A method, device and storage medium for teaching coordinates of a robot for numerical control machining equipment

Abstract

The present invention discloses a robot coordinate teaching method, device and storage medium for numerical control processing equipment. The teaching method includes controlling the robot to move in the XYZ directions relative to the main axis and determining the base points of the pallet in each direction, and adjusting the robot's posture through the reading of the measuring tool to construct the motion coordinates; obtaining the coordinate positions of the main axis based on the pallet and the chuck in the XY directions respectively; determining the distance difference according to the coordinate position, and the robot moves according to the distance difference to locate the motion coordinates, and after positioning, controlling the robot in the Z direction to bring the pallet into stable contact with the chuck. The present invention coordinates the robot point teaching through the movement of the equipment main axis and the robot posture, changing the single mode of relying on human eye observation and manual operation of the robot for calibration. Improve the accuracy of the placement position, ensure the rapid coordination of the quick-change Latin and the quick-change chuck, improve the accuracy of the operator's robot teaching work, shorten the time, improve work efficiency, and reduce labor intensity.

Description

Technical Field

[0001] The present invention relates to the technical field of robot point teaching of numerical control processing equipment, and in particular to a method, device and storage medium for robot coordinate teaching of numerical control processing equipment. Background Art

[0002] In order to solve the problem of rapid clamping during machining, an efficient solution is usually to fix the machined parts on a pallet, install a quick-change lathe on the pallet, and install a quick-change chuck on the equipment workbench. Quick-change lathes and quick-change chucks are usually called zero-point positioning systems. The quick-change lathes and quick-change chucks are clamped to each other through air circuit control, so that the machined parts can be quickly clamped on the workbench. This set of operating procedures has been widely used in the field of machining. During operation, the parts are clamped on the pallet at the material preparation station in advance, and the pallet with the parts is installed on the equipment by manual handling or handling equipment such as a crane, and then the quick-change chuck is clamped to the quick-change lathe through air circuit control, so that the parts are stably fixed on the equipment and the processing is started.

[0003] In the automation scenario, robots are further used to automatically move the pallets with clamped parts to realize the automation and unmanned operation of the entire production process. Since the quick-change pallets and quick-change chucks are precision-matched parts, the positioning accuracy can reach 0.005mm during use. At the same time, for heavy parts, it is necessary to ensure that the robot is accurately and stably placed on the workbench during placement, that is, during the placement process, it is necessary to try to ensure that the quick-change pallets and quick-change chucks are not damaged. This requires that the bottom of the pallet must be parallel to the workbench, the side of the pallet must be parallel to the workbench (or the direction of movement of the spindle), and the placement point must be accurate. Therefore, there are high requirements for the accuracy of the robot placement point, and also for the point teaching skills. At present, the commonly used method is to use human eye recognition for point teaching, and control the pallet grasped by the robot to move to the appropriate position and posture. The operation process is long and difficult to operate. Some inconvenient areas require the cooperation of multiple people to complete. Summary of the invention

[0004] In view of the problem that the above-mentioned point teaching is carried out by human eye recognition, and the pallet grasped by the robot is controlled to move to the appropriate position and posture, the operation process is long, the operation is difficult, and the cooperation of multiple people is required to complete the completion, the present invention provides a CNC machining equipment robot coordinate teaching method, device and storage medium, which can coordinately carry out robot point teaching by controlling the movement of the equipment spindle and the robot posture, change the single mode of relying on human eye observation and manual operation of the robot for calibration, improve the accuracy of the placement position, improve the accuracy of the operator's robot teaching work, shorten the time, improve work efficiency, and reduce labor intensity.

[0005] To achieve the above purpose, the present invention adopts the following technical solution: a coordinate teaching method for a CNC machining equipment robot, comprising the following steps:

[0006] Control the robot to move in the XYZ directions relative to the spindle and determine the base points of the pallet in each direction, and adjust the robot's posture through the readings of the measuring tool to construct the motion coordinates;

[0007] Control the spindle to carry a measuring tool to abut against the surface of the pallet and the chuck in the XY direction, respectively, and obtain the coordinate position of the spindle in the XY direction based on the pallet and the chuck, respectively, wherein the coordinate position is a real-time coordinate value in the device coordinate where the spindle is currently located;

[0008] The distance difference is determined by the coordinate position obtained in the same direction, and the robot moves to position the motion coordinate according to the distance difference. After positioning, the robot is controlled in the Z direction to bring the pallet into steady contact with the chuck.

