CN107553475B - A kind of workpiece coordinate scaling method for work pieces process - Google Patents
A kind of workpiece coordinate scaling method for work pieces process Download PDFInfo
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Abstract
The present invention relates to a kind of workpiece coordinate scaling method, mobile seeking border is contacted with two adjacent edge of workpiece, records P1、P2、P3、P4In robot basis coordinates system x, y and z value, guarantee this 4 points in same Z plane；P1P2With P3P4Intersection point P5X and y value and P1P2With P3P4Intersection point is identical in the projection of the face XY, obtains P5X and y value, move seeking border contact workpiece surface, record P5Z value；Workpiece surface takes P7、P8And P9, P7For workpiece coordinate system origin, P8、P9Demarcate its X2And Y2Axis guarantees P7P8⊥P7P9, record P5、P7、P8And P9X and y value；Determine P17、P18、P19, x and y value and P7、P8And P9It is identical, enable 3 points of the z value be equal to P5Z add certain value, move seeking border to this 3 points, move down contact workpiece face and record P7、P8And P9Z value.End-of-arm tooling and workpiece touching are obtained accurate workpiece coordinate system by the present invention.
Description
Technical field
The present invention relates to the pose calibration technique fields of workpiece, and in particular to work pieces process is used in a kind of robot field
Workpiece coordinate scaling method.
Background technique
In processing of robots field, the calibration of robot coordinate system includes that workpiece coordinate calibration and tool coordinates are demarcated,
Its task is the position of workpiece, tool etc. in determining robot processing system.Usual tool calibration is fairly simple, and calibrated error
It is smaller.And the calibration of workpiece coordinate is not easy accurate calibration, and the precision of its calibration directly affects final machining accuracy.Work
It is smart whether the calibration of part coordinate system will accurately directly affect the matching that cutter location under work coordinate system is mapped under robot coordinate system
Degree, causes mechanical processing quality undesirable, or even robot occurs and the safety accidents such as workpiece collides.
Calibration for robot workpiece coordinate system is exactly the position for determining workpiece coordinate system and posture relative to robot
Transition matrix under basis coordinates system.Using calibration mode, generally there are two types of methods at present: 1, being tracked using industrial camera, laser
The electronic equipments such as instrument, feel of the ball instrument carry out workpiece coordinate calibration, and this calibration mode precision is high, but expense is quite high；2, pass through
The mode of robot teaching touches robot end's tool with workpiece, is then touched by robot solution technique
Touch the coordinate value a little under robot basis coordinates system.The precision of second of calibration mode has direct relationship with method for solving,
But the general complex and stated accuracy of current method for solving is not high.
Summary of the invention
The present invention provides a kind of workpiece coordinate scaling method for work pieces process, solves techniques discussed above and asks
Topic.
The scheme that the present invention solves above-mentioned technical problem is as follows:
A kind of workpiece coordinate scaling method for work pieces process, comprising the following steps: S1 is moved by control robot
Dynamic seeking border two sides adjacent with workpiece are in contact, and each side respectively obtains two points on workpiece surface, and in teaching machine
In record P1、P2、P3、P4This 4 points x coordinate, y-coordinate and the z coordinates under robot basis coordinates system, wherein guaranteeing P1、P2、
P3、P4Four points are in the plane of same Z coordinate；S2 connects P1Point, P2Dot is in line P1P2, connect P3Point, P4Point forms straight
Line P3P4, P5X and y-coordinate and straight line P1P2With straight line P3P4Projection of the intersection point on the face XY it is identical, according to P1-P44 points are asked
Solution calculates P5The point x and y location coordinate under robot basis coordinates system, P5For the point on workpiece surface, pass through control robot
To move seeking border contact P5Workpiece surface where point, records P in teaching machine5Z coordinate；S3, by seeking border in workpiece
Taking on surface at 3 points is respectively P7Point, P8Point and P9Point, P7Origin of the point as workpiece coordinate system, P8Point is for demarcating workpiece coordinate
