TCP robot tool tail end 3D and 5D error correction system and error correction method thereof

A robot and tool technology, applied in the 5D deviation correction system, TCP robot tool end 3D field, can solve the problems of original state error, long adjustment time, etc., achieve fast deviation correction speed, high deviation correction precision, and fast data reading and writing processing speed

Active Publication Date: 2020-07-17
无锡市创凯电气控制设备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Aiming at the deficiencies of the prior art, the present invention provides a 3D and 5D deviation correction system at the end of a TCP robot tool, which solves the problem that the current 3D and 5D adjustment solutions at the end of a TCP robot tool still have a large gap compared with the original state after straightening. error, and the problem of long adjustment time

Method used

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  • TCP robot tool tail end 3D and 5D error correction system and error correction method thereof
  • TCP robot tool tail end 3D and 5D error correction system and error correction method thereof
  • TCP robot tool tail end 3D and 5D error correction system and error correction method thereof

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Embodiment 1

[0032] see Figure 1-5 , the present invention provides the following technical solutions: a TCP robot tool end 3D, 5D deviation correction system, including a reference platform 1, a mechanical arm 2, a cross sensor 4 and a calculation controller 10, characterized in that: the top of the reference platform 1 is provided with a mechanical Arm 2, the moving end of the mechanical arm 2 is equipped with a guide needle 3, and the plane of the reference platform 1 is fixedly installed with a cross sensor 4, and the moving end of the mechanical arm 2 is located above the cross sensor 4; the cross sensor 4 includes a group of opposite first A laser emitting end 6 and a first laser receiving end 7, another set of oppositely positioned second laser emitting ends 8 and second laser receiving ends 9, the first laser emitting end 6 emits a light beam XLS pointing to the first laser receiving end 7, The second laser emitting end 8 emits light beam YLS and points to the second laser receivi...

Embodiment 2

[0043] A deviation correction method for a 3D and 5D deviation correction system at the end of a TCP robot tool. The steps S1 to S4 are the same, and the difference between S5 and S7 is that: after the guide needle 3 is offset, the mechanical arm 2 carries the guide needle 3 to follow the reference trajectory first. Draw a circle normally, and then draw a circle again after the Z-axis descends to a set distance. The actual tilt angle of the needle can be known through the centers of the two circles. After angle compensation, compare it with the reference to perform X-axis and Y-axis deviation correction, and finally perform Z-axis deviation correction. .

Embodiment 3

[0045] A deviation correction method for a 3D and 5D deviation correction system at the end of a TCP robot tool, the calculation formula of the process is:

[0046] The state change (RX / RY / X / Y / Z) of the tool at the end of the robot arm 2 is caused by external force collision or replacement of the processing tool during use. The guide needle 3 draws L in the cross sensor 4, and through the above The method is calculated to obtain (RX / RY / X / Y / Z) five offset values, and the five offset values ​​with the robot arm 2 are corrected, so that the guide needle 3 returns to the correct initial processing state.

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Abstract

The invention belongs to the technical field of TCP robot control, and particularly relates to a TCP robot tool tail end 3D and 5D error correction system and an error correction method thereof. The TCP robot tool tail end 3D and 5D error correction system comprises a reference platform, a mechanical arm, a cross sensor and a computing controller, wherein the mechanical arm is arranged above the reference platform, and a guide needle is installed at a movable end of the mechanical arm; the cross sensor is fixedly installed on a plane of the reference platform, and the movable end of the mechanical arm is located above the cross sensor; the cross sensor comprises a set of first laser transmitting ends and first laser receiving ends which are opposite in position and another set of second laser transmitting ends and second laser receiving ends which are opposite in position, and the first laser transmitting ends transmit light beams XLS to point to the first laser receiving ends. The error correction precision is high, and the error can be controlled to be 2-6 decimillimetres after automatic adjustment; compared with manual adjustment, the error correction precision is improved to the decimillimetre level from the millimeter level, and is close to the 3D vision detection precision, the error correction speed is high, data is written into a file in a binary mode, and the data read-write processing speed is high.

Description

technical field [0001] The invention relates to the technical field of TCP robot control, in particular to a 3D and 5D deviation correction system and a deviation correction method for a tool end of a TCP robot. Background technique [0002] At present, robot technology can ensure the working position of the robot itself during the production process, that is, move to a certain point, and ensure the position of the robot's three translations (X\Y\Z) and three rotations (RX\RY\RZ) It is in the position you want, but the robot usually needs to install processing tools during the production process. When these processing tools are touched by external force or the processing tools are replaced during use, the three translations (X\Y\Z) and The position of the three rotations (RX\RY\RZ) will change, and the robot cannot know the position change when the tool being processed is offset, the robot cannot know the offset, and thus cannot produce with the correct posture. [0003] Th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692B25J9/1664
Inventor 徐晓祥汤嘉录张海军
Owner 无锡市创凯电气控制设备有限公司
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