TWI806111B - Method of tool calibration for robot arm - Google Patents

Method of tool calibration for robot arm Download PDF

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Publication number
TWI806111B
TWI806111B TW110127814A TW110127814A TWI806111B TW I806111 B TWI806111 B TW I806111B TW 110127814 A TW110127814 A TW 110127814A TW 110127814 A TW110127814 A TW 110127814A TW I806111 B TWI806111 B TW I806111B
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tool
intersection point
light beam
moving path
calibration method
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TW110127814A
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Chinese (zh)
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TW202304672A (en
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蔡旺霖
謝清吉
曾永竣
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達明機器人股份有限公司
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Priority to CN202210561188.1A priority patent/CN115674185A/en
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Publication of TWI806111B publication Critical patent/TWI806111B/en

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Abstract

The invention provides a method of tool calibration for robot arm. It includes driving a tool according to a first moving path to intersect with a first beam at a first intersection point, and to intersect with a second beam at a second intersection point; further, driving the tool according to a second moving path to intersect with the first beam at a third intersection point, and to intersect with the second beam at a fourth intersection point. Therefore, a calibration value of the tool is calculated according to the positions of the first to fourth intersection points.

Description

機械手臂之工具校正方法 Tool Calibration Method of Robotic Arm

本發明有關一種機械手臂，尤其關於機器手臂的工具校正方法，校正速度快且精度高，以避免耗時的逐一修正工具的點位或路徑。 The invention relates to a mechanical arm, in particular to a tool calibration method of the robotic arm, which has high calibration speed and high precision, so as to avoid time-consuming correction of the points or paths of tools one by one.

機械手臂末端安裝各式裝置而進行不同的任務，各式裝置例如是電爪或對應不同任務的工具。安裝於機械手臂末端的各式裝置，於使用前都需設定相對應的基準點，或稱工具中心點(tool center point，TCP)，使控制裝置控制機械手臂帶動末端的裝置移動時，裝置的移動路徑與設定路徑相符。後續一旦因不同任務的需求，進行電爪、工具的更換或拆裝，需重新檢查裝置的基準點(TCP)，確保末端的裝置安裝後，不會導致機械手臂以非預期的點位及移動路徑帶動末端的裝置運行，例如不會以偏移的末端的裝置夾取工件，造成工件夾取失敗，甚至是導致機械手臂與周遭的其他設備發生撞機。一般檢查末端的安裝位置是否符合初始設定，需將所有原先已經完成的機械手臂末端的點位、路徑，全部重新檢視而決定是否修正，以確保符合原先設定的點位與路徑。 Various devices are installed at the end of the robotic arm to perform different tasks, such as electric grippers or tools corresponding to different tasks. All kinds of devices installed at the end of the robot arm need to set the corresponding reference point, or tool center point (TCP) before use, so that when the control device controls the robot arm to drive the end device to move, the device's The moving path matches the set path. Once the electric grippers and tools are replaced or disassembled due to the needs of different tasks, the reference point (TCP) of the device needs to be rechecked to ensure that after the device at the end is installed, it will not cause the robot arm to move at an unexpected point or position. The path drives the device at the end to run. For example, the device at the end that deviates will not be used to grip the workpiece, which will cause the workpiece to fail to grip, or even cause the robot arm to collide with other surrounding equipment. Generally, check whether the installation position of the end conforms to the initial setting. It is necessary to re-examine all the points and paths of the end of the robotic arm that have been completed before and decide whether to correct it, so as to ensure that the points and paths of the original settings are consistent.

然而，逐一檢視與修正機械手臂末端的點位與移動路徑，十分費時費力，不符合各產業高效率的需求，且精度不高。故，本發明提出一種機器手臂的工具校正方法，快速檢視工具的位置，以決定是否補償工 具的點位與移動路徑。 However, it is time-consuming and labor-intensive to inspect and correct the points and moving paths of the end of the robot arm one by one, which does not meet the high efficiency requirements of various industries, and the accuracy is not high. Therefore, the present invention proposes a tool calibration method for a robot arm, which quickly checks the position of the tool to determine whether to compensate the tool The point and movement path of the tool.

本發明之目的提供一種機器手臂的工具校正方法，藉由工具運行移動路徑，運算工具的校正值。 The object of the present invention is to provide a tool calibration method of a robot arm, which calculates the calibration value of the tool through the running path of the tool.

為了達到前述發明的目的，本發明機器手臂的工具校正方法，依據第一移動路徑帶動工具，與第一光束交會於第一交會點，與第二光束交會於第二交會點。及，依據第二移動路徑帶動工具，與第一光束交會於第三交會點，與第二光束交會於第四交會點。再者，依據第一至第四交會點的位置運算出工具的一校正值。 In order to achieve the purpose of the aforementioned invention, the tool calibration method of the robotic arm of the present invention drives the tool according to the first moving path, intersects the first beam at the first intersection point, and intersects the second beam at the second intersection point. And, drive the tool according to the second moving path, intersect with the first beam at the third intersection point, and intersect with the second beam at the fourth intersection point. Furthermore, a correction value of the tool is calculated according to the positions of the first to the fourth intersection points.

