TWI812393B - Calibration system of multi-axis robot arm and definition method of machining coordinates - Google Patents
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Abstract
一種多軸機械手臂之校正系統，包含一平台，以及設置於該平台且分別具有第一、二及三位移計之第一、二及三量測裝置。該等位移計具有可被調整成分別往三彼此正交之方向延伸之第一、二及三量測頭，用以量測沿各該方向上之位移量。透過前述校正系統，可建立校正多軸機械手臂所需的空間定位點及校正座標。本發明同時提供一種利用前述校正系統進行一多軸機械手臂之加工座標的定義方法。A calibration system for a multi-axis robotic arm includes a platform, and first, second and third measuring devices provided on the platform and respectively having first, second and third displacement meters. The displacement gauges have first, second and third measuring heads that can be adjusted to extend in three mutually orthogonal directions respectively, for measuring the displacement along each of the directions. Through the aforementioned calibration system, the spatial positioning points and calibration coordinates required for calibrating the multi-axis robotic arm can be established. The present invention also provides a method for defining the processing coordinates of a multi-axis robotic arm using the aforementioned correction system.
Description
本案係關於一種校正系統，尤指一種多軸機械手臂之工具校正系統，以及一種使用前述校正系統進行多軸機械手臂之加工座標的定義方法。 This case is about a correction system, specifically a tool correction system for a multi-axis robot arm, and a method of defining the processing coordinates of a multi-axis robot arm using the aforementioned correction system.
工業4.0的興起，我國製造模式正逐步朝向精密與少量多樣化生產，大部份的自動化設備與精密加工設備皆搭配多軸機械手臂應用於製造與電子業產線中，利用多軸機械手臂末端配置各種末端工具，例如切割工具、夾持工具、研磨工具或焊接工具等等，以執行多樣之精密裝配或加工任務。然而，多軸機械手臂之末端工具必須定義一端點，稱為工具中心點(Tool Center Pont，以下簡稱TCP)，該末端工具之TCP與多軸機械手臂之末端效應點(End-Effect Point)之間的位移量必須精確地取得並且預先設定，藉此，當多軸機械手臂裝設末端工具運行時，該手臂的控制器可依上述所取得之位移量進行校正，使得該末端工具之端點位置能準確地於動作程式之路徑軌跡及位置上運行。 With the rise of Industry 4.0, my country's manufacturing model is gradually moving towards precision and small-volume diversified production. Most automation equipment and precision processing equipment are equipped with multi-axis robotic arms and are used in manufacturing and electronics industry production lines, using the end of multi-axis robotic arms. Equipped with various end tools, such as cutting tools, clamping tools, grinding tools or welding tools, etc., to perform various precision assembly or processing tasks. However, the end tool of the multi-axis robot arm must define an end point, called the Tool Center Pont (hereinafter referred to as TCP). The TCP of the end tool is the same as the end-effect point of the multi-axis robot arm. The displacement amount must be accurately obtained and pre-set. Thus, when the multi-axis robot arm is equipped with an end tool and is running, the controller of the arm can be calibrated according to the obtained displacement amount so that the end point of the end tool The position can accurately run on the path trajectory and position of the action program.
上述產業應用所搭配之多軸機械手臂，大多為關節型多軸機械手臂，靈活性高且適用於各樣精密裝配與加工應用中，由於對於多軸機械手臂之校正需求日益增加，相對地也日漸重視多軸機械手臂之校正品質與誤差。多軸機械手臂的校正方式，是以量測設備搭配多軸機械手臂於不同姿態下惟同一空間中特定方向之相同的定位點進行量測與記錄，並將多組定位點資訊回傳至機 械手臂之控制器來計算並得出該定位點的結果，詳而言之，上述的校正方式係將多軸機械手臂的基礎座標(Base Frame，World Frame)投影至多軸機械手臂末端的工具座標(Tool Frame，Tool Center Point)以及加工空間的加工座標(User Frame，Part Frame)，以完成該多軸機械手臂之工具座標及加工座標的校正。 The multi-axis robot arms used in the above industrial applications are mostly articulated multi-axis robot arms, which are highly flexible and suitable for various precision assembly and processing applications. Due to the increasing demand for correction of multi-axis robot arms, it is relatively Increasing attention is paid to the correction quality and errors of multi-axis robotic arms. The calibration method of the multi-axis robot arm is to use the measuring equipment and the multi-axis robot arm to measure and record the same positioning points in a specific direction in the same space in different postures, and send multiple sets of positioning point information back to the machine. The controller of the robot arm calculates and obtains the result of the positioning point. Specifically, the above correction method projects the base coordinates (Base Frame, World Frame) of the multi-axis robot arm to the tool coordinates at the end of the multi-axis robot arm. (Tool Frame, Tool Center Point) and the processing coordinates (User Frame, Part Frame) of the processing space to complete the correction of the tool coordinates and processing coordinates of the multi-axis robot arm.