[0009] As a further improvement of the present invention, the controlling the robot to move in the XYZ directions relative to the main axis and determining the base point of the pallet in each direction comprises:

[0010] Set the gauge on the spindle;

[0011] The pallet carried by the control robot is measured in the three axis directions of XYZ respectively, and the measured value increases from 0 to a certain value, and the position under the value in different directions is determined as the base point.

[0012] As a further improvement of the present invention, the step of adjusting the posture of the robot by readings of the measuring tool to construct motion coordinates includes:

[0013] The robot is controlled to move to the second base point in the three axis directions of X, Y and Z respectively with the first base point determined in each axis direction as the origin, and the height difference of the second base point relative to the first base point in each axis direction is obtained;

[0014] According to the height difference, the robot is controlled to adjust its posture so that the height difference is within the error range;

[0015] Repeat the above steps until the surfaces of the pallet in the XYZ directions are parallel to the coordinate plane of the device, and construct the motion coordinates.

[0016] As a further improvement of the present invention, the obtaining of the coordinate position of the spindle in the XY direction based on the tray and the chuck includes:

[0017] Control the spindle to carry the measuring tool and move it so that the measuring end of the measuring tool abuts against the surface of the pallet in the X direction. When the reading of the measuring tool increases to a first value, the coordinate position α1 of the current position of the spindle is obtained;

[0018] The spindle is controlled to carry the measuring tool and move, and the measuring end of the measuring tool abuts against the chuck surface in the X direction. When the reading of the measuring tool increases to a first value, the coordinate position α2 of the current position of the spindle is obtained.

[0019] As a further improvement of the present invention, the obtaining of the coordinate position of the spindle in the XY direction based on the tray and the chuck includes:

[0020] Control the spindle to carry the measuring tool and move it so that the measuring end of the measuring tool abuts against the surface of the pallet in the Y direction. When the reading of the measuring tool increases to a second value, the coordinate position β1 of the current position of the spindle is obtained.

[0021] The spindle is controlled to carry the measuring tool and move, and the measuring end of the measuring tool abuts against the chuck surface in the Y direction. When the reading of the measuring tool increases to a second value, the coordinate position β2 of the current position of the spindle is obtained.

[0022] As a further improvement of the present invention, the determining the distance difference according to the coordinate position includes:

[0023] Obtain the coordinate position of the spindle in the X direction recorded by the equipment system, including the coordinate position α1 and the coordinate position α2, and calculate the position difference between the pallet surface and the chuck surface in the X direction as |α1-α2|;

[0024] The coordinate position of the spindle in the Y direction recorded by the acquisition device system, including the coordinate position β1 and the coordinate position β2, is calculated, and the position difference between the pallet surface and the chuck surface in the Y direction is |β1-β2|.

[0025] As a further improvement of the present invention, the robot locates the motion coordinates according to the distance difference movement, including:

[0026] Obtain the length L1 x width H1 of the pallet size and the length L2 x width H2 of the chuck size, wherein the pallet size and the chuck size are preset, and the chuck is clamped on the equipment machine tool and the calibrated surfaces are respectively coincident with the equipment coordinate plane;

[0027] The robot moves in the X direction, and the moving direction is from the pallet to the chuck, the moving distance is the position difference |α1-α2|, then moves 1 / 2 L2 in the positive or negative direction of the X axis, and then moves 1 / 2 L1 in the reverse direction, so that the coordinate origin of the chuck and the pallet in the X direction coincides;

[0028] The robot moves in the Y direction, and the moving direction is from the pallet to the chuck, the moving distance is the position difference |β1-β2|, and then moves 1 / 2 H2 in the positive or negative direction of the Y axis, and then moves 1 / 2H1 in the reverse direction, so that the coordinate origins of the chuck and the pallet in the Y direction coincide.

