TWI751675B - Method for calibrating picking position of mechanical arm - Google Patents
Method for calibrating picking position of mechanical arm Download PDFInfo
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本發明係關於一種機械手臂取料位置的校正方法,係指透過感測單元獲取夾爪在夾取該工作件的感測值,將感測值與一預設值比較獲得一比較值,當比較值大於閥值時,處理單元經過運算修正機械手臂的工作路徑,使機械手臂能即時修正取料位置的座標誤差。 The present invention relates to a method for calibrating the material picking position of a manipulator, which refers to obtaining a sensing value of the clamping jaws when gripping the workpiece through a sensing unit, and comparing the sensing value with a preset value to obtain a comparison value. When the comparison value is greater than the threshold value, the processing unit corrects the working path of the robotic arm through calculation, so that the robotic arm can immediately correct the coordinate error of the reclaiming position.
機械手臂在自動化生產中佔有重要的地位,機械手臂可以用來自動取放工作件,使工作件在定點接受加工或在定點置放或裝箱等,但是機械手臂在長期運作過程會有機械手臂零件耗損、加工件的尺寸公差及周邊設備因碰觸或振動導致位置偏移等問題,使得原本已設定完成的機械手臂的工作路徑無法再精準地取拿工作件,因此需要定期的重新對該工作路徑進行校正,修改機械手臂的路徑程式,頗為浪費人力。上述機械手臂取拿工作件的位置如果誤差過大,甚至可能產生損壞機械手臂、工作件或其他設備等問題。 The robotic arm occupies an important position in automated production. The robotic arm can be used to automatically pick and place the workpiece, so that the workpiece can be processed at a fixed point or placed or packed at a fixed point, but the robotic arm will have a robotic arm during long-term operation. Parts wear, dimensional tolerances of workpieces, and positional deviations of peripheral equipment due to contact or vibration make the originally set working path of the robotic arm unable to accurately pick up the workpiece. Correcting the working path and modifying the path program of the robotic arm is a waste of manpower. If the above-mentioned position of the robot arm to take the workpiece is too large, it may even cause problems such as damage to the robot arm, the workpiece or other equipment.
中華民國專利公告號I693133,「機械手臂校正系統和機械手臂校正方法」,係揭露由機械手臂執行對應於第一X-Y平面的第一行動;由感測器偵測機械手臂是否位於感測範圍內;在機械手臂執行第一行動期間,根據機械手臂離開感測範圍和重回感測範圍的時間點判斷第一行動的第一執行時間;以及比較第一執行時間和第一參考時間以判斷機械手臂是否需要被校正。 The Republic of China Patent Publication No. I693133, "Robot Arm Calibration System and Robot Arm Calibration Method", discloses that the robotic arm performs the first action corresponding to the first XY plane; the sensor detects whether the robotic arm is within the sensing range ; During the execution of the first action by the robotic arm, determine the first execution time of the first action according to the time points at which the robotic arm leaves the sensing range and return to the sensing range; and compare the first execution time and the first reference time to judge the mechanical Whether the arm needs to be calibrated.
而所述公告號I693133,該感測器主要以雷射光作為感測元件,而雷射光雖然可以用來偵測機械手臂是否位於感測範圍內而判斷是否需要被校正,但是卻沒有後續執行校正的動作,需要另外進行校正動作,且感測元件為雷射光容易受到環境影響如:指印、污跡、刮痕、灰塵、溶劑及濕氣等,因為所述環境影響而使機械手臂使用受限。 In the announcement No. I693133, the sensor mainly uses laser light as the sensing element. Although the laser light can be used to detect whether the robot arm is within the sensing range to determine whether it needs to be calibrated, it does not perform subsequent calibration. The action of the robot requires additional corrective action, and the sensing element is a laser light, which is easily affected by the environment such as fingerprints, smudges, scratches, dust, solvents and moisture, etc. The use of the robotic arm is limited due to the environmental impact. .