目前，為方便校正多軸機械手臂末端工具之TCP，多為人眼判斷或光學量測方式來確認並量測該座標空間裡的定位點資訊；然而，以人眼判斷會因不同人員操作而有操作誤差，且人員於校正過程中必須累積數次如上述之校正方式，產生許多組定位點資訊組並透過控制器計算才能有一客觀的數據或結果；若使用光學工具進行校正時，傳統工具多為紅外線式感測器，價格相對昂貴外，使用環境與校正治具之條件更為嚴苛，若量測環境的光源不足，或環境中產生的水霧都將使該光學工具之鏡頭表面產生水或油漬，進而發生失靈或降低精度的問題，另外，為使光學儀器的量測不受影響，搭配之校正治具的表面需針對光學儀器的類型作特殊處理，例如超細微霧面的珠擊處理或鏡面處理，以利在各種光源的情況下無誤地量測，然而這些特殊處理會使得校正治具的加工成本與保存成本亦相對提高許多。其次，若使用諸如雷射追蹤設備之光學儀器進行校正，雖可快速且準確地實現多軸機械手臂之末端工具之TCP的校正，惟此等光學儀器除了造價非常高昂外，設備維護成本也非常高。 At present, in order to facilitate the correction of the TCP of the end tool of a multi-axis robot arm, human judgment or optical measurement methods are mostly used to confirm and measure the positioning point information in the coordinate space; however, judgment by the human eye will vary depending on the operation of different personnel. There are operational errors, and personnel must accumulate the above correction methods several times during the calibration process, generating many sets of anchor point information groups and calculating them through the controller to have objective data or results; if optical tools are used for calibration, traditional tools Most of them are infrared sensors, which are relatively expensive. The conditions of use environment and calibration fixture are more stringent. If the light source of the measurement environment is insufficient or the water mist generated in the environment will cause damage to the lens surface of the optical tool, Water or oil stains may occur, which may lead to malfunction or reduced accuracy. In addition, in order to prevent the measurement of optical instruments from being affected, the surface of the matching calibration fixture needs to be specially processed according to the type of optical instrument, such as ultra-fine micro-matte. Pearl blasting treatment or mirror surface treatment is used to facilitate accurate measurement under various light sources. However, these special treatments will increase the processing cost and storage cost of the calibration fixture. Secondly, if optical instruments such as laser tracking equipment are used for calibration, although the TCP of the end tool of a multi-axis robotic arm can be calibrated quickly and accurately, these optical instruments are not only very expensive to build, but also very expensive to maintain. high.
有鑑於上述缺失，本發明之主要目的在於提供一種多軸機械手臂之校正系統及加工座標的定義方法，尤其適用於多軸機械手臂之工具校正作業，其成本較低且可實現高精度校正效果者。 In view of the above deficiencies, the main purpose of the present invention is to provide a correction system for a multi-axis robotic arm and a method for defining processing coordinates, which is particularly suitable for tool calibration operations of a multi-axis robotic arm, has low cost and can achieve high-precision correction effects. By.
為達成上述目的，本發明所提供之一種多軸機械手臂之校正系統，包含有一平台、一第一量測裝置、一第二量測裝置以及一第三量測裝置。該第一量測裝置可調整其姿態地設置於該平台上且包含一第一位移計，該第一位移計具有一往一第一方向延伸之第一量測頭，用以量測沿該第一方向上之一第一位移量；該第二量測裝置可調整其姿態地設置於該平台上且包含一第二位移計，該第二位移計具有一往一第二方向延伸之第二量測頭，用以量測沿該第二方向上之一第二位移量，其中該第二方向係與該第一方向相交於一交點；該第三量測裝置可調整其姿態地設置於該平台上且包含一第三位移計，該第三位移計具有一往一第三方向延伸之第三量測頭，用以量測沿該第三方向上之一第三位移量，其中該第三方向通過該交點；尤其，該第一方向、該第二方向及該第三方向係彼此正交。 In order to achieve the above object, the present invention provides a calibration system for a multi-axis robotic arm, which includes a platform, a first measuring device, a second measuring device and a third measuring device. The first measuring device is disposed on the platform so that its posture can be adjusted and includes a first displacement meter. The first displacement meter has a first measuring head extending in a first direction for measuring along the A first displacement amount in a first direction; the second measuring device is disposed on the platform so as to adjust its attitude and includes a second displacement meter, the second displacement meter has a second displacement meter extending in a second direction. Two measuring heads are used to measure a second displacement along the second direction, wherein the second direction intersects with the first direction at an intersection point; the third measuring device is arranged to adjust its posture. A third displacement meter is included on the platform, and the third displacement meter has a third measuring head extending in a third direction for measuring a third displacement amount along the third direction, wherein the The third direction passes through the intersection; in particular, the first direction, the second direction and the third direction are orthogonal to each other.
藉由上述技術特徵，本發明所提供之多軸機械手臂之校正系統可建立校正多軸機械手臂所需的空間定位點及校正座標，以利多軸機械手臂之工具座標及加工座標之校正，而且相較於人工與光學儀器校正方式，本發明之校正系統能簡單操作與節省時間外，亦能大幅降低校正系統之成本，且能實現於規格廣泛的小型或大型多軸機械手臂及各式樣態之末端工具之校正作業。 Through the above technical features, the correction system of the multi-axis robot arm provided by the present invention can establish the spatial positioning points and correction coordinates required for the correction of the multi-axis robot arm, so as to facilitate the correction of the tool coordinates and processing coordinates of the multi-axis robot arm, and Compared with manual and optical instrument calibration methods, the calibration system of the present invention can be easily operated and save time. It can also significantly reduce the cost of the calibration system, and can be implemented in a wide range of small or large multi-axis robotic arms and various styles. Calibration of end tools.
較佳地，該第一、二及三量測裝置之姿態係被調整成使該第一方向、該第二方向及該第三方向係彼此正交之態樣。如此，該第一、二及三量測頭一間可形成之一感測空間，以利多軸機械手臂之工具座標及加工座標之校正。 Preferably, the postures of the first, second and third measuring devices are adjusted such that the first direction, the second direction and the third direction are orthogonal to each other. In this way, the first, second and third measuring heads can form a sensing space to facilitate the correction of tool coordinates and processing coordinates of the multi-axis robot arm.
