CN110861091A - Industrial robot sharp point type revolving body tool calibration method based on cross laser beams - Google Patents
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Abstract
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.
Description
Technical Field
The invention belongs to the technical field of industrial robot calibration, and particularly relates to a method for calibrating a sharp point type revolving body tool of an industrial robot based on cross laser beams.
Background
Along with the development of industrial automation, the processing of traditional digit control machine tool has been unable to satisfy complicated various processing production, and industrial robot's application is more and more wide, and the required precision to industrial robot is more and more high simultaneously. The precision of industrial robot can promote through the mode of maring, and industrial robot's demarcation mainly falls into two parts: the method comprises the following steps of body calibration and environment calibration, wherein the environment calibration is divided into tool calibration and workpiece calibration. The method is a simple and effective automatic calibration method mainly aiming at a sharp point type revolving body tool.
The final purpose of tool calibration of the industrial robot is to obtain a transformation matrix of a tool coordinate system relative to a robot end flange coordinate system, so that the accuracy of actual track running is guaranteed. The existing robot tool calibration method comprises the following steps: 1. the robot teaching mode is characterized in that the robot is controlled to touch the origin of