The X of system2Axis, P9Put the Y for demarcating workpiece coordinate system2Axis, and guarantee straight line P7P8Perpendicular to straight line P7P9；In teaching machine
Record has P5Point, P7Point, P8Point and P9The x and y location coordinate of point, calculate P by teaching machine7Point, P8Point, P9Point is relative to P5
The position coordinates x value and y value of point；S4 first sets three point P17 points, P18 points, P19 points, P17 points, P18 points, P19 points 3 points of x
Coordinate respectively with P7Point, P8Point and P9The x coordinate of three points of point corresponds to identical, P17 points, P18 points and P19 points 3 points of y-coordinate difference
With P7Point, P8Point and P9Three points of y-coordinate of point corresponds to identical, enables P17 points, P18 points and P19 points 3 points of z coordinate is equal to P5Z value
In addition a certain setting value, is first moved respectively to P for seeking border17 points, P18 points and P19 points 3 points, then moving down seeking border makes
Seeking border round end contact workpiece face again, P is recorded by teaching machine7Point, P8Point and P9The z coordinate of three points of point；S5, root
According to 3 standardizations, mobile seeking border to P7Point, P8Point and P9Three points of point simultaneously records at this 3 points, establishes workpiece coordinate system.
The beneficial effects of the present invention are: the present invention provides a kind of workpiece coordinate scaling method for work pieces process, tool
It has the advantage that 1, i.e. robot teaching, moves two adjacent sides of seeking border and workpiece by control robot first
It is in contact, each side respectively obtains two auxiliary base points on workpiece surface, then carries out robot end's tool and workpiece
Touching obtains coordinate of three touch points under robot basis coordinates system finally by simple accurate robot method for solving
Value, that is, obtain accurately workpiece coordinate system, to improve part calibration precision；2, seeking border is first moved respectively to P17 points, P18
Point and P1It 9 points 3 points, then moves down seeking border and makes the round end of seeking border contact workpiece face again, recorded by teaching machine
Lower P7Point, P8Point and P9Three points of z coordinate of point, can reduce in this way because jig or workpiece surface it is not smooth enough caused by this three
The z coordinate error of point.
Based on the above technical solution, the present invention can also be improved as follows.
Further, further include Z around auxiliary coordinates1The deflection of axis direction is checked, and under auxiliary coordinates, side is sought in movement
Device is from P5Point moves a certain distance to obtain P along the x axis6Point, and guarantee P6Point records P on workpiece face in teaching machine6Point
Coordinate, teaching machine passes through P4Point, P5Point and P6Point can calculate workpiece coordinate around the Z of auxiliary coordinates1The rotation of axis direction
Angle a.
Beneficial effect using above-mentioned further scheme is: by P5It is established at point corresponding with machine basis coordinates system
The origin of auxiliary coordinates, the auxiliary coordinates is located on the X/Y plane of machine basis coordinates system, and teaching machine passes through P4Point, P5Point and
P6Point can calculate workpiece coordinate around the Z of auxiliary coordinates1The rotational angle a of axis direction can reduce workpiece around auxiliary coordinate
The Z of system1Influence of the axis direction to workpiece coordinate system is determined.
Further, further include X around auxiliary coordinates1The deflection of axis direction is checked, and mobile seeking border walks one on workpiece
Section is along workpiece coordinate Y1The track of axis direction；Take this section of track head and the tail two o'clock P10Point, P20Coordinate when point contact is to workpiece, is showing
It teaches and inputs P at the reading of the initial basis coordinates of device10Point, P20X, y and z coordinate value of point；Teaching machine passes through P10Point, P20Point can be counted
Workpiece coordinate is calculated around the X of auxiliary coordinates1The rotational angle b of axis direction.
Beneficial effect using above-mentioned further scheme is: according to P10Point and P20Point two o'clock coordinate is used to check workpiece
X of the coordinate system around auxiliary coordinates1The deflection angle b of axis direction, and reduce the deflection angle b calibration of workpiece coordinate is influenced, into
One step improves the workpiece coordinate stated accuracy for being used for work pieces process.