此外，機械手臂帶動工具往上或往下位移後，依據一第三移動路徑帶動工具，與第一光束交會於第五交會點，與第二光束交會於第六交會點，依據第一至第六交會點的位置運算出工具相關一旋轉運動的校正值。 In addition, after the mechanical arm drives the tool to move up or down, it drives the tool according to a third moving path, intersects with the first beam at the fifth intersection point, and intersects with the second beam at the sixth intersection point, according to the first to the first The positions of the six intersection points calculate the correction value for the tool-related-rotational motion.

10:機械手臂 10: Mechanical arm

11:底座 11: base

12:軸臂 12: shaft arm

20:末端 20: end

30:工具 30: Tools

40:控制裝置 40: Control device

50:三角形 50: triangle

51:三角形 51: triangle

52:三角形 52: Triangle

53:三角形 53: triangle

A0:第一移動路徑 A0: The first moving path

A1:第二移動路徑 A1: Second moving path

A2:第三移動路徑 A2: The third moving path

A3:第四移動路徑 A3: The fourth moving path

A4:第五移動路徑 A4: The fifth movement path

A5:第六移動路徑 A5: The sixth movement path

A6:第七移動路徑 A6: The seventh moving path

B:底邊 B: Bottom

B1:底邊 B1: Bottom

H:高度 H: height

M1:距離 M1: Distance

N1:距離 N1: distance

N2:距離 N2: distance

X:X軸方向 X: X axis direction

△X1:運算結果 △X1: operation result

△X2:運算結果 △X2: operation result

△X5:運算結果 △X5: operation result

△X6:運算結果 △X6: operation result

X0:第一交會點 X0: the first intersection point

X1:第三交會點 X1: the third intersection point

X2:第五交會點 X2: Fifth intersection point

X3:交會點 X3: intersection point

X4:交會點 X4: intersection point

X5:交會點 X5: Rendezvous point

X6:交會點 X6: Intersection point

X-ray:光束 X-ray: light beam

Y:Y軸方向 Y: Y axis direction

Y0:第二交會點 Y0: Second intersection point

Y1:第四交會點 Y1: The fourth intersection point

Y2:第六交會點 Y2: The sixth intersection point

Y3:交會點 Y3: intersection point

Y4:交會點 Y4: intersection point

Y-ray:光束 Y-ray: light beam

Z:Z軸方向 Z: Z axis direction

Z0:位置 Z0: position

Z1:位置 Z1: position

Zx:交會點 Zx: intersection point

Zxy:交會點 Zxy: intersection point

θ:偏移角度 θ: offset angle

第一圖為本發明機械手臂與工具的示意圖。 The first figure is a schematic diagram of the robot arm and tool of the present invention.

第二圖為本發明量測工具於X、Y軸方向之初始狀態的第一示意圖。 The second figure is the first schematic diagram of the initial state of the measuring tool of the present invention in the X and Y axis directions.

第三圖為本發明檢測工具於X、Y軸方向之校正值的第一示意圖。 The third figure is the first schematic diagram of the calibration value of the detection tool in the X and Y axis directions of the present invention.

第四圖為本發明檢測工具於X、Y軸方向旋轉之校正值的示意圖。 The fourth figure is a schematic diagram of the correction value of the detection tool of the present invention rotated in the X and Y axis directions.

第五圖為本發明運算工具於X、Y軸方向旋轉之校正值的第一示意圖。 The fifth figure is the first schematic diagram of the correction value of the calculation tool of the present invention rotated in the X and Y axis directions.

第六圖為本發明量測工具於Z軸方向之初始狀態的第一示意圖。 The sixth figure is the first schematic diagram of the initial state of the measuring tool of the present invention in the Z-axis direction.

第七圖為本發明量測工具於Z軸方向之初始狀態的第二示意圖。 The seventh figure is the second schematic diagram of the initial state of the measuring tool of the present invention in the Z-axis direction.

第八圖為本發明量測工具於X、Y軸方向之初始狀態的第二示意圖。 Figure 8 is a second schematic diagram of the initial state of the measuring tool of the present invention in the directions of X and Y axes.

第九圖為本發明檢測工具於X、Y軸方向之校正值的第二示意圖。 Figure 9 is a second schematic diagram of the calibration values of the detection tool in the X and Y directions of the present invention.

第十圖為本發明運算工具於X、Y軸方向旋轉之校正值的第二示意圖。 Figure 10 is a second schematic diagram of the calibration value of the computing tool rotated in the X and Y directions of the present invention.

有關本發明為達成上述目的，所採用之技術手段及其功效，茲舉實施例，並配合圖式加以說明如下。 Relevant present invention is to achieve above-mentioned object, the technical means that adopts and effect thereof, give embodiment hereby, and cooperate drawing to illustrate as follows.

