CN103376080B - A kind of method for calibration machine people working cell - Google Patents
A kind of method for calibration machine people working cell Download PDFInfo
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- CN103376080B CN103376080B CN201210129543.4A CN201210129543A CN103376080B CN 103376080 B CN103376080 B CN 103376080B CN 201210129543 A CN201210129543 A CN 201210129543A CN 103376080 B CN103376080 B CN 103376080B
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Abstract
It is an object of the invention to provide a kind of method for calibration machine people working cell.This robot working unit includes robot and workbench.One probe is fixed on the working end of described robot, and a flat board is fixed in the rotary shaft of described workbench, and described method includes successively: step 1, is fixed by described flat board and keeps level；Step 2, is delineated on described flat board by described probe and calibrates tool focus position；Step 3, is delineated on described flat board by described probe by the described tool focus position after calibration and calibrates operating position.The calibration steps of the present invention is simply economical.
Description
Technical field
The present invention relates to a kind of method for calibration machine people working cell, particularly relate to a kind of calibration for spraying
The method of robot working unit.
Background technology
Robot working unit includes robot and workbench.In order to set up working trajectory, such as spraying profile, need elder generation
The coordinate of calibration operation unit.At present, coordinate measuring machine (Coordinate Measuring Machine) is generally used to enter
Row calibration.Chinese patent CN86101800 discloses a kind of method using coordinate measuring apparatus to measure.When by measurement of coordinates
When instrument is applied in robot working unit, its process is complicated and relatively costly.
Summary of the invention
It is an object of the invention to provide a kind of simply method of economy for calibration machine people working cell.This machine
Device people working cell includes robot and workbench.One probe is fixed on the working end of described robot, and a flat board is fixed on institute
Stating in the rotary shaft of workbench, described method includes successively:
Step 1: described flat board is fixed and keeps level；
Step 2: delineated on described flat board by described probe and tool focus position is calibrated；
Step 3: delineate to come work on described flat board by described probe by the described tool focus position after calibration
Station position is calibrated.The cooperation of probe and flat board can save the measurement equipment of complexity and costliness, thus reduces cost
And improve efficiency.
According to an aspect of the inventive method, wherein step 2 includes:
Step 21: in the horizontal plane tool focus position is calibrated；
Step 22: on vertical plane, tool focus position is calibrated.
According to the another further aspect of the inventive method, wherein step 3 includes successively:
Step 31: the rotary shaft of workbench is calibrated；
Step 32: the datum plane of workbench is calibrated.
According to the another aspect of the inventive method, wherein step 21 includes successively:
Step 211: handle described robot and in the first reference position, the plane of described flat board is delineated by described probe
First labelling；
Step 212: by described probe around a vertical axes rotation turnback, and handle described robot and existed by described probe
The described plane of described flat board is delineated the second labelling by described first reference position；
Step 213: if described first labelling and described second labelling overlap in the horizontal plane, then by described first reference
Position coordinate in the horizontal plane is set to described tool focus position coordinate in the horizontal plane；If described first labelling and institute
State the second labelling the most misaligned, then calculate described first labelling and the midpoint of described second labelling, and by described
Point coordinate in the horizontal plane is set to described tool focus position coordinate in the horizontal plane.
According to the another aspect of the inventive method, wherein step 21 also includes:
Step 214: be repeated in step 211, step 212 and step 213 until described first labelling and described second is marked
Note overlaps in the horizontal plane.It is repeated in step 211, step 212 and step 213 to be conducive to reducing measurement error.
According to the another aspect of the inventive method, wherein step 22 includes successively:
Step 221: handle described robot and in the second reference position, the side of described flat board is delineated by described probe
3rd labelling；
Step 222: will probe around a trunnion axis 90-degree rotation, and handle described robot by described probe described the
The 4th labelling is delineated in the described side of described flat board by two reference positions；
Step 223: if described 3rd labelling and the described 4th is marked on vertical plane coincidence, then by described second reference
Position coordinate on vertical plane is set to described tool focus position coordinate on vertical plane；If described 3rd labelling and institute
State the 4th and be marked on vertical plane misaligned, then described 4th coordinate being marked on vertical plane is set to described tool focus position
Put the coordinate on vertical plane.