[0029] As a further improvement of the present invention, after positioning, controlling the robot in the Z direction to bring the tray into stable contact with the chuck includes:

[0030] The coordinate origins of the chuck and the tray in the XY directions are overlapped to locate the motion coordinates, wherein the chuck is provided with at least two locators based on the chuck coordinate origin, and the tray is provided with at least two fast Latins corresponding to the locators based on the tray coordinate origin, and when the coordinate origins of the chuck and the tray are overlapped, the locators and the fast Latins are aligned and positioned in the Z direction;

[0031] After the robot motion coordinates are positioned, the robot is controlled to move in the Z direction so that the pallet and the chuck are in stable contact, and the robot's position is recorded, which is the final placement point of the pallet.

[0032] On the other hand, the present invention also provides the following technical solution: a CNC machining equipment robot coordinate teaching device, comprising a memory and a processor, wherein the processor calls a control program stored in the memory to execute a CNC machining equipment robot coordinate teaching method as described above.

[0033] On the other hand, the present invention also provides the following technical solution: a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the above-mentioned CNC machining equipment robot coordinate teaching method.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention coordinates the robot point teaching through the movement of the equipment spindle and the robot posture, changing the single mode of relying on human observation and manual operation of the robot for calibration. It improves the accuracy of the placement position, ensures the rapid coordination of the quick-change Latin and the quick-change chuck, improves the accuracy of the operator's robot teaching work, shortens the time, improves work efficiency, and reduces labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution, the drawings required for use in the implementation will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 Schematic diagram of actual working conditions of the tray and chuck according to an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of the coordinate axes of the pallet being measured according to an embodiment of the present invention.

[0039] Figure 3 Schematic diagram of various viewing directions of a pallet when the robot adjusts its posture in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to enable a clear and complete understanding of the technical solution, the present invention is further described in conjunction with the embodiments and drawings. Obviously, the described embodiments are only some embodiments of the present invention, and all other embodiments obtained by technicians in the relevant field without making creative work are within the scope of protection of the present invention.

[0041] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0042] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0043] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0044] The embodiment of the present invention provides a method for teaching coordinates of a CNC machining equipment robot. In this embodiment, a micrometer is used as a measuring tool for illustration. The micrometer is fixed on the main shaft of the equipment, and the robot grabs a tray and extends it into the equipment. Figure 1 As shown, the tray 10 is roughly located above the chuck 20, and a fast Latin 11 is provided below the tray 10, which is used to cooperate with the fast chuck to form a zero-point positioning system to achieve fast replacement between processes or between workstations. The chuck 20 is pre-fixed on the machine tool 30 or workbench of the equipment, and each plane of the chuck 20 has been calibrated to be consistent with the coordinate system plane of the equipment or machine tool 30 or spindle, including the following steps:

[0045] S100, controlling the robot to move in the XYZ directions relative to the main axis and determining the base point of the pallet in each direction. In some embodiments:

[0046] like Figure 2As shown, a measuring tool 50 is provided on the spindle 40 to control the pallet 10 carried by the robot to be measured in the three axis directions of XYZ respectively, and the measured value increases from 0 to a certain value, and the position under the value in different directions is determined as the base point.

[0047] That is to say, by controlling the robot to grab the pallet in the three axis directions and approach it to the micrometer on the spindle, and make the surface of the pallet contact with the needle of the micrometer, for example, in the X-axis direction, the surface of the pallet roughly parallel to the YZ plane contacts with the needle of the micrometer, in the Y-axis direction, the surface of the pallet roughly parallel to the XZ plane contacts with the needle of the micrometer, and in the Z-axis direction, the surface of the pallet roughly parallel to the XY plane contacts with the needle of the micrometer.

[0048] The contact between the surface of the pallet and the needle causes the reading of the micrometer to increase from 0 to a value, and the position under this value is defined as the base point in each direction.

