WO2017088112A1 - Robot teaching positioning device and method - Google Patents
Robot teaching positioning device and method Download PDFInfo
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- WO2017088112A1 WO2017088112A1 PCT/CN2015/095481 CN2015095481W WO2017088112A1 WO 2017088112 A1 WO2017088112 A1 WO 2017088112A1 CN 2015095481 W CN2015095481 W CN 2015095481W WO 2017088112 A1 WO2017088112 A1 WO 2017088112A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Definitions
- Embodiments of the present invention relate to the field of industrial robots, and in particular, to a robot teaching and positioning device and method.
- the position of the robot movement is usually determined by teaching.
- teaching the robot first manually control the robot motion, move the tool's tool center point (TCP) to the position we need (ie, the teaching point), and record the data of the robot TCP point at this time. That is to reflect the position and posture of the robot fixture at this time, and then move the TCP point to the next teaching point, and then record the data of the TCP point at this time, and thus perform all the teaching points of the robot to reach in a motion cycle.
- the motion path is designed according to the recorded data and the robot motion program is programmed, so that the robot sequentially passes the required position point to complete the application teaching of the robot. Thereafter, the robot can repeat the motion according to the programmed program to complete the specific work.
- the teaching point where the position accuracy is not high, it is possible to visually determine whether the position point of the actual movement of the robot reaches the teaching point by the human eye, and the teaching point (such as the position) which requires a higher position accuracy.
- the accuracy requirement is less than 1mm, that is, the distance between the actual movement position of the robot and the teaching point is less than 1mm. It is usually necessary to use complicated instruments to determine whether the position of the actual movement of the robot reaches the teaching point.
- the commonly used positioning device has a laser tracker.
- the laser tracker is used to measure the data of a plurality of points on the robot jig, and then the accurate position and posture of the robot jig are obtained through calculation. Determine if the position of the actual movement of the robot reaches the teaching point.
- the laser tracker is a complex precision instrument that usually requires special study or training to use, and the laser tracker is expensive.
- the laser tracker needs to irradiate the laser onto the tracking target and then measure the distance information according to the reflected signal, the laser tracker cannot be used in a narrow space where the optical path is blocked, and the robot needs precise positioning.
- the teaching point is usually the position to cooperate with other equipment, such as deep into the machine tool. Therefore, in most cases the laser tracker is not suitable for precise positioning of robot teaching points.
- dial indicator or dial gauge
- the embodiments of the present invention provide a robot teaching positioning device and method, which can improve positioning accuracy and improve teaching efficiency.
- the robot teaching and positioning device comprises a table side positioning block, a fixture side positioning block, a first positioning pin and a second positioning pin;
- a first positioning hole and a second positioning hole are respectively disposed on the two intersecting surfaces of the table-side positioning block, and the first positioning hole and the second positioning hole are perpendicular to each other;
- the clamp side positioning block is configured to fix the robot fixture, and the two intersecting faces are disposed with a third positioning hole and a fourth positioning hole, and the third positioning hole and the fourth positioning hole are perpendicular to each other;
- the outer diameter of the first positioning pin is adapted to the inner diameters of the first positioning hole and the third positioning hole, the outer diameter of the second positioning pin and the second positioning hole and the fourth
- the inner diameter of the positioning hole is adapted; the first positioning pin is for simultaneously inserting the first positioning hole and the third positioning hole, and the second positioning pin is for inserting the second positioning hole at the same time and
- the fourth positioning hole is configured to achieve a fixed connection between the table side positioning block and the fixture side positioning block.
- the table side positioning block is L-shaped.
- the clamp side positioning block has a rectangular parallelepiped shape.
- the first positioning pin and the second positioning pin are both cylindrical pins.
- the outer diameter of the first positioning pin is the same as the outer diameter of the second positioning pin.
- the first positioning hole, the second positioning hole, the third positioning hole and the fourth positioning hole are all cylindrical holes.
- the inner diameters of the first positioning hole, the second positioning hole, the third positioning hole and the fourth positioning hole are the same.
- the first positioning hole and the second positioning hole are not in the same horizontal plane.
- the third positioning hole and the fourth positioning hole are not in the same horizontal plane.
- the present invention provides a robot teaching positioning method, which is performed by the robot teaching positioning device according to the first aspect, the method comprising:
- Adjusting a position and a posture of the robot jig to enable the first positioning pin to be simultaneously inserted The first positioning hole and the third positioning hole, and the second positioning pin can be simultaneously inserted into the second positioning hole and the fourth positioning hole;
- the recording robot Tool coordinate center point TCP When the first positioning pin is simultaneously inserted into the first positioning hole and the third positioning hole, and the second positioning pin is simultaneously inserted into the second positioning hole and the fourth positioning hole, the recording robot Tool coordinate center point TCP.
- the robot teaching and positioning device includes a table side positioning block, a fixture side positioning block, a first positioning pin and a second positioning pin, and the two intersecting faces of the fixture side positioning block are disposed perpendicular to each other.
- a positioning hole and a second positioning hole, the two intersecting faces of the table side positioning block are provided with a third positioning hole and a fourth positioning hole perpendicular to each other, and the outer diameter of the first positioning pin and the first positioning hole and The inner diameter of the third positioning hole is matched, and the outer diameter of the second positioning pin is matched with the inner diameters of the second positioning hole and the fourth positioning hole, and when the positioning is performed, the table side positioning block is fixed on the working table.
