TWI834949B - Laser processing system that can quickly position the robot arm to the three-dimensional coordinate system - Google Patents

Abstract

A laser processing system that can quickly position a robotic arm to a three-dimensional coordinate system includes a laser processing machine for emitting laser beams for processing; a correction module installed on the laser processing machine Process the outside of the galvanometer; three probes are installed on the lower surface of the correction module to have a retractable structure; the display surfaces of the three probes form a two-dimensional plane; during testing, the tip positions of the three probes are On the same horizontal plane, and the calibration module is also on the horizontal plane; a robot arm includes a clamping member for clamping the workpiece, so that the laser processing machine can project laser light on the workpiece; during testing, the clamping The component clamps a test board, and makes the test board close to the three probes and against the three probes; the compression length of each probe is used to adjust the clamping member of the robot arm to hold the test board angle, repeat the above test and angle adjustment until the compression lengths of the three probes are the same when they are resisted, which means that the test board is on the horizontal plane.

Description

Laser processing system that can quickly position the robot arm to the three-dimensional coordinate system

The invention relates to laser processing, in particular to a laser processing system that can quickly position a robotic arm to a three-dimensional coordinate system.

Laser processing machines use laser beams to achieve high focus after being processed by lenses, and then apply laser beams to laser processing objects to achieve the purpose of processing, removing materials, cutting or engraving. Generally, the processed object is placed on a sliding table. Then the motor system is used to control the movement and rotation of the slide table, and the slide table is moved to a position suitable for processing to perform processing operations. Among them, the computer device first calculates the processing coordinates, and then controls the laser processing machine to perform processing.

However, in many applications, the processed object is placed on a robot. However, because the moving space of the robot is quite large, and the position of the robot itself is not fixed, when the robot clamps the processed object, There is a large error between the coordinates of the clamped object and the coordinates of the laser emitted by the laser galvanometer. If this error is not corrected, there will be an error between the coordinates calculated by the computer device and the actual processing point of the laser processing machine. Therefore, the final graphics produced on the processed object will be distorted, making the final processing pattern of the processed object unable to meet the expected results.

Therefore, this case hopes to propose a new laser processing system that can quickly position the robot arm to a three-dimensional coordinate system to solve the above-mentioned shortcomings of the previous technology.

Therefore, the purpose of the present invention is to solve the above-mentioned problems in the conventional technology. The present invention proposes a A laser processing system that can quickly position a robotic arm to a three-dimensional coordinate system. It can quickly position the horizontal orientation of the test board held by the robotic arm, and align the test board with the laser processing machine in this horizontal orientation. The coordinates of the processing galvanometer are determined, and the focal length and focus of the processing galvanometer are determined through the photographic focal length determination device. Therefore, when processing objects, you can use the horizontal orientation of the test board measured in this case, align the coordinates of the test board in the horizontal orientation, and the focal length and focus of the processing galvanometer, and the robot arm can be quickly adjusted to The required position enables precise laser processing of the workpiece held by the robotic arm during actual work.

In order to achieve the above object, the present invention proposes a laser processing system that can quickly position a robotic arm to a three-dimensional coordinate system, including a laser processing machine for emitting laser beams for processing; wherein each laser processing system The machine is equipped with a processing galvanometer for moving to the required position in the X, Y, and Z axis directions to project the laser light to achieve the purpose of processing; a laser processing controller is connected to the laser processing machine; the laser The laser processing controller is used to receive the coordinate data to be processed and control the corresponding laser processing machine to perform the required processing operations on the workpiece; a correction module is installed on the processing galvanometer of the laser processing machine. Below; wherein there is a cavity in the center of the correction module, which is aligned below the processing galvanometer, so that the laser emitted by the processing galvanometer can pass through the cavity and be projected on the object to be processed; the correction Three probes are installed on the lower surface of the module, which are retractable structures; the display surfaces of the three probes form a two-dimensional plane; during testing, the tips of the three probes are positioned on the same horizontal plane, and The correction module is also on the horizontal plane; a mechanical arm, the mechanical arm includes a clamping piece, which is used to clamp the workpiece during operation, so that the processing galvanometer of the laser processing machine can project the laser light On the workpiece; during testing, the robot arm uses the clamping member to hold a test plate for determining the horizontal plane; wherein the upper surface of the test plate is a flat upper plate; and wherein during testing the The robot arm uses the clamping member to hold the test board and bring the test board close to the three probes on the lower surface of the calibration module; the three probes will move upward appropriately when resisted by the test board. shrink; where various applications The compressed length of the probe adjusts the angle of the clamping member of the robot arm, thereby changing the angle at which the clamping member clamps the test board. Repeat the above-mentioned testing and angle adjustment until the three probes are resisted. When the compressed length is the same, it means that the test board is on the horizontal plane.