[0049] S200, adjusting the posture of the robot by reading the measuring tool to construct the motion coordinates. In an optional embodiment:

[0050] S210, control the robot to the first base point determined in each axis direction as the origin, respectively, in the XYZ three axis direction to move to the second base point;

[0051] S220, obtaining a height difference of the second base point relative to the first base point in the respective axis directions;

[0052] S230, controlling the robot to adjust its posture according to the height difference so that the height difference is within the error range, that is, the height difference is required to be as small as possible. When there is no height difference, it means that the surface of the pallet is completely parallel to the plane of the machine tool. Generally speaking, the error range of mechanical calibration or metering in industrial production and processing is 0.01mm-0.05mm;

[0053] S240, repeating the above steps S210-S230 until the surfaces of the tray in the XYZ directions are parallel to the coordinate plane of the device, and constructing the motion coordinates.

[0054] That is to say, after determining the base point (first base point) in each axis direction, the pallet surface is controlled to move to the second base point (the point where the needle contacts the pallet surface and is on the same surface as the first base point) by moving the robot, and the posture of the robot is adjusted based on the first base point, so that the height difference between the first base point and the second base point in the same direction is as small as possible; in this step, the robot posture is repeatedly adjusted and verified, and if the requirements are not met, the operation is repeated until the requirements are met, so that the surface of the pallet in the three directions of XYZ remains parallel to the coordinate plane of the equipment, and the motion coordinates are constructed.

[0055] S300, controlling the spindle to carry a measuring tool to abut against the surface of the tray and the chuck in the XY direction, respectively, and obtaining the coordinate position of the spindle in the XY direction based on the tray and the chuck, respectively, wherein the coordinate position is a real-time coordinate value in the device coordinate where the spindle is currently located;

[0056] S400, determining the distance difference through the coordinate positions obtained in the same direction, the robot moves to position the motion coordinates according to the distance difference, and after positioning, controls the robot in the Z direction to bring the tray into stable contact with the chuck.

[0057] S500, after the robot motion coordinates are positioned, when the pallet is placed on the chuck, the current position of the robot is recorded, and this position is the final placement position of the pallet.

[0058] Through the above steps, the robot's motion coordinates (i.e., workpiece coordinates CSYS_Robot) and the equipment coordinates (i.e., mechanical coordinates CSYS_Machine) are unified to ensure that the direction of the robot's motion is consistent with the direction of the equipment's main axis, and that the linkage calibration system and the rapid positioning calibration system are completely consistent in physical space, achieving high-precision placement requirements.

[0059] For better understanding, in an optional embodiment, the posture of the robot is adjusted by the reading of the measuring tool to construct the motion coordinates, such as Figure 2 and 3 Shown, including

[0060] 1) XY plane (partial image W) parallel: operate the pallet carried by the robot to slowly approach the spindle carrying the micrometer, so that the needle of the micrometer contacts the pallet, until the value of the micrometer increases from 0 to a value, stop the robot movement, and move the robot from point A to point B. With point A as the reference, adjust the robot's posture until the height difference between A and B is as small as possible. At this time, the pallet is parallel to the XY plane direction of the device.

[0061] 2) YZ plane (U partial view) parallel: operate the pallet carried by the robot to slowly approach the spindle carrying the micrometer, so that the needle of the micrometer contacts the pallet, until the value of the micrometer increases from 0 to a value, and stop the robot movement. The robot moves from point C to point D, and adjusts the posture of the robot with point C as the reference until the height difference between C and D is as small as possible. At this time, the pallet is parallel to the YZ plane direction of the device.

[0062] 3) XZ plane (partial diagram of V) parallel: operate the pallet carried by the robot to slowly approach the spindle carrying the dial gauge, so that the needle of the dial gauge comes into contact with the pallet, until the value of the dial gauge increases from 0 to a value, and then stop the robot movement. The robot moves from point E to point F, and adjusts the posture of the robot with point E as the reference until the height difference between E and F is as small as possible. At this time, the pallet is parallel to the XZ plane direction of the device in the XZ plane direction.

[0063] 4) Repeat the above three steps to verify. If the requirements are not met, repeat the operation until the requirements are met. At this time, the robot's motion coordinates (i.e., workpiece coordinates CSYS_Robot) and the equipment coordinates (i.e., machine coordinates CSYS_Machine) remain parallel in the directions of the three axes X, Y, and Z.