- Position (ie fixed teaching point), fix the fixture side positioning block on the robot fixture, adjust the position and posture of the robot fixture (the fixture side positioning block will move with it), so that the two positioning pins can pass through the worktable at the same time
- the positioning holes on the side positioning block and the clamping side positioning block can be used, so that two mutually perpendicular cylinders are determined by the four positioning holes, and the two mutually perpendicular cylinders can represent six degrees of freedom, that is, the robot fixture is embodied s position And posture, so when the two positioning pins pass through the positioning holes on the table side positioning block and the clamp side positioning block at the same time, the robot fixture reaches the accurate teaching point position, and thus the robot teaching positioning device provided by the present invention It can improve positioning accuracy, simplify positioning operation, and improve teaching efficiency.
- FIG. 1 is a schematic diagram of an embodiment of a robot teaching and positioning device according to the present invention.
- FIG. 2 is a schematic diagram of an embodiment of a workbench side positioning block of the present invention.
- FIG. 3 is a schematic view showing an embodiment of a clamp side positioning block of the present invention.
- FIG. 4 is a schematic diagram of another embodiment of a robot teaching and positioning device according to the present invention.
- FIG. 5 is a schematic diagram of an embodiment of an application scenario of the robot teaching and positioning device of FIG. 4.
- FIG. 5 is a schematic diagram of an embodiment of an application scenario of the robot teaching and positioning device of FIG. 4.
- Embodiments of the present invention provide a robot teaching and positioning device and method, which can improve positioning accuracy and improve teaching efficiency.
- the robot teaching and positioning device of the present invention comprises a table side positioning block 1 , a clamp side positioning block 2 , a first positioning pin 31 and a second positioning pin 32 .
- the first positioning hole 41 and the second positioning hole 42 are disposed on the two intersecting surfaces of the table-side positioning block 1.
- the first positioning hole 41 and the second positioning hole 42 are perpendicular to each other;
- the intersecting surfaces are provided with a third positioning hole 51 (not shown in FIG. 1) and a fourth positioning hole 52.
- the third positioning hole 51 and the fourth positioning hole 52 are perpendicular to each other.
- the table side positioning block 1 is fixed on the table 6, and the table side positioning block 1 and the table 6 can be fixed by bolts, riveting, gluing, etc., and the processing position, that is, the teaching point position, is determined before fixing.
- the outer diameter of the first positioning pin 31 is adapted to the inner diameters of the first positioning hole 41 and the third positioning hole 51
- the outer diameter of the second positioning pin 32 is adapted to the inner diameters of the second positioning hole 42 and the fourth positioning hole 52.
- the first positioning pin 31 is used for simultaneously inserting the first positioning hole 41 and the third positioning hole 51
- the second positioning pin 32 is used for simultaneously inserting the second positioning hole 42 and the fourth positioning hole 52 to realize the table side positioning.
- the first positioning pin 31 and the second positioning pin 32 may each be a cylindrical pin, and both have the same outer diameter for processing.
- the first positioning hole 41, the second positioning hole 42, the third positioning hole 51, and the fourth positioning hole 52 may all be cylindrical holes, and the inner diameters are the same.
- first positioning pin 31 and the second positioning pin 32 may also have other shapes, such as a triangular pin (triangular cross section), and correspondingly, the first positioning hole 41, the second positioning hole 42, the third positioning hole 51, and The fourth positioning holes 52 may also be triangular holes.
- the two intersecting faces of the first positioning hole 41 and the second positioning hole 42 may be perpendicular to each other or may not be perpendicular to each other.
- the table side positioning block 1 can be referred to FIG. 2, and the table side positioning block 1 can be L-shaped and L-shaped. Faces are perpendicular to each other, left The first positioning hole 41 is disposed on the surface, and the second positioning hole 42 is disposed on the right surface.
- the first positioning hole 41 and the second positioning hole 42 may not be in the same horizontal plane, that is, the two are spatially offset from each other, that is, the first A positioning hole 41 and the second positioning hole 42 are spatially in a disjoint vertical state, the first positioning pin 31 is inserted from the first positioning hole 41, and the second positioning pin 32 is inserted from the second positioning hole 42.
- the table-side positioning block 1 can also be in other forms, as long as two mutually perpendicular positioning holes can be disposed on the two intersecting surfaces of the table-side positioning block, which are not specifically limited herein.
- the clamp side positioning block 2 can refer to FIG.
- the clamp side positioning block 2 can have a rectangular parallelepiped shape, and the two vertical faces respectively
- the third positioning hole 51 and the fourth positioning hole 52 are disposed, and the third positioning hole 51 and the fourth positioning hole 52 may not be located at the same horizontal plane, that is, the two are spatially offset from each other, that is, the third positioning hole 51 and the The four positioning holes 52 are spatially in a disjoint vertical state.
- the clamp-side positioning block 2 can also be in other forms, as long as two mutually perpendicular positioning holes can be disposed on the two intersecting faces of the clamp-side positioning block, which are not specifically limited herein.
- the robotic jig 7 is fixed on the clamp side positioning block 2, and can be connected and fixed by bolts, riveting, gluing or the like.
- the workpiece 8 to be processed is placed on the robot jig 7.
- the workpiece 8 to be processed may be manually placed, or may be manually picked up by the robot 9, and the robot 9 and the robot jig 7 may be bolted and positioned.
- the pin connection, the robot jig 7 is generally fixed to the flange of the six-axis end of the robot 9, and the table 6 can be a work table of a laser engraving machine, a machine tool or the like.
- the robot teaching positioning method provided by the present invention is described below, that is, the positioning is performed by using the teaching positioning device provided in the previous embodiment.
