Plane-based three-dimensional positioning and deviation correction method for robots and welding robots
A robotic and planar technology, applied in the field of robotics, can solve problems such as the inability to obtain the z-axis rotation angle
Active Publication Date: 2016-06-22
GUANGDONG LXD ROBOTICS CO LTD
View PDF7 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the existing technical solutions can usually only calculate the deviation in a single direction of the x-axis and y-axis, but cannot obtain the deviation of the rotation angle of the z-axis
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0024] The scheme of this application is further described in conjunction with the accompanying drawings as follows:
[0025] Such as Figure 1-4 As shown, a plane-based three-dimensional positioning and deviation correction method for robots includes the following steps:
[0026] S01: define the workpiece coordinate system wobjA on the workpiece, and define the user coordinate system wobjB based on the workpiece coordinate system wobjA;
[0027] SO2: Acquire two coordinate point values P1 (X1, Y1) and P2 (X2, Y2) at the same distance along the X-axis direction of the XY plane of the workpiece coordinate system wobjA;
[0028] S03: Obtain two coordinate point values P3 (X3, Y3) and P4 (X4, Y4) at the same distance along the Y axis direction of the XY plane of the workpiece coordinate system wobjA;
[0029] S04: Using two of the above coordinate point values, calculate the offset angle A based on the workpiece coordinate system wobjA according to the arctangent trigonomet...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The present invention proposes a plane-based three-dimensional positioning and deviation correction method for robots and a welding robot using the deviation correction method. The purpose is to provide a novel edge finding and calculation method to deal with deviations caused in product processing and improve the welding quality of products. and pass rate. The method of the present invention includes the following steps: defining a workpiece coordinate system and a user coordinate system based on the workpiece coordinate system on the workpiece; along the X-axis and Y-axis directions of the XY plane of the workpiece coordinate system, acquiring two coordinate points at the same distance respectively value; use two of the coordinate point values to calculate the offset angle A according to the arctangent trigonometric function ATan; use the above coordinate point values to solve the X-axis offset △X and Y-axis deviation based on the workpiece coordinate system according to the straight line equation The displacement △Y offset angle A is converted into an attitude quaternion that can be recognized by the machine, and then the attitude quaternion, X-axis offset △X and Y-axis offset △Y are assigned to the user coordinates, In order to realize the attitude adjustment of the robot.
Description
technical field [0001] The invention relates to robot technology, in particular to a plane-based three-dimensional positioning and deviation correction method for a robot, and a welding robot applying the deviation correction method. Background technique [0002] In the field of welding, the laser welding process has high requirements for the positioning accuracy of the product. In the welding process, the positioning is generally carried out through the outer edge of the product, and the product needs to go through multiple processes such as stamping and bending during the forming process, which inevitably produces cumulative errors. Therefore, when performing laser welding on products, it is necessary to correct the rotation angle of the x-axis, y-axis direction and z-axis of the welding path. [0003] In this regard, the existing welding robots are generally equipped with an edge-finding mechanism, which obtains the position coordinates through multiple contacts between ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B23K26/70
Inventor 袁小云刘剑辉
Owner GUANGDONG LXD ROBOTICS CO LTD