It further, further include auxiliary coordinates Y1The deflection of axis direction is checked, and mobile seeking border walks one section of edge on workpiece
Workpiece coordinate X1The track of axis direction takes this section of track head and the tail two o'clock P30Point, P40Coordinate when point contact is to workpiece, in teaching machine
P is inputted at the reading of initial basis coordinates30Point, P40X, y and z coordinate value of point；Teaching machine passes through P30Point, P40Point can calculate
Y of the workpiece coordinate around auxiliary coordinates1The rotational angle c of axis.
Beneficial effect using above-mentioned further scheme is: according to P30Point and P40Point two o'clock coordinate is used to check workpiece
X of the coordinate system around auxiliary coordinates1The deflection angle b of axis direction, and reduce the deflection angle b calibration of workpiece coordinate is influenced, into
One step improves the workpiece coordinate stated accuracy for being used for work pieces process.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is that a kind of test point for workpiece coordinate scaling method for work pieces process that one embodiment of the invention provides is shown
It is intended to；
Workpiece coordinate system is around X in a kind of workpiece coordinate scaling method for work pieces process that Fig. 2 provides for Fig. 11Axis side
To the schematic illustration of deflection；
Workpiece coordinate system is around Y in a kind of workpiece coordinate scaling method for work pieces process that Fig. 3 provides for Fig. 11Axis side
To the schematic illustration of deflection.
In attached drawing, parts list represented by the reference numerals are as follows:
1, workpiece；2, robot basis coordinates system；3, auxiliary coordinates.
Specific embodiment
Principles and features of the present invention are described below in conjunction with attached drawing 1-3, the given examples are served only to explain the present invention,
It is not intended to limit the scope of the present invention.The present invention is more specifically described by way of example referring to attached drawing in the following passage.Root
According to following explanation and claims, advantages and features of the invention will be become apparent from.It should be noted that attached drawing be all made of it is very simple
The form of change and use non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
As shown in Figure 1, the present invention provides a kind of workpiece coordinate scaling method for work pieces process, including following step
Rapid: S1 is in contact by control robot to move seeking border two sides adjacent with workpiece 1, and each side respectively obtains workpiece 1
Two points on surface, and P is recorded in teaching machine1、P2、P3And P4This 4 points x coordinates under robot basis coordinates system 2,
Y-coordinate and z coordinate, wherein guaranteeing P1、P2、P3、P4Four points are in the plane of same Z coordinate；S2 connects P1Point, P2Point is formed
Straight line P1P2, connect P3Point, P4Dot is in line P3P4, P5X and y-coordinate and straight line P1P2With straight line P3P4Intersection point on the face XY
Projection it is identical, according to P1-P44 points of solutions calculate P5The point x and y location coordinate under robot basis coordinates system 2, P5For work
Point on 1 surface of part is moved seeking border by control robot and contacts P51 surface of workpiece where point, remembers in teaching machine
Record P5Z coordinate；S3, taking at 3 points on 1 surface of workpiece by seeking border is respectively P7Point, P8Point and P9Point, P7Point is used as workpiece
The origin of coordinate system, P8Put the X for demarcating workpiece coordinate system2Axis, P9Put the Y for demarcating workpiece coordinate system2Axis, and
Guarantee straight line P7P8Perpendicular to straight line P7P9；Record has P in teaching machine5Point, P7Point, P8Point and P9The x and y location coordinate of point, pass through
Teaching machine calculates P7Point, P8Point, P9Point is relative to P5The position coordinates x value and y value of point；S4 first sets three point P17 points, P18
Point, P19 points, P17 points, P18 points, P19 points 3 points of x coordinate respectively with P7Point, P8Point and P9Three points of x coordinate of point correspond to it is identical,
P17 points, P18 points and P19 points 3 points of y-coordinate respectively with P7Point, P8Point and P9Three points of y-coordinate of point corresponds to identical, enables P17 points,
P18 points and P19 points 3 points of z coordinate is equal to P5Z value add a certain setting value, seeking border is first moved respectively to P17 points, P18
Point and P1It 9 points 3 points, then moves down seeking border and makes the round end of seeking border contact workpiece face again, recorded by teaching machine
Lower P7Point, P8Point and P9The z coordinate of three points of point；S5, according to 3 standardizations, mobile seeking border to P7Point, P8Point and P9Three points of point
And record at this 3 points, establish workpiece coordinate system.