- fix the table side positioning block 1 ie, fixed teaching point
- the robot fixture 7 is installed on the robot
- the fixture side positioning block 2 is fixed on the robot fixture (the subsequent fixture side positioning block will follow the robot)
- the second positioning pin 32 is inserted into the second positioning hole 42 and the fourth positioning hole 52.
- the TCP point has been moved to the exact teaching point position, and the data of the robot's TCP point is recorded.
- the data of the point reflects the position and posture of the robot fixture. State, after the recording is completed, take out the positioning pin and complete the teaching work at that point. By analogy, you can complete the teaching of all points in a motion cycle.
- the four positioning holes define two mutually perpendicular cylinders, and two mutually perpendicular columns
- the surface can reflect six degrees of freedom, that is, the position and posture of the robot fixture are reflected, so when the two positioning pins pass through the positioning holes on the table side positioning block and the fixture side positioning block at the same time, the robot fixture reaches the accurate position.
- the position of the teaching point, and thus the robot teaching positioning method provided by the invention can improve the positioning accuracy, simplify the positioning operation, and improve the teaching work efficiency.
Abstract
Disclosed is a robot teaching positioning device, comprising a working table side positioning block (1), a fixture side positioning block (2), a first positioning pin (31) and a second positioning pin (32), wherein two intersecting faces of the working table side positioning block (1) are respectively provided with a first positioning hole (41) and a second positioning hole (42), with the first positioning hole (41) and the second positioning hole (42) being perpendicular to each other; the fixture side positioning block (2) is used to fix a robot fixture (7), and is provided on two intersecting faces thereof with a third positioning hole (51) and a fourth positioning hole (52), with the third positioning hole (51) and the fourth positioning hole (52) being perpendicular to each other; and the first positioning pin (31) is used for being inserted into the first positioning hole (41) and the third positioning hole (51) at the same time, and the second positioning pin (32) is used for being inserted into the second positioning hole (42) and the fourth positioning hole (52) at the same time, so as to achieve the fixed connection of the working table side positioning block (1) and the fixture side positioning block (2). Also disclosed is a robot teaching positioning method utilizing the robot teaching positioning device. The present invention can improve the positioning precision and the teaching efficiency.
Description
本发明实施例涉及工业机器人技术领域，尤其涉及一种机器人示教定位装置及方法。Embodiments of the present invention relate to the field of industrial robots, and in particular, to a robot teaching and positioning device and method.
在工业机器人应用过程中，通常通过示教的方式确定机器人运动的位置点。示教机器人时，首先手动控制机器人运动，将机器人的工具坐标中心点(Tool Central Point，TCP)移动到我们需要的位置(即示教点)，记录下此时机器人TCP点的数据，该数据即体现机器人夹具此时的位置和姿态，再将TCP点移动到下一个示教点，再记录此时TCP点的数据，如此进行，获得机器人一个运动周期内所要的到达的全部示教点，根据记录的数据设计运动路径并编写机器人运动程序，使得机器人依次经过所需的位置点，完成机器人的应用示教，此后，机器人可以按照所编写的程序，重复运动，以完成特定工作。In the process of industrial robot application, the position of the robot movement is usually determined by teaching. When teaching the robot, first manually control the robot motion, move the tool's tool center point (TCP) to the position we need (ie, the teaching point), and record the data of the robot TCP point at this time. That is to reflect the position and posture of the robot fixture at this time, and then move the TCP point to the next teaching point, and then record the data of the TCP point at this time, and thus perform all the teaching points of the robot to reach in a motion cycle. The motion path is designed according to the recorded data and the robot motion program is programmed, so that the robot sequentially passes the required position point to complete the application teaching of the robot. Thereafter, the robot can repeat the motion according to the programmed program to complete the specific work.
在这些位置点中，对于位置精度要求不高的示教点，可以通过人眼目视确定机器人实际运动的位置点是否到达示教点，而对于位置精度要求较高的示教点(例如位置精度要求1mm以下，即机器人实际运动的位置点与示教点之间的距离要小于1mm)，则通常需要使用复杂的仪器设备确定机器人实际运动的位置点是否到达示教点。Among these position points, for the teaching point where the position accuracy is not high, it is possible to visually determine whether the position point of the actual movement of the robot reaches the teaching point by the human eye, and the teaching point (such as the position) which requires a higher position accuracy. The accuracy requirement is less than 1mm, that is, the distance between the actual movement position of the robot and the teaching point is less than 1mm. It is usually necessary to use complicated instruments to determine whether the position of the actual movement of the robot reaches the teaching point.
对于位置精度要求较高的示教点，常用的定位设备有激光跟踪仪，通常需要使用激光跟踪仪测量机器人夹具上的多个点的数据，然后经过计算获得机器人夹具的准确位置和姿态，以确定机器人实际运动的位置点是否到达示教点。而激光跟踪仪是一种复杂的精密仪器设备，通常需要专门的学习或培训才可以使用，并且激光跟踪仪价格昂贵。另外，由于激光跟踪仪需要将激光照射到跟踪靶标上，然后根据反射信号测量距离信息，因此，在遇到光路被遮挡的狭窄空间中，激光跟踪仪将无法使用，而机器人需要精确定位的示教点通常又是和其他设备配合的位置，如深入到机床内部等。因此，多数情况下激光跟踪仪不适用于机器人示教点的精确定位。For the teaching point where the position accuracy is high, the commonly used positioning device has a laser tracker. Usually, the laser tracker is used to measure the data of a plurality of points on the robot jig, and then the accurate position and posture of the robot jig are obtained through calculation. Determine if the position of the actual movement of the robot reaches the teaching point. The laser tracker is a complex precision instrument that usually requires special study or training to use, and the laser tracker is expensive. In addition, since the laser tracker needs to irradiate the laser onto the tracking target and then measure the distance information according to the reflected signal, the laser tracker cannot be used in a narrow space where the optical path is blocked, and the robot needs precise positioning. The teaching point is usually the position to cooperate with other equipment, such as deep into the machine tool. Therefore, in most cases the laser tracker is not suitable for precise positioning of robot teaching points.