[0064] In this embodiment, the robot posture is pre-adjusted so that the quick-change chuck under the tray and the quick-change chuck on the equipment workbench can form a preliminary match. At this time, there is a certain distance between the points in the XYZ direction, that is, the motion coordinates are aligned with the equipment coordinates but do not overlap. In order to solve this problem, the present invention also provides an optional embodiment, wherein the coordinate position of the spindle based on the tray and the chuck in the XY direction is obtained, including:

[0065] The spindle is controlled to move with a measuring tool, and the measuring end of the measuring tool abuts against the surface of the pallet in the X direction. When the reading of the measuring tool increases to a first value, the coordinate position α1 of the current position of the spindle is obtained; the spindle is controlled to move with a measuring tool, and the measuring end of the measuring tool abuts against the surface of the chuck in the X direction. When the reading of the measuring tool increases to the first value, the coordinate position α2 of the current position of the spindle is obtained.

[0066] That is to say, in the X direction, operate the spindle equipped with a micrometer so that the needle of the micrometer contacts the YZ surface of the quick-change chuck until the value of the micrometer increases from 0 to a value, and record the micrometer value num1 of this point; record the coordinate position α1 of the spindle in the X direction at this point; operate the spindle equipped with a micrometer so that the needle of the micrometer contacts the YZ surface of the pallet until the value of the micrometer increases from 0 to num1, stop the robot movement, and record the coordinate position α2 of the spindle in the X direction at this point.

[0067] Furthermore, the spindle is controlled to move with a measuring tool, and the measuring end of the measuring tool abuts against the surface of the pallet in the Y direction. When the reading of the measuring tool increases to a second value, the coordinate position β1 of the current position of the spindle is obtained; the spindle is controlled to move with a measuring tool, and the measuring end of the measuring tool abuts against the surface of the chuck in the Y direction. When the reading of the measuring tool increases to a second value, the coordinate position β2 of the current position of the spindle is obtained.

[0068] That is to say, in the Y direction, operate the spindle equipped with a micrometer so that the needle of the micrometer contacts the XZ surface of the quick-change chuck until the value of the micrometer increases from 0 to a value, and record the micrometer value num2 at this point; record the coordinate position β1 of the spindle in the Y direction at this point; operate the spindle equipped with a micrometer so that the needle of the micrometer contacts the XZ surface of the pallet until the value of the micrometer increases from 0 to num2, stop the robot movement, and record the coordinate position β2 of the spindle in the Y direction at this point.

[0069] For better understanding, in an optional embodiment, the distance difference is determined according to the coordinate position, and the robot moves according to the distance difference to locate the motion coordinate, including:

[0070] Obtain the coordinate position of the spindle in the X direction recorded by the equipment system, including the coordinate position α1 and the coordinate position α2, and calculate the position difference between the pallet surface and the chuck surface in the X direction as |α1-α2|;

[0071] The coordinate position of the spindle in the Y direction recorded by the acquisition device system, including the coordinate position β1 and the coordinate position β2, is calculated, and the position difference between the pallet surface and the chuck surface in the Y direction is |β1-β2|.

[0072] Further, the length L1 x width H1 of the tray size and the length L2 x width H2 of the chuck size are obtained, wherein the tray size and the chuck size are preset, and the chuck is clamped on the equipment machine tool and the calibrated surfaces are respectively coincident with the equipment coordinate plane;

[0073] The robot moves in the X direction, and the moving direction is from the pallet to the chuck, the moving distance is the position difference |α1-α2|, and then moves 1 / 2 L2 in the positive or negative direction of the X axis, and then moves 1 / 2 L1 in the reverse direction, so that the coordinate origin of the chuck and the pallet in the X direction coincides; at this time, the quick change Latin under the pallet in the X direction coincides with the quick change chuck position on the equipment workbench.

[0074] The robot moves in the Y direction, and the moving direction is from the pallet to the chuck, the moving distance is the position difference |β1-β2|, and then moves 1 / 2 H2 in the positive or negative direction of the Y axis, and then moves 1 / 2H1 in the opposite direction, so that the coordinate origin of the chuck and the pallet in the Y direction coincides; at this time, the quick change Latin under the pallet and the quick change chuck on the equipment workbench coincide in the Y direction.