According to the another aspect of the inventive method, wherein step 22 also includes:
Step 224: if described 3rd labelling and the described 4th is marked on vertical plane misaligned, be then repeated in step
221, step 222 and step 223 are until described 3rd labelling and described 4th labelling overlap.It is repeated in step 221, step
222 and step 223 be conducive to reducing measurement error.
According to the another aspect of the inventive method, wherein step 31 includes successively:
Step 311: handle described robot the most right in the 3rd reference position and the 4th reference position by described probe
Plane delineation the 5th labelling of described flat board and the 6th labelling；
Step 312: handle described workbench and make described flat board revolve turnback around the rotary shaft of described workbench, and pass through
The plane of described flat board is delineated the 7th labelling in described 3rd reference position and described 4th reference position by described probe respectively
With the 8th labelling；
Step 313: calculate described 5th labelling and the midpoint of described 7th labelling, and described 6th labelling and described
The midpoint of eight labellings, and the rotary shaft of described workbench is determined according to the two midpoint.
According to the another aspect of the inventive method, wherein step 32 includes successively:
Step 321: handle described robot and pass through described probe in the 5th reference position of described flat board to described flat board
Side delineation the 9th labelling；
Step 322: by the distance of described 5th reference position of known described flat board to the datum plane of workbench
And the 9th labelling, determine the datum plane of the workbench position in the described rotary shaft of workbench.
According to the another aspect of the inventive method, make described flat board by the described workbench of adjustment the most in step 1
Fixing holding level.
Hereafter by the way of the most understandable, accompanying drawings preferred embodiment, above-mentioned to for the inventive method
Characteristic, technical characteristic, advantage and implementation thereof are further described.
Accompanying drawing explanation
Fig. 1 schematically illustrates robot working unit when performing step 211 of the present invention；
Fig. 2 schematically illustrates robot working unit when performing step 212 of the present invention；
Fig. 3 schematically illustrates robot working unit when performing step 221 of the present invention；
Fig. 4 schematically illustrates robot working unit when performing step 222 of the present invention；
Fig. 5 (A) schematically illustrates the plane of flat board 3 when performing step 21, and Fig. 5 (B) schematically illustrates and holds
The side of flat board during row step 22；
Fig. 6 schematically illustrates the 3rd reference position the 35, the 4th reference bit when performing step 3 calibration operation platform position
Put the 33, the 5th reference position 34, rotary shaft 21 and datum plane 22；
Fig. 7 schematically illustrates the plane of the flat board 3 when performing step 31 of the present invention and step 32；
Fig. 8 schematically illustrates the flow chart of the inventive method；
Fig. 9 (A) schematically illustrates the step 21 included by step 2 of the present invention and step 22, and 9 (B) are schematically
Illustrate the step 31 included by step 3 of the present invention and step 32；
Figure 10 (A) schematically illustrates the step 211 included by step 21 of the present invention, step 212, step 213 and step
Rapid 214, and Figure 10 (B) schematically illustrates the step 221 included by step 22 of the present invention, step 222, step 223 and step
Rapid 224；
Figure 11 (A) schematically illustrates step 311, step 312 and the step 313 included by step 31 of the present invention, and
Figure 11 (B) schematically illustrates the step 321 included by step 32 of the present invention and step 322.