另外一种常用的定位设备是百分表(或千分表)，但其是一种在小范围内
测量一维位置变化的仪器，因此在确定机器人夹具的位置和姿态时，需要多方向测量或使用多个百分表进行测量，这样会导致机器人示教工作效率很低。Another commonly used positioning device is a dial indicator (or dial gauge), but it is a small range
An instrument that measures one-dimensional position changes, so when determining the position and attitude of the robot fixture, multi-directional measurement or measurement using multiple dial gauges is required, which results in low efficiency of robot teaching.
发明内容Summary of the invention
有鉴于此，本发明实施例提供了一种机器人示教定位装置及方法，能够提高定位精度，同时提高示教工作效率。In view of this, the embodiments of the present invention provide a robot teaching positioning device and method, which can improve positioning accuracy and improve teaching efficiency.
第一方面，本发明提供的机器人示教定位装置，包括工作台侧定位块、夹具侧定位块、第一定位销及第二定位销；In a first aspect, the robot teaching and positioning device provided by the present invention comprises a table side positioning block, a fixture side positioning block, a first positioning pin and a second positioning pin;
所述工作台侧定位块的两个相交的面上分别设置有第一定位孔和第二定位孔，所述第一定位孔与所述第二定位孔相互垂直；a first positioning hole and a second positioning hole are respectively disposed on the two intersecting surfaces of the table-side positioning block, and the first positioning hole and the second positioning hole are perpendicular to each other;
所述夹具侧定位块用于固定机器人夹具，其两个相交的面上设置有第三定位孔和第四定位孔，所述第三定位孔与所述第四定位孔相互垂直；The clamp side positioning block is configured to fix the robot fixture, and the two intersecting faces are disposed with a third positioning hole and a fourth positioning hole, and the third positioning hole and the fourth positioning hole are perpendicular to each other;
所述第一定位销的外径与所述第一定位孔及所述第三定位孔的内径相适配，所述第二定位销的外径与所述第二定位孔及所述第四定位孔的内径相适配；所述第一定位销用于同时插入所述第一定位孔及所述第三定位孔，以及所述第二定位销用于同时插入所述第二定位孔及所述第四定位孔以实现所述工作台侧定位块及所述夹具侧定位块的固定连接。The outer diameter of the first positioning pin is adapted to the inner diameters of the first positioning hole and the third positioning hole, the outer diameter of the second positioning pin and the second positioning hole and the fourth The inner diameter of the positioning hole is adapted; the first positioning pin is for simultaneously inserting the first positioning hole and the third positioning hole, and the second positioning pin is for inserting the second positioning hole at the same time and The fourth positioning hole is configured to achieve a fixed connection between the table side positioning block and the fixture side positioning block.
优选地，所述工作台侧定位块呈L型。Preferably, the table side positioning block is L-shaped.
优选地，所述夹具侧定位块呈长方体型。Preferably, the clamp side positioning block has a rectangular parallelepiped shape.
优选地，所述第一定位销与所述第二定位销均为圆柱销。Preferably, the first positioning pin and the second positioning pin are both cylindrical pins.
优选地，所述第一定位销的外径与所述第二定位销的外径相同。Preferably, the outer diameter of the first positioning pin is the same as the outer diameter of the second positioning pin.
优选地，所述第一定位孔、第二定位孔、第三定位孔和第四定位孔均为圆柱形孔。Preferably, the first positioning hole, the second positioning hole, the third positioning hole and the fourth positioning hole are all cylindrical holes.
优选地，所述第一定位孔、第二定位孔、第三定位孔和第四定位孔的内径相同。Preferably, the inner diameters of the first positioning hole, the second positioning hole, the third positioning hole and the fourth positioning hole are the same.
优选地，所述第一定位孔与所述第二定位孔不位于同一水平面。Preferably, the first positioning hole and the second positioning hole are not in the same horizontal plane.
优选地，所述第三定位孔与所述第四定位孔不位于同一水平面。Preferably, the third positioning hole and the fourth positioning hole are not in the same horizontal plane.
第二方面，本发明提供了一种机器人示教定位方法，所述方法利用如第一方面所述的机器人示教定位装置进行，所述方法包括：In a second aspect, the present invention provides a robot teaching positioning method, which is performed by the robot teaching positioning device according to the first aspect, the method comprising:
调整所述机器人夹具的位置和姿态，以使得所述第一定位销能够同时插入
所述第一定位孔及所述第三定位孔，以及所述第二定位销能够同时插入所述第二定位孔及所述第四定位孔；Adjusting a position and a posture of the robot jig to enable the first positioning pin to be simultaneously inserted
The first positioning hole and the third positioning hole, and the second positioning pin can be simultaneously inserted into the second positioning hole and the fourth positioning hole;
当所述第一定位销同时插入所述第一定位孔及所述第三定位孔，及所述第二定位销同时插入所述第二定位孔及所述第四定位孔时，记录机器人的工具坐标中心点TCP。When the first positioning pin is simultaneously inserted into the first positioning hole and the third positioning hole, and the second positioning pin is simultaneously inserted into the second positioning hole and the fourth positioning hole, the recording robot Tool coordinate center point TCP.