請參閱第一圖，其為本發明機械手臂與工具的示意圖。如圖所示，機械手臂10包含一底座11與複數軸臂12，且於機械手臂10的末端20安裝有一工具30，圖中工具30為示意之用，工具30種類不影響本發明的實施。控制裝置40控制機械手臂10可以帶動工具30於X、Y、Z軸方向上移動。在控制工具30執行任務前需先設定工具30的基準點，或稱工具中心點(tool center point，TCP)、參考點(reference point)等等，以正確拾取工件，並避免機械手臂10發生撞機，其中，工具30執行的工作內容不影響實施例的說明。 Please refer to the first figure, which is a schematic diagram of the robot arm and tool of the present invention. As shown in the figure, the robot arm 10 includes a base 11 and a plurality of shaft arms 12, and a tool 30 is installed at the end 20 of the robot arm 10. The tool 30 in the figure is for illustrative purposes, and the type of the tool 30 does not affect the implementation of the present invention. The control device 40 controls the mechanical arm 10 to drive the tool 30 to move in the directions of X, Y, and Z axes. Before controlling the tool 30 to perform tasks, it is necessary to set the reference point of the tool 30, or tool center point (tool center point, TCP), reference point (reference point), etc., so as to pick up the workpiece correctly and avoid collisions with the mechanical arm 10. machine, wherein the work content performed by the tool 30 does not affect the description of the embodiment.

請參閱第二圖，其為本發明量測工具於X、Y軸方向之初始狀態的第一示意圖。如圖所示，設置兩光束裝置，例如雷射光裝置，以投射出第一光束X-ray與第二光束Y-ray，而用於量測工具30於X、Y軸方向之初始狀態。如此，在設定工具30的基準點後，機械手臂10帶動工具30移動，使兩個光束X-ray、Y-ray位於工具30的尖端與末端之間的相鄰空間。爾後，控制裝置40控制機械手臂10帶動工具30依據第一移動路徑A0移動，並與第一光束X-ray交會於第一交會點X0，與第二光束Y-ray交會於第二交會點Y0。紀錄工具30在設定基準點後的初始移動路徑，即第一移動路徑A0，以 用於執行工具校正，其中，第一移動路徑A0、第一交會點X0及第二交會點Y0可以記錄在適當的儲存裝置中，於此不加以贅述。此外，兩個光束X-ray、Y-ray相交為90°直角，而工具30相對於兩個光束X-ray、Y-ray為45°角。所以，第一種機械手臂的工具校正方法可以稱為45°校正，但是本發明的工具校正方法不限制工具30與兩光束X-ray、Y-ray的角度。 Please refer to the second figure, which is the first schematic diagram of the initial state of the measurement tool of the present invention in the directions of the X and Y axes. As shown in the figure, a two-beam device, such as a laser device, is provided to project a first beam X-ray and a second beam Y-ray for measuring the initial state of the tool 30 in the X and Y axis directions. In this way, after setting the reference point of the tool 30 , the robot arm 10 drives the tool 30 to move so that the two light beams X-ray and Y-ray are located in the adjacent space between the tip and the end of the tool 30 . Afterwards, the control device 40 controls the mechanical arm 10 to drive the tool 30 to move according to the first moving path A0, and intersects the first beam X-ray at the first intersection point X0, and intersects the second beam Y-ray at the second intersection point Y0 . Record the initial moving path of the tool 30 after setting the reference point, i.e. the first moving path A0, to For performing tool calibration, wherein, the first moving path A0, the first intersection point X0 and the second intersection point Y0 may be recorded in a suitable storage device, which will not be described in detail here. In addition, the intersection of the two light beams X-ray and Y-ray is at a right angle of 90°, while the tool 30 is at an angle of 45° relative to the two light beams X-ray and Y-ray. Therefore, the tool calibration method of the first robotic arm can be called 45° calibration, but the tool calibration method of the present invention does not limit the angles between the tool 30 and the two beams X-ray and Y-ray.

請參閱第三圖，其為本發明檢測工具於X、Y軸方向之校正值的第一示意圖。當工具30重新安裝、調整或更換後，需再次確認工具30的安裝狀態，例如是否偏移而不同於初始設定的基準點。所以，機械手臂10帶動工具30依據第二移動路徑A1移動，並與第一光束X-ray交會於第三交會點X1，與第二光束Y-ray交會於第四交會點Y1，爾後同樣紀錄第二移動路徑A1、第三交會點X1與第四交會點Y1，如此控制裝置40依據第一至第四交會點X0、X1、Y0、Y1的位置運算出工具30的校正值。再者，第一移動路徑A0僅是繪出作說明之用，在檢測工具30於X、Y軸方向之校正值時，工具30無需再次依據第一移動路徑A0運動。 Please refer to the third figure, which is the first schematic diagram of the calibration values of the detection tool in the X and Y directions of the present invention. When the tool 30 is reinstalled, adjusted or replaced, it is necessary to confirm the installation state of the tool 30 again, for example, whether it is offset from the initial set reference point. Therefore, the mechanical arm 10 drives the tool 30 to move according to the second moving path A1, and intersects the first beam X-ray at the third intersection point X1, and intersects the second beam Y-ray at the fourth intersection point Y1, and then records the same The second moving path A1 , the third intersection point X1 and the fourth intersection point Y1 , so the control device 40 calculates the correction value of the tool 30 according to the positions of the first to fourth intersection points X0 , X1 , Y0 , and Y1 . Moreover, the first moving path A0 is only drawn for illustration, and the tool 30 does not need to move again according to the first moving path A0 when detecting the correction value of the tool 30 in the X and Y axis directions.