Label declaration
1 probe S1 step 1
2 station S2 steps 2
21 rotary shaft S21 steps 21
22 datum plane S211 steps 211
3 flat board S212 steps 212
35 the 3rd reference position S213 steps 213
33 the 4th reference position S214 steps 214
34 the 5th reference position S22 steps 22
4 robot S221 steps 221
51 first labelling S222 steps 222
52 second labelling S223 steps 223
53 midpoint S224 steps 224
54 the 3rd labelling S3 steps 3
55 the 4th labelling S31 steps 31
56 the 5th labelling S311 steps 311
57 the 6th labelling S312 steps 312
58 the 7th labelling S313 steps 313
59 the 8th labelling S32 steps 32
510,511 midpoint S321 step 321
D distance S322 step 322
Detailed description of the invention
In order to technical characteristic, purpose and the effect of invention are more clearly understood from, the now comparison accompanying drawing explanation present invention
Detailed description of the invention, the most identical label represents identical or structure is similar but parts that function is identical.
For making simplified form, only schematically show part related to the present invention in each figure, they do not represent
It is as the practical structures of product.It addition, so that simplified form readily appreciates, some figure has identical structure or function
Parts, only symbolically depict one of them, or have only marked one of them.
Fig. 8 schematically illustrates a kind of method for calibration machine people working cell of the present invention, and wherein machine is artificial
Include that Fig. 1 is to the robot 4 shown in 4 and workbench 2 as unit.The working end that one probe 1 is fixed on robot 4, and a flat board 3
It is fixed in the rotary shaft 21 of workbench 2.The method includes successively:
Step 1 (S1): fixed by flat board 3 and keep level, its middle plateform 3 is the thing with at least two parallel surfaces
Body, preferably parallelepiped or even cube, its various physical properties meet the requirement being accurately positioned coordinate.Can lead to
Toning full employment platform 2 makes flat board 3 fix holding level, i.e. allows the parallel surfaces of this object be parallel to horizontal plane；
Step 2 (S2): delineated on flat board 3 by probe 1 and tool focus position is calibrated；
Step 3 (S3): come workbench position by probe 1 delineation on flat board 3 by the tool focus position after calibration
Put and calibrate.It will be understood by those skilled in the art that probe 1 can be any device for delineating, including but do not limit
In metal bar etc., and its various physical properties meet the requirement being accurately positioned coordinate.So-called delineation refers at flat board 3
Labelling is made, regardless of whether surface can be damaged on surface.
As shown in Fig. 9 (A), wherein the inventive method step 2 (S2) including:
Step 21 (S21): in the horizontal plane tool focus position is calibrated；
Step 22 (S22): calibrate tool focus position on vertical plane, wherein vertical plane refers to hang down with horizontal plane
Any one straight plane.
As shown in Fig. 9 (B), wherein the inventive method step 3 (S3) including:
Step 31 (S31): the rotary shaft 21 of workbench is calibrated；
Step 32 (S32): calibrate the datum plane 22 of workbench, wherein datum plane is for really on workbench
Determine workbench plane of position in absolute coordinate system.
As shown in Figure 10 (A), wherein the inventive method step 21 (S21) includes successively:
Step 211 (S211) shown in Fig. 1: the people 4 that operates machine by probe 1 in the first reference position flat to flat board 3
The first labelling 51 is delineated in face；
Step 212 (S212) shown in Fig. 2: probe 1 is revolved turnback around a vertical axes, and the people 4 that operates machine is by visiting
The plane of flat board 3 is delineated the second labelling 52 by 1 in the first reference position；
Step 213 (S213): the most whether the first labelling 51 and the second labelling 52 are overlapped and judge.If
First labelling 51 and the second labelling 52 overlap in the horizontal plane, then the first reference position coordinate in the horizontal plane is set to instrument
Center coordinate in the horizontal plane；If the first labelling 51 and the second labelling 52 do not weigh as shown in Fig. 5 (A)
Close, then calculate the first labelling 51 and midpoint 53 of the second labelling 52, and midpoint 53 coordinate in the horizontal plane is set in instrument
Heart position coordinate in the horizontal plane.