从以上技术方案可以看出，本发明实施例具有以下优点：It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:
本发明实施例中，机器人示教定位装置包括工作台侧定位块、夹具侧定位块、第一定位销及第二定位销，夹具侧定位块的两个相交的面上设置有相互垂直的第一定位孔和第二定位孔，工作台侧定位块的两个相交的面上设置有相互垂直的第三定位孔和第四定位孔，且第一定位销的外径与第一定位孔及第三定位孔的内径相适配，第二定位销的外径与第二定位孔及第四定位孔的内径相适配，定位时，将工作台侧定位块固定在工作台上所需的位置(即固定示教点)，将夹具侧定位块固定在机器人夹具上，调整机器人夹具的位置和姿态(夹具侧定位块会随之移动)，以使得两个定位销可以同时穿过工作台侧定位块及夹具侧定位块上的定位孔即可，这样通过四个定位孔确定两个相互垂直的柱面，而两个相互垂直的柱面可以体现六个自由度，即体现了机器人夹具的位置和姿态，所以当两个定位销同时穿过工作台侧定位块及夹具侧定位块上的定位孔时，机器人夹具即到达了准确的示教点位置，因而本发明提供的机器人示教定位装置可以提高定位精度，简化定位操作，提高示教工作效率。In the embodiment of the present invention, the robot teaching and positioning device includes a table side positioning block, a fixture side positioning block, a first positioning pin and a second positioning pin, and the two intersecting faces of the fixture side positioning block are disposed perpendicular to each other. a positioning hole and a second positioning hole, the two intersecting faces of the table side positioning block are provided with a third positioning hole and a fourth positioning hole perpendicular to each other, and the outer diameter of the first positioning pin and the first positioning hole and The inner diameter of the third positioning hole is matched, and the outer diameter of the second positioning pin is matched with the inner diameters of the second positioning hole and the fourth positioning hole, and when the positioning is performed, the table side positioning block is fixed on the working table. Position (ie fixed teaching point), fix the fixture side positioning block on the robot fixture, adjust the position and posture of the robot fixture (the fixture side positioning block will move with it), so that the two positioning pins can pass through the worktable at the same time The positioning holes on the side positioning block and the clamping side positioning block can be used, so that two mutually perpendicular cylinders are determined by the four positioning holes, and the two mutually perpendicular cylinders can represent six degrees of freedom, that is, the robot fixture is embodied s position And posture, so when the two positioning pins pass through the positioning holes on the table side positioning block and the clamp side positioning block at the same time, the robot fixture reaches the accurate teaching point position, and thus the robot teaching positioning device provided by the present invention It can improve positioning accuracy, simplify positioning operation, and improve teaching efficiency.
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.
图1为本发明机器人示教定位装置一个实施例示意图；1 is a schematic diagram of an embodiment of a robot teaching and positioning device according to the present invention;
图2为本发明工作台侧定位块一个实施例示意图；2 is a schematic diagram of an embodiment of a workbench side positioning block of the present invention;
图3为本发明夹具侧定位块一个实施例示意图；3 is a schematic view showing an embodiment of a clamp side positioning block of the present invention;
图4为本发明机器人示教定位装置另一实施例示意图；4 is a schematic diagram of another embodiment of a robot teaching and positioning device according to the present invention;
图5为图4中机器人示教定位装置的应用场景一个实施例示意图。
FIG. 5 is a schematic diagram of an embodiment of an application scenario of the robot teaching and positioning device of FIG. 4. FIG.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明实施例提供了一种机器人示教定位装置及方法，能够提高定位精度，同时提高示教工作效率。Embodiments of the present invention provide a robot teaching and positioning device and method, which can improve positioning accuracy and improve teaching efficiency.
请参阅图1，本发明机器人示教定位装置包括工作台侧定位块1、夹具侧定位块2、第一定位销31及第二定位销32。其中，工作台侧定位块1的两个相交的面上设置有第一定位孔41及第二定位孔42，第一定位孔41与第二定位孔42相互垂直；夹具侧定位块2的两个相交的面上设置有第三定位孔51(图1中未显示出)及第四定位孔52，第三定位孔51与第四定位孔52相互垂直。工作台侧定位块1固定在工作台6上，工作台侧定位块1与工作台6之间可以通过螺栓，铆接，胶接等方式固定，固定之前先确定加工位置，即示教点位置。Referring to FIG. 1 , the robot teaching and positioning device of the present invention comprises a table side positioning block 1 , a clamp side positioning block 2 , a first positioning pin 31 and a second positioning pin 32 . The first positioning hole 41 and the second positioning hole 42 are disposed on the two intersecting surfaces of the table-side positioning block 1. The first positioning hole 41 and the second positioning hole 42 are perpendicular to each other; The intersecting surfaces are provided with a third positioning hole 51 (not shown in FIG. 1) and a fourth positioning hole 52. The third positioning hole 51 and the fourth positioning hole 52 are perpendicular to each other. The table side positioning block 1 is fixed on the table 6, and the table side positioning block 1 and the table 6 can be fixed by bolts, riveting, gluing, etc., and the processing position, that is, the teaching point position, is determined before fixing.
第一定位销31的外径与第一定位孔41及第三定位孔51的内径相适配，第二定位销32的外径与第二定位孔42及第四定位孔52的内径相适配；第一定位销31用于同时插入第一定位孔41及第三定位孔51，以及第二定位销32用于同时插入第二定位孔42及第四定位孔52以实现工作台侧定位块1及夹具侧定位块2的固定连接。The outer diameter of the first positioning pin 31 is adapted to the inner diameters of the first positioning hole 41 and the third positioning hole 51, and the outer diameter of the second positioning pin 32 is adapted to the inner diameters of the second positioning hole 42 and the fourth positioning hole 52. The first positioning pin 31 is used for simultaneously inserting the first positioning hole 41 and the third positioning hole 51, and the second positioning pin 32 is used for simultaneously inserting the second positioning hole 42 and the fourth positioning hole 52 to realize the table side positioning. The fixed connection of the block 1 and the clamp side positioning block 2.