較佳地，該第一位移計、該第二位移計以及該第三位移計可以分別為一千分表。如此，利用該等量表精度誤差小於多軸機械手臂之定位精度且 係為標準量測工具價格合理取得容易之優點，使本發明所提供之校正系統可符合多數多軸機械手臂之校正目的使用。 Preferably, the first displacement meter, the second displacement meter and the third displacement meter can respectively be dial indicators. In this way, the accuracy error of using these scales is smaller than the positioning accuracy of the multi-axis robot arm and This is because the standard measurement tools are reasonably priced and easy to obtain, so that the calibration system provided by the present invention can be used for calibration purposes of most multi-axis robotic arms.
較佳地，所述之多軸機械手臂之校正系統更包含一基座以及一轉軸，該轉軸樞接於該基座與該平台之間，使該平台可繞設該轉軸之一中心軸而相對該基座轉動，該轉軸之中心軸之延伸方向係通過該交點。藉此，使用者可藉由轉動該平台來改變該校正系統之姿態，提供機械手臂於不同姿態進行校正時，能有更多的退讓空間。 Preferably, the correction system of the multi-axis robot arm further includes a base and a rotating shaft, the rotating shaft is pivotally connected between the base and the platform, so that the platform can be positioned around a central axis of the rotating shaft. Rotating relative to the base, the extending direction of the central axis of the rotating shaft passes through the intersection point. Thereby, the user can change the posture of the correction system by rotating the platform, providing the robotic arm with more room for retreat when performing corrections in different postures.
較佳地，所述之多軸機械手臂之校正系統可包含一具有一球部之校正工具，該校正工具係可拆卸地固定於該平台，該球部可與該第一、二及三量測頭接觸，並且，將第一、二及三量測頭接觸所量測到之第一、二及三位移量進行歸零，使該球部之一球心與該交點重合。如此，該校正系統使用前，可利用該校正工具先行校正該校正系統所量測到的數值及方向。 Preferably, the calibration system of the multi-axis robot arm may include a calibration tool with a ball part, the calibration tool is detachably fixed on the platform, the ball part can be connected with the first, second and third measuring The probes are in contact, and the first, second and third displacements measured by the contact of the first, second and third probes are reset to zero, so that the center of the ball part coincides with the intersection point. In this way, before using the calibration system, the calibration tool can be used to calibrate the values and directions measured by the calibration system.
本發明之又一目的在於提供一種使用上述校正系統進行多軸機械手臂之加工座標的定義方法，針對一設置有一待加工件之加工平面，利用一手臂末端裝設有一球部工具且已經校正過工具座標原點之多軸機械手臂，定義出該多軸機械手臂之一加工座標系之XY平面座標，所述加工座標的定義方法包含有在該加工平面上定義出一座標原點、一X軸向定位點及一Y軸向定位點之步驟a)、b)及c)，以及利用該加工座標系之座標原點、該X軸向定位點以及該Y軸向定位點完成該多軸機械手臂之該加工座標系之XY平面座標的定義的步驟d)。其中，該步驟a)、b)及c)分別包含有以下步驟：將上述校正系統固定在該加工平面上所選取一第一、二及三定位點，並使該第一、二及三量測頭之第一、二及三方向之交點，在一Z軸方向上分別與該第一、二及三定位點重合；對 該第一、二及三量測頭校正歸零；使該多軸機械手臂之球部工具位移至該第一、二及三量測頭所形成之一感測空間中與該第一、二及三量測頭接觸；以及，調整該球部工具之姿態直到該球部工具之一球心與該交點重合，藉此，該多軸機械手臂定義出該加工座標系之座標原點、X軸向定位點及Y軸向定位點。 Another object of the present invention is to provide a method for defining the processing coordinates of a multi-axis robot arm using the above correction system. Aiming at a processing plane provided with a workpiece to be processed, a ball tool is installed at the end of an arm and has been calibrated. The multi-axis robot arm with a tool coordinate origin defines the XY plane coordinates of a processing coordinate system of the multi-axis robot arm. The method of defining the processing coordinates includes defining a coordinate origin and an X on the processing plane. The steps a), b) and c) of the axial positioning point and a Y-axis positioning point, and the use of the coordinate origin of the processing coordinate system, the X-axis positioning point and the Y-axis positioning point to complete the multi-axis Step d) of defining the XY plane coordinates of the processing coordinate system of the robot arm. Wherein, the steps a), b) and c) respectively include the following steps: fix the above correction system on the processing plane, select a first, second and third positioning point, and make the first, second and third measuring points The intersection point of the first, second and third directions of the probe coincides with the first, second and third positioning points respectively in the Z-axis direction; The first, second and third measuring heads are calibrated to zero; the ball tool of the multi-axis robot arm is moved to a sensing space formed by the first, second and third measuring heads and is in contact with the first and second measuring heads. and the three-measurement probe is in contact; and, adjust the posture of the spherical tool until the center of the spherical tool coincides with the intersection point, whereby the multi-axis robot arm defines the coordinate origin, X, of the processing coordinate system Axial positioning point and Y-axis positioning point.