Step 214 (S214): if the first labelling 51 and the second labelling 52 are the most misaligned, be repeated in step
211 (S211), step 212 (S212) and step 213 (S213) are until the first labelling 51 and the second labelling 52 weigh in the horizontal plane
Close.Wherein, the first reference position is the coordinate in absolute coordinate system, and the first labelling 51 and the second labelling 52 are the points on flat board 3,
And the plane of flat board 3 refers to the parallel surfaces of two levels of flat board 3, and choosing of the first reference position to make the first labelling
51 and second labelling 52 can be inscribed in the plane of flat board 3.Not being must to it will be appreciated by those skilled in the art that step 214 (S214)
Need, but step 214 (S214) beneficially reduces the error caused by measurement.
As shown in Figure 10 (B), wherein the inventive method step 22 (S22) includes successively:
Step 221 (S221): the side of flat board 3 is delineated the 3rd by probe 1 in the second reference position by the people 4 that operates machine
Labelling 54；
Step 222 (S222): by probe 1 around a trunnion axis 90-degree rotation, and the people 4 that operates machine is by popping one's head in 1 second
The 4th labelling 55 is delineated in the side of flat board 3 by reference position；
Step 223 (S223): whether the 3rd labelling 54 and the 4th labelling 55 are overlapped on vertical plane and judge.If
3rd labelling 54 and the 4th labelling 55 overlap on vertical plane, then second reference position coordinate on vertical plane is set to instrument
Center coordinate on vertical plane；If the 3rd labelling (54) and the 4th labelling (55) as shown in Fig. 5 (B) on vertical plane
Misaligned, then the 4th labelling (55) coordinate on vertical plane is set to tool focus position coordinate on vertical plane.
Step 224 (S224): if the 3rd labelling (54) and the 4th labelling (55) are misaligned on vertical plane, be repeated in
Step 221 (S221), step 222 (S222) and step 223 (S223) are until the 3rd labelling 54 and the 4th labelling 55 are at vertical plane
Upper coincidence.Wherein, the second reference position is the coordinate in absolute coordinate system, and the 3rd labelling 54 and the 4th labelling 55 are on flat board 3
Point, and other surface that the side of flat board 3 refers on flat board 3 in addition to the parallel surfaces of level, and the choosing of the second reference position
Take and to make the 3rd labelling 54 and the 4th labelling 55 can be inscribed on the side of flat board 3.It will be appreciated by those skilled in the art that step
Rapid 224 (S224) are optional, but step 224 (S224) beneficially reduces the error caused by measurement.
Fig. 1 to 4 indicates two coordinate systems respectively, and being marked on the coordinate system on workbench 2 in every width figure is same absolute coordinate
System, another coordinate system is then for the relative coordinate system of probe 1.Described relative coordinate system reflects probe 1 in absolute coordinate system
Change in location.
As shown in Figure 11 (A), wherein the inventive method step 31 (S31) includes successively:
Step 311 (S311): the people 4 that operates machine is by popping one's head in 1 in the 3rd reference position 35 and the 4th reference shown in Fig. 6
Position 33 plane to flat board 3 respectively delineates the 5th labelling 56 and the 6th labelling 57 shown in Fig. 7；
Step 312 (S312): handle workbench 2 and make flat board 3 revolve turnback around the rotary shaft 21 of workbench 2, and by visiting
1 in the 3rd reference position 35 shown in Fig. 6 and the 4th reference position 33 respectively plane to flat board 3 delineate shown in Fig. 7
Seven labelling 58 and the 8th labellings 59, wherein Fig. 6 illustrates when flat board 3 rotates 90 degree of observations from delineation position around rotary shaft 21
Each reference position, and Fig. 7 illustrates each labelling when flat board 3 is in the observation of delineation position and corresponding midpoint；
Step 313 (S313): calculate the 5th labelling 56 and the midpoint 510 of the 7th labelling 58, and the 6th labelling 57 and the
The midpoint 511 of eight labellings 59, and the rotary shaft 21 of workbench 2 is determined according to the two midpoint 510 and 511.Wherein, the 3rd reference
Position 35 and the 4th reference position 33 are the coordinates in absolute coordinate system, the 5th labelling the 56, the 6th labelling the 57, the 7th labelling 58 and
8th labelling 59 is the point on flat board 3.
