TWM613580U - Laser processing system capable of quickly positioning robotic arm to three-dimensional coordinate system - Google Patents

Abstract

A laser processing system capable of quickly positioning a robot arm to a three-dimensional coordinate system, including a laser processing machine for emitting laser beams for processing; a correction module installed on a laser processing machine Process the outside of the galvanometer; the lower surface of the correction module is equipped with three probes to form a retractable structure; the placement surface of the three probes forms a two-dimensional plane; the needle tip of the three probes is On the same level, and the calibration module is also on the level; a mechanical arm includes a clamping piece for clamping the workpiece, so that the laser processing machine can project the laser light on the workpiece; the clamping during testing The component clamps a test board, and makes the test board abut the three probes close to the three probes; the compression length of each probe is used to adjust the clamping piece of the robot arm to clamp the test board Repeat the above-mentioned test and angle adjustment until the compressed length of the three probes is the same when they are pressed, which means that the test board is already on the horizontal plane.

Description

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

This creative department is about laser processing, especially a laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system.

The laser processing machine uses the laser beam to be processed by the lens to achieve a high degree of focus, and then the laser beam is applied to the laser processing object to achieve the purpose of processing, cutting, cutting or engraving. Generally, the processing object is placed on a sliding table. The motor system is then used to control the movement and rotation of the sliding table, and move the sliding table to a position suitable for processing for 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 processing object is placed in a robot, but because the moving space of the robot is quite large, and the positioning of the robot itself is not fixed, so when the robot grips the processing object, There is a big error between the coordinates of the clamped object and the laser coordinates emitted by the laser galvanometer. If this error is not corrected, there will be errors between the coordinates calculated by the computer device and the actual processing point of the laser processing machine. Therefore, the final graphics generated on the processed object will be distorted, and the final processed pattern of the processed object cannot meet the expected result

Therefore, this case hopes to propose a new laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system to solve the above-mentioned defects in the prior art.

Therefore, the purpose of this creation is to solve the above-mentioned conventional technical problems. In this creation, a laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system is proposed. The horizontal orientation of the test board held by the robotic arm, and the test board can be aligned with the coordinates of the processing galvanometer of the laser processing machine in this horizontal orientation, and the focal length of the processed galvanometer is determined by the camera focal length determining device. focus. Therefore, when processing the object, 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 processed galvanometer, and you can quickly adjust the robotic arm to The required position enables precise laser processing of the workpiece clamped by the robotic arm in actual work.

In order to achieve the above purpose, this creation proposes a laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system, including a laser processing machine for emitting a laser beam for processing; wherein each of the laser processing The machine is equipped with a processing galvanometer to 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 coordinate data to be processed and control the corresponding laser processing machine to perform the required processing operations on the workpiece; a calibration module is installed in the processing galvanometer of the laser processing machine Below; Wherein the center of the correction module has a hole, the hole is aligned with the bottom of the processing galvanometer, so that the laser emitted by the processing galvanometer can pass through the hole and be projected on the object to be processed; the correction Three probes are installed on the lower surface of the module, which is a retractable structure; the placement 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, the clamping piece is used to clamp the workpiece during work, so that the processing galvanometer of the laser processing machine can project laser light On the workpiece; during testing, the robotic arm uses the clamping piece to clamp a test board for determining the horizontal plane; where the upper surface of the test board is a flat upper plate; and where the The mechanical arm uses the clamping piece to clamp the test board, and makes the test board abut the three probes on the lower surface of the calibration module; the three probes will move up appropriately when pressed by the test board Shrink; wherein the compressed length of each probe is used to adjust the angle of the gripping part of the robotic arm, and the gripping part is changed Holding the angle of the test board, repeat the above-mentioned test and angle adjustment until the three probes have the same compressed length when they are pushed, which means that the test board is already on the horizontal plane.

The following description can further understand the features and advantages of this creation. Please refer to the attached drawings when reading.

10: Laser processing machine

12: Processing galvanometer

15: Calibration module

40: Robotic arm

41: Clamping parts

42: test board

44: Probe

45: Sensor

48: Clamping Orientation Controller

50: Camera focal length determining device

52: Camera

54: Comparator

55: control processor

60: Laser processing controller

70: vertical coordinate calibrator

100: laser light range

151: Hollow

200: L-shaped path

421: upper plate

422: Two-dimensional groove

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

FIG. 2 shows a schematic diagram of the bottom view angle of FIG.

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

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

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

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

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

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

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

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

FIG. 8B shows a schematic diagram of the test board rotating along its own X-axis in another method of aligning the X-axis and the Y-axis in this case.

FIG. 9 shows a schematic diagram of another configuration position of the calibration module in this case.