較佳地，所述多軸機械手臂之加工座標的定義方法中，步驟a)、步驟b)及步驟c)所使用之該校正系統，係為同一個校正系統。如此，只需要一個校正系統即可執行上述定義方法，可有效降低成本。 Preferably, in the method of defining the processing coordinates of the multi-axis robot arm, the correction system used in steps a), b) and c) is the same correction system. In this way, only one calibration system is needed to perform the above definition method, which can effectively reduce costs.
較佳地，所述多軸機械手臂之加工座標的定義方法中，在步驟a)、步驟b)及步驟c)中，該球部工具之該球心與該交點是否重合，係利用該多軸機械手臂之球部工具與該第一、二及三量測頭接觸時，該第一、二及三量測頭是否分別量測到該第一、二及三方向上的位移量來判斷。如此，使用者可透過該些位移量來正確移動該多軸機械手臂所在的位置與方向，而使該球部工具之該球心與該交點重合。 Preferably, in the method for defining the processing coordinates of the multi-axis robot arm, in steps a), b) and c), whether the spherical center of the spherical tool coincides with the intersection point is determined by using the multi-axis robot arm. When the ball tool of the axis robot arm comes into contact with the first, second and third measuring heads, it is judged whether the first, second and third measuring heads measure the displacement in the first, second and third directions respectively. In this way, the user can accurately move the position and direction of the multi-axis robot arm through the displacement amounts, so that the center of the ball tool and the intersection point coincide with each other.
較佳地，所述步驟a)、步驟b)以及步驟c)中，係利用一固定插銷分別固定於該第一、二及三定位點，且該固定插銷之一中心軸之延伸方向係通過該交點。如此，可容易地確定該第一、二及三定位點之位置。 Preferably, in steps a), b) and c), a fixed latch is used to fix the first, second and third positioning points respectively, and the extending direction of a central axis of the fixed latch passes through The intersection. In this way, the positions of the first, second and third positioning points can be easily determined.
有關本發明所提供之一種多軸機械手臂之校正系統及加工座標的定義方法所提及的詳細構造、特點、組裝或使用方式，將於後續的實施方式詳細說明中予以描述。 The detailed structure, features, assembly or usage of the correction system of a multi-axis robotic arm and the method of defining processing coordinates provided by the present invention will be described in the subsequent detailed description of the implementation.
10:多軸機械手臂 10:Multi-axis robotic arm
102:末端軸線 102:Terminal axis
12:球部工具 12: Ball tool
13:球部 13: Ball Club
132:球心 132: center of ball
18:感測空間 18: Sensing space
20:校正系統 20:Calibration system
21:平台 21:Platform
22:正交交點 22: Orthogonal intersection point
30:第一量測裝置 30: First measuring device
31:第一位移計 31: The first displacement meter
33:第一方向 33:First direction
35:第一量測頭 35: First measuring probe
36:支撐桿 36:Support rod
37:萬向接頭 37:Universal joint
38:延伸臂 38:Extended arm
40:第二量測裝置 40: Second measuring device
41:第二位移計 41: Second displacement meter
43:第二方向 43:Second direction
45:第二量測頭 45: Second measuring head
50:第三量測裝置 50: The third measuring device
51:第三位移計 51: The third displacement meter
53:第三方向 53:Third direction
55:第三量測頭 55: The third measuring head
60:基座 60: base
62:轉軸 62:Rotating axis
63:驅動件 63:Driving parts
70:校正工具 70:Calibration tools
71:球部 71: Ball Club
711:球心 711: center of ball
81:待加工件 81: Parts to be processed
82:加工平面 82: Processing plane
83:第一定位點(座標原點) 83: First positioning point (coordinate origin)
85:第二定位點(X軸向定位點) 85: Second positioning point (X-axis positioning point)
87:第三定位點(Y軸向定位點) 87: The third positioning point (Y-axis positioning point)
90:固定插銷 90:Fixed latch
91:中心軸 91:Central axis
S1a~S1m,SC:步驟 S1a~S1m,SC: steps
S2e~S2m:步驟 S2e~S2m: steps
S3e~S3p:步驟 S3e~S3p: steps
a1~a4,a41~a47:步驟 a1~a4,a41~a47: steps
b1~b4,b41~b47:步驟 b1~b4,b41~b47: steps
c1~c4,c41~c47,d:步驟 c1~c4,c41~c47,d: steps
圖1為本發明一實施例所提供之多軸機械手臂之校正系統與一多軸機械手臂之示意圖。 FIG. 1 is a schematic diagram of a multi-axis robot arm correction system and a multi-axis robot arm provided by an embodiment of the present invention.
圖2為本發明上述實施例所提供之多軸機械手臂之校正系統裝設有一校正工具之示意圖。 FIG. 2 is a schematic diagram of a calibration tool installed in the calibration system of the multi-axis robotic arm provided by the above embodiment of the present invention.
圖3為利用本發明上述實施例所提供之多軸機械手臂之校正系統進行該多軸機械手臂之工具中心點校正的流程圖，顯示一第一定位點進行校正之情形。 FIG. 3 is a flow chart of using the calibration system of the multi-axis robot arm provided by the above embodiment of the present invention to perform the tool center point calibration of the multi-axis robot arm, showing the situation of a first positioning point being calibrated.
圖4為利用本發明上述實施例所提供之多軸機械手臂之校正系統進行該多軸機械手臂之工具中心點校正的流程圖，顯示一第二定位點進行校正之情形。 Figure 4 is a flow chart of using the calibration system of the multi-axis robot arm provided by the above embodiment of the present invention to perform the tool center point correction of the multi-axis robot arm, showing the situation of performing correction at a second positioning point.