The features and advantages of the present invention can be further understood from the following description. Please refer to the accompanying drawings when reading.

10:Laser processing machine

12: Processing galvanometer

15:Calibration module

40:Robotic arm

41: Clamping piece

42:Test board

44:Probe

45: Sensor

48: Clamping orientation controller

50: Photographic focal length determining device

52:Camera

54: Comparator

55:Control processor

60:Laser processing controller

70:Vertical coordinate calibrator

100:Laser illumination range

151: Hollow

200:L-shaped path

421: Go to the tablet

422: Two-dimensional trench

Figure 1 shows a schematic diagram of the main component combinations of this case.

FIG. 2 shows a schematic view of the bottom side of FIG. 1 .

Figure 3 shows a schematic diagram of the connection structure of the probe, sensor, control processor and robotic arm in this case.

Figure 4 shows a schematic plan view of the probe configuration in this case.

Figure 5 shows another schematic diagram of component combination in this case.

Figure 6 shows a schematic diagram of the connection structure of the laser processing machine, vertical coordinate calibrator and robotic arm in this case.

Figure 7A shows a schematic diagram of the laser illumination range projected by the laser light on the test board in this case.

Figure 7B shows another schematic diagram of the laser illumination range projected by the laser light on the test board in this case.

Figure 7C shows another schematic diagram of the laser illumination range projected by the laser light on the test board in this case.

Figure 8A shows a schematic diagram of three probes just touching the test board in another method of aligning the X-axis and the Y-axis in this case.

Figure 8B shows another method of aligning the X-axis and Y-axis in this case. The test board is along its own Schematic diagram of X-axis rotation.

Figure 9 shows a schematic diagram of another configuration position of the correction module in this case.

Hereby, we would like to give a detailed description of the structural composition of this case, as well as the functions and advantages it can produce, together with the drawings, and give a detailed description of one of the preferred embodiments of this case as follows.

Please refer to Figures 1 to 9, which show the laser processing system of the present invention that can quickly position a robot arm to a three-dimensional coordinate system, including the following components:

A laser processing machine 10 is used to emit laser beams for processing, such as marking. During operation, the laser beam emitted by each laser processing machine 10 can be projected onto a workpiece (not shown in the figure), and a pattern processed by the laser beam will appear on the workpiece. Each laser processing machine 10 is equipped with a processing galvanometer 12 for moving to a required position in the X, Y, and Z axis directions to project the laser light to achieve the purpose of processing.

A laser processing controller 60 is connected to the laser processing machine 10 . The laser processing controller 60 is used to receive the coordinate data to be processed and control the corresponding laser processing machine 10 to perform the required processing operations on the workpiece.

