教點來得到此物件的幾何中心,可以避免因對不準輪廓線而求出的點並非幾何中心的缺陷。
It should be noted here that if the object is a rectangle or a polygon, the method for obtaining the geometric center of the rectangle or the polygon can refer to FIG. 4A and FIG. 4B and the description is as follows. The
接著進行步驟S146:移動工具座標系的Z軸以對準物件的輪廓的幾何中心。由於在步驟S144已經得到了物件的輪廓的幾何中心,則可以移動機械手臂4的末端42的工具座標系的Z軸來對準物件的輪廓的幾何中心,此時可操作機械手臂4來對物件進行加工製程。
Then, step S146: move the Z axis of the tool coordinate system to align with the geometric center of the contour of the object. Since the geometric center of the contour of the object has been obtained in step S144, the Z axis of the tool coordinate system of the
由於夾持多邊形待加工工件取放時,例如矩形,若已經完成對準輪廓的幾何中心,仍無法保證待加工工件與取放處之間沒有旋轉角度的差異,因此在本發明的另一實施例中,還需要找出工具座標系的X方向向量與取放處(即輪廓)的X方向向量之間的角度差值做為旋轉角度來進行轉正步驟。另外要說明的是,在圖5中的步驟S10-步驟S12及步驟S14與圖2是相同的。並且在說明圖5時也一併參考圖6。此外,多邊形對準技術中的教導點位可用於轉正步驟,因此在進行對準步驟之後才會再進行轉正步驟。其中轉正步驟S16包含步驟S162:由控制單元讀取工具座標系。於此步驟中,由於在前述的對準步驟,機械手臂4夾持輔具已經由物件的輪廓得到至少三個教導點位,且將這些教導點位儲存於控制單元2的儲存單元32中,因此在進行轉正步驟時,不需要再重新找出教導點位,可以由儲存單元32中讀取至少三個教導點位。步驟S164:在物件的輪廓的同一邊上選擇對準步驟中的至少三個教導點位中的其中兩點來形成輪廓的X方向向量。在此步驟中,由至少三個教導點位中選擇的其中兩點,由此兩點所構成的向量來代表物件5(如圖3A的料盤孔)、7(如圖3B的主軸卡盤)的輪廓的X方向向量,要說明的是,在此實施例中,料盤孔5及主軸卡盤7不限於如圖3A及圖3B所表示的態樣。接著步驟S166:計算工具座標系的X方向向量與輪廓的X方向向量之間的角度差值,將此角度差值作為機械手臂的旋轉角度。在此步驟中,運算單元24計算在步驟S164中選定的兩點所構成的向量來代表物件的輪廓
的X方向向量與工具座標系的X方向向量之間的角度差值,則此角度差值作為機械手臂4的旋轉角度θ。
Since the clamping polygonal workpiece to be processed is picked and placed, such as a rectangle, if the geometric center of the contour has been aligned, there is still no guarantee that there is no difference in the rotation angle between the workpiece to be processed and the pick and place. Therefore, in another embodiment of the present invention In the example, it is also necessary to find the angle difference between the X direction vector of the tool coordinate system and the X direction vector of the pick and place (ie contour) as the rotation angle to perform the normalization step. In addition, it should be noted that steps S10 to S12 and step S14 in FIG. 5 are the same as those in FIG. 2. Also, refer to FIG. 6 when describing FIG. 5. In addition, the teaching points in the polygon alignment technology can be used for the straightening step, so the straightening step is not performed until the alignment step is performed. The normalization step S16 includes step S162: the control unit reads the tool coordinate system. In this step, since in the aforementioned alignment step, the
步驟S168:具有工具座標系的機械手臂的末端依據旋轉角度進行旋轉使得工具座標系的X方向向量平行於輪廓的X方向向量。在此步驟中,在進行取放時,機械手臂4的末端42的工具座標的X方向向量會根據此旋轉角度θ旋轉,即如圖6中的箭頭表示方向,先使工具座標系之Z軸對準幾何中心,再讓工具座標系的X方向向量與物件的輪廓的X方向向量平行且同向以順利完成取放。若取放是相同的待加工工件6時,可以自動的讀取此旋轉角度來使用,不需要每一次都重新教導。
Step S168: the end of the robotic arm with the tool coordinate system is rotated according to the rotation angle so that the X direction vector of the tool coordinate system is parallel to the X direction vector of the contour. In this step, when picking and placing, the X-direction vector of the tool coordinate of the
根據以上實施例所述,本發明所揭露的機械手臂調校方法及其調校方法可以應用於加工工件、取放工件或取放刀具,且在無輔具或是無感測器的狀態下可以直接夾持待加工工件進行快速對準教導,在利用內外側教點方式可以達到求出幾何中心目標,且教點快速方便,只需將待加工工件調整至與輪廓內側或外側碰觸,操作簡易且省時,亦可以避免因對不準輪廓線而導致所求出的點並非幾何中心。 According to the above embodiments, the mechanical arm adjustment method and the adjustment method disclosed in the present invention can be applied to processing workpieces, picking and placing workpieces, or picking and placing tools, and in the state without auxiliary tools or sensors It can directly clamp the workpiece to be processed for rapid alignment teaching. The goal of finding the geometric center can be achieved by using the inner and outer teaching points, and the teaching point is fast and convenient. You only need to adjust the workpiece to be processed to touch the inner or outer side of the contour. The operation is simple and time-saving, and it can also avoid the point not being the geometric center due to misalignment of the contour line.
步驟S10:向機械手臂的末端上輸入工具座標系,並將此工具座標系儲存於控制單元 Step S10: Input the tool coordinate system to the end of the robot arm, and store the tool coordinate system in the control unit
步驟S12:對機械手臂的末端進行對正步驟 Step S12: Align the end of the robotic arm
步驟S14:對機械手臂的末端進行對準步驟 Step S14: Align the end of the robotic arm
步驟S122-步驟S124:對正步驟流程 Step S122-Step S124: Alignment step flow
步驟S142-步驟S146:對準步驟流程 Step S142-Step S146: Alignment step flow
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