復參閱第三圖，當控制工具30移動之後，若第一交會點X0的位置相同於第三交會點X1的位置，第二交會點Y0的位置相同於第四交會點Y1的位置，表示工具30在重新安裝後的點位相同於初始基準點的點位，無需進行工具校正。若第一交會點X0的位置不同於第三交會點X1的位置，或/及第二交會點Y0的位置不同於第四交會點Y1的位置，表示工具30在重新安裝後的點位不同於初始基準點的點位，需進行工具校正。第三圖實施例是繪示需進行工具校正的示例，其中第一交會點X0與第二交會點Y0的距離為M1，第三交會點X1與第四交會點Y1的距離為N1，且左右兩側的三角形 50、51的頂角為90°、底角為45°，為一等腰三角形。所以，工具30在X軸方向的校正值，亦可以稱為偏移量，運算結果為△X1=｜(M1-N1)｜/2，其中｜(M1-N1)｜/2算出第二移動路徑A1上的三角形50、51的邊長，且因是等腰三角形，所以第二移動路徑A1與第一移動路徑A0間的三角形的邊長(即△X1)同樣是｜(M1-N1)｜/2。如此表示工具30從基準點的點位偏移至第二移動路徑A1上的點位，需補償校正值(即運算結果△X1)進行校正。此實施例是以工具30往第一移動路徑A0上方偏移，然而偏移方向也有可能往第一移動路徑A0下方偏移。此外，工具30在Y軸方向的校正值檢測方式如上述X軸方向的檢測方式，若工具30有偏移則校正值不為0，若無偏移校正值則為0，其餘不再覆述， Referring again to the third figure, after the control tool 30 is moved, if the position of the first intersection point X0 is the same as the position of the third intersection point X1, and the position of the second intersection point Y0 is the same as the position of the fourth intersection point Y1, it means that the tool 30 points after reinstallation are the same as the original reference point, no tool correction is required. If the position of the first intersection point X0 is different from the position of the third intersection point X1, or/and the position of the second intersection point Y0 is different from the position of the fourth intersection point Y1, it means that the position of the tool 30 after reinstallation is different from that of the fourth intersection point Y1. The position of the initial reference point needs to be corrected by the tool. The embodiment in the third figure shows an example where tool calibration is required, wherein the distance between the first intersection point X0 and the second intersection point Y0 is M1, the distance between the third intersection point X1 and the fourth intersection point Y1 is N1, and the left and right triangle on both sides 50 and 51 have an apex angle of 90° and a base angle of 45°, which are isosceles triangles. Therefore, the correction value of the tool 30 in the X-axis direction can also be called the offset, and the calculation result is △X1=|(M1-N1)|/2, where |(M1-N1)|/2 calculates the second movement The side lengths of the triangles 50 and 51 on the path A1 are isosceles triangles, so the side length of the triangle between the second moving path A1 and the first moving path A0 (i.e. △X1) is also |(M1-N1) |/2. This means that the position of the tool 30 is offset from the reference point to the point on the second moving path A1, and the correction value (ie, the calculation result ΔX1) needs to be compensated for correction. In this embodiment, the tool 30 is shifted to the upper side of the first moving path A0, however, the shifting direction may also be shifted to the lower side of the first moving path A0. In addition, the detection method of the correction value of the tool 30 in the Y-axis direction is the same as the above-mentioned detection method in the X-axis direction. If the tool 30 has an offset, the correction value is not 0, and if there is no offset correction value, it is 0. The rest will not be repeated. ,