It should be pointed out that 3 standardizations to those skilled in the art, belong to the work for robot
The prior art in part coordinate scaling method, does not remake herein and repeats.The X of workpiece coordinate system2Axis and Y2Axis in figure not
It draws.
P is described below5The x of point and the coordinate method of y location coordinate.Set P1Point and P2The straight line P that point is formed1P2Parsing
Formula is y=k1x+b11. by P1Point and P2The x and y-coordinate of point are substituted into, and can obtain k1=(yp2-yp1)/(xp2-xp1),b1=yp2-
k1xp2；Similarly set P3Point and P4The straight line P that point is formed3P4Analytic expression be y=k2x+b22. by P3Point and P4The x and y of point are sat
Mark substitutes into, and can obtain k2=(yp4-yp3)/(xp4-xp3),b2=yp4-k2xp4；According to 1. 2. two formulas can find out intersection point P5Point, x5=
(b1-b2)/(k1-k2),y5=k1x5+b1。
A kind of workpiece coordinate scaling method for work pieces process, i.e. robot teaching are provided in above-described embodiment, are had
It has the advantage that 1, be in contact first to move seeking border two sides adjacent with workpiece 1 by control robot, each side is divided
Two auxiliary base points on 1 surface of workpiece are not obtained, and then robot end's tool and workpiece 1 are touched, finally led to
It crosses simple accurate robot method for solving and obtains coordinate value of three touch points under robot basis coordinates system 2, that is, obtain essence
Quasi- workpiece coordinate system, to improve the stated accuracy of workpiece 1；2, seeking border is first moved respectively to P17 points, P18 points and P19
Then three points of point moves down seeking border and makes the round end of seeking border 1 face of contact workpiece again, records P by teaching machine7
Point, P8Point and P9Three points of z coordinate of point, can reduce in this way because jig or 1 surface of workpiece it is not smooth enough caused by this 3 points
Z coordinate error.
Preferably, as shown in Figure 1, further including the Z around auxiliary coordinates 31The deflection of axis direction is checked, in auxiliary coordinates
Under 3, seeking border is moved from P5Point moves a certain distance to obtain P along the x axis6Point, and guarantee P6Point is on workpiece face, in teaching
P is recorded in device6The coordinate of point, teaching machine pass through P4Point, P5Point and P6Point can calculate workpiece coordinate system around auxiliary coordinates 3
Z1The rotational angle a of axis direction.
By in P5Auxiliary coordinates 3 corresponding with machine basis coordinates system, the origin of the auxiliary coordinates 3 are established at point
On the X/Y plane of machine basis coordinates system；The embodiment checks work using the datum mark in workpiece coordinate system, according to 3 coordinates
Z of the part coordinate system around auxiliary coordinates 31The deflection angle a of axis direction, and reduce the deflection angle calibration of workpiece coordinate is influenced,
Further increase the workpiece coordinate stated accuracy for work pieces process.
Preferably, as shown in Fig. 2, further including the X around auxiliary coordinates 31The deflection of axis direction is checked, and mobile seeking border exists
One section of Y along auxiliary coordinates 3 is walked on workpiece 11The track of axis direction；Take this section of track head and the tail two o'clock P10Point, P20Point contact arrives
Coordinate when workpiece inputs P at the reading of the initial basis coordinates of teaching machine10Point, P20X, y and z coordinate value of point；Teaching machine is logical
Cross P10Point, P20Point can calculate workpiece coordinate around robot basis coordinates X1The rotational angle b of axis.According to P10Point and P20Point two
Point coordinate is used to check workpiece coordinate system around the X of auxiliary coordinates 31The deflection angle b of axis direction, and reduce b pairs of the deflection angle
The calibration of workpiece coordinate influences, and further increases the workpiece coordinate stated accuracy for work pieces process.