With regard to the structural composition of this case, and the effects and advantages that can be produced, in conjunction with the drawings, a preferred embodiment of this case is described in detail as follows.

Please refer to Figure 1 to Figure 9, which shows the laser processing system created by this invention that can quickly position the robotic arm to the three-dimensional coordinate system, including the following components:

A laser processing machine 10 is used to emit a laser beam for processing purposes, such as marking. During operation, the laser beams emitted by each of the laser processing machines 10 can be projected onto a workpiece (not shown in the figure), and a pattern processed by the laser beam appears on the workpiece. Each of the laser processing machines 10 is equipped with a processing galvanometer 12 for moving to a desired position in the X, Y, and Z axis directions, so as 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 position relationship between the correction module 15 and the processing galvanometer 12, and the laser processing controller 60 can convert the relative position relationship into the processing galvanometer 12 Machining position coordinates. The correction module 15 can be located below, front, rear, left or right of the processing galvanometer 12. As shown in FIG. 1, when the correction module 15 is located under the processing galvanometer 12, there is a cavity 151 in the center of the correction module 15. The cavity 151 is aligned with the underside of the processing galvanometer 12, so that the The laser emitted by the processing galvanometer 12 can pass through the cavity 151 and project on the object to be processed. When the correction module 15 is located in front, rear, left or right of the processing galvanometer 12, the correction module 15 and the processing galvanometer 12 are located on the same horizontal plane. FIG. 9 shows that the correction module 15 is located to the right of the processing galvanometer 12.

As shown in Figure 2, the lower surface of the calibration module 15 is equipped with three retractable probes 44, each of which The needle 44 has a considerable sensitivity and is of a stretchable structure. Its stretchable range can be 10mm, and the minimum resolution when stretched can be 0.001mm. As shown in FIG. 4, the three probes 44 are located at the two 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 mechanical arm 40, the mechanical 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 on. During the test, the mechanical arm 40 uses the clamping member 41 to clamp a test board 42 for determining the horizontal plane. The upper surface of the test board 42 is a relatively flat upper plate 421. After the test board 42 is used to determine the horizontal plane, the mechanical 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 for adjusting the clamping orientation of the robotic arm 40.

Before the test, the tip of each probe 44 is adjusted so that the tip 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 gripping orientation controller 48 of the robotic arm 40.

During testing, the robotic 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. When the three probes 44 are pressed by the test board 42, they will retract appropriately. At this time, the sensor 45 of each probe 44 will sense the compressed length of each probe 44, and will The compressed length of the probe 44 is transmitted to the control processor 55.

Because before the test, the tips of the three probes 44 have been adjusted on the same level. Therefore, when the compressed lengths of the probes 44 are the same, it means that the upper plate 421 of the test board 42 is on the horizontal plane.

When the compressed lengths of the probes 44 are inconsistent, the control processor 55 converts the compressed length to the angle that the gripper 41 of the robotic arm 40 needs to adjust, and transmits the calculated angle Go to the clamping position controller 48 to adjust the mechanical arm 40 to the corresponding clamping position and change the angle at which the clamping member 41 clamps the test board 42. Then make the robot arm 40 use the clamping member 41 to clamp the test board 42, and make the test board 42 close to the lower surface of the calibration module 15, repeat the above-mentioned test and angle adjustment, until the three probes 44 When the compression length is the same when it is pressed, it means that the test board 42 is already on the horizontal plane.

As shown in FIG. 1, in this case, the upper 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 the three probes 44 fall into the two-dimensional groove. The slot 422 means that the coordinates of the horizontal plane of the test board 42 overlap the coordinates of the processing galvanometer 12.

When the horizontal plane of the test board 42 is measured as described above, the three probes 44 do not touch 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 test board 42 is determined to be on the horizontal plane after the above-mentioned test, the action of aligning the three probes 44 of the calibration module 15 with the two-dimensional groove 422 is performed 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 the test plate 42 is slowly moved or rotated by the robot arm 40 so that the three probes The other probe 44 in 44 falls into the other side of the two-dimensional groove 422. This completes the alignment action. The purpose of this operation is to make the test board 42 not only maintain a horizontal plane, but also the coordinates of the horizontal plane can overlap the coordinates of the processing galvanometer 12. Preferably, the depth of the two-dimensional groove 422 is 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. Then the aim of aligning the X and Y coordinates can be achieved.