請參閱第四圖，其為本發明檢測工具於X、Y軸方向旋轉之校正值的示意圖。第三圖實施例是檢測工具30於X、Y軸方向的點位與路徑是否偏移，而第四圖實施例是檢測工具30於X、Y軸方向的旋轉運動是否偏移(即檢測RX、RY)。所以當依據第三圖實施方式檢測完，獲得運算結果△X1後，控制裝置40控制工具30往上或往下位移，以檢測旋轉運動(如RX)是否有偏移。換言之，機械手臂10帶動工具30往上或往下移動後，依據第三移動路徑A2帶動工具30，與第一光束X-ray交會於第五交會點X2，與第二光束Y-ray交會於第六交會點Y2。如此，同樣獲得第一交會點X0與第二交會點Y0的距離同樣為M1，上移高度(即位移)為H，第五交會點X2與第六交會點Y2的距離為N2，最後相似第三圖實施例的運算方式，獲得運算結果△X2=｜(M1-N2)｜/2。 Please refer to the fourth figure, which is a schematic diagram of the correction value of the detection tool of the present invention rotated in the X and Y axis directions. The embodiment in the third figure is to detect whether the position and the path of the tool 30 in the X and Y axis directions are offset, and the embodiment in the fourth figure is to detect whether the rotational movement of the tool 30 in the X and Y axis directions is offset (that is, to detect RX , RY). Therefore, after the detection is completed according to the embodiment in the third figure and the operation result ΔX1 is obtained, the control device 40 controls the displacement of the tool 30 upwards or downwards to detect whether there is any deviation in the rotational movement (such as RX). In other words, after the mechanical arm 10 drives the tool 30 to move up or down, it drives the tool 30 according to the third moving path A2, intersects with the first beam X-ray at the fifth intersection point X2, and intersects with the second beam Y-ray at The sixth intersection point Y2. In this way, the distance between the first intersection point X0 and the second intersection point Y0 is also M1, the upward movement height (ie displacement) is H, the distance between the fifth intersection point X2 and the sixth intersection point Y2 is N2, and finally similar to the first In the calculation method of the embodiment of the three figures, the calculation result ΔX2=|(M1-N2)|/2 is obtained.

此外，第四圖實施例是以帶動工具30從第二移動路徑A1的 位置往上位移至第三移動路徑A2的位置，即一高度H，作為說明。同樣的，第四圖中的第一移動路徑A0是用於對比第二移動路徑A1與第三移動路徑A2，在檢測過程中工具30無需再依據第一移動路徑A0動作。 In addition, the embodiment of the fourth figure is based on driving the tool 30 from the second moving path A1 The position is shifted up to the position of the third moving path A2, ie a height H, for illustration. Similarly, the first moving path A0 in the fourth figure is used to compare the second moving path A1 and the third moving path A2, and the tool 30 does not need to move according to the first moving path A0 during the detection process.

請參閱第五圖，其為本發明運算工具於X、Y軸方向旋轉之校正值的第一示意圖。在從第四圖實施例獲得運算結果△X1與△X2後，依據運算結果△X1與△X2可以獲知工具30在X軸方向的旋轉運動，是否有產生偏移。再者，工具30相關旋轉運動的校正值運算，請參閱第五圖所繪的說明圖形，第二交會點Y0與交會點X4的距離即為△X2，第二交會點Y0與交會點X3的距離即為△X1，所以實線三角形52的底邊B長度為B=｜(△X1-△X2)｜，且高度H已知，故旋轉運動的偏移量(即偏移角度)為θ=tan-1｜(△X1-△X2)｜/H，即校正值為θ。因此，工具30於X軸方向的旋轉運動需補償θ。同理，工具30於Y軸方向的旋轉運動的檢測方式如上所述。 Please refer to the fifth figure, which is the first schematic diagram of the correction value of the computing tool in the X and Y axis rotations of the present invention. After the calculation results ΔX1 and ΔX2 are obtained from the embodiment in the fourth figure, according to the calculation results ΔX1 and ΔX2, it can be known whether the tool 30 rotates in the X-axis direction and whether there is any deviation. Furthermore, for the calculation of the correction value related to the rotary motion of the tool 30, please refer to the explanatory graph drawn in the fifth figure, the distance between the second intersection point Y0 and the intersection point X4 is △X2, and the distance between the second intersection point Y0 and the intersection point X3 The distance is △X1, so the length of the base B of the solid-line triangle 52 is B=｜(△X1-△X2)|, and the height H is known, so the offset (that is, the offset angle) of the rotational motion is θ =tan -1 |(△X1-△X2)|/H, that is, the correction value is θ. Therefore, the rotational movement of the tool 30 in the X-axis direction needs to be compensated by θ. Similarly, the method for detecting the rotation of the tool 30 in the Y-axis direction is as described above.