A calibration module 15 is installed outside the processing galvanometer 12 of the laser processing machine 10 . The laser processing controller 60 stores the relative positional relationship between the correction module 15 and the processing galvanometer 12 , and the laser processing controller 60 can convert the relative positional relationship into the processing galvanometer 12 . Processing position coordinates. The correction module 15 can be located below, in front, behind, left or right of the processing galvanometer 12 . As shown in Figure 1, when the correction module 15 is located below the processing galvanometer 12, there is a cavity 151 in the center of the calibration module 15, and the cavity 151 is aligned with the bottom of the processing galvanometer 12, so that from the The laser emitted by the processing galvanometer 12 can pass through the cavity 151 and be projected onto the object to be processed. When the correction module 15 is located in front, behind, left or right of the processing galvanometer 12, the correction module 15 and the processing galvanometer 12 are located on the same horizontal plane. Figure 9 shows the correction module 15 in the Process the right side of galvanometer 12.

As shown in Figure 2, three retractable probes 44 are installed on the lower surface of the calibration module 15. Each of the probes 44 has considerable sensitivity and is a retractable structure. Its retractable range can be 10 mm. The minimum resolution can be 0.001mm. As shown in FIG. 4 , the three probes 44 are located at both ends and corners of an L-shaped path 200 . The turning angle of the L-shaped path 200 is a right angle. Each probe 44 is equipped with a sensor 45 for sensing the compressed length of each probe 44 .

A robotic arm 40. The robotic arm 40 includes a clamping member 41. The clamping member 41 is used to clamp the workpiece during operation, so that the processing galvanometer 12 of the laser processing machine 10 can project laser light on the workpiece. superior. During testing, the robot arm 40 uses the clamping member 41 to clamp a test plate 42 for determining the horizontal plane. The upper surface of the test plate 42 is a fairly flat upper plate 421 . After using the test plate 42 to determine the horizontal plane, the robot arm 40 is used to clamp the workpiece during work. As shown in FIG. 3 , the robotic arm 40 further includes a clamping orientation controller 48 , which is used to adjust the clamping orientation of the robotic arm 40 .

Before testing, the needle tips of each probe 44 will be adjusted so that the needle tips of the three probes 44 are on the same horizontal plane, and the calibration module 15 is also on the horizontal plane.

A control processor 55 connects the sensor 45 of each probe 44 and the clamping orientation controller 48 of the robot arm 40 .

During testing, the robot arm 40 uses the clamping member 41 to clamp the test board 42 , and the test board 42 is close to the three probes 44 on the lower surface of the calibration module 15 . The three probes 44 will appropriately shrink upward when being resisted by the test board 42. At this time, the sensors 45 of each probe 44 will sense the compressed length of each probe 44, and will The compressed length of the probe 44 is communicated to the control processor 55 .

Before the test, the needle tips of the three probes 44 have been adjusted to the same level. Therefore, when the compression lengths of the probes 44 are consistent, it means that the upper flat plate 421 of the test board 42 is located on a horizontal plane.

When the compression lengths of the probes 44 are inconsistent, the control processor 55 converts the compression length to the angle that the clamping member 41 of the robot arm 40 needs to adjust, and transmits the calculated angle to the clamping member 41 . The holding orientation controller 48 is used to adjust the robot arm 40 to the corresponding clamping orientation and change the angle at which the clamping member 41 clamps the test plate 42 . Then, the robot arm 40 uses the clamping member 41 to clamp the test board 42 , and brings the test board 42 close to the lower surface of the calibration module 15 , and repeats the above-mentioned testing and angle adjustment until the three probes 44 If the compressed lengths are the same when being resisted, it means that the test plate 42 is already on the horizontal plane.

As shown in Figure 1, in this case, the upper flat plate 421 on the upper surface of the test board 42 has a two-dimensional groove 422. By adjusting the orientation of the test board 42, all three probes 44 fall into the two-dimensional groove. The groove 422 means that the coordinates of the horizontal plane of the test plate 42 overlap the coordinates of the processing galvanometer 12 .