有鑑於目前所使用的機械手臂取料位置的校正方法具有所述之缺點,本發明提出一種機械手臂取料位置的校正方法。 In view of the shortcomings of the currently used method for calibrating the reclaiming position of the mechanical arm, the present invention proposes a method for calibrating the reclaiming position of the mechanical arm.
本發明提出一種機械手臂取料位置的校正方法,包括:一機械手臂沿一工作路徑位移至一工作位置,以該機械手臂的複數夾爪夾取一工作件;利用複數感測單元分別獲得每一夾爪在夾取該工作件時的一感測值;將所述感測值與一預設值相比較,獲得一比較值;在該比較值小於一閥值時,該機械手臂維持該工作路徑位移至該工作位置;在該比較值大於所述閥值時,一處理單元經運算獲得一位移補正數據,並根據該位移補正數據賦予該機械手臂一修正路徑,使該機械手臂位移至一修正位置夾取該工作件,在該修正位置的每一夾爪夾取該工作件時,所述比較值小於所述閥值。 The present invention provides a method for calibrating the reclaiming position of a mechanical arm. A sensing value of a gripper when gripping the workpiece; comparing the sensing value with a preset value to obtain a comparison value; when the comparison value is less than a threshold, the robotic arm maintains the The working path is displaced to the working position; when the comparison value is greater than the threshold value, a processing unit obtains a displacement correction data through operation, and assigns a correction path to the robot arm according to the displacement correction data, so that the robot arm is displaced to The workpiece is clamped at a correction position, and the comparison value is smaller than the threshold value when each jaw in the correction position clamps the workpiece.
進一步,該感測單元係為一應變規、一壓力感測器、一位移感測器、一微動開關。 Further, the sensing unit is a strain gauge, a pressure sensor, a displacement sensor, and a micro switch.
進一步,該比較值大於所述閥值時,該機械手臂係立即根據該修正路徑位移至該修正位置。 Further, when the comparison value is greater than the threshold value, the robotic arm is immediately displaced to the corrected position according to the corrected path.
進一步,該比較值大於所述閥值時,該機械手臂係在次一操作程序中根據該修正路徑位移至該修正位置。 Further, when the comparison value is greater than the threshold value, the robotic arm is displaced to the corrected position according to the corrected path in the next operation procedure.
進一步,該感測單元係設置在一夾爪總成上。 Further, the sensing unit is disposed on a jaw assembly.
進一步,該夾爪總成包含了一夾爪座與前述複數夾爪,該感測單元係設置在該夾爪座。 Further, the clamping jaw assembly includes a clamping jaw base and the aforementioned plurality of clamping jaws, and the sensing unit is disposed on the clamping jaw base.
進一步,該夾爪總成包含了一夾爪座與前述複數夾爪,該感測單元係設置在該複數夾爪的一夾持面。 Further, the clamping jaw assembly includes a clamping jaw seat and the plurality of clamping jaws, and the sensing unit is disposed on a clamping surface of the plurality of clamping jaws.
進一步,該感測單元係設置在一治具,該治具容置所述工作件,使該工作件能接觸該感測單元。 Further, the sensing unit is disposed on a fixture, and the fixture accommodates the work piece so that the work piece can contact the sensing unit.
所述技術特徵具有下列之優點: The technical features have the following advantages:
1.本發明透過感測單元可以即時得知工作件被機械手臂夾取時的瞬間,該工作件所接受的夾持力是否與預設值維持一致或保持在誤差範圍內,如果是,代表機械手臂夾取工作件的當時,該夾取位置是正確的;如果上述工作件所接受的夾持力超出誤差範圍,則將立即賦予該機械手臂一修正路徑,使機械手臂立即修正夾取工作件的位置誤差,藉此隨時或定期監控並修正機械手臂的夾取工作件位置,使機械手臂可以長時間保有正確的工作路徑,減少定期修正工作路徑程式的次數、降低因工作路徑偏移所導致的工件損壞或設備損壞等情形。 1. In the present invention, through the sensing unit, the instant when the workpiece is gripped by the robotic arm, whether the gripping force received by the workpiece is consistent with the preset value or within the error range, if yes, represents When the robotic arm grips the workpiece, the gripping position is correct; if the gripping force accepted by the aforementioned workpiece exceeds the error range, a correction path will be given to the robotic arm immediately, so that the robotic arm will immediately correct the gripping work. The position error of the workpiece can be monitored and corrected at any time or on a regular basis, so that the robot can maintain the correct working path for a long time, reduce the number of regular corrections of the working path program, and reduce the working path deviation. damage to the workpiece or damage to the equipment.