請參閱第六圖，其為本發明量測工具於Z軸方向之初始狀態的第一示意圖。如第一圖所示，機械手臂10可以帶動工具30在X、Y、Z三個方向上運動，而於Z軸方向的檢測方式如第六圖所示。首先，控制裝置40控制機械手臂10帶動工具30，從遠離第一光束X-ray朝向第一光束X-ray移動，直至碰觸第一光束X-ray，而交會於一交會點Zx，獲得工具30於Z軸方向上的初始狀態，其中機械手臂10的編碼器所對應的位置可以用於紀錄工具30的初始狀態。換言之，控制裝置40可以改為控制機械手臂10帶動工具30，從遠離第二光束Y-ray朝向第二光束Y-ray移動，而碰觸第二光束Y-ray，其亦是獲得工具30於Z軸方向的初始狀態的選項之一，非本發明所限。 Please refer to FIG. 6 , which is a first schematic diagram of the initial state of the measuring tool in the Z-axis direction of the present invention. As shown in the first figure, the robot arm 10 can drive the tool 30 to move in the three directions of X, Y, and Z, and the detection method in the Z-axis direction is shown in the sixth figure. Firstly, the control device 40 controls the mechanical arm 10 to drive the tool 30 to move from away from the first beam X-ray toward the first beam X-ray until it touches the first beam X-ray, and intersects at an intersection point Zx to obtain the tool The initial state of the tool 30 in the Z-axis direction, wherein the position corresponding to the encoder of the robot arm 10 can be used to record the initial state of the tool 30 . In other words, the control device 40 can instead control the mechanical arm 10 to drive the tool 30 to move away from the second light beam Y-ray toward the second light beam Y-ray, and touch the second light beam Y-ray, which is also the tool 30 to obtain One of the options for the initial state in the Z-axis direction is not limited by the present invention.

或者，請參閱第七圖，其為本發明量測工具於Z軸方向之初 始狀態的第二示意圖。第三種獲得工具30於Z軸方向的初始狀態的方式，即控制裝置40可以改為控制工具30，依據一高度從遠離第一光束X-ray與第二光束Y-ray朝向第一光束X-ray與第二光束Y-ray的交會點移動，而碰觸第一光束X-ray與第二光束Y-ray的交會點。所以，實施例中提供三種獲得工具30於Z軸方向的初始狀態的方式，可以由觸碰單一光束後確認，或觸碰兩個光束後確認，皆為設計選項之一。 Or, please refer to the seventh figure, which is the measurement tool of the present invention at the beginning of the Z-axis direction The second schematic diagram of the initial state. The third way to obtain the initial state of the tool 30 in the Z-axis direction, that is, the control device 40 can be changed to control the tool 30, according to a height from away from the first beam X-ray and the second beam Y-ray toward the first beam X - the intersection point of the first light beam X-ray and the second light beam Y-ray moves to touch the intersection point of the first light beam X-ray and the second light beam Y-ray. Therefore, the embodiment provides three ways to obtain the initial state of the tool 30 in the Z-axis direction, which can be confirmed by touching a single light beam or touching two light beams, both of which are one of the design options.

獲得工具30於Z軸方向的初始位置(Z0)後，在工具30重新安裝或調整完畢，再次確認安裝後的工具30的Z軸方向的位置(Z1)，兩者差異｜(Z0-Z1)｜即為工具30的Z軸方向的校正值的運算結果△Z=｜(Z0-Z1)｜。 After obtaining the initial position (Z0) of the tool 30 in the Z-axis direction, after the tool 30 is reinstalled or adjusted, reconfirm the position of the installed tool 30 in the Z-axis direction (Z1), the difference between the two｜(Z0-Z1) | is the calculation result of the correction value in the Z-axis direction of the tool 30 ΔZ=|(Z0-Z1)|.

請參閱第八圖，其為本發明量測工具於X、Y軸方向之初始狀態的第二示意圖。第二至第五圖的工具校正方法可以稱為45°校正，而第八圖至第十圖的工具校正方法可以稱為十字校正，即工具30以第四移動路徑A3於X軸方向移動，與第二光束Y-ray相交於交會點Y3，獲得工具30於X軸方向的初始位置，其中，第四移動路徑A3與第五移動路徑A4分別正交(90°)於光束X-ray、Y-ray。同理，工具30以第五移動路徑A4於Y軸方向移動，與第一光束X-ray相交於交會點X5，獲得工具30於Y軸方向的初始位置。所以，當更換新工具30執行不同任務前，如第九圖，其為本發明檢測工具於X、Y軸方向之校正值的第二示意圖，獲得新的交會點Y4、X6，而新舊交會點的位差，如｜(Y3-Y4)｜與｜(X5-X6)｜的運算結果，即為X軸方向與Y軸方向的校正值。 Please refer to FIG. 8 , which is a second schematic diagram of the initial state of the measuring tool of the present invention in the directions of the X and Y axes. The tool calibration methods in the second to fifth figures can be called 45° correction, and the tool calibration methods in the eighth to tenth figures can be called cross correction, that is, the tool 30 moves in the X-axis direction with the fourth moving path A3, Intersect with the second light beam Y-ray at the intersection point Y3 to obtain the initial position of the tool 30 in the X-axis direction, wherein the fourth movement path A3 and the fifth movement path A4 are respectively orthogonal (90°) to the light beam X-ray, Y-ray. Similarly, the tool 30 moves in the Y-axis direction with the fifth moving path A4, intersects the first light beam X-ray at the intersection point X5, and obtains the initial position of the tool 30 in the Y-axis direction. Therefore, before replacing the new tool 30 to perform different tasks, as shown in Figure 9, which is the second schematic diagram of the correction value of the detection tool in the X and Y axis directions of the present invention, new intersection points Y4 and X6 are obtained, and the old and new intersection points The point difference, such as the calculation result of |(Y3-Y4)| and |(X5-X6)|, is the correction value of the X-axis direction and the Y-axis direction.