优选地，第一定位销31和第二定位销32均可为圆柱销，且二者外径相同，以便于加工。相应的，第一定位孔41、第二定位孔42、第三定位孔51及第四定位孔52也可均为圆柱形孔，且内径均相同。Preferably, the first positioning pin 31 and the second positioning pin 32 may each be a cylindrical pin, and both have the same outer diameter for processing. Correspondingly, the first positioning hole 41, the second positioning hole 42, the third positioning hole 51, and the fourth positioning hole 52 may all be cylindrical holes, and the inner diameters are the same.
当然，第一定位销31和第二定位销32也可为其它形状，例如三角形销(横截面为三角形)，相应的，第一定位孔41、第二定位孔42、第三定位孔51及第四定位孔52也可均为三角孔。Of course, the first positioning pin 31 and the second positioning pin 32 may also have other shapes, such as a triangular pin (triangular cross section), and correspondingly, the first positioning hole 41, the second positioning hole 42, the third positioning hole 51, and The fourth positioning holes 52 may also be triangular holes.
第一定位孔41与第二定位孔42相互垂直时，第一定位孔41与第二定位孔42所在的两个相交的面可以是相互垂直的，也可以不是相互垂直的。当第一定位孔41与第二定位孔42所在的两个相交的面相互垂直时，工作台侧定位块1可参阅图2，工作台侧定位块1可呈L型，呈L型的两个面相互垂直，左
面上设置有第一定位孔41，右面上设置有第二定位孔42，第一定位孔41与第二定位孔42可以不位于同一水平面，即二者在空间上是相互错开的，即第一定位孔41与第二定位孔42在空间上处于不相交的垂直状态，第一定位销31从第一定位孔41插入，第二定位销32从第二定位孔42插入。当然，工作台侧定位块1还可以呈现为其他形态，只要保证工作台侧定位块的两个相交的面上可以设置两个相互垂直的定位孔即可，此处不做具体限定。When the first positioning hole 41 and the second positioning hole 42 are perpendicular to each other, the two intersecting faces of the first positioning hole 41 and the second positioning hole 42 may be perpendicular to each other or may not be perpendicular to each other. When the two intersecting faces of the first positioning hole 41 and the second positioning hole 42 are perpendicular to each other, the table side positioning block 1 can be referred to FIG. 2, and the table side positioning block 1 can be L-shaped and L-shaped. Faces are perpendicular to each other, left
The first positioning hole 41 is disposed on the surface, and the second positioning hole 42 is disposed on the right surface. The first positioning hole 41 and the second positioning hole 42 may not be in the same horizontal plane, that is, the two are spatially offset from each other, that is, the first A positioning hole 41 and the second positioning hole 42 are spatially in a disjoint vertical state, the first positioning pin 31 is inserted from the first positioning hole 41, and the second positioning pin 32 is inserted from the second positioning hole 42. Of course, the table-side positioning block 1 can also be in other forms, as long as two mutually perpendicular positioning holes can be disposed on the two intersecting surfaces of the table-side positioning block, which are not specifically limited herein.
第三定位孔51与第四定位孔52相互垂直时，第三定位孔51与第四定位孔52所在的两个相交的面可以是相互垂直的，也可以不是相互垂直的。当第三定位孔51与第四定位孔52所在的两个相交的面相互垂直时，夹具侧定位块2可参阅图3，夹具侧定位块2可呈长方体型，两个垂直的面上分别设置有第三定位孔51和第四定位孔52，第三定位孔51和第四定位孔52可以不位于同一水平面，即二者在空间上是相互错开的，即第三定位孔51与第四定位孔52在空间上处于不相交的垂直状态。当然，夹具侧定位块2还可以呈现为其他形态，只要保证夹具侧定位块的两个相交的面上可以设置两个相互垂直的定位孔即可，此处不做具体限定。When the third positioning hole 51 and the fourth positioning hole 52 are perpendicular to each other, the two intersecting faces of the third positioning hole 51 and the fourth positioning hole 52 may be perpendicular to each other or may not be perpendicular to each other. When the two intersecting faces of the third positioning hole 51 and the fourth positioning hole 52 are perpendicular to each other, the clamp side positioning block 2 can refer to FIG. 3, and the clamp side positioning block 2 can have a rectangular parallelepiped shape, and the two vertical faces respectively The third positioning hole 51 and the fourth positioning hole 52 are disposed, and the third positioning hole 51 and the fourth positioning hole 52 may not be located at the same horizontal plane, that is, the two are spatially offset from each other, that is, the third positioning hole 51 and the The four positioning holes 52 are spatially in a disjoint vertical state. Of course, the clamp-side positioning block 2 can also be in other forms, as long as two mutually perpendicular positioning holes can be disposed on the two intersecting faces of the clamp-side positioning block, which are not specifically limited herein.
请参阅图4，机器人夹具7固定在夹具侧定位块2上，二者之间可以使用螺栓，铆接，胶接等方式连接固定。Referring to FIG. 4, the robotic jig 7 is fixed on the clamp side positioning block 2, and can be connected and fixed by bolts, riveting, gluing or the like.