As shown in Figures 8A and 8B, another operation method for aligning the X-axis and Y-axis is proposed in this case. The method is to align the coordinates of the test board 42 with the coordinates of the robotic arm 40, so that the mechanical The arm 40 can know the coordinate position of the test board 42. Then the robotic 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 The first plane formed by the apex of 44; then the test board 42 is rotated by an angle along its own X-axis (as shown in FIG. 8B), and the same operation is performed to make the test board 42 just touch the correction at the same time The three probes 44 of the module 15 record the second plane formed by the vertices of the three probes 44 at this time. Calculate the intersection of the first plane and the second plane to obtain the X axis of the test board 42 observed at the calibration module 15; apply the same method to rotate the test board 42 to its own Y axis, The Y axis of the test board 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 board 42, and compare the X-axis and Y-axis of the test board 42 with the X-axis and Y-axis of the calibration module 15 itself. The difference in coordinates. The difference is then input to the robotic arm 40 for compensation, or arithmetic compensation is performed on the program end of the laser processing machine 10. For the sake of accuracy, this method of calculating the compensation value can be performed multiple times to determine the X-axis and Y-axis coordinates and the difference calculation, and the multiple calculated values are averaged for compensation.

As shown in Fig. 5, this case also includes a vertical coordinate calibrator 70 for signal connection to the robotic arm 40 for correcting the vertical coordinate so that the test board can be positioned at the focal point of the laser projection. After the horizontal plane and the horizontal plane coordinates of the test board 42 have been determined, the vertical coordinate calibrator 70 memorizes the positioning method of the robotic arm 40 at this position and corrects the vertical coordinates so that the test board 42 can be positioned on the laser projection Focus on, in order to achieve the best projection effect.

As shown in FIG. 6, the vertical coordinate aligner 70 includes a photographic focal length determining device 50 for determining the distance between the processing galvanometer 12 and the test board 42. The camera focal length 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, wherein the camera 52 inputs the projected image into the comparator 54.

The method of determining the focal length is to shoot the test board 42 clamped by the robotic arm 40 along the laser The exit path moves up and down to stay at different positions, and then the processing galvanometer 12 will project laser light on the test board 42, by moving the test board 42 up and down along the laser emission path, and use the camera 52 in different positions The image of the test board 42 is recorded, and the image is input to the comparator 54. The comparator 54 calculates the laser illumination range 100 projected by the laser light on the test board 42 in the image. 7A to 7C show the laser light range 100 projected by the laser light on the test board 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 board 42 at this time is the focus position, and the distance between the focus and the laser emission point in the processed galvanometer 12 is calculated. The distance is the focal length. Therefore, when 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 the horizontal position of the test board clamped by the robotic arm can be quickly positioned, and the test board can be aligned with the coordinates of the processing galvanometer of the laser processing machine in this horizontal position, and the camera focal length determining device determines the Process the focal length and focus of the galvanometer. Therefore, when processing the object, 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 processed galvanometer, and you can quickly adjust the robotic arm to The required position enables precise laser processing of the workpiece clamped by the robotic arm in actual work.

In summary, the humanized and considerate design of this case is quite in line with actual needs. Compared with the conventional technology, the specific improvement of the existing defects is obviously a breakthrough advantage, and it does have an increase in efficacy, and it is not easy to achieve. This case has not been disclosed or disclosed in domestic and foreign documents and markets, and it has complied with the provisions of the Patent Law.

The above detailed description is a specific description of a feasible embodiment of this creation. However, this embodiment is not used to limit the scope of patent of this creation. Any equivalent implementation or modification that does not deviate from the spirit of this creation technique should be included in In the scope of the patent in this case.

10: Laser processing machine

12: Processing galvanometer

15: Calibration module

40: Robotic arm

41: Clamping parts

42: test board

421: upper plate

422: Two-dimensional groove

Claims (14)

A laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system, including: A laser processing machine for emitting laser beams for processing; wherein each of the laser processing machines is equipped with a processing galvanometer for moving to the required position in the X, Y, and Z axis directions to move the laser The light is projected out 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 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 outside the processing galvanometer of the laser processing machine; wherein the laser processing controller stores the relative position relationship between the correction module and the processing galvanometer, and the laser processing controller The relative position relationship can be converted into the processing position coordinates of the processing galvanometer; three probes are installed on the lower surface of the correction module, which is a retractable structure; the placement surface of the three probes forms a two-dimensional plane; During the test, make sure that the tips of the three probes are on the same horizontal plane, and the calibration module is also on the horizontal plane; A mechanical arm, the mechanical arm includes a clamping piece, the clamping piece is used to clamp the workpiece during work, so that the processing galvanometer of the laser processing machine can project laser light on the workpiece; during testing, The robotic arm uses the clamping member to clamp a test board for determining the horizontal plane; wherein the upper surface of the test board is a flat upper plate; and During testing, the robotic arm uses the clamping member to clamp the test board, and makes the test board close to the three probes on the lower surface of the calibration module; when the three probes are pressed by the test board Will be appropriately retracted upward; wherein the compressed length of each probe is used to adjust the angle of the gripping part of the robotic arm, and the angle at which the gripping part clamps the test board is changed, and the above-mentioned test and angle adjustment are repeated , Until the three probes have the same compressed length when they are pressed, it means that the test board is already on the horizontal plane. As described in item 1 of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system, wherein each probe is equipped with a sensor for sensing the compressed length of each probe. As described in item 2 of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system also includes a control processor; wherein the robot arm also includes a clamping position controller for adjustment The gripping orientation of the robotic arm; the control processor is connected to the sensor of each probe and the gripping orientation controller of the robotic arm; During the test, when the three probes are pressed by the test board, the sensor of each probe will sense the compressed length of each probe, and transmit the compressed length of each probe To the control processor; when the compressed lengths of the probes are the same, it means that the upper plate of the test board is on the horizontal plane; When the compressed lengths of the probes are inconsistent, the control processor converts the compressed length to the angle that the gripping piece of the robotic arm needs to adjust, and transmits the calculated angle to the gripping orientation controller , So that the mechanical arm is adjusted to the corresponding clamping position, and the angle at which the clamping piece clamps the test board is changed; then the mechanical arm is used to clamp the test board with the clamping piece, and the test board is brought into close proximity On the lower surface of the calibration module, repeat the above-mentioned test and angle adjustment until the three probes have the same compression length when they are pressed, which means that the test board is already on the horizontal plane. As described in item 1 of the scope of patent application, the laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system, wherein the three probes are located at the two ends and corners of an L-shaped path, the L-shaped The corner of the path is a right angle. As described in the first item of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system, wherein the upper plate on the upper surface of the test board has a two-dimensional groove, and the orientation of the test board is adjusted When all the three probes fall into the two-dimensional groove, it means that the coordinates of the horizontal plane of the test board overlap the coordinates of the processing galvanometer. As described in item 5 of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system, wherein 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 and Y coordinates have been aligned. As described in item 5 of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system, wherein the two-dimensional groove is an L-shaped groove. As described in item 1 of the scope of patent application, the laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system also includes a vertical coordinate calibrator signal connected to the robotic arm, and the vertical coordinate calibrator is used to correct the vertical coordinate so that The test board can be positioned at the focal point of the laser projection. As described in item 8 of the scope of patent application, the laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system, wherein the vertical coordinate aligner includes a photographic focal length determining device for determining the processing galvanometer and the test board The camera focal length determining 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 machine When the test board held by the arm moves up and down along the laser emission path, so that 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 focus position. Calculate the distance between the focal point and the laser emitting point in the galvanometer to be the focal length. As described in item 1 of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system, in which the coordinates of the test board and the robot arm are aligned when the X-axis and Y-axis are aligned. The coordinates of the test board are aligned, so that the robotic arm knows the coordinate position of the test board; then the robotic arm is translated in a non-rotating manner, so that the test board is just touching the three probes of the calibration module at the same time, and then record The first plane formed by the vertices of the three probes; then the test board is rotated by an angle along its own X axis, and the same operation is performed so that the test board is just touching the three calibration modules at the same time. Probe, record the second plane formed by the vertices of the three probes at this time; calculate the intersection of the first plane and the second plane to get the Correct the X-axis of the test board observed at the module; apply the same method to rotate the test board to its own Y-axis, and obtain the Y-axis of the test board observed at the correction module; therefore, the correction model Group get the X axis and Y axis of the test board, compare the X axis and Y axis of the test board with the X axis and Y axis of the calibration module itself, that is, know the difference between the two coordinates; then this difference The value is input to the robotic arm for compensation, or the mathematical compensation is performed on the program end of the laser processing machine. As described in item 10 of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system, in which the operation of determining the coordinates of the X-axis and the Y-axis and the difference calculation are performed multiple times, and the difference calculation is performed multiple times. The calculated value of is averaged for compensation. As described in item 1 of the scope of patent application, the laser processing system that can quickly position the robot arm to the three-dimensional coordinate system, wherein the correction module is located below, front, rear, left or right of the processing galvanometer. As described in item 1 of the scope of patent application, the laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system, wherein the correction module is located under the processing galvanometer, and the center of the correction module has a cavity, the The cavity is aligned with the bottom of the processed galvanometer, so that the laser emitted by the processed galvanometer can pass through the cavity and be projected on the object to be processed. As described in item 1 of the scope of patent application, the laser processing system that can quickly position the robotic arm to the three-dimensional coordinate system, wherein the correction module is located in front, rear, left or right of the processing galvanometer, and the The correction module and the processing galvanometer are located on the same horizontal plane.

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