CN107553525A - The method of distance and angle between tool ends end and workpiece is adjusted with range sensor - Google Patents
The method of distance and angle between tool ends end and workpiece is adjusted with range sensor Download PDFInfo
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- CN107553525A CN107553525A CN201710531903.6A CN201710531903A CN107553525A CN 107553525 A CN107553525 A CN 107553525A CN 201710531903 A CN201710531903 A CN 201710531903A CN 107553525 A CN107553525 A CN 107553525A
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Abstract
The method of distance and angle between tool ends end and workpiece is adjusted with range sensor the invention discloses a kind of, is comprised the following steps：No.1 range sensor, No. two range sensors and No. three range sensors totally three range sensors are set, wherein, No.1 range sensor, No. two range sensors and No. three range sensors are fixed in the way of relative position is isosceles right triangle, and specific formula for calculation is as follows：Need the distance value d=D2 D1 corrected；Angle value K1=arctan [(D3 D2)/L]；Angle value K2=arctan [(D5 D2)/L].The present invention is ingenious in design, calculates simply, and overall manufacturing cost is not high, is advantageous to large-scale promotion use.
Description
Technical field
The present invention relates to a kind of adjustment tool ends end distance and angle to make its method with work piece match, especially a kind of design
It is ingenious, calculate simply with the method for distance and angle between range sensor adjustment tool ends end and workpiece.
Background technology
In industrial equipment and robot system application process, it may be needed to adjust tool ends end at any time according to actual conditions
Relative to the distance and angle of workpiece.Typically realized by adding vision system in the entire system, precision is higher, is related to
Video camera, the instrument such as sensor it is more, cost is also costly.
The content of the invention
To solve the above problems, the invention provides adjusted with range sensor between tool ends end and workpiece away from walk-off angle
The method of degree, comprises the following steps：No.1 range sensor, No. two range sensors and No. three range sensors totally three are set
Range sensor, wherein, No.1 range sensor, No. two range sensors and No. three range sensors are according to relative position etc.
The mode of waist right angled triangle is fixed, the length of the waist of this isosceles right triangle, i.e., No.1 range sensor and No. two away from
It is L from the centre-to-centre spacing between sensor and No. three range sensors, the position of tool ends end during normal work is position 1, work
It is 0 to the angle of workpiece to have end, and distance is D1, if because the influence of positioning precision or other unexpected factors causes workpiece to deviate original
The position come, and turn into position 2, a distance value d and two angle values K1 and K2 can be calculated by the algorithm, above-mentioned value passes
To robot, so as to which tool ends end is corrected to position 2 according to distance value d and two angle values K1 and K2 by robot.Specific meter
It is as follows to calculate formula：
Need the distance value d=D2-D1 corrected；
Angle value K1=arctan [(D3-D2)/L]；
Angle value K2=arctan [(D5-D2)/L].
This patent is ingenious in design, calculates simply, and overall manufacturing cost is not high, is advantageous to large-scale promotion use.
Brief description of the drawings
Fig. 1 is the installation method schematic diagram of the present invention.
Embodiment
This patent is described further with reference to embodiment：
As shown in figure 1, the method for distance and angle between tool ends end and workpiece is adjusted with range sensor, including it is as follows
Step：No.1 range sensor (1), No. two range sensors (2) and No. three range sensors (3) totally three Distance-sensings are set
Device, wherein, No.1 range sensor (1), No. two range sensors (2) and No. three range sensors (3) are according to relative position
The mode of isosceles right triangle is fixed, the length of the waist of this isosceles right triangle, i.e. No.1 range sensor and No. two
Centre-to-centre spacing between range sensor and No. three range sensors is L, and the position of tool ends end during normal work is position 1,
Tool ends end is 0 to the angle of workpiece, and distance is D1, if because the influence of positioning precision or other unexpected factors causes workpiece to deviate
Position originally, and turn into position 2, a distance value d and two angle values K1 and K2, above-mentioned value can be calculated by the algorithm
Robot is transmitted to, so as to be corrected tool ends end to position 2 according to distance value d and two angle values K1 and K2 by robot.Specifically
Calculation formula is as follows：
Need the distance value d=D2-D1 corrected；
Angle value K1=arctan [(D3-D2)/L]；
Angle value K2=arctan [(D5-D2)/L].