请参阅图5，机器人夹具7上放置有待加工工件8，待加工工件8可以是人工放上去的，也可以是由机器人9自己抓取的，机器人9和机器人夹具7之间可通过螺栓和定位销连接，机器人夹具7一般固定在机器人9的六轴末端的法兰上，工作台6可以是激光雕刻机、机床等的工作台。Referring to FIG. 5, the workpiece 8 to be processed is placed on the robot jig 7. The workpiece 8 to be processed may be manually placed, or may be manually picked up by the robot 9, and the robot 9 and the robot jig 7 may be bolted and positioned. The pin connection, the robot jig 7 is generally fixed to the flange of the six-axis end of the robot 9, and the table 6 can be a work table of a laser engraving machine, a machine tool or the like.
下面介绍本发明提供的机器人示教定位方法，即利用前面实施例所提供的示教定位装置进行定位。在定位之前，先固定好工作台侧定位块1(即固定示教点)，机器人上已安装机器人夹具7，将夹具侧定位块2固定在机器人夹具上(后续夹具侧定位块将随着机器人夹具的移动而移动)，调整机器人夹具7的位置和姿态，直至第一定位销31能够同时插入第一定位孔41及第三定位孔51，以及第二定位销32能够同时插入第二定位孔42及第四定位孔52，将一定位销31插入第一定位孔41及第三定位孔51，将第二定位销32插入第二定位孔42及第四定位孔52，此时说明机器人的TCP点已移动至准确的示教点位置，记录机器人的TCP点的数据，该点的数据即体现机器人夹具的位置和姿
态，记录完成之后，取出定位销，完成该点的示教工作。依次类推，可完成一个运动周期内所有点的示教。The robot teaching positioning method provided by the present invention is described below, that is, the positioning is performed by using the teaching positioning device provided in the previous embodiment. Before positioning, fix the table side positioning block 1 (ie, fixed teaching point), the robot fixture 7 is installed on the robot, and the fixture side positioning block 2 is fixed on the robot fixture (the subsequent fixture side positioning block will follow the robot) Adjusting the position and posture of the robot jig 7 until the first positioning pin 31 can be simultaneously inserted into the first positioning hole 41 and the third positioning hole 51, and the second positioning pin 32 can be simultaneously inserted into the second positioning hole 42 and the fourth positioning hole 52, a positioning pin 31 is inserted into the first positioning hole 41 and the third positioning hole 51, and the second positioning pin 32 is inserted into the second positioning hole 42 and the fourth positioning hole 52. The TCP point has been moved to the exact teaching point position, and the data of the robot's TCP point is recorded. The data of the point reflects the position and posture of the robot fixture.
State, after the recording is completed, take out the positioning pin and complete the teaching work at that point. By analogy, you can complete the teaching of all points in a motion cycle.
本实施例中，当两个定位销同时穿过工作台侧定位块及夹具侧定位块上的定位孔时，四个定位孔确定了两个相互垂直的柱面，而两个相互垂直的柱面可以体现六个自由度，即体现了机器人夹具的位置和姿态，所以当两个定位销同时穿过工作台侧定位块及夹具侧定位块上的定位孔时，机器人夹具即到达了准确的示教点位置，因而本发明提供的机器人示教定位方法可以提高定位精度，简化定位操作，提高示教工作效率。In this embodiment, when the two positioning pins pass through the positioning holes on the table side positioning block and the clamp side positioning block at the same time, the four positioning holes define two mutually perpendicular cylinders, and two mutually perpendicular columns The surface can reflect six degrees of freedom, that is, the position and posture of the robot fixture are reflected, so when the two positioning pins pass through the positioning holes on the table side positioning block and the fixture side positioning block at the same time, the robot fixture reaches the accurate position. The position of the teaching point, and thus the robot teaching positioning method provided by the invention can improve the positioning accuracy, simplify the positioning operation, and improve the teaching work efficiency.
以上对本发明实施例所提供的一种机器人示教定位装置及方法进行了详细介绍，对于本领域的一般技术人员，依据本发明实施例的思想，在具体实施方式及应用范围上均会有改变之处，因此，本说明书内容不应理解为对本发明的限制。
A robot teaching positioning device and method provided by the embodiments of the present invention are described in detail above. For those skilled in the art, according to the idea of the embodiment of the present invention, the specific implementation manner and the application range may be changed. Therefore, the content of the present specification should not be construed as limiting the invention.
Claims (10)
- 一种机器人示教定位装置，其特征在于，包括工作台侧定位块、夹具侧定位块、第一定位销及第二定位销；A robot teaching positioning device, comprising: a table side positioning block, a fixture side positioning block, a first positioning pin and a second positioning pin;所述工作台侧定位块的两个相交的面上分别设置有第一定位孔和第二定位孔，所述第一定位孔与所述第二定位孔相互垂直；a first positioning hole and a second positioning hole are respectively disposed on the two intersecting surfaces of the table-side positioning block, and the first positioning hole and the second positioning hole are perpendicular to each other;所述夹具侧定位块用于固定机器人夹具，其两个相交的面上设置有第三定位孔和第四定位孔，所述第三定位孔与所述第四定位孔相互垂直；The clamp side positioning block is configured to fix the robot fixture, and the two intersecting faces are disposed with a third positioning hole and a fourth positioning hole, and the third positioning hole and the fourth positioning hole are perpendicular to each other;所述第一定位销的外径与所述第一定位孔及所述第三定位孔的内径相适配，所述第二定位销的外径与所述第二定位孔及所述第四定位孔的内径相适配；所述第一定位销用于同时插入所述第一定位孔及所述第三定位孔，以及所述第二定位销用于同时插入所述第二定位孔及所述第四定位孔以实现所述工作台侧定位块及所述夹具侧定位块的固定连接。The outer diameter of the first positioning pin is adapted to the inner diameters of the first positioning hole and the third positioning hole, the outer diameter of the second positioning pin and the second positioning hole and the fourth The inner diameter of the positioning hole is adapted; the first positioning pin is for simultaneously inserting the first positioning hole and the third positioning hole, and the second positioning pin is for inserting the second positioning hole at the same time and The fourth positioning hole is configured to achieve a fixed connection between the table side positioning block and the fixture side positioning block.