再者，第九圖實施例中工具30運動於第四移動路徑A3、第 五移動路徑A4、第六移動路徑A5與第七移動路徑A6，而分別與兩光束X-ray、Y-ray相交於四個交會點Y3、X5、Y4、X6，且其可以是位於同一平面，用於運算出工具30於X、Y軸方向的檢測結果，或者如前述實施例，工具30移動至不同平面(不同高度)後，進行旋轉運動(RX、RY)之檢測，以獲得校正值的運算結果△X5、△X6。 Furthermore, in the embodiment of the ninth figure, the tool 30 moves on the fourth movement path A3, the first The fifth moving path A4, the sixth moving path A5 and the seventh moving path A6 respectively intersect the two light beams X-ray and Y-ray at four intersection points Y3, X5, Y4, and X6, and they can be located on the same plane , used to calculate the detection results of the tool 30 in the X and Y axis directions, or as in the aforementioned embodiment, after the tool 30 moves to different planes (different heights), the detection of the rotational motion (RX, RY) is performed to obtain the correction value The operation results of △X5, △X6.

請參閱第十圖，其為本發明運算工具於X、Y軸方向旋轉之校正值的第二示意圖。如第五圖實施例，第十圖繪出X軸方向的旋轉運動的偏移角度為θ=tan-1｜(△X6-△X5)｜/H，｜(△X6-△X5)｜為三角形53的底邊B1長度，而校正值為θ，其餘運算說明相似不再覆述。 Please refer to FIG. 10 , which is a second schematic diagram of the calibration value of the computing tool rotated in the X and Y directions of the present invention. As in the embodiment in the fifth figure, the tenth figure shows that the offset angle of the rotational motion in the X-axis direction is θ=tan -1 |(△X6-△X5)|/H, and |(△X6-△X5)| is The length of the base B1 of the triangle 53, and the correction value is θ, and the descriptions of other operations are similar and will not be repeated here.

因此，本發明機器手臂的工具校正方法，依據一第一移動路徑帶動一工具，與一第一光束交會於一第一交會點，與一第二光束交會於一第二交會點。及，依據一第二移動路徑帶動工具，與第一光束交會於一第三交會點，與第二光束交會於一第四交會點。再者，依據第一至第四交會點的位置運算出工具的一校正值。 Therefore, the tool calibration method of the robotic arm of the present invention drives a tool according to a first moving path, intersects a first beam at a first intersection point, and intersects a second beam at a second intersection point. And, drive the tool according to a second moving path, meet the first light beam at a third meeting point, and meet the second light beam at a fourth meeting point. Furthermore, a correction value of the tool is calculated according to the positions of the first to the fourth intersection points.

再者，機械手臂帶動工具往上或往下位移後，依據一第三移動路徑帶動工具，與第一光束交會於一第五交會點，與第二光束交會於一第六交會點，依據第一至第六交會點的位置運算出工具相關一旋轉運動的校正值。因此，本發明提供一種工具校正方法，校正速度快且精度高，以避免耗時的逐一修正工具的點位或路徑。 Furthermore, after the mechanical arm drives the tool to move up or down, it drives the tool according to a third moving path, intersects with the first beam at a fifth intersection point, and intersects with the second beam at a sixth intersection point, according to the first The positions of the first to sixth intersection points are used to calculate the correction value for the relative rotational movement of the tool. Therefore, the present invention provides a tool calibration method with fast calibration speed and high precision, so as to avoid time-consuming correction of tool points or paths one by one.

以上所述者，僅為用以方便說明本發明之實施例，本發明之範圍不限於該等實施例，凡依本發明所做的任何變更，於不脫離本發明之精神下，皆屬本發明申請專利之範圍。 The above-mentioned ones are only used to illustrate the embodiments of the present invention for convenience. The scope of the present invention is not limited to these embodiments. The scope of patent applications for inventions.

20:末端 20: end

30:工具 30: Tools

50:三角形 50: triangle

51:三角形 51: triangle

A0:第一移動路徑 A0: The first moving path

A1:第二移動路徑 A1: Second moving path

M1:距離 M1: Distance

N1:距離 N1: distance

△X:數值 △X: value

X0:第一交會點 X0: the first intersection point

X1:第三交會點 X1: the third intersection point

X-ray:光束 X-ray: light beam

Y0:第二交會點 Y0: Second intersection point

Y1:第四交會點 Y1: The fourth intersection point

Y-ray:光束 Y-ray: light beam

Claims (8)