Preferably, as shown in figure 3, further including the Y around auxiliary coordinates 31The deflection of axis direction is checked, and mobile seeking border exists
One section of X along auxiliary coordinates 3 is walked on workpiece 11The track of axis direction takes this section of track head and the tail two o'clock P30Point, P40Point contact arrives
Coordinate when workpiece inputs P at the reading of the initial basis coordinates of teaching machine30Point, P40X, y and z coordinate value of point；Teaching machine is logical
Cross P30Point, P40Point can calculate workpiece coordinate around the X of auxiliary coordinates 31The rotational angle c of axis.According to P30Point and P40Point two
Point coordinate is used to check workpiece coordinate system around the X of auxiliary coordinates 31The deflection angle b of axis direction, and reduce b pairs of the deflection angle
The calibration of workpiece coordinate influences, and further increases the workpiece coordinate stated accuracy for work pieces process.
It is understood that the Z axis in the robot basis coordinates system 2 is not drawn into perpendicular to X/Y plane, the auxiliary is sat
Z in mark system 31Axis is not drawn into perpendicular to X1Y1Plane.The seeking border is mainly used for machine tooling, encounters metal component, is formed
It can shine behind circuit and bee hum(noise.The coordinate of each point is the coordinate under robot coordinate system 2 in all embodiments.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the present invention in any form；It is all
The those of ordinary skill of the industry can be shown in by specification attached drawing and described above and swimmingly implement the present invention；But it is all
Those skilled in the art without departing from the scope of the present invention, are done using disclosed above technology contents
The equivalent variations of a little variation, modification and evolution out is equivalent embodiment of the invention；Meanwhile it is all according to the present invention
The variation, modification and evolution etc. of substantial technological any equivalent variations to the above embodiments, still fall within skill of the invention
Within the protection scope of art scheme.
Claims (4)
1. a kind of workpiece coordinate scaling method for work pieces process, which comprises the following steps:
S1 is in contact by control robot to move seeking border two sides adjacent with workpiece, and each side respectively obtains workpiece
Two points on surface, and P is recorded in teaching machine1、P2、P3、P4This 4 points x coordinate, the y under robot basis coordinates system
Coordinate and z coordinate, wherein guaranteeing P1、P2、P3、P4Four points are in the plane of same Z coordinate；
S2 connects P1Point, P2Dot is in line P1P2, connect P3Point, P4Dot is in line P3P4, P5X and y-coordinate and straight line P1P2
With straight line P3 P4Projection of the intersection point on the face XY it is identical, according to P1-P44 points of solutions calculate P5Point is in robot basis coordinates system
Under x and y location coordinate, P5For the point on workpiece surface, seeking border is moved by control robot and contacts P5Work where point
Part surface, records P in teaching machine5Z coordinate；
S3, taking on the surface of the workpiece by seeking border at 3 points is respectively P7Point, P8Point and P9Point, P7Original of the point as workpiece coordinate system
Point, P8Put the X for demarcating workpiece coordinate system2Axis, P9Put the Y for demarcating workpiece coordinate system2Axis, and guarantee straight line P7P8
Perpendicular to straight line P7P9；Record has P in teaching machine5Point, P7Point, P8Point and P9The x and y location coordinate of point, are calculated by teaching machine
P out7Point, P8Point, P9Point is relative to P5The position coordinates x value and y value of point；
S4 first sets three point P17 points, P18 points, P19 points, P17 points, P18 points, P19 points 3 points of x coordinate respectively with P7Point, P8Point
And P9The x coordinate of three points of point corresponds to identical, P17 points, P18 points and P19 points 3 points of y-coordinate respectively with P7Point, P8Point and P9Point three
The y-coordinate of point corresponds to identical, enables P17 points, P18 points and P19 points 3 points of z coordinate is equal to P5Z value add a certain setting value, first
Seeking border is moved respectively to P17 points, P18 points and P1, then move down the round end weight that seeking border makes seeking border at 9 points 3 points
New contact workpiece face, records P by teaching machine7Point, P8Point and P9The z coordinate of three points of point；
S5, according to 3 standardizations, mobile seeking border to P7Point, P8Point and P9Three points of point simultaneously records at this 3 points, establishes workpiece coordinate
System.