[0075] At this time, the center point of the pallet completely coincides with the center point of the quick-change chuck, that is, the zero-point positioning system of the pallet and the chuck is completed.

[0076] Those skilled in the art will understand that the zero-point positioning system is a unique positioning and locking device that can keep the zero point of the workpiece unchanged from one station to another, from one process to another, or from one machine tool to another. This can save auxiliary time for re-aligning the zero point, ensure the continuity of work, and improve work efficiency. Whether it is a pallet, a fixture, a vise, or a workpiece, when combined with the zero-point clamping system, extremely fast replacement can be achieved with a repeatability of ≤0.005mm when the zero point is determined. If more equipment workbenches are equipped with clamping plates, the tooling fixtures on all equipment can be used more flexibly.

[0077] In an optional embodiment, after positioning, controlling the robot in the Z direction to bring the tray into stable contact with the chuck includes:

[0078] like Figure 1 As shown, the coordinate origins of the chuck 20 and the tray 10 in the XY directions are overlapped to locate the motion coordinates, wherein the chuck 20 is provided with at least two locators 21 based on the chuck coordinate origin, and the tray 10 is provided with at least two fast Latins 11 corresponding to the locators based on the tray coordinate origin, and when the coordinate origins of the chuck 20 and the tray 10 are overlapped, the locator 21 and the fast Latin 11 are aligned and positioned in the Z direction;

[0079] After the robot motion coordinates are positioned, the robot is controlled to move in the Z direction so that the pallet and the chuck are in stable contact, and the robot's position is recorded, which is the final placement point of the pallet. Generally speaking, this placement point is used for the zero point of the zero-point positioning system. In combination with the zero-point clamping system, extremely fast loading can be achieved when the zero point is determined, and the repeatability can reach ≤0.005mm.

[0080] Obviously, the above embodiments are only used to illustrate the coordinate teaching method of the present invention, and are not intended to limit the scope of protection of the present invention. Without departing from the concept of the present invention, those skilled in the art can adjust the above method steps so that the present invention can be applied to more specific application scenarios.

[0081] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0082] An embodiment of the present invention provides a CNC machining equipment robot coordinate teaching device, including a memory and a processor, and the processor executes a CNC machining equipment robot coordinate teaching method described in the above embodiment and / or optional embodiment by calling a control program stored in the memory.

[0083] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0084] On the other hand, another embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes a CNC machining equipment robot coordinate teaching method described in the above embodiment and / or optional embodiment.

[0085] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0086] The above disclosure is only one or more preferred embodiments of the present invention, which are used to help understand the inventive concept of the technical solution, and is not intended to limit the present invention in other forms. Technical personnel in the relevant field may make other equivalent or customary replacement schemes based on the features defined by the present invention, which still fall within the scope of the present invention.

Claims

1. A method for teaching coordinates of a robot for numerical control machining equipment, characterized in that: The steps include: The pallet carried by the robot is controlled to move in the XYZ directions relative to the spindle, and is measured by the measuring tool set on the spindle. The position where the reading of the measuring tool increases from 0 to a certain value is defined as the base point. The base point includes a first base point and a second base point. The posture of the robot is adjusted based on the first base point so that the height difference between the first base point and the second base point in the same direction is within the error range. The posture of the robot is adjusted in the XYZ directions by the reading of the measuring tool to construct the motion coordinates. Control the spindle to carry a measuring tool to abut against the surface of the pallet and the chuck in the XY direction, respectively, and obtain the coordinate position of the spindle in the XY direction based on the pallet and the chuck, respectively, wherein the coordinate position is a real-time coordinate value in the device coordinate system where the spindle is currently located; The distance difference is determined by the coordinate position obtained in the same direction, and the robot moves to position the motion coordinate according to the distance difference. After positioning, the robot is controlled in the Z direction to bring the pallet into steady contact with the chuck.

2. A coordinate teaching method for a CNC machining equipment robot according to claim 1, characterized in that: The step of adjusting the posture of the robot by reading the measuring tool to construct the motion coordinates includes: Control the robot to take the first base point determined in the three-axis directions of XYZ as the origin, move to the second base point in the three-axis directions of XYZ respectively, and obtain the height difference of the second base point relative to the first base point in the respective axis directions; According to the height difference, the robot is controlled to adjust its posture so that the height difference is within the error range; Repeat the above steps until the surfaces of the pallet in the XYZ directions are parallel to the coordinate plane of the device, and construct the motion coordinates.