- 根据权利要求1所述的装置，其特征在于，所述工作台侧定位块呈L型。The apparatus according to claim 1, wherein said table side positioning block is L-shaped.
- 根据权利要求2所述的装置，其特征在于，所述夹具侧定位块呈长方体型。The apparatus according to claim 2, wherein said jig-side positioning block has a rectangular parallelepiped shape.
- 根据权利要求1所述的装置，其特征在于，所述第一定位销与所述第二定位销均为圆柱销。The device according to claim 1, wherein the first positioning pin and the second positioning pin are both cylindrical pins.
- 根据权利要求4所述的装置，其特征在于，所述第一定位销的外径与所述第二定位销的外径相同。The apparatus according to claim 4, wherein an outer diameter of said first positioning pin is the same as an outer diameter of said second positioning pin.
- 根据权利要求5所述的装置，其特征在于，所述第一定位孔、第二定位孔、第三定位孔和第四定位孔均为圆柱形孔。The device according to claim 5, wherein the first positioning hole, the second positioning hole, the third positioning hole and the fourth positioning hole are all cylindrical holes.
- 根据权利要求6所述的装置，其特征在于，所述第一定位孔、第二定位孔、第三定位孔和第四定位孔的内径相同。The device according to claim 6, wherein the first positioning hole, the second positioning hole, the third positioning hole and the fourth positioning hole have the same inner diameter.
- 根据权利要求1至6任意一项所述的装置，其特征在于，所述第一定位孔与所述第二定位孔不位于同一水平面。The device according to any one of claims 1 to 6, wherein the first positioning hole and the second positioning hole are not in the same horizontal plane.
- 根据权利要求8所述的装置，其特征在于，所述第三定位孔与所述第四定位孔不位于同一水平面。The device according to claim 8, wherein the third positioning hole and the fourth positioning hole are not in the same horizontal plane.
- 一种机器人示教定位方法，其特征在于，所述方法利用如权利要求1 至9任一项所述的机器人示教定位装置进行，所述方法包括：A robot teaching positioning method, characterized in that the method utilizes claim 1 The robot teaching positioning device according to any one of the preceding claims, wherein the method comprises:调整所述机器人夹具的位置和姿态，以使得所述第一定位销能够同时插入所述第一定位孔及所述第三定位孔，以及所述第二定位销能够同时插入所述第二定位孔及所述第四定位孔；Adjusting a position and a posture of the robot jig such that the first positioning pin can simultaneously insert the first positioning hole and the third positioning hole, and the second positioning pin can simultaneously insert the second positioning a hole and the fourth positioning hole;当所述第一定位销同时插入所述第一定位孔及所述第三定位孔，及所述第二定位销同时插入所述第二定位孔及所述第四定位孔时，记录机器人的工具坐标中心点TCP。 When the first positioning pin is simultaneously inserted into the first positioning hole and the third positioning hole, and the second positioning pin is simultaneously inserted into the second positioning hole and the fourth positioning hole, the recording robot Tool coordinate center point TCP.
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| PCT/CN2015/095481 WO2017088112A1 (en) | 2015-11-25 | 2015-11-25 | Robot teaching positioning device and method |
| CN201580081076.4A CN107708931A (en) | 2015-11-25 | 2015-11-25 | A kind of robot teaching positioner and method |
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| PCT/CN2015/095481 WO2017088112A1 (en) | 2015-11-25 | 2015-11-25 | Robot teaching positioning device and method |
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| CN112665476A (en) * | 2020-12-29 | 2021-04-16 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
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| CN202199971U (en) * | 2011-07-20 | 2012-04-25 | 北汽福田汽车股份有限公司 | Clamp positioning device |
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| CN203509700U (en) * | 2013-10-23 | 2014-04-02 | 山东立德机械有限公司 | Oil cylinder bottom machining tool |
| CN103639757A (en) * | 2013-11-28 | 2014-03-19 | 无锡市航鹄科技有限公司 | Positioning tool for square part drilling |
| CN103659333B (en) * | 2013-11-28 | 2016-01-13 | 无锡市航鹄科技有限公司 | Shell drilling positioning tool |
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- 2015-11-25 WO PCT/CN2015/095481 patent/WO2017088112A1/en active Application Filing
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| US20070284797A1 (en) * | 2006-06-08 | 2007-12-13 | Nhon Hau Nguyen | Assembling device for sheet materials |
| CN101858718A (en) * | 2010-05-20 | 2010-10-13 | 昆山若宇检具工业有限公司 | D shape guide pin top and bottom positioning structure of hole position check tool |
| CN202199971U (en) * | 2011-07-20 | 2012-04-25 | 北汽福田汽车股份有限公司 | Clamp positioning device |
| CN104858679A (en) * | 2014-02-25 | 2015-08-26 | 哈尔滨建成集团有限公司 | Slider type drilling positioning device |
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| CN112665476A (en) * | 2020-12-29 | 2021-04-16 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
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| CN107708931A (en) | 2018-02-16 |
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