2. a kind of workpiece coordinate scaling method for work pieces process according to claim 1, which is characterized in that further include around
The Z of auxiliary coordinates1The deflection of axis direction is checked, and under auxiliary coordinates, moves seeking border from P5Point is along X1Axis direction mobile one
Set a distance obtains P6Point, and guarantee P6Point records P on workpiece face in teaching machine6The coordinate of point, teaching machine pass through P4Point, P5
Point and P6Point can calculate workpiece coordinate system around the Z of auxiliary coordinates1The rotational angle a of axis.
3. a kind of workpiece coordinate scaling method for work pieces process according to claim 1, which is characterized in that further include around
The X of auxiliary coordinates1The deflection of axis direction is checked, and mobile seeking border walks one section of Y along auxiliary coordinates on workpiece1Axis direction
Track；Take this section of track head and the tail two o'clock P10Point, P20Coordinate when point contact is to workpiece, in the reading of the initial basis coordinates of teaching machine
P is inputted at number10Point, P20X, y and z coordinate value of point；Teaching machine passes through P10Point, P20Point can calculate workpiece coordinate system around auxiliary
Help the X of coordinate system1The rotational angle b of axis.
4. a kind of workpiece coordinate scaling method for work pieces process according to claim 1, which is characterized in that further include Y1
The deflection of axis direction is checked, and mobile seeking border walks one section of X along auxiliary coordinates on workpiece1The track of axis direction takes this section
Track head and the tail two o'clock P30Point, P40Coordinate when point contact is to workpiece, inputted at the reading of the initial basis coordinates of teaching machine P30 point,
P40X, y and z coordinate value of point；Teaching machine passes through P30Point, P40Point can calculate workpiece coordinate system around the X of auxiliary coordinates1Axis
Rotational angle c.
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| CN102015221A (en) * | 2008-04-30 | 2011-04-13 | Abb技术有限公司 | A method and a system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot |
| CN102216860A (en) * | 2008-11-25 | 2011-10-12 | Abb技术有限公司 | A method and an apparatus for calibration of an industrial robot system |
| CN101630409A (en) * | 2009-08-17 | 2010-01-20 | 北京航空航天大学 | Hand-eye vision calibration method for robot hole boring system |
| CN101666619A (en) * | 2009-09-27 | 2010-03-10 | 长沙长泰输送包装设备有限公司 | Method for calculating absolute coordinates of work piece |
| CN102402785A (en) * | 2010-09-07 | 2012-04-04 | 云南大学 | Camera self-calibration method based on quadratic curves |
| CN102825602A (en) * | 2012-08-21 | 2012-12-19 | 华北电力大学（保定） | PSD (Position Sensitive Detector)-based industrial robot self-calibration method and device |
| CN104165584A (en) * | 2013-05-17 | 2014-11-26 | 上海三菱电梯有限公司 | Non-contact high-precision calibration method and application of base reference coordinate system of robot |
| CN206123708U (en) * | 2016-10-21 | 2017-04-26 | 苏州哈工海渡工业机器人有限公司 | Industrial robot coordinate system calibration module |
| CN107042528A (en) * | 2017-06-01 | 2017-08-15 | 中国科学院宁波材料技术与工程研究所 | A kind of Kinematic Calibration system and method for industrial robot |
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