When measuring the horizontal plane of the test plate 42 , the three probes 44 do not contact the two-dimensional groove 422 , but use the plane on the upper plate 421 outside the two-dimensional groove 422 to determine the horizontal plane. After the above test determines that the test plate 42 is on the horizontal plane, the three probes 44 of the calibration module 15 are aligned with the two-dimensional groove 422 by making the robot arm 40 move the test plate 42, so that two of the three probes 44 fall into one side of the two-dimensional groove 422, and slowly move or rotate the test plate 42 through the robot arm 40 so that the three probes Another probe 44 in 44 falls into the other side of the two-dimensional trench 422 . This completes the alignment action. The purpose of this operation is to ensure that the test plate 42 can not only be maintained on a horizontal plane, but also the coordinates of the horizontal plane can overlap the coordinates of the processing galvanometer 12 . Preferably, the depths of the two-dimensional grooves 422 are all the same, so when the three probes 44 all fall into the two-dimensional groove 422, it means that the X coordinate and the Y coordinate have been aligned.

The two-dimensional groove 422 in this case is an L-shaped groove, but it is not limited to this type. As long as it is any type of two-dimensional groove 422 and the position of the probe corresponds to the two-dimensional groove 422, the purpose of aligning the X coordinate and the Y coordinate can be achieved.

As shown in FIGS. 8A and 8B , another operation method for aligning the X-axis and the Y-axis is proposed in this case. The method is to align the coordinates of the test plate 42 with the coordinates of the robot arm 40 so that the robot arm 40 The coordinate position of the test board 42 can be known. Then, the robot arm 40 is translated in a non-rotating manner, so that the test board 42 just touches the three probes 44 of the calibration module 15 at the same time (as shown in FIG. 8A ). At this time, the three probes are recorded. 44; then rotate the test plate 42 by an angle along its own X-axis (as shown in Figure 8B), and perform the same operation so that the test plate 42 just touches the correction The three probes 44 of the module 15 are now recorded on the second plane formed by the vertices of the three probes 44 . Calculate the intersection line of the first plane and the second plane to obtain the X-axis of the test plate 42 observed at the calibration module 15; use the same method to rotate the test plate 42 about its own Y-axis, The Y-axis of the test plate 42 observed at the calibration module 15 can also be obtained. Therefore, the calibration module 15 can obtain the X-axis and Y-axis of the test plate 42. By comparing the X-axis and Y-axis of the test plate 42 with the X-axis and Y-axis of the calibration module 15 itself, we can know the two The difference in coordinates. The difference is then input to the robot arm 40 for compensation, or the program end of the laser processing machine 10 performs computational compensation. For the sake of accuracy, this method of calculating the compensation value can perform multiple operations to determine the coordinates of the X-axis and the Y-axis and calculate the difference, and average the multiple calculated values for compensation.

As shown in FIG. 5 , this case also includes a vertical coordinate calibrator 70 that is connected to the robot arm 40 via signals to correct the vertical coordinates so that the test board can be positioned at the focus of the laser projection. After the horizontal plane and the coordinates of the horizontal plane of the test plate 42 have been determined, the vertical coordinate calibrator 70 remembers the positioning method of the robot arm 40 at this position and corrects the vertical coordinates so that the test plate 42 can be positioned on the laser projection focus to achieve the best projection effect.

As shown in FIG. 6 , the vertical coordinate calibrator 70 includes a photographic focus determining device 50 for determining the distance between the processing galvanometer 12 and the test plate 42 . The photographic focus determining device 50 includes a camera 52 for recording the image of the test board 42, and a comparator 54 connected to the camera 52, The camera 52 inputs the projected image into the comparator 54 .

The way to determine the focal length is to move the test plate 42 held by the robot arm 40 up and down along the laser emission path and stay at different positions, and then the processing galvanometer 12 will project the laser light on the test plate 42. By moving the test board 42 up and down along the laser emission path, the camera 52 is used to capture images of the test board 42 at different positions, and the images are input to the comparator 54 . The comparator 54 calculates the laser illumination range 100 projected by the laser light on the test plate 42 in the image. 7A to 7C show the laser illumination range 100 projected by the laser light on the test plate 42 at different height positions. As shown in FIG. 7C , when the projected laser illumination range 100 reaches the minimum, the height of the test plate 42 is the position of the focus. Calculate the distance between the focus and the laser emission point in the processing galvanometer 12 The distance is the focal length. Therefore, when actually performing laser processing operations, the workpiece can be placed at this height to achieve the best processing effect.