As shown in Figure 11 (B), wherein the inventive method step 32 (S32) including:
Step 321 (S321): operate machine people 4 by probe 1 in the 5th reference position 34 of flat board 3 side to flat board 3
Face delineation the 9th labelling 512；
Step 322 (S322): by the 5th reference position 34 of known flat board 3 to workbench 2 datum plane 22 away from
From D and the 9th labelling 512, determine the datum plane 22 of workbench 2 position in the rotary shaft 21 of workbench 2.Wherein,
Five reference positions 34 are the coordinates in absolute coordinate system, and the 9th labelling 512 is the point on flat board 3, and the 9th labelling 512,
Five reference positions 34 are obtained to distance D of workbench 2 datum plane 22 by any existing metering system, such as, pass through
Ruler measurement or utilize robot 4 to measure.
The a series of detailed description of those listed above is only for illustrating of the possible embodiments of the present invention,
They also are not used to limit the scope of the invention, all Equivalent embodiments made without departing from skill of the present invention spirit or change
Should be included within the scope of the present invention.
Claims (7)
1. for the method for calibration machine people working cell, wherein said robot working unit include robot (4) and
Workbench (2)；One probe (1) is fixed on the working end of described robot (4), and a flat board (3) is fixed on described workbench (2)
In rotary shaft (21), described method includes successively:
Step 1 (S1): described flat board (3) is fixed and keeps level；
Step 211 (S211): handle described robot (4) and pass through described probe (1) in the first reference position to described flat board (3)
Plane delineate the first labelling (51)；
Step 212 (S212): by described probe (1) around a vertical axes rotation turnback, and handle described robot (4) and pass through institute
State probe (1), in described first reference position, the described plane of described flat board (3) is delineated the second labelling (52)；
Step 213 (S213): if described first labelling (51) and described second labelling (52) overlap, then in the horizontal plane by institute
State the first reference position coordinate in the horizontal plane and be set to tool focus position coordinate in the horizontal plane；If described first mark
Note (51) and described second labelling (52) are the most misaligned, then calculate described first labelling (51) and described second labelling
(52) midpoint (53), and described midpoint (53) coordinate in the horizontal plane is set to described tool focus position in the horizontal plane
Coordinate；
Step 22 (S22): come tool focus position by the upper delineation of the described probe (1) described flat board (3) on vertical plane
Calibrate；
Step 31 (S31): above carved at described flat board (3) by described probe (1) by the described tool focus position after calibration
Draw the rotary shaft (21) to workbench to calibrate；
Step 32 (S32): above carved at described flat board (3) by described probe (1) by the described tool focus position after calibration
Draw the datum plane (22) to workbench to calibrate.
2. the method for claim 1, wherein also includes after step 213 (S213):
Step 214 (S214): if described first labelling (51) and described second labelling (52) are the most misaligned, then depend on
Secondary repetition step 211 (S211), step 212 (S212) and step 213 (S213) are until described first labelling (51) and described
Two labellings (52) overlap in the horizontal plane.
3. the method for claim 1, wherein step 22 (S22) includes successively:
Step 221 (S221): handle described robot (4) and pass through described probe (1) in the second reference position to described flat board (3)
Side delineation the 3rd labelling (54)；
Step 222 (S222): will pop one's head in (1) is around a trunnion axis 90-degree rotation, and handles described robot (4) by described probe
(1) in described second reference position, the 4th labelling (55) is delineated in the described side of described flat board (3)；
Step 223 (S223): if described 3rd labelling (54) and described 4th labelling (55) overlap, then by institute on vertical plane
State second reference position coordinate on vertical plane and be set to described tool focus position coordinate on vertical plane；If described
Three labellings (54) and described 4th labelling (55) are misaligned on vertical plane, then by described 4th labelling (55) on vertical plane
Coordinate is set to described tool focus position coordinate on vertical plane.