3. A coordinate teaching method for a CNC machining equipment robot according to claim 1, characterized in that: The obtaining of the coordinate position of the spindle in the XY direction based on the tray and the chuck includes: Control the spindle to carry the measuring tool and move it so that the measuring end of the measuring tool abuts against the surface of the pallet in the X direction. When the reading of the measuring tool increases to a first value, the coordinate position α1 of the current position of the spindle is obtained; Control the spindle to carry the measuring tool and move it so that the measuring end of the measuring tool abuts against the chuck surface in the X direction. When the reading of the measuring tool increases to a first value, the coordinate position α2 of the current position of the spindle is obtained; Control the spindle to carry the measuring tool and move it so that the measuring end of the measuring tool abuts against the surface of the pallet in the Y direction. When the reading of the measuring tool increases to a second value, the coordinate position β1 of the current position of the spindle is obtained. The spindle is controlled to carry a measuring tool and move, and the measuring end of the measuring tool abuts against the chuck surface in the Y direction. When the reading of the measuring tool increases to a second value, the coordinate position β2 of the current position of the spindle is obtained.

4. A method for teaching coordinates of a CNC machining equipment robot according to claim 3, characterized in that: The determining the distance difference by using the coordinate positions obtained in the same direction includes: Obtain the coordinate position of the spindle in the X direction recorded by the equipment system, including the coordinate position α1 and the coordinate position α2, and calculate the position difference between the pallet surface and the chuck surface in the X direction as |α1-α2|; The coordinate position of the spindle in the Y direction recorded by the acquisition device system, including the coordinate position β1 and the coordinate position β2, is calculated, and the position difference between the pallet surface and the chuck surface in the Y direction is |β1-β2|.

5. A coordinate teaching method for a CNC machining equipment robot according to claim 4, characterized in that: The robot locates the motion coordinates according to the distance difference movement, including: Obtain the length L1 x width H1 of the pallet size and the length L2 x width H2 of the chuck size, wherein the pallet size and the chuck size are preset, and the chuck is clamped on the equipment machine tool and the surfaces of the chuck have been calibrated, and the surfaces of the calibrated chuck are respectively coincident with the planes of the equipment coordinate system; The robot moves in the X direction, and the moving direction is from the pallet to the chuck, the moving distance is the position difference |α1-α2|, then moves 1 / 2 L2 in the positive or negative direction of the X axis, and then moves 1 / 2 L1 in the reverse direction, so that the coordinate origin of the chuck and the pallet in the X direction coincides; The robot moves in the Y direction, and the moving direction is from the pallet to the chuck, the moving distance is the position difference |β1-β2|, and then moves 1 / 2 H2 in the positive or negative direction of the Y axis, and then moves 1 / 2H1 in the reverse direction, so that the coordinate origins of the chuck and the pallet in the Y direction coincide.

6. A method for teaching coordinates of a CNC machining equipment robot according to claim 1, characterized in that: After the positioning, controlling the robot in the Z direction to bring the tray into stable contact with the chuck includes: The coordinate origins of the chuck and the tray in the XY directions are overlapped to locate the motion coordinates, wherein the chuck is provided with at least two locators based on the chuck coordinate origin, and the tray is provided with at least two fast Latins corresponding to the locators based on the tray coordinate origin, and when the coordinate origins of the chuck and the tray are overlapped, the locators and the fast Latins are aligned and positioned in the Z direction; After the robot motion coordinates are positioned, the robot is controlled to move in the Z direction so that the pallet and the chuck are in stable contact, and the robot's position is recorded, which is the final placement point of the pallet.

7. A coordinate teaching device for a CNC machining equipment robot, comprising a memory and a processor, characterized in that: The processor executes the coordinate teaching method for a robot of a numerical control machining equipment as described in any one of claims 1 to 6 by calling the control program stored in the memory.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the processor executes the coordinate teaching method for a robot of a numerical control machining equipment as described in any one of claims 1 to 6.

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