The advantage of this case is that it can quickly locate the horizontal orientation of the test plate held by the robot arm, and align the test plate with the coordinates of the processing galvanometer of the laser processing machine in this horizontal orientation, and determine the coordinates of the test plate through the photographic focal length determination device. Process the focal length and focus of the galvanometer. Therefore, when processing objects, you can use the horizontal orientation of the test board measured in this case, align the coordinates of the test board in the horizontal orientation, and the focal length and focus of the processing galvanometer, and the robot arm can be quickly adjusted to The required position enables precise laser processing of the workpiece held by the robotic arm during actual work.

To sum up, the humanized and considerate design of this case is quite in line with actual needs. Its specific improvement has the existing deficiencies, and it has obvious breakthrough advantages compared to the conventional technology, and it does have an improvement in efficacy, and it is not easy to achieve. This case has not been published or disclosed in domestic or foreign documents or markets, and it complies with the provisions of the patent law.

The above detailed description is a specific description of one possible embodiment of the present invention. However, the embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation can be made without departing from the technical spirit of the present invention. Any modification or change shall be included in the patent scope of this case.

10:Laser processing machine

12: Processing galvanometer

15:Calibration module

40:Robotic arm

41: Clamping piece

42:Test board

421: Go to the tablet

422: Two-dimensional trench

Claims (12)