圖5為利用本發明上述實施例所提供之多軸機械手臂之校正系統進行該多軸機械手臂之工具中心點校正的流程圖，顯示一第三定位點進行校正之情形。 FIG. 5 is a flow chart of using the correction system of the multi-axis robot arm provided by the above embodiment of the present invention to perform the tool center point correction of the multi-axis robot arm, showing the situation of performing correction at a third positioning point.
圖6為一示意圖，顯示如何利用本發明上述實施例所提供之多軸機械手臂之校正系統定義出該多軸機械手臂之加工座標。 FIG. 6 is a schematic diagram showing how to define the processing coordinates of the multi-axis robot arm using the correction system of the multi-axis robot arm provided by the above embodiment of the present invention.
圖7為一流程圖，顯示如何利用本發明上述實施例所提供之多軸機械手臂之校正系統定義出該多軸機械手臂之加工座標的座標原點。 FIG. 7 is a flow chart showing how to use the correction system of the multi-axis robot arm provided by the above embodiment of the present invention to define the coordinate origin of the processing coordinates of the multi-axis robot arm.
圖8為一流程圖，顯示如何利用本發明上述實施例所提供之多軸機械手臂之校正系統定義出該多軸機械手臂之加工座標的X軸向座標。 FIG. 8 is a flow chart showing how to use the correction system of the multi-axis robot arm provided by the above embodiment of the present invention to define the X-axis coordinate of the processing coordinate of the multi-axis robot arm.
圖9為一流程圖，顯示如何利用本發明上述實施例所提供之多軸機械手臂之校正系統定義出該多軸機械手臂之加工座標的Y軸向座標。 FIG. 9 is a flow chart showing how to use the correction system of the multi-axis robot arm provided by the above embodiment of the present invention to define the Y-axis coordinate of the processing coordinate of the multi-axis robot arm.
申請人首先在此說明，於整篇說明書中，包括以下介紹的實施例以及申請專利範圍的請求項中，有關方向性的名詞皆以圖式中的方向為基準。 其次，在以下將要介紹之實施例以及圖式中，相同之元件標號，代表相同或近似之元件或其結構特徵。 The applicant would like to first explain that in the entire description, including the embodiments introduced below and the claims in the patent application scope, terms related to directionality are based on the direction in the drawings. Secondly, in the embodiments and drawings to be introduced below, the same component numbers represent the same or similar components or structural features.
請參閱圖1，圖1顯示本發明一實施例所提供之校正系統20搭配一多軸機械手臂10使用之情形。在此實施例中，多軸機械手臂10末端設有一具有一球部13之球部工具12，且球部工具12之球心132位於該多軸機械手臂10之一末端軸線102上。其次，校正系統20具有一平台21、一第一量測裝置30、一第二量測裝置40，以及一第三量測裝置50，此外，可選擇地，校正系統20更可配置有一基座60、一樞接於基座60與平台21之間的轉軸62，以及設置於轉軸62上之驅動件63(例如把手或驅動馬達)，藉由操作驅動件63或撥動平台21，可使平台21繞著轉軸62之中心軸而相對基座60轉動。再者，第一量測裝置30係可調整其姿態地(下文詳述)設置於平台21上且包含一第一位移計31，且第一位移計31具有一往一第一方向33延伸之第一量測頭35，用以量測沿第一方向33上之一第一位移量，同樣地，第二、三量測裝置40、50係分別可調整其姿態地設置於平台21上，且分別包含一第二、三位移計41、51，且第二位移計41具有一往一第二方向43延伸之第二量測頭45，用以量測沿第二方向43上之一第二位移量，而第三位移計51具有一往一第三方向53延伸之第三量測頭55，用以量測沿該第三方向53上之一第三位移量。其中第一、二、三量測裝置30、40、50之姿態係可被調整成第二方向43係與第一方向33相交於一交點22，而第三方向53通過該交點22，亦即第一、二、三方向33、43、53相交於前述交點22。使用時，使用者可借助習知的接觸式與非接觸式的量測儀器，調整並固定第一量測裝置30、第二量測裝置40及第三量測裝置50的姿態，使第一、二、三位移計31、41、51之第一量測頭35、第二量測頭45及第三量測頭55彼此間隔，而侷限出一可容置多