2.本發明利用感測單元獲得機械手臂在夾取工作件時的『夾取力回饋值』或『位移回饋值』,做為是否修正機械手臂工作路徑的依據,感測單元可以是一個或多個,當感測單元為多個且分別用以感測不同方向的夾取力時,將可以得知更多方向的誤差訊息,使得前述修正路徑可以更為精確。所述感測單元可以是應變規、壓力感測器、位移感測器、微動開關等。感測單元可以設置在夾爪座、夾爪的夾持面、置放工作件的治具等位置,實施更具靈活性。本發明感測單元並非用雷射光當感測器而可以避免受到環境影響如:指印、污跡、刮痕、灰塵、溶劑及濕氣等,使機械手臂使用上較廣泛不受環境限制。 2. The present invention uses the sensing unit to obtain the "grip force feedback value" or "displacement feedback value" of the robotic arm when gripping the workpiece, as the basis for whether to correct the working path of the robotic arm. The sensing unit can be one or a When there are multiple sensing units and they are respectively used to sense the clamping force in different directions, the error information in more directions can be obtained, so that the aforementioned correction path can be more accurate. The sensing unit may be a strain gauge, a pressure sensor, a displacement sensor, a micro switch, or the like. The sensing unit can be arranged on the gripper seat, the gripping surface of the gripper, the fixture on which the workpiece is placed, etc., and the implementation is more flexible. The sensing unit of the present invention does not use laser light as a sensor and can avoid environmental influences such as fingerprints, smudges, scratches, dust, solvents and moisture, so that the robotic arm can be widely used without environmental restrictions.
3.本發明比較值大於閥值時,處理單元可以立即根據修正路徑將機械手臂位移至修正位置,或者在次一操作程序中才位移至修正位置。 3. When the comparison value of the present invention is greater than the threshold value, the processing unit can immediately move the robotic arm to the corrected position according to the correction path, or move to the corrected position in the next operation procedure.
1:機械手臂 1: Robotic arm
10:座體 10: seat body
101:連接塊 101: Connection block
11:夾爪總成 11: Gripper assembly
110:連接端 110: Connection end
111:連接片 111: connecting piece
112:夾爪座 112: Gripper seat
113:夾爪 113: Gripper
113A:夾爪 113A: Gripper
113B:夾爪 113B: Gripper
1131A:夾持面 1131A: Clamping surface
2:感測單元 2: Sensing unit
2A:感測單元 2A: Sensing unit
2B:感測單元 2B: Sensing unit
3:處理單元 3: Processing unit
A:工作路徑 A: Working path
B:工作位置 B: Working position
C:工作件 C: Workpiece
D1:治具 D1: Jig
D2:治具 D2: Jig
D21:容納空間 D21: accommodating space
E:基準位置 E: Reference position
E’:偏移位置 E': offset position
F:基準位置 F: Reference position
F’:偏移位置 F': offset position
S:餘隙 S: Clearance
[第一圖]係本發明機械手臂取料位置的校正方法流程圖。 [Figure 1] is a flow chart of the method for correcting the reclaiming position of the robotic arm according to the present invention.
[第二圖]係本發明第一實施例的機械手臂示意圖。 [Figure 2] is a schematic diagram of the robot arm according to the first embodiment of the present invention.
[第三圖]係本發明第一實施例之第一感測單元組合在夾爪總成的立體分解圖。 [Figure 3] is an exploded perspective view of the first sensing unit assembled in the clamping jaw assembly according to the first embodiment of the present invention.
