摘要：【中文】用于工业机器人测量系统中的线测头标定装置和标定方法，其中装置包括夹具和位于夹具下方的夹持装置；所述夹具包括从上至下依次连接的夹具连接板、第一角位台、第二角位台和连接架，所述夹具连接板用于与机器人主体连接，所述连接架用于与线测头连接；所述夹持装置从上至下依次设有工字型连接架、马达、第三角位台、第四角位台和连接板，所述工字型连接架的平台用于设置标准块。本发明具有通过特殊的夹具，配合定制的标准块，可以快速调节标准块表面与法兰平面平行；所用线测头的选择多样化，可以测量多种形状、多种尺寸、和多种材质的零部件，有效减少成本投入，充分发挥工业机器人的高灵活性特点，整套设备使用柔性强。 【EN】The line measuring head calibration device and the calibration method are used in an industrial robot measuring system, wherein the device comprises a clamp and a clamping device positioned below the clamp; the fixture comprises a fixture connecting plate, a first angle table, a second angle table and a connecting frame which are sequentially connected from top to bottom, the fixture connecting plate is used for being connected with the robot main body, and the connecting frame is used for being connected with the line measuring head; the clamping device is sequentially provided with an I-shaped connecting frame, a motor, a third angle table, a fourth angle table and a connecting plate from top to bottom, and the platform of the I-shaped connecting frame is used for arranging a standard block. The invention has the advantages that the special clamp is matched with the customized standard block, so that the surface of the standard block can be quickly adjusted to be parallel to the plane of the flange; the selection of used line gauge head is diversified, can measure the spare part of multiple shape, multiple size and multiple material, effectively reduces the cost input, full play industrial robot's high flexibility characteristics, and complete equipment uses flexibility strong.

摘要：【中文】本发明公开了一种基于交叉激光束的工业机器人尖点型回转体工具标定方法，通过标定软件连接交叉激光对射装置和机器人运动控制系统，标定软件在线获取机器人法兰盘末端位姿并规划圆弧轨迹，然后将轨迹输送到机器人运动控制系统中，在机器人执行圆弧轨迹过程中，标定软件监测激光束的信号并获取信号改变时机器人的位姿；标定软件在线规划不同姿态下沿着待标工具轴线运动的直线运动轨迹，将之输送到机器人运动控制器中并执行，在信号突变时获取机器人法兰盘末端的位姿，通过不同位姿下的数据计算工具尖点的位置。本发明方法实现工具坐标系的自动化标定，由此解决工具标定中的操作复杂、成本高、实际应用困难等问题。 【EN】The invention discloses a method for calibrating a sharp point type revolving body tool of an industrial robot based on crossed laser beams, which comprises the steps of connecting a crossed laser correlation device and a robot motion control system through calibration software, acquiring the terminal pose of a flange plate of the robot on line and planning an arc track by the calibration software, then conveying the track to the robot motion control system, monitoring signals of the laser beams by the calibration software and acquiring the pose of the robot when the signals change in the process of executing the arc track by the robot; and the calibration software plans the linear motion track moving along the axis of the tool to be calibrated under different postures on line, transmits the linear motion track into the robot motion controller and executes the linear motion track, acquires the pose of the tail end of the flange plate of the robot when the signal changes suddenly, and calculates the position of the tool sharp point according to data under different poses. The method realizes the automatic calibration of the tool coordinate system, thereby solving the problems of complex operation, high cost, difficult practical application and the like in the tool calibration.

摘要：【中文】一种堆叠错分上料装置，包括自动升降供料机构、错分机构、搬运机构及定位待取料机构，所述自动升降供料机构托住并升降被分离产品，所述错分机构将被分离产品的最顶上一片产品朝向所述定位待取料机构移动错位预定距离，并使最顶上一片产品进入预定的仅容一片产品通过的狭缝中，所述搬运机构吸住被分离产品的最顶上一片产品，所述自动升降供料机构带着余下的被分离产品下降，使余下的被分离产品与最顶上一片产品分离，所述搬运机构吸住被分离产品的最顶上一片产品移送到定位待取料机构。本发明具有可提高供料效率，实现自动化供料的优点。 【EN】A stacking and staggered loading device comprises an automatic lifting and feeding mechanism, a staggered distribution mechanism, a carrying mechanism and a positioning to-be-loaded mechanism, wherein the automatic lifting and feeding mechanism supports and lifts a separated product, the staggered distribution mechanism moves a topmost product of the separated product towards the positioning to-be-loaded mechanism for a preset staggered distance and enables the topmost product to enter a preset slit for only allowing one product to pass through, the carrying mechanism sucks the topmost product of the separated product, the automatic lifting and feeding mechanism drives the rest separated product to descend so as to separate the rest separated product from the topmost product, and the carrying mechanism sucks the topmost product of the separated product and transfers the topmost product to the positioning to-be-loaded mechanism. The invention has the advantages of improving the feeding efficiency and realizing automatic feeding.