一種機械手臂的工具校正方法，其包含：依據一第一移動路徑帶動一工具，與一第一光束交會於一第一交會點，與一第二光束交會於一第二交會點；依據一第二移動路徑帶動該工具，與該第一光束交會於一第三交會點，與該第二光束交會於一第四交會點；及依據該第一至第四交會點的位置運算出該工具的一校正值；其中，該第一交會點與該第二交會點的距離為M1，該第三交會點與該第四交會點的距離為N1，該校正值為△X1=｜(M1-N1)｜/2。 A tool calibration method for a mechanical arm, which includes: driving a tool according to a first moving path, intersecting a first beam at a first intersection point, intersecting a second beam at a second intersection point; according to a first Two moving paths drive the tool to intersect with the first light beam at a third intersection point, and intersect with the second light beam at a fourth intersection point; and calculate the position of the tool based on the positions of the first to fourth intersection points A correction value; wherein, the distance between the first intersection point and the second intersection point is M1, the distance between the third intersection point and the fourth intersection point is N1, and the correction value is △X1=|(M1-N1 )|/2. 如申請專利範圍第1項所述之機械手臂的工具校正方法，其中，該機械手臂帶動該工具往上或往下位移後，依據一第三移動路徑帶動該工具，與該第一光束交會於一第五交會點，與該第二光束交會於一第六交會點。 The tool calibration method of the mechanical arm as described in item 1 of the scope of the patent application, wherein, after the mechanical arm drives the tool to move up or down, it drives the tool according to a third moving path, and intersects the first light beam at A fifth intersection point intersects the second light beam at a sixth intersection point. 如申請專利範圍第1項所述之機械手臂的工具校正方法，其中，該第一交會點的位置相同於該第三交會點的位置，該第二交會點的位置相同於該第四交會點的位置。 The tool calibration method for a robotic arm as described in item 1 of the scope of the patent application, wherein the position of the first intersection point is the same as that of the third intersection point, and the position of the second intersection point is the same as that of the fourth intersection point s position. 如申請專利範圍第1項所述之機械手臂的工具校正方法，其中，該第一交會點的位置不同於該第三交會點的位置，或/及該第二交會點的位置不同於該第四交會點的位置。 The tool calibration method for a robotic arm as described in item 1 of the scope of the patent application, wherein the position of the first intersection point is different from the position of the third intersection point, or/and the position of the second intersection point is different from the position of the first intersection point The locations of the four intersection points. 如申請專利範圍第1項所述之機械手臂的工具校正方法，其中，一控制裝置控制該機械手臂帶動該工具，從遠離該第一光束朝向該第一光束移動，而碰觸該第一光束。 The tool calibration method of the robotic arm as described in item 1 of the scope of the patent application, wherein a control device controls the robotic arm to drive the tool, move away from the first beam towards the first beam, and touch the first beam . 如申請專利範圍第1項所述之機械手臂的工具校正方法，其中，一控制 裝置控制該機械手臂帶動該工具，從遠離該第二光束朝向該第二光束移動，而碰觸該第二光束。 The tool calibration method of the mechanical arm as described in item 1 of the scope of the patent application, wherein, a control The device controls the mechanical arm to drive the tool, move away from the second beam towards the second beam, and touch the second beam. 如申請專利範圍第1項所述之機械手臂的工具校正方法，其中，一控制裝置控制該機械手臂帶動該工具，依據一高度從遠離該第一光束與該第二光束朝向該第一光束與該第二光束移動，而碰觸該第一光束與該第二光束。 The tool calibration method of the robotic arm as described in item 1 of the scope of the patent application, wherein a control device controls the robotic arm to drive the tool, and moves from away from the first light beam and the second light beam to the first light beam and the second light beam according to a height The second light beam moves to touch the first light beam and the second light beam. 如申請專利範圍第2項所述之機械手臂的工具校正方法，其中，該位移為H，該第五交會點與該第六交會點的距離為N2，△X2=｜(M1-N2)｜/2，該工具相關一旋轉運動的該校正值為θ=tan-1｜(△X1-△X2)｜/H。 The tool calibration method of the robotic arm as described in item 2 of the scope of the patent application, wherein the displacement is H, the distance between the fifth intersection point and the sixth intersection point is N2, △X2=|(M1-N2)| /2, the correction value of the tool relative to a rotary motion is θ=tan -1 |(△X1-△X2)|/H.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090157226A1 (en) * 2004-11-19 2009-06-18 Dynalog ,Inc. Robot-cell calibration
TW201924878A (en) * 2017-12-05 2019-07-01 財團法人工業技術研究院 Calibration device for robot and method thereof
TW202005765A (en) * 2018-07-06 2020-02-01 大陸商康碩電子（蘇州）有限公司 Robotic arm calibration system and robotic arm calibration method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090157226A1 (en) * 2004-11-19 2009-06-18 Dynalog ,Inc. Robot-cell calibration
TW201924878A (en) * 2017-12-05 2019-07-01 財團法人工業技術研究院 Calibration device for robot and method thereof
TW202005765A (en) * 2018-07-06 2020-02-01 大陸商康碩電子（蘇州）有限公司 Robotic arm calibration system and robotic arm calibration method

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