CN105182907A - Robot gesture on-line correction system and correction method thereof - Google Patents
Robot gesture on-line correction system and correction method thereof Download PDFInfo
- Publication number
- CN105182907A CN105182907A CN201510678170.XA CN201510678170A CN105182907A CN 105182907 A CN105182907 A CN 105182907A CN 201510678170 A CN201510678170 A CN 201510678170A CN 105182907 A CN105182907 A CN 105182907A
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- robot
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- industrial computer
- controlled machine
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000009434 installation Methods 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims description 31
- 238000002715 modification method Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
- G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37002—Absence, detect absence, presence or correct position of workpiece
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39001—Robot, manipulator control
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot gesture on-line correction system and a correction method thereof; the robot gesture on-line correction system comprises an industrial personal computer, a robot, a numerical control machine tool and an online measuring device; the industrial personal computer is respectively connected with a control cabinet of the numerical control machine tool and a control cabinet of the robot through the ethernet; the online measuring device is arranged in the numerical control machine tool; the industrial personal computer controls the robot to clamp and convey workpieces, and calls a measuring program of the numerical control machine tool to enable the online measuring device to execute the measuring function; the online measuring device measures feature planes so as to obtain the positions of the workpiece. The robot gesture on-line correction system needs no extra hardware equipment, uses the online measuring device to obtain the real position of the workpiece clamped by the robot, and corrects the robot gesture so as to enable the workpiece to reach a theoretical position before installation, thus ensuring correct installation of the workpiece, and no artificial adjusting operation is needed.
Description
Technical field
The present invention relates to robotics, specifically a kind of on-line amending robot pose system and modification method thereof.
Background technology
Along with the development of the correlation techniques such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.All kinds of robot performance constantly improves, its range of application is also constantly expanded, not only be applied to the daily fields such as industry, agricultural, medical treatment, service at present, and be applied to the special dimensions such as urban safety, national defence and space exploration field.
When part being processed in automation cell, usually there will be the inconsistent phenomenon in the actual installation position of part and theoretical installation site, even cause installing unsuccessfully.This phenomenon is mainly derived from deviation during robot clamping parts, and this deviation is caused by the uncertainty in the initial clamping of workpiece often.Under these circumstances, can collide during robot material loading to interfere to wait and failed phenomenon is installed, therefore be necessary the attitude regulating robot before the mounting, ensure that workpiece is correctly installed.
Summary of the invention
The object of the present invention is to provide and a kind ofly ensure the on-line amending robot pose system that the installation accuracy before work pieces process is high and modification method thereof, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme:
A kind of on-line amending robot pose system, comprise industrial computer, robot, numerically-controlled machine and on-line measurement device, wherein industrial computer is connected by Ethernet with the switch board of numerically-controlled machine, the switch board of robot respectively, on-line measurement device is arranged in numerically-controlled machine, and on-line measurement device is also connected by wire with the switch board of numerically-controlled machine.
A method for on-line amending feeding robot attitude, concrete steps are as follows:
Step S1, industrial computer control is to specified location holding workpiece;
Step S2, industrial computer control is by the assigned address before installation site on workpiece movable to numerically-controlled machine;
Step S3, industrial computer calls numerically-controlled machine process of measurement makes on-line measurement device perform measurement function, on-line measurement device obtains the physical location of workpiece by the figuratrix of measuring workpieces, and on-line measurement device is sent to the data message measuring gained in industrial computer by numerically-controlled machine;
Step S4, industrial computer calculates position deviation according to the theoretical position process of the physical location of workpiece and workpiece, and industrial computer makes workpiece adjust to theoretical position according to the attitude of this position deviation amendment robot;
Step S5, industrial computer control by after trade union college to the assigned address of numerically-controlled machine, numerically-controlled machine clamping work pieces.
Compared with prior art, the invention has the beneficial effects as follows: the present invention is robotic gripper's workpiece in each process, when after the assigned address that robot moves to before trade union college position, on-line measurement device works, obtain the physical location of workpiece by the multiple figuratrix of measuring workpieces and be sent in industrial computer, compare with the position of theory after the data that industrial computer receives, utilize this position deviation to control amendment robot pose, ensure the installation accuracy before work pieces process.On-line amending robot pose system in the present invention does not need extra hardware device, the physical location of workpiece in robotic gripper can be obtained by on-line measurement device, amendment robot attitude make workpiece reach installation before theoretical position, ensure the correct installation of workpiece, do not need artificial adjustment operation.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
In figure: 1-industrial computer, 2-robot, 3-numerically-controlled machine, 4-on-line measurement device, 5-workpiece.