摘要：【中文】一种位姿同步的六轴工业机器人轨迹平顺方法，采用圆弧曲线对位置轨迹过渡，并采用四元数B样条对姿态轨迹过渡。过渡后的位置和姿态轨迹均具有高阶连续性，可同时约束位置和姿态的过渡误差，且过渡后的位置轨迹和姿态轨迹具有参数同步性。包括两个步骤：步骤1、根据位置和姿态的过渡误差阈值、连续性条件和位姿同步条件确定过渡参数；步骤2、根据过渡参数分别计算位置和姿态的过渡轨迹。本发明提出的平顺方法能够生成平滑且精度可控的六轴机器人轨迹，进而提高六轴机器人的作业效率和精度。 【EN】A pose-synchronous track smoothing method for a six-axis industrial robot adopts an arc curve to transition a position track and adopts a quaternion B spline to transition a posture track. The position and the attitude track after transition have high-order continuity, the transition errors of the position and the attitude can be restrained simultaneously, and the position track and the attitude track after transition have parameter synchronism. The method comprises the following two steps: step 1, determining transition parameters according to transition error thresholds, continuity conditions and pose synchronization conditions of positions and postures; and 2, respectively calculating transition tracks of the position and the posture according to the transition parameters. The smoothing method provided by the invention can generate a smooth six-axis robot track with controllable precision, so that the working efficiency and precision of the six-axis robot are improved.

摘要：【中文】一种基于聚类超球体模型的产品质量快速判定方法，通过大量样本数据确定最小封闭超球体，并求出超球体的半径和球心，计算检测点与球心的距离，实现对生产过程中产品质量的快速且高准确率判定。该方法具体包括：首先对选定的训练数据集做k‑means聚类，使其分为k个子数据集；其次，对每个子集的数据进行最小封闭超球体的优化求解，确定其半径和球心，并计算出镜像球心在原始数据域的确切原像，进而优化判别函数；最后计算待检测样本点与每一个超球体球心的距离，并将其与超球体半径做比较，从而判定出该检测点的质量情况。本发明与现有产品质量判定方法相比，提出的聚类超球体模型能更精细化确定多超球体的边界，并通过超球体镜像球心的原像极大简化了判别函数，提高了质量判定的快速性。 【EN】A method for quickly judging product quality based on a clustered hypersphere model is characterized in that a minimum closed hypersphere is determined through a large amount of sample data, the radius and the center of the hypersphere are calculated, the distance between a detection point and the center of the sphere is calculated, and quick and high-accuracy judgment on the product quality in the production process is realized. The method specifically comprises the following steps: firstly, performing k-means clustering on a selected training data set to divide the training data set into k sub-data sets; secondly, performing optimization solution on the minimum closed hyper-sphere on the data of each subset, determining the radius and the center of sphere of the data, calculating the exact original image of the center of sphere of the mirror image in the original data field, and further optimizing a discriminant function; and finally, calculating the distance between the sample point to be detected and the center of each hyper-sphere, and comparing the distance with the radius of the hyper-sphere, thereby judging the quality condition of the detection point. Compared with the existing product quality judgment method, the clustering hyper-sphere model provided by the invention can more finely determine the boundaries of multiple hyper-spheres, greatly simplifies the judgment function through the pre-image of the sphere center of the hyper-sphere mirror image, and improves the rapidity of quality judgment.

摘要：【中文】一种通过EtherCAT总线测控同步的方法，主站发出的运动控制指令传输给多个伺服驱动从站，驱动器控制电机运动从而控制工作台运动，伺服电机中的编码器可以表示工作台的位置，根据分布时钟(DC)的同步信号触发，将位置数据经由EtherCAT总线输入到EtherCAT主站。同时，主站发出的采样指令发送给位置测量装置，位置测量装置根据同步信号触发采样，并获取当前位置的零件表面高度数据，并将该测量值转换成EtherCAT数据后经由EtherCAT总线输入到EtherCAT主站。利用该方法，可以达到被测零件的高度信号与其在工作台上的位置信号的高精度同步性，从而实现零件轮廓的高精度测量。 【EN】A method for measuring and controlling synchronization through an EtherCAT bus comprises the steps that a motion control command sent by a master station is transmitted to a plurality of servo drive slave stations, a driver controls a motor to move so as to control the movement of a workbench, an encoder in the servo motor can represent the position of the workbench, and position data are input to the EtherCAT master station through the EtherCAT bus according to the triggering of a synchronous signal of a Distributed Clock (DC). Meanwhile, a sampling instruction sent by the main station is sent to the position measuring device, the position measuring device triggers sampling according to the synchronous signal, obtains the height data of the surface of the part at the current position, converts the measured value into EtherCAT data and inputs the EtherCAT data to the EtherCAT main station through an EtherCAT bus. By using the method, the high-precision synchronism of the height signal of the part to be measured and the position signal of the part on the workbench can be achieved, so that the high-precision measurement of the part outline is realized.