[第四圖]係本發明第一實施例之第一感測單元組合在夾爪總成的示意圖。 [FIG. 4] is a schematic diagram of the combination of the first sensing unit in the clamping jaw assembly according to the first embodiment of the present invention.
[第五圖]係本發明第一實施例夾爪夾取工作件示意圖。 [FIG. 5] is a schematic diagram of the first embodiment of the present invention, the clamping jaws clamp the workpiece.
[第六圖]係本發明第一實施例夾爪夾取偏移的工作件示意圖。 [Fig. 6] is a schematic diagram of the work piece with the clamping jaws grasping and offset according to the first embodiment of the present invention.
[第七圖]係本發明第一實施例,兩個夾爪對應夾取的兩個工作件產生傾斜偏轉的示意圖。 [Fig. 7] It is a schematic diagram of the first embodiment of the present invention, the two clamping jaws are correspondingly gripped by two workpieces that are tilted and deflected.
[第八圖]係本發明第二實施例夾爪面設置有感測單元示意圖。 [Fig. 8] is a schematic diagram of a second embodiment of the present invention where a sensing unit is provided on the jaw surface.
[第九圖]係本發明第三實施例治具設置有感測單元示意圖。 [Figure 9] is a schematic diagram of a fixture provided with a sensing unit according to the third embodiment of the present invention.
綜合上述技術特徵,本發明機械手臂取料位置的校正方法的主要功效將可於下述實施例清楚呈現。 In view of the above technical features, the main effect of the method for calibrating the reclaiming position of the robotic arm of the present invention will be clearly presented in the following embodiments.
本發明第一實施例請參閱第一圖至第四圖所示,本實施例所述的機械手臂取料位置的校正方法,透過一機械手臂裝置予以說明,該機械手臂裝置包括:一機械手臂1、複數感測單元2及一處理單元3。該機械手臂1的端部有一座體10,在該座體10上有並列的二個夾爪總成11,每一個夾爪總成11包括有一連接端110、三個連接片111、一夾爪座112及三隻夾爪113,其中連接片111為剛性片體,在圓周上彼此相距120度,三隻夾爪113在圓周上也彼此相距120度。該每一
個夾爪總成11透過一連接塊101固定在該座體10上其中連接塊101與座體10之間藉螺釘鎖固,連接塊101與夾爪總成11之間也藉螺釘鎖固,圖式中該等螺釘未示出。本實施例的感測單元2為三個三軸應變規,但也可以是三個二軸應變規,三個感測單元2分別貼覆在上述三個連接片111。該處理單元3電性連接上述感測單元2及該機械手臂1。上述夾爪總成11概呈一圓柱體,該圓柱體沿著一軸向Z延伸而具有適當高度,前述三隻夾爪113在該夾爪座112上彼此互相移近或移離,用以夾持工作件C,三隻夾爪113移動的方向係垂直於該軸向Z。
The first embodiment of the present invention is shown in Figures 1 to 4. The method for calibrating the reclaiming position of the robotic arm described in this embodiment will be described through a robotic arm device. The robotic arm device includes: a