Embodiment
Below in conjunction with the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
Refer to Fig. 1, in the embodiment of the present invention, a kind of method of on-line amending feeding robot attitude, on-line amending robot pose system is utilized to complete, on-line amending robot pose system comprises industrial computer 1, robot 2, numerically-controlled machine 3 and on-line measurement device 4, wherein industrial computer 1 is connected by Ethernet with the switch board of numerically-controlled machine 3, the switch board of robot 2 respectively, on-line measurement device 4 is arranged in numerically-controlled machine 3, and on-line measurement device 4 is also by the switch board of wire linking number controlled machine 3.Wherein industrial computer 1 control 2 clamps, carries workpiece 5, and the process of measurement that industrial computer 1 calls numerically-controlled machine 3 makes on-line measurement device 4 perform measurement function, and on-line measurement device 4 obtains the position of workpiece 5 by measuring multiple characteristic plane.Concrete implementation step is as follows: industrial computer 1 control 2 is to specified location holding workpiece 5.Workpiece 5 is moved to the assigned address on numerically-controlled machine 3 before installation site by industrial computer 1 control 2.The process of measurement that industrial computer 1 calls numerically-controlled machine 3 makes on-line measurement device 4 perform measurement function, on-line measurement device 4 obtains the physical location of workpiece 5 by multiple figuratrixes of measuring workpieces 5, and on-line measurement device 4 is sent to the data message measuring gained in industrial computer 1.Industrial computer 1 calculates position deviation according to the theoretical position of the physical location of workpiece 5 and workpiece 5, and industrial computer 1 makes workpiece 5 adjust to theoretical position according to the attitude of this position deviation amendment robot 2, ensures the installation accuracy before work pieces process.After workpiece 5 is installed to the assigned address of numerically-controlled machine 3 by industrial computer 1 control 2, numerically-controlled machine 3 clamping work pieces 5, can ensure the correct installation of workpiece, not need artificial adjustment operation again in this process.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (2)
1. an on-line amending robot pose system, it is characterized in that, comprise industrial computer (1), robot (2), numerically-controlled machine (3) and on-line measurement device (4), wherein industrial computer (1) is connected by Ethernet with the switch board of numerically-controlled machine (3), the switch board of robot (2) respectively, on-line measurement device (4) is arranged in numerically-controlled machine (3), and on-line measurement device (4) is also connected by wire with the switch board of numerically-controlled machine (3).
2. a method for on-line amending robot pose system on-line amending feeding robot attitude as claimed in claim 1, concrete steps are as follows:
Step S1, industrial computer (1) control (2) is to specified location holding workpiece (5);
Step S2, workpiece (5) is moved to the assigned address before the upper installation site of numerically-controlled machine (3) by industrial computer (1) control (2);
Step S3, industrial computer (1) calls numerically-controlled machine (3) process of measurement makes on-line measurement device (4) perform measurement function, on-line measurement device (4) obtains the physical location of workpiece (5) by the figuratrix of measuring workpieces (5), and on-line measurement device (4) is sent to the data message measuring gained in industrial computer (1) by numerically-controlled machine (3);
Step S4, industrial computer (1) calculates position deviation according to the theoretical position process of the physical location of workpiece (5) and workpiece (5), and industrial computer (1) makes workpiece (5) adjust to theoretical position according to the attitude of this position deviation amendment robot (2);
Step S5, after workpiece (5) is installed to the assigned address of numerically-controlled machine (3) by industrial computer (1) control (2), numerically-controlled machine (3) clamping work pieces (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510678170.XA CN105182907A (en) | 2015-10-20 | 2015-10-20 | Robot gesture on-line correction system and correction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510678170.XA CN105182907A (en) | 2015-10-20 | 2015-10-20 | Robot gesture on-line correction system and correction method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105182907A true CN105182907A (en) | 2015-12-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510678170.XA Pending CN105182907A (en) | 2015-10-20 | 2015-10-20 | Robot gesture on-line correction system and correction method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN105182907A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972521A (en) * | 2018-08-29 | 2018-12-11 | 天津大学 | Standardize intelligent industrial flow line production method and device |
| CN114378814A (en) * | 2021-12-23 | 2022-04-22 | 唐山松下产业机器有限公司 | Robot repeated positioning precision real-time monitoring system |
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| CN101182990A (en) * | 2007-11-30 | 2008-05-21 | 华南理工大学 | Large-sized workpieces in process geometric measuring systems based on machine vision |
| CN103279090A (en) * | 2013-05-13 | 2013-09-04 | 聊城鑫泰机床有限公司 | Robot numerical control machine tool management and control system |
| CN103406905A (en) * | 2013-08-20 | 2013-11-27 | 西北工业大学 | Robot system with visual servo and detection functions |
| CN103826795A (en) * | 2011-09-16 | 2014-05-28 | Gmtk多工序机械加工股份有限公司 | Device for exchanging components in horizontal lathes and manipulator |
| CN104924309A (en) * | 2014-03-17 | 2015-09-23 | 株式会社安川电机 | Robot system, calibration method in robot system, and position correcting method in robot system |
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2015
- 2015-10-20 CN CN201510678170.XA patent/CN105182907A/en active Pending
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972521A (en) * | 2018-08-29 | 2018-12-11 | 天津大学 | Standardize intelligent industrial flow line production method and device |
| CN114378814A (en) * | 2021-12-23 | 2022-04-22 | 唐山松下产业机器有限公司 | Robot repeated positioning precision real-time monitoring system |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 201111 room A2115, B floor, No. 555 Dongchuan Road, Shanghai, Minhang District Applicant after: Shanghai Tuopu CNC Polytron Technologies Inc Address before: 201111 room A2115, B floor, No. 555 Dongchuan Road, Shanghai, Minhang District Applicant before: Shanghai Putuo Numerical Control Technology Co., Ltd. |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151223 |