軸機械手臂10之球部工具12的球部13的感測空間18(作為校正多軸機械手臂所需的定位點空間)，且第一、二、三方向33、43、53延伸相交於一位於前述感測空間18中的交點22，更詳細地說，校正系統20在使用時，係調整並固定第一、二、三量測裝置30、40、50至特定的姿態，使第一、二、三位移計31、41、51之延伸方向彼此正交，亦即第一方向33、第二方向43及第三方向53彼此正交於前述交點22，且使平台21下方配置之轉軸62之中心軸之延伸方向通過該交點22，藉此，當使用者轉動平台21繞轉軸62之中心軸轉動時，可以改變整個校正系統20的姿態，此時轉軸62之中心軸之延伸方向與校正系統20之交點22仍然可保持在同一軸線上，如此，除了確保該校正系統的定位精度外，亦能提供多軸機械手臂10之球部工具12的球部13以各種不同的姿態進入或退出前述感測空間18時，能有更多的退讓空間，亦即當第一、二、三位移計31、41、51所提供之感測空間18的開口方向不利多軸機械手臂10之球部工具12的球部13進入前述感測空間18中時，可以改變整個校正系統20的姿態(改變感測空間18的開口方向)，使多軸機械手臂10之球部工具12的球部13能以方便的角度進入前述感測空間18中，如此，可快速找出末端工具之工具中心點，縮短人員進行工具中心點之校正時間。由於上述之接觸式與非接觸式的量測儀器之使用法係與習用者無異，容申請人在此不詳加敘述。
Please refer to FIG. 1 , which shows a
此外，關於上述之姿態調整，第一量測裝置30、第二量測裝置40及第三量測裝置50皆具有一可調整並固定其姿態之多軸型固定架，例如：機械性磁性架，由於第一量測裝置30、第二量測裝置40及第三量測裝置50之結構及功能完全相同，因此以下僅以第一量測裝置30為例，說明其結構、功能以及與其他構件之配置關係。
In addition, regarding the above-mentioned posture adjustment, the
詳而言之，如圖2所示，第一量測裝置30具有一固定於平台21上之支撐桿36、一萬向接頭37及一延伸臂38，其中萬向接頭37銜接於支撐桿36與延伸臂38之間，而延伸臂38之末端可以利用諸如線性滑槽與滑軌組或其他方式固接第一位移計31，如此，藉由前述萬向接頭37，延伸臂38可***作而相對支撐桿36移動並固定在特定位置，從而改變第一位移計31之姿態。在此實施例中，第一位移計31係為一千分表，然而在其他可行的實施例中，第一位移計31可以為一紅外線感測工具或其他光學工具，只要可以量測出沿第一方向33、第二方向43及第三方向53之第一、二及三位移量即可。
Specifically, as shown in FIG. 2 , the
請再參閱圖2，在此實施例中，校正系統20更可選擇性地配置一具有一球部71之校正工具70，透過各種合適的定位方式，可以將校正工具70以可拆卸的方式固定於校正系統20之平台21。如此一來，在校正系統20使用前或使用中，可以將校正工具70固定在校正系統20之平台21上，調整第一量測裝置30、第二量測裝置40及第三量測裝置50之延伸臂38，使沿著第一、二、三方向33、43、53延伸且彼此正交的第一量測頭35、第二量測頭45及第三量測頭55與校正工具70之球部71之球面相接觸，而進行第一、二、三位移計31、41、51的校正歸零，此時校正工具70之球心711係與校正系統20之交點22重合，之後再移除校正工具70，如此，即可完成校正系統20使用前或使用中所能量測到的數值及方向的校正歸零作業。
Please refer to Figure 2 again. In this embodiment, the
請參閱圖3，圖3為利用本發明上述實施例所提供之校正系統20進行一多軸機械手臂之工具中心點校正的流程圖，主要顯示一第一定位點進行校正之情形。如圖所示，工具中心點校正包含有以下步驟：如步驟S1a所示，將校正系統20固定於一個不隨多軸機械手臂移動之位置；
進行校正系統20之校正歸零作業SC：先將校正工具70固定於校正系統20之平台21上(如步驟S1b所示)；其次，利用上文所述之校正方法，使校正系統20之第一量測頭35、第二量測頭45及第三量測頭55碰觸校正工具70之球部71，將三組成正交方向之第一、二、三位移計31、41、51所讀取到的位移量歸零(如步驟S1c所示)；再者，如步驟S1d所示，將校正工具70從平台21拆除，從而完成校正歸零作業；如步驟S1e所示，校正人員操作多軸機械手臂10，帶動末端球部工具12，使球部工具12之球部13位移至上述由第一、二、三量測頭35、45、55之檢測尖端所形成感測空間18中；使球部工具12之球部13的球心132與交點22重合：為實現此步驟，校正人員可操作多軸機械手臂10，使球部13在感測空間18中微幅移動，此時，如步驟S1f至S1k所示，當校正人員肉眼觀察到或者藉由第一、二、三量測頭35、45、55輸出數值以電腦自動判別到第一、二、三量測頭35、45、55分別有量測到第一、二、三方向33、43、53上的位移量(可以代表在X軸、Y軸及Z軸方向的位移量)時，表示球心132尚未與交點22重合，此時，校正人員可持續操作多軸機械手臂10，使球部13在感測空間18中以補償前述量測到之位移量至歸零的方式微幅移動，直到第一、二、三量測頭35、45、55無法量測到第一、二、三方向33、43、53上的位移量為止，此時代表球部工具12的球心132已經與交點22重合。必須加以說明的是，判斷步驟S1f、S1h以及S1j的執行並無先後順序，孰先孰後皆可以，只要確保第一、二、三量測頭35、45、55量測到的第一、二、三方向33、43、53上的位移量為零即可；以及
如步驟S1m所示，記錄多軸機械手臂當前姿態之位置座標資訊，亦即記錄多軸機械手臂10以第一種姿態帶動末端球部工具12、使球心132與交點22重合時之位置座標資訊，完成量測多軸機械手臂10之工具中心點之第一定位點座標資訊。
Please refer to FIG. 3 . FIG. 3 is a flow chart for performing tool center point correction on a multi-axis robot arm using the
上述所量測定義多軸機械手臂10之工具中心點之第一定位點座標資訊，即可作為多軸機械手臂10之工具中心點座標，然而為了提供更高的定位精度，可以調整多軸機械手臂10之末端球部工具12的姿態，以另外一種或以上的姿態來進行多軸機械手臂10之工具中心點座標的定位校正。例如，圖4及圖5分別顯示一第二定位點以及一第三定位點之多軸機械手臂之工具中心點校正的流程圖，圖4及圖5所揭露的校正流程中，在進行調整多軸機械手臂的姿態的步驟S2e、S3e之後，分別執行步驟S2f~S2k以及步驟S3f~S3k，即可得到多軸機械手臂10之工具中心點之第二、三定位點座標資訊，如步驟S2m及S3m所示。如此一來，藉由記錄至多軸機械手臂10之控制器中該多軸機械手臂10以不同姿態下所量測到第一、二、三定位點座標資訊，即可定義出該多軸機械手臂10之末端之工具中心點，如步驟S3p所示。需加以說明的是，前述步驟S2e~S2k以及步驟S3e~S3k的具體內容與上文所述之步驟S1e~S1k相仿，故在此不予贅述。
The above measured first positioning point coordinate information that defines the tool center point of the