A laser processing system that can quickly position a robotic arm to a three-dimensional coordinate system, including: a laser processing machine for emitting laser beams for processing; wherein the laser processing machine is equipped with a processing galvanometer for processing Move to the required position in the X, Y, and Z axis directions to project the laser light to achieve the purpose of processing; a laser processing controller is connected to the laser processing machine; the laser processing controller is used to receive the desired Processing coordinate data, and controls the corresponding laser processing machine to perform the required processing operations on the workpiece; a calibration module is installed outside the processing galvanometer of the laser processing machine; wherein the laser processing control The controller stores the relative positional relationship between the correction module and the processing galvanometer, and the laser processing controller can convert the relative positional relationship into the processing position coordinates of the processing galvanometer; the lower surface of the correction module Three probes are installed, which are retractable structures; the display surfaces of the three probes form a two-dimensional plane; during testing, the tips of the three probes are positioned on the same horizontal plane, and the calibration module is also On the horizontal plane; a robotic arm, the robotic arm includes a clamping member, which is used to clamp the workpiece during operation, so that the processing galvanometer of the laser processing machine can project laser light on the workpiece; During testing, the robot arm uses the clamping member to hold a test plate for determining the horizontal plane; wherein the upper surface of the test plate is a flat upper plate; and wherein the robot arm uses the clamp during testing. The holder holds the test board and makes the test board close to the three probes on the lower surface of the calibration module; the three probes will shrink upward appropriately when being resisted by the test board; each application is The compressed length of the probe adjusts the angle of the clamping member of the robot arm, thereby changing the angle at which the clamping member clamps the test board. Repeat the above-mentioned testing and angle adjustment until the three probes are resisted. When the compressed length is the same, it means that the test board is on the horizontal plane; Each probe is equipped with a sensor for sensing the compression length of each probe; a control processor; the robotic arm further includes a clamping orientation controller for adjusting the clamping position of the robotic arm. The control processor connects the sensor of each probe and the holding orientation controller of the robotic arm; during testing, when the three probes are resisted by the test board, each The sensor of the probe will sense the compressed length of each probe, and transmit the compressed length of each probe to the control processor; when the compressed length of each probe is consistent, it indicates that the test The upper flat plate of the board is located on the horizontal plane; when the compression lengths of the probes are inconsistent, the control processor converts the compression length into the angle that the clamping member of the robot arm needs to adjust, and calculates the calculated angle. It is transmitted to the clamping orientation controller to adjust the robot arm to the corresponding clamping orientation and change the angle at which the clamping member clamps the test board; and then the robot arm uses the clamping member to clamp the test board. board, and bring the test board close to the lower surface of the calibration module. Repeat the above test and angle adjustment until the compression lengths of the three probes are the same when they are resisted, which means that the test board is on a horizontal plane. As described in item 1 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system is provided, in which the three probes are located at both ends and corners of an L-shaped path. The L-shaped The path's corners are right angles. As described in item 1 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system, wherein the upper plate of the upper surface of the test board has a two-dimensional groove. By adjusting the orientation of the test board When all three probes fall into the two-dimensional groove, it means that the coordinates of the horizontal plane of the test plate overlap the coordinates of the processing galvanometer. As described in item 3 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system, in which the depth of the two-dimensional groove is the same, when the three probes all fall into the two-dimensional groove , it means that the X coordinate and Y coordinate have been aligned. As described in item 3 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system is provided, in which the two-dimensional groove is an L-shaped groove. As described in item 1 of the patent application, the laser processing system that can quickly position a robot arm to a three-dimensional coordinate system also includes a vertical coordinate calibrator signal connected to the robot arm. The vertical coordinate calibrator is used to correct the vertical coordinates, so that The test plate can be positioned at the focus of the laser projection. As described in item 6 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system, wherein the vertical coordinate calibrator includes a photographic focal length determination device for determining the processing galvanometer and the test plate distance between each other; wherein the photographic focus determination device includes a camera for recording the image of the test board, and a comparator connected to the camera, wherein the camera inputs the projected image into the comparator; when the mechanical The test board held by the arm moves up and down along the laser emission path, so that when the laser illumination range measured by the image input by the camera reaches the minimum, the height of the test board at this time is the position of the focus. The distance between the calculated focus and the laser emission point in the processing galvanometer is the focal length. As described in item 1 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system is used. When performing the operation of aligning the X-axis and the Y-axis, the coordinates of the test plate and the robot arm are The coordinates of the test board are aligned so that the robot arm knows the coordinate position of the test board; then the robot arm is translated in a non-rotating manner so that the test board just touches the three probes of the calibration module at the same time. At this time, the record The first plane formed by the vertices of the three probes; then rotate the test board at an angle along its own X-axis, and perform the same operation so that the test board just touches the three correction module Probes, at this time record the second plane formed by the vertices of the three probes; calculate the intersection line of the first plane and the second plane to obtain the X-axis of the test board observed at the calibration module ; Use the same method to rotate the test board on its own Y axis, and also obtain the Y axis of the test board observed at the correction module; therefore, the correction module obtains the X axis and Y axis of the test board, Compare the X-axis and Y-axis of the test board to the X-axis of the calibration module itself Compare with the Y axis to know the difference between the two coordinates; then input the difference into the robot arm for compensation, or perform computational compensation on the program side of the laser processing machine. As described in Item 8 of the patent application, a laser processing system that can quickly position a robotic arm to a three-dimensional coordinate system is used to perform multiple operations and difference calculations to determine the coordinates of the X-axis and Y-axis, and the multiple The calculated values are averaged for compensation. As described in item 1 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system is provided, in which the correction module is located below, in front, behind, left or right of the processing galvanometer. As described in item 1 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system is provided, in which the correction module is located below the processing galvanometer, and there is a hole in the center of the correction module. The cavity is aligned below the processing galvanometer, so that the laser emitted by the processing galvanometer can pass through the cavity and be projected onto the object to be processed. As described in item 1 of the patent application, a laser processing system that can quickly position a robot arm to a three-dimensional coordinate system is provided, in which the correction module is located in front, behind, left or right of the processing galvanometer, and the The correction module and the processing galvanometer are located on the same horizontal plane.

Images