Method for robot to automatically find bending position

Abstract

A method for a robot to automatically find a bending position, including the following steps: step 1, establishing a gripper tool coordinate system (TX, TY, TZ); step 2, determining a user coordinate system (X.sub.A, Y.sub.A, Z.sub.A; X.sub.B, Y.sub.B, Z.sub.B) of rear blocking fingers (11, 21); step 3, a robot gripper moving horizontally, and detecting the state of sensors (12, 22); step 4, the robot gripper executing a rotational movement, detecting the state of the sensors (12, 22), and thereby obtaining a standard bending position. The robot automatically finds the bending position, the teaching difficulty is reduced, and the bending quality is increased. In the elevator industry, elevator door plate bending sizes are the same, but forming sizes are different. In the present invention, only one product process needs to be taught in order to satisfy elevator door plate processing with different specifications, thereby reducing maintenance costs and increasing production efficiency.

Claims

1. A method for automatically finding a bending position by a robot, comprising the steps of: step 1: establishing a tool coordinate system of a robot gripper, the tool coordinate system having an origin O of the tool coordinate system, a TX axis pointing in a TX direction, a TY axis pointing in a TY direction and a TZ axis pointing in a TZ direction, wherein the TZ axis is a normal vector at an end of a flange of the robot and its positive direction points away from the flange, the TX direction is at a right angle to the TZ axis and points in direction of the robot towards a bending machine, the TY direction is determined according to the right-hand rule with respect to the origin O of the tool coordinate system, and the origin O of the tool coordinate system is an intersection point between a center of the flange in the TZ direction and the plane of a workpiece to be grabbed; and translating a Tool Center Position, TCP, of the robot from the center of the flange in the TZ direction to the newly established tool coordinate system; step 2: determining respective user coordinate systems of two rear retaining fingers, each user coordinate system having an X axis, a Y axis, a Z axis and an origin O of the user coordinate system: wherein for each rear retaining finger and its coordinate system the X axis is parallel to a center line M of a lower mold of the bending machine, the Z axis is parallel to a moving direction of an upper mold of the bending machine, the positive direction of the Z axis points in direction of a downward moving direction of an upper slider of the bending machine, the Y axis is perpendicular to the X axis, the positive direction of the Y axis is a direction in which the rear retaining finger points to the lower mold of the bending machine, and an intersection point between a center line of the rear retaining finger and an edge of the lower mold is the origin O of the user coordinate system of the rear retaining finger; step 3: selecting the user coordinate system of one of the two rear retaining fingers, and calculating a correction translation matrix of the robot along the X direction in the user coordinate system: $T=\left[\begin{array}{cccc}1& 0& 0& p_x\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right],$ where p.sub.x is the translation distance of the robot in the user coordinate system; and performing the translational motion of the robot gripper based on the correction translation matrix, acquiring regarding the selected user coordinate system and its rear retaining finger information of a rear retaining finger sensor in real time during motion, stopping the translational motion of the robot gripper when the rear retaining finger sensor detects contact with the robot, and recording the current position and posture of the robot; and step 4: judging the information state of the rear retaining finger sensor, calculating a rotation matrix of the robot gripper in the user coordinate system of the rear retaining finger whose rear retaining finger sensor information is detected, and performing rotary motion by the robot gripper around the origin of the user coordinate system of the rear retaining finger whose information is detected based on the correction rotation matrix: if the information of the two rear retaining finger sensors is detected simultaneously, then the robot gripper is in a standard bending position; and if only the information of one rear retaining finger sensor is detected and the information of the other rear retaining finger sensor is not detected, calculating a correction rotation matrix of the robot in the user coordinate system of the rear retaining finger whose rear retaining finger sensor information is detected, performing the rotary motion of the robot gripper based on the correction rotation matrix, rotating the robot gripper around the origin of the user coordinate system of the rear retaining finger whose rear retaining finger sensor information is detected, and stopping the rotary motion of the robot gripper until the other sensor is detected; then the robot gripper is in a standard bending position.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows establishing a tool coordinate system for a robot and offsetting a TCP of the robot from the center of a flange to the center of a gripper;

(2) FIG. 2 shows establishing user coordinate systems of two rear retaining fingers for the robot;

(3) FIG. 3 shows the current posture of the robot gripper when a front point of a bending position is placed for the robot;

(4) FIG. 4 shows the current posture of the robot upon detection of a rear retaining finger sensor 12 after the robot gripper executes a translation matrix along the Y direction of the user coordinate system A of one rear retaining finger;

(5) FIG. 5 shows the current posture of the robot upon detection of a rear retaining finger sensor 22 after the robot gripper executes a translation matrix along the Y direction of the user coordinate system A of one rear retaining finger;

(6) FIG. 6 shows the current posture of the robot upon simultaneous detection of the rear retaining finger sensor 22 and the rear retaining finger sensor 12 after the robot gripper executes a translation matrix along a direction of the user coordinate system A of one rear retaining finger; and

(7) FIG. 7 shows a bent product of an elevator door panel completed by the robot using a method for automatically finding a bending position.

DETAILED DESCRIPTION OF THE INVENTION

(8) The invention will be further described in detail with reference to the drawings and embodiments.