Below by taking actual numerical value as an example, this patent is elaborated：
The operating position given tacit consent in the present embodiment be tool ends end parallel to workpiece surface, if D1 be 100mm, No.1 distance biography
Centre distance value between sensor and No. two range sensors and No. three range sensors is 40mm, then D1=100mm, L=
40mm.The reading of three sensors is respectively 120mm, 105mm, 110mm, i.e. D2=120mm in certain task, D3=
105mm, D5=110mm.
It can be obtained according to above-mentioned formula as follows：
Distance d=D2-D1=120mm-100mm=20mm
Angle value K1=arctan [(D3-D2)/L]=- 22.62 °
Angle value K2=arctan [(D5-D2)/L]=- 15.52 °
Above-mentioned value is transmitted to robot, so as to be repaiied tool ends end according to distance value d and two angle values K1 and K2 by robot
Just to position 2.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the guarantor of the present invention
Shield scope is defined, and under the premise of design spirit of the present invention is not departed from, this area ordinary skill technical staff is to skill of the present invention
The various modifications and improvement that art scheme is made, it all should fall into the protection domain of claims of the present invention determination.
Claims (1)
1. with the method for distance and angle between range sensor adjustment tool ends end and workpiece, comprise the following steps：
No.1 range sensor (1), No. two range sensors (2) and No. three range sensors (3) totally three Distance-sensings are set
Device, wherein, No.1 range sensor (1), No. two range sensors (2) and No. three range sensors (3) are according to relative position
The mode of isosceles right triangle is fixed, the length of the waist of this isosceles right triangle, i.e. No.1 range sensor and No. two
Centre-to-centre spacing between range sensor and No. three range sensors is L, and the position of tool ends end during normal work is position 1,
Tool ends end is 0 to the angle of workpiece, and distance is D1, if because the influence of positioning precision or other unexpected factors causes workpiece to deviate
Position originally, and turn into position 2, a distance value d and two angle values K1 and K2 can be calculated by the algorithm, so that will
Tool ends end is corrected to position 2, above-mentioned value according to distance value d and two angle values K1 and K2 and is transmitted to robot, so as to by robot
Tool ends end is corrected to position 2 according to distance value d and two angle values K1 and K2, specific formula for calculation is as follows：
Need the distance value d=D2-D1 corrected；
Angle value K1=arctan [(D3-D2)/L]；
Angle value K2=arctan [(D5-D2)/L].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710531903.6A CN107553525A (en) | 2017-07-03 | 2017-07-03 | The method of distance and angle between tool ends end and workpiece is adjusted with range sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710531903.6A CN107553525A (en) | 2017-07-03 | 2017-07-03 | The method of distance and angle between tool ends end and workpiece is adjusted with range sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107553525A true CN107553525A (en) | 2018-01-09 |
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ID=60973058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710531903.6A Pending CN107553525A (en) | 2017-07-03 | 2017-07-03 | The method of distance and angle between tool ends end and workpiece is adjusted with range sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107553525A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557927A (en) * | 2019-01-10 | 2019-04-02 | 深圳先进储能技术有限公司 | Paths planning method, device, equipment and the medium of hanging basket are returned for robot |
| CN112158587A (en) * | 2020-10-10 | 2021-01-01 | 广东博智林机器人有限公司 | Method for adjusting a workpiece gripping device and workpiece gripping device |
-
2017
- 2017-07-03 CN CN201710531903.6A patent/CN107553525A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557927A (en) * | 2019-01-10 | 2019-04-02 | 深圳先进储能技术有限公司 | Paths planning method, device, equipment and the medium of hanging basket are returned for robot |
| CN109557927B (en) * | 2019-01-10 | 2021-11-26 | 深圳先进储能技术有限公司 | Path planning method, device, equipment and medium for robot to return to hanging basket |
| CN112158587A (en) * | 2020-10-10 | 2021-01-01 | 广东博智林机器人有限公司 | Method for adjusting a workpiece gripping device and workpiece gripping device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180109 |
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| WD01 | Invention patent application deemed withdrawn after publication |