請參閱第二圖,該機械手臂1沿一工作路徑A位移至一工作位置B,以該每一個夾爪總成11的夾爪113分別夾取一工作件C,工作件C被置放在一治具D1上,本實施例的治具D1為一料盤,治具D1具有相當的重量或被固定,以確保夾爪113在夾取工作件C的瞬間,治具D1與工作件C均不會移動。請參閱第二圖、第四圖與第五圖,當夾爪113以垂直於軸向Z的方向彼此移近而夾取工作件C時,如果此時機械手臂1的工作路徑A不存在有誤差,工作位置B也不存在有誤差,則三個夾爪113從張開到夾住的過程中,三個夾爪113將同時接觸到工作件C,使得三個夾爪113在夾住工作件C時,三個夾爪113所受到的反作用力是相同的,夾爪座112也因此在夾爪113夾取工作件C的瞬間有著均衡的受力,此時,三個連接片111在軸向Z的垂直方向上均不會有微變形,三個感測單元2將輸出一致的感測結果。亦即,三個夾爪113夾住工作件C時,在軸向Z的垂直方向上會有反作用力作用於三個夾爪113,該反作用力會使得三個連接片111在軸向Z的垂直方向上產生相應的微變形,而三個感測單元2可以感測三個連接片111的微變形量,分別獲得一感測值,從三個感測單元2所獲得的三個感測值,可以得知此時機械手臂1是否位於正確的工作位置B。如果機械手臂1在夾取工作件C時,並未位於正確的工作位置B,則三個夾爪113所受到軸向Z的垂直方向上三個反作用力會不相同,三個連接片111的微變形量也會不同,藉由三個感測單元2所獲得的三個感測值,可以
計算出機械手臂1在夾取工作件C時的偏移方位與距離。上述三個感測單元2的感測值應會回傳至處理單元3,該處理單元3將該感測值與一預設值相比較,而獲得一比較值,上述預設值是機械手臂1正確位於工作位置B時,三個感測單元2當時的感測值。當上述比較值小於一閥值時,該處理單元3判定該機械手臂1在夾取工作件C時,位於正確的工作位置B的允許誤差範圍內,該機械手臂1將持續工作;當上述比較值大於一閥值時,該處理單元3判定該機械手臂1在夾取工作件C時,已超出正確的工作位置B的允許誤差範圍,將對機械手臂1的工作路徑A執行修正,修正時,處理單元3藉由當時三個感測單元2所傳回的感測值,經計算獲得一位移補正數據,並根據該位移補正數據修正機械手臂1的路徑程式,使機械手臂1依照一修正路徑移動至一修正位置,此修正位置為正確的工作位置B。上述閥值是機械手臂夾取工作件C時,三個夾爪113與該工作件C之間相對偏離的容許值。
Please refer to the second figure, the
前述工作位置B指的是三個夾爪113能夠毫無誤差地夾取工作件C的位置。在下列二狀況下,本發明皆須重新賦予一修正路徑給機械手臂:
The aforementioned working position B refers to a position where the three
1.當工作件C偏離該工作位置B超出容許範圍,例如治具D1移位。 1. When the workpiece C deviates from the working position B beyond the allowable range, for example, the fixture D1 is displaced.
2.機械手臂1的工作路徑A有誤差,機械手臂1移至工作位置B時存有誤差,且誤差超過容許範圍。
2. There is an error in the working path A of the
機械手臂1在工作位置B逐次往復地夾取工作件C,將工作件C逐一移位至下一目的地,當三個感測單元2的感測值與一預設值相比較後,所獲得比較值大於閥值時,處理單元3將賦予機械手臂1一個修正路徑,機械手臂1可以在當次操作程序中立即執行該修正路徑,也可以在次一操作程序中再執行該修正路徑。
The
請參閱第二圖、第六圖,本實施例有二個並列的夾爪總成11,一個操作程序可以同時夾取二個工作件C,多個加工件C規則的放置在治具D1上。當
該治具D由一基準位置E縱向偏移至一偏移位置E’時,如果該偏移位置E’已超出偏移的容許值,透過前述的修正方式,可以使機械手臂1依據修正路徑,補償上述的縱向偏移而移動到該偏移位置E’,則該偏移位置E’將成為新的工作位置B,三個夾爪113可以正確的夾取偏移後的工作件C。
Please refer to the second and sixth figures, this embodiment has two
請參閱第二圖與第七圖,當該治具D由一基準位置F逆時針偏轉至一偏移位置F’時,如果該偏移位置F’已超出偏轉的容許值,透過前述的修正方式,可以使機械手臂1依據修正路徑,補償上述的逆時針偏轉而移動並旋轉到該偏移位置F’,則該偏移位置F’將成為新的工作位置B,三個夾爪113可以正確的夾取偏轉後的工作件C。
Please refer to Figure 2 and Figure 7, when the fixture D is deflected counterclockwise from a reference position F to an offset position F', if the offset position F' exceeds the allowable value of deflection, through the aforementioned correction In this way, the
上述實施例的夾爪總成11有二個,但機械手臂1配置一個夾爪總成11或三個以上的夾爪總成11,皆屬本發明可行的實施例。
There are two
本發明第二實施例請參閱第八圖所示,本實施例係在三隻夾爪113A的每一一夾持面1131A上感測單元2A,本實施例的感測單元2A係為壓力感測器或微動開關,該感測單元2A電性連接一處理單元(圖中未示)。當三夾爪113A夾取工作件C,此時工作件C同樣是被固定在一治具中(圖式未示出該治具),以確保工作件C在被夾取的瞬間是不會移動的。感測單元2A如果是壓力感測器,所述感測單元2A可以分別感測三夾爪113A夾取工作件C瞬間的壓力值,該壓力值可以反映出該工作件C的偏移狀態,該處理單元(圖中未示)以如同第一實施例的方式運算獲得一比較值,並據以運算獲得一修正路徑。感測單元2A如果是微動開關,當工作件C存有偏移狀態,則三夾爪113A觸及工作件C的時間將存有差異,由於三夾爪113A夾取工作件C時的移動速度是已知的,依照三夾爪113A觸及工作件C的時間先後順序,也可以計算得知工作件C的偏移狀態。
