WO2017088112A1 - Dispositif et procédé de positionnement d'apprentissage de robot - Google Patents

Dispositif et procédé de positionnement d'apprentissage de robot Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
positioning
positioning hole
hole
pin
robot
Prior art date
Application number
PCT/CN2015/095481
Other languages
English (en)
Chinese (zh)
Inventor
王天骄
Original Assignee
深圳配天智能技术研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to PCT/CN2015/095481 priority Critical patent/WO2017088112A1/fr
Priority to CN201580081076.4A priority patent/CN107708931A/zh
Publication of WO2017088112A1 publication Critical patent/WO2017088112A1/fr

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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
    • 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
    • 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.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de positionnement d'apprentissage de robot comprenant un bloc de positionnement côté table de travail (1), un bloc de positionnement côté accessoire (2), une première broche de positionnement (31) et une seconde broche de positionnement (32), deux faces se croisant du bloc de positionnement côté table de travail (1) comprenant respectivement un premier trou de positionnement (41) et un deuxième trou de positionnement (42), le premier trou de positionnement (41) et le deuxième trou de positionnement (42) étant perpendiculaires entre eux; le bloc de positionnement côté accessoire (2) servant à fixer un accessoire de robot (7), et comprenant sur deux de ses faces se croisant un troisième trou de positionnement (51) et un quatrième trou de positionnement (52), le troisième trou de positionnement (51) et le quatrième trou de positionnement (52) étant perpendiculaires entre eux; et la première broche de positionnement (31) servant à être insérée dans le premier trou de positionnement (41) et le troisième trou de positionnement (51) en même temps, et la seconde broche de positionnement (32) servant à être insérée dans le deuxième trou de positionnement (42) et le quatrième trou de positionnement (52) en même temps, de manière à obtenir le raccordement fixe du bloc de positionnement côté table de travail (1) au bloc de positionnement côté accessoire (2). L'invention concerne également un procédé de positionnement d'apprentissage de robot utilisant le dispositif de positionnement d'apprentissage de robot. La présente invention peut améliorer la précision de positionnement et l'efficacité d'apprentissage.
PCT/CN2015/095481 2015-11-25 2015-11-25 Dispositif et procédé de positionnement d'apprentissage de robot WO2017088112A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2015/095481 WO2017088112A1 (fr) 2015-11-25 2015-11-25 Dispositif et procédé de positionnement d'apprentissage de robot
CN201580081076.4A CN107708931A (zh) 2015-11-25 2015-11-25 一种机器人示教定位装置及方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/095481 WO2017088112A1 (fr) 2015-11-25 2015-11-25 Dispositif et procédé de positionnement d'apprentissage de robot

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WO2017088112A1 true WO2017088112A1 (fr) 2017-06-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112665476A (zh) * 2020-12-29 2021-04-16 东风模具冲压技术有限公司 焊接机器人抓手精度检测装置

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US20070284797A1 (en) * 2006-06-08 2007-12-13 Nhon Hau Nguyen Assembling device for sheet materials
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CN202199971U (zh) * 2011-07-20 2012-04-25 北汽福田汽车股份有限公司 夹具定位装置
CN104858679A (zh) * 2014-02-25 2015-08-26 哈尔滨建成集团有限公司 滑块式钻孔定位装置

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CN202964041U (zh) * 2012-11-06 2013-06-05 无锡市航鹄科技有限公司 精密工件铣加工定位装置
CN203509700U (zh) * 2013-10-23 2014-04-02 山东立德机械有限公司 一种油缸缸底加工工装
CN103639757A (zh) * 2013-11-28 2014-03-19 无锡市航鹄科技有限公司 方形零件钻孔定位工装
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Publication number Priority date Publication date Assignee Title
CN2922215Y (zh) * 2006-03-31 2007-07-11 汉达精密电子(昆山)有限公司 端子自动送料装置压料模块
US20070284797A1 (en) * 2006-06-08 2007-12-13 Nhon Hau Nguyen Assembling device for sheet materials
CN101858718A (zh) * 2010-05-20 2010-10-13 昆山若宇检具工业有限公司 孔位置度检具的d形导向销上下定位结构
CN202199971U (zh) * 2011-07-20 2012-04-25 北汽福田汽车股份有限公司 夹具定位装置
CN104858679A (zh) * 2014-02-25 2015-08-26 哈尔滨建成集团有限公司 滑块式钻孔定位装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112665476A (zh) * 2020-12-29 2021-04-16 东风模具冲压技术有限公司 焊接机器人抓手精度检测装置

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