在上文中，係利用發明實施例所提供之校正系統20進行多軸機械手臂10之TCP校正，且係利用多軸機械手臂10於不同姿態下惟相同空間中的相同位置之多個定位點座標資訊來定義之，然而，本發明所提供之校正系統20之用途並不侷限於用來進行多軸機械手臂10之TCP校正。例如，請參閱圖6，圖6示意性地顯示如何利用本發明上述實施例所提供之多軸機械手臂之校正系統20來定義出多軸機械手臂10之加工座標，亦即利用已經校正過工具中心點之多軸機械
手臂10搭配上述校正系統20來定義出多軸機械手臂10之一加工座標系之XY平面座標。如圖6所示，待加工件81固定於一加工平面82，利用一組或三組校正系統20搭配多軸機械手臂10來進行校正。詳而言之，以使用三組校正系統20為例，每一組校正系統20搭配一固定插銷90進行定位，其中，固定插銷90之中心軸延伸方向91將通過校正系統20之正交交點22，透過固定插銷90，三組校正系統20可分別裝設於一第一定位點83(作為座標原點)、一第二定位點85(作為X軸向定位點)及一第三定位點87(作為Y軸向定位點)，並進行以下所述之多軸機械手臂10之加工座標之定義方法。
In the above, the
詳而言之，本發明提供一種多軸機械手臂之加工座標的定義方法，係用以針對一設置有一待加工件81之加工平面82，利用一手臂末端裝設有一球部工具13且已經校正過工具座標原點之多軸機械手臂10，定義出該多軸機械手臂10之一加工座標系之XY平面座標，所述加工座標的定義方法主要包含有以下步驟：a)在該加工平面82上定義出一座標原點83之步驟、b)在該加工平面82上定義出一X軸向定位點85之步驟、c)在該加工平面82上定義出一Y軸向定位點87之步驟，以及d)利用該座標原點83、該X軸向定位點85以及該Y軸向定位點87完成該多軸機械手臂10之該加工座標系之XY平面座標的定義。
Specifically, the present invention provides a method for defining the processing coordinates of a multi-axis robotic arm, which is used to target a
更進一步而言，圖7、圖8及圖9分別顯示加工座標的定義方法如何定義出多軸機械手臂之加工座標的座標原點、X軸向座標以及Y軸向座標之流程圖。其中，圖7顯示於加工平面82上定義出一座標原點之步驟a)，其包含有：步驟a1：加工平面82上選取一第一定位點83(作為座標原點)，透過插銷90將一校正系統20固設於加工平面82的第一定位點83，此時第一、二及三量測頭35、45、55之第一、二及三方向33、43、53之交點22，在一Z軸方向
上應與第一定位點83重合，若未重合，則調整第一、二及三量測頭35、45、55姿態，使交點22在Z軸方向上與第一定位點83重合；步驟a2：對第一、二及三量測頭35、45、55進行的校正歸零作業，重新校正所述校正系統20所量測到的數值與方向。由於與上文中已經詳細描述的步驟SC校正步驟相仿，故在此不予贅述；步驟a3：校正人員操作多軸機械手臂10之球部工具12位移至校正系統20中由第一、二及三量測頭35、45、55所形成之一感測空間18中，使球部工具12之球部13與第一、二、三量測頭35、45、55接觸；以及步驟a4：調整球部工具12之姿態直到球部工具12之球心132與交點22重合，亦即進行圖7所示的步驟a41~a46，藉此，完成該多軸機械手臂10該加工座標系之座標原點83校正作業(亦即步驟a47)。由於前述步驟a41~a46與上文中已經詳細描述的步驟S1f~S1k相仿，故在此不予贅述。
Furthermore, FIG. 7 , FIG. 8 and FIG. 9 respectively show the flow chart of how the processing coordinate definition method defines the coordinate origin, X-axis coordinate and Y-axis coordinate of the multi-axis robot arm. Among them, Figure 7 shows step a) of defining a coordinate origin on the
同樣地，圖8顯示在該加工平面82上定義出一X軸向定位點之步驟b)，而圖9顯示在該加工平面82上定義出一Y軸向定位點之步驟c)。圖8、9中所顯示的步驟b1~b4(包含b41~b47)以及步驟c1~c4(包含c41~c47)因與圖7中所示的步驟相仿，故在此不予贅述。最後如圖9的步驟d，利用該座標原點的座標、該X軸向定位點的座標以及該Y軸向定位點的座標，即可完成多軸機械手臂10之該加工座標系之XY平面座標的定義。必須加以說明的是，現行商業使用的各種廠牌機械手臂的控制器都會自動生成Z軸向座標，因此搭配前述XY平面座標，即可定義出完整的加工座標系的XYZ座標。
Similarly, FIG. 8 shows step b) of defining an X-axis positioning point on the
值得一提的是，在上述步驟a)、步驟b)及步驟c)中，球部工具12之球心122與該交點22是否重合，係利用多軸機械手臂10之球部工具12與第一
量測頭35、第二量測頭45及第三量測頭55接觸時，第一量測頭35、第二量測頭45及第三量測頭55是否分別量測到第一方向33、第二方向43及第三方向53上的第一位移量、第二位移量及第三位移量來判斷，藉由調整該多軸機械手臂10之姿態直到第一位移量、第二位移量及第三位移量的數值逐漸變小並趨近於零，即可判斷球部工具12之球心122已與正交交點22重合。
It is worth mentioning that in the above steps a), b) and c), whether the center 122 of the
其次，該加工座標的定義方法80係將校正系統20固定於不隨著多軸機械手臂10所移動的位置且同設於相同的加工平面82上，因此，本發明之校正系統20其結構設計與重量並不受限於特定構型之多軸機械手臂10，且能使用於規格廣泛且不同態樣之小型到大型多軸機械手臂中，達到本發明之校正系統20的多樣適用性。
Secondly, the definition method 80 of the processing coordinates fixes the
此外，本發明第二實施例中步驟a)、步驟b)及步驟c)所提到之校正系統20可為同一個校正系統，更進一步說明，使用者可視需校正之待加工件81的精度或量測工具可容許的誤差大小，來決定待加工件81是否需要使用三個校正系統20來執行該加工座標的定義方法80，亦不排除由三個校正系統20同時執行上述之步驟a)、步驟b)及步驟c)。
In addition, the