(9) A method for automatically finding a bending position by a robot according to the invention comprises the steps of:

(10) step 1: referring to FIG. 1, establishing a tool coordinate system (TX, TY, TZ) of a robot gripper, wherein the TZ direction is a normal vector at an end of a flange of the robot and its positive direction is the lead-out direction of the flange, the TX direction is the same as the X direction of the robot, the TY direction is determined according to the right-hand rule, and the origin O of the coordinate system is an intersection point between the center of the flange in the TZ direction and the plane of a workpiece to be grabbed; and translating a TCP of the robot from the center of the flange to the newly established tool coordinate system;

(11) step 2: determining respective user coordinate systems (X.sub.A, Y.sub.A, Z.sub.A) of two rear retaining fingers, wherein a center line M of a lower mold of a bending machine is in the X.sub.A direction, the positive direction of X.sub.A is the same as a direction in which the rear retaining finger 11 points to 21, the moving direction of an upper mold of the bending machine is the Z.sub.A direction and its positive direction is the same as the downward moving direction of an upper slider, the Y.sub.A direction is determined according to the right-hand rule, an intersection point between a center line of the rear retaining finger and an edge of the lower mold is the origin O.sub.A of the user coordinate system of the rear retaining finger 11, and the origin of the user coordinate system of the rear retaining finger 21 can be obtained by translating the spacing d between 11 and 21; and since the offset direction of the rear retaining finger 21 relative to the rear retaining finger 11 is the positive direction of Y.sub.A, the user coordinate system of the rear retaining finger 21 relative to the rear retaining finger 11 can be calculated by the following formula:

(12) T.sub.21=T.sub.11T, where T.sub.11 is the user coordinate system of the rear retaining finger 11 and T.sub.21 is the user coordinate system of the rear retaining finger 21; and

(13) $T=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& d\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$
is a translation matrix of the user coordinate system of the rear retaining finger 21 relative to the user coordinate system of the rear retaining finger 11;

(14) step 3: calculating a correction translation matrix of the robot along the X.sub.A direction in the user coordinate system 11 (wherein the user coordinate system 11 and the user coordinate system 21 have the same X.sub.A direction, so the two user coordinate systems have the same correction translation matrix in the X.sub.A direction), thus the correction translation matrix T can be calculated by the following formula:

(15) $T=\left[\begin{array}{cccc}1& 0& 0& p_x\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right],$
where p.sub.x is the translation distance of the robot in the user coordinate system 11; and

(16) performing the translational motion of the robot gripper based on the correction translation matrix, acquiring the information of rear retaining finger sensors in real time during motion, stopping the translational motion of the robot gripper when one of the rear retaining finger sensors is detected, and recording the current position and posture of the robot; and

(17) step 4: FIGS. 4, 5 and 6 show the posture of the robot when sensor information is detected.

(18) If the information of the left and right rear retaining finger sensors (12, 22) is detected simultaneously, then the robot gripper is in a standard bending position. The robot controls the action of the upper bending slider to complete sheet metal bending.

(19) If the information of the rear retaining finger sensor 12 is detected and the information of the rear retaining finger sensor 22 is not detected, a correction rotation matrix of the robot in the user coordinate system 11 is calculated:

(20) $T\left[\begin{array}{cc}{R}_{\theta }& 0\\ 0& 1\end{array}\right],$
where R.sub.θ is a 3×3 matrix related to an angle θ. θ is the search step size, which is a fixed angle 0<θ≤45°.

(21) $R_{\theta }=\left[\begin{array}{ccc}c\theta & s\theta & 0\\ -s\theta & c\theta & 0\\ 0& 0& 1\end{array}\right],$
where cθ denotes cos(θ) and sθ denotes sin(θ).

(22) The robot gripper is rotated (rotated by the angle θ each time) around the origin of the user coordinate system of the rear retaining finger based on the correction rotation matrix, and the rotary motion of the robot gripper is stopped until the other rear retaining finger sensor 22 is detected. The robot controls the action of the upper bending slider to complete sheet metal bending.

(23) If the information of the rear retaining finger sensor 12 is not detected and the information of the rear retaining finger sensor 22 is detected, a correction rotation matrix of the robot in the user coordinate system 21 is calculated by the same method as described above based on the correction rotation matrix:

(24) $T\left[\begin{array}{cc}{R}_{\theta }& 0\\ 0& 1\end{array}\right],$
where R.sub.θ is a 3×3 matrix related to an angle θ. θ is the search step size, which is a fixed angle −45°≤θ<0.

(25) $R_{\theta }=\left[\begin{array}{ccc}c\theta & s\theta & 0\\ -s\theta & c\theta & 0\\ 0& 0& 1\end{array}\right],$
where cθ denotes cos(θ) and sθ denotes sin(θ).

(26) The robot gripper is rotated around the origin of the user coordinate system of the rear retaining finger based on the correction rotation matrix, and the rotary motion of the robot gripper is stopped until the other rear retaining finger sensor 12 is detected. The robot controls the action of the upper bending slider to complete sheet metal bending.

(27) In this embodiment, the workpiece to be bent is an elevator door panel which has totally four sides to be bent, each of the sides is automatically found for a standard bending position according to the above steps 1 to 5, and the robot controls the action of the upper bending slider to complete tracked bending, thus obtaining a product as shown in FIG. 7.