Please refer to FIG. 8 for the second embodiment of the present invention. In this embodiment, a
本發明第三實施例請參閱第九圖所示,本實施例的治具D2設有一圓形的容納空間D21,容納空間D21用以容納工作件C,工作件C置入容納空間
D21之後,工作件C與容納空間D21之間留有一餘隙S。三個感測單元2B在本實施例為壓力感測器,三個感測單元2B設置在容納空間D21的環周,彼此相距120度,三個感測單元2B的感測面位於該餘隙中,剛好可以接觸到工作件C。當治具D2的位置存有偏移狀態,則工作件C也隨之偏移。或者,當機械手臂(圖中未示出)的工作路徑存有誤差,此均會使得三夾爪113B無法在正確的工作位置夾取工作件C,當三夾爪113B夾取工作件C時,三個感測單元2B將可以感測到三夾爪113B對工作件C的施力,藉由三個感測單元2B的感測值,也可以計算得知工作件C當時的偏移狀態。
Please refer to the ninth figure for the third embodiment of the present invention. The jig D2 of this embodiment is provided with a circular accommodating space D21. The accommodating space D21 is used to accommodate the work piece C, and the work piece C is placed in the accommodating space
After D21, a clearance S is left between the work piece C and the accommodating space D21. The three
綜合上述實施例之說明,當可充分瞭解本發明之操作、使用及本發明產生之功效,惟以上所述實施例僅係為本發明之較佳實施例,當不能以此限定本發明實施之範圍,即依本發明申請專利範圍及發明說明內容所作簡單的等效變化與修飾,皆屬本發明涵蓋之範圍內。 Based on the descriptions of the above embodiments, one can fully understand the operation, use and effects of the present invention, but the above-mentioned embodiments are only preferred embodiments of the present invention, which should not limit the implementation of the present invention. Scope, that is, simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the description of the invention, all fall within the scope of the present invention.
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CN100417499C (en) * | 2004-10-08 | 2008-09-10 | 发那科株式会社 | Hand robot |
CN102198659A (en) * | 2010-03-24 | 2011-09-28 | 索尼公司 | Gripping judgment apparatus and gripping judgment method |
CN104108104A (en) * | 2013-04-18 | 2014-10-22 | 发那科株式会社 | Control Device For Robot For Conveying Workpiece |
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CN100417499C (en) * | 2004-10-08 | 2008-09-10 | 发那科株式会社 | Hand robot |
CN102198659A (en) * | 2010-03-24 | 2011-09-28 | 索尼公司 | Gripping judgment apparatus and gripping judgment method |
CN104108104A (en) * | 2013-04-18 | 2014-10-22 | 发那科株式会社 | Control Device For Robot For Conveying Workpiece |
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