綜上所陳，本發明所提供之多軸機械手臂之校正系統，不僅結構簡單，且可提供校正多軸機械手臂10所需的空間定位點及校正座標，有助於多軸機械手臂10之工具座標及加工座標之校正；此外，係可依需求切換操作模式，由使用者以人工確認校正系統20之各該量測頭的量測結果並作為操作多軸機械手臂10移動方向的判斷依據，抑或由校正系統20之第一、二、三量測頭35、45、55分別有量測到第一、二、三方向33、43、53上的位移量，而各該位移量結果回傳至電腦或邏輯控制器作自動判斷以利使用者操作多軸機械手臂10；而
且相較於傳統的人工與光學儀器校正方式，本發明之校正系統能簡單操作與節省時間外，亦能大幅降低校正系統之成本，且能實現於規格廣泛的小型或大型多軸機械手臂及各式樣態之末端工具之校正作業，從而達成本發明之目的。
To sum up, the calibration system of the multi-axis robotic arm provided by the present invention not only has a simple structure, but also can provide the spatial positioning points and calibration coordinates required to calibrate the multi-axis
最後，必須再次說明，在本發明領域中具有通常知識者應能瞭解，該等詳細說明以及實施本發明所列舉的特定實施例，僅適用於說明本發明，並非用以限制本發明之專利申請範圍，其他等效元件的替代或變化，亦應為本發明之申請專利範圍所涵蓋。 Finally, it must be stated again that those with ordinary knowledge in the field of the present invention should be able to understand that these detailed descriptions and specific examples for implementing the present invention are only suitable for illustrating the present invention and are not intended to limit the patent application of the present invention. The substitution or change of other equivalent components shall also be covered by the patentable scope of the present invention.
10:多軸機械手臂 10:Multi-axis robotic arm
102:末端軸線 102:Terminal axis
12:球部工具 12: Ball tool
13:球部 13: Ball Club
132:球心 132: center of ball
18:感測空間 18: Sensing space
20:校正系統 20:Calibration system
21:平台 21:Platform
22:正交交點 22: Orthogonal intersection point
30:第一量測裝置 30: First measuring device
31:第一位移計 31: The first displacement meter
33:第一方向 33:First direction
35:第一量測頭 35: First measuring probe
40:第二量測裝置 40: Second measuring device
41:第二位移計 41: Second displacement meter
43:第二方向 43:Second direction
45:第二量測頭 45: Second measuring head
50:第三量測裝置 50: The third measuring device
51:第三位移計 51: The third displacement meter
53:第三方向 53:Third direction
55:第三量測頭 55: The third measuring head
60:基座 60: base
62:轉軸 62:Rotating axis
63:驅動件 63:Driving parts
Claims (9)
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI639494B (en) * | 2017-12-26 | 2018-11-01 | 范光照 | Method and apparatus for robot calibration |
| TW202112514A (en) * | 2019-09-27 | 2021-04-01 | 國立臺灣大學 | Method and device and system for calibrating position and orientation of a motion manipulator |
| TW202131119A (en) * | 2020-02-04 | 2021-08-16 | 達奈美克股份有限公司 | Robot manipulator motion compensation method |
| CN114589692A (en) * | 2022-02-25 | 2022-06-07 | 埃夫特智能装备股份有限公司 | Robot zero calibration method and calibration equipment thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI639494B (en) * | 2017-12-26 | 2018-11-01 | 范光照 | Method and apparatus for robot calibration |
| TW202112514A (en) * | 2019-09-27 | 2021-04-01 | 國立臺灣大學 | Method and device and system for calibrating position and orientation of a motion manipulator |
| TW202131119A (en) * | 2020-02-04 | 2021-08-16 | 達奈美克股份有限公司 | Robot manipulator motion compensation method |
| CN114589692A (en) * | 2022-02-25 | 2022-06-07 | 埃夫特智能装备股份有限公司 | Robot zero calibration method and calibration equipment thereof |
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