4. method as claimed in claim 3, wherein step 22 (S22) also includes:
Step 224 (S224): if described 3rd labelling (54) and described 4th labelling (55) are misaligned on vertical plane, then depend on
Secondary repetition step 221 (S221), step 222 (S222) and step 223 (S223) are until described 3rd labelling (54) and described
Four labellings (55) overlap.
5. the method for claim 1, wherein step 31 (S31) includes successively:
Step 311 (S311): handle described robot (4) by described probe (1) in the 3rd reference position (35) and the 4th ginseng
Examine position (33) and respectively the plane of described flat board (3) is delineated the 5th labelling (56) and the 6th labelling (57)；
Step 312 (S312): handle rotary shaft (21) rotation that described workbench (2) makes described flat board (3) around described workbench (2)
Turnback, and by described probe (1) in described 3rd reference position (35) and described 4th reference position (33) respectively to institute
State plane delineation the 7th labelling (58) and the 8th labelling (59) of flat board (3)；
Step 313 (S313): calculate described 5th labelling (56) and the midpoint (510) of described 7th labelling (58), and described
6th labelling (57) and the midpoint (511) of described 8th labelling (59), and determine described work according to the two midpoint (510,511)
The rotary shaft (21) of station (2).
6. the method for claim 1, wherein step 32 (S32) includes successively:
Step 321 (S321): handle described robot (4) by described probe (1) in the 5th reference position of described flat board (3)
(34) the 9th labelling (512) is delineated in the side of described flat board (3)；
Step 322 (S322): by the base of described 5th reference position (34) of known described flat board (3) to workbench (2)
The distance (D) of directrix plane (22) and the 9th labelling (512), determine that the datum plane (22) of workbench (2) is at workbench (2)
Position in described rotary shaft (21).
7. the method for claim 1, wherein makes described flat in step 1 (S1) by the described workbench of adjustment (2)
Holding level fixed by plate (3).
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| EP3324362B1 (en) | 2016-11-21 | 2019-07-03 | Siemens Aktiengesellschaft | Method and device for commissioning a multi-axis system |
| CN110375688A (en) * | 2019-06-18 | 2019-10-25 | 宁波敏实汽车零部件技术研发有限公司 | A kind of industrial robot tool coordinates system posture calibration system and method |
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| CN1802240A (en) * | 2003-06-11 | 2006-07-12 | Abb公司 | A method for calibrating and programming of a robot application |
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| CN101539400A (en) * | 2009-04-17 | 2009-09-23 | 上海微电子装备有限公司 | Method for calibrating vertical survey system of photo-etching machine stage |
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| CN1246087A (en) * | 1997-01-29 | 2000-03-01 | 株式会社安川电机 | Device and method for calibrating robot |
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Effective date of registration: 20181228 Address after: 214203 No. 25 Huixing North Road, Yixing Economic and Technological Development Zone, Wuxi City, Jiangsu Province Patentee after: Siemens Gas Turbine Components (Jiangsu) Co.,Ltd. Address before: No. 333 Jiangchuan Road, Minhang District, Shanghai, 200240 (East Gate) Patentee before: Siemens Gas Turbine Parts Ltd. |
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Address after: 214203 No. 25 Huixing North Road, Yixing Economic and Technological Development Zone, Wuxi City, Jiangsu Province Patentee after: Siemens Energy Gas Turbine Components (Jiangsu) Co.,Ltd. Address before: 214203 No. 25 Huixing North Road, Yixing Economic and Technological Development Zone, Wuxi City, Jiangsu Province Patentee before: Siemens Gas Turbine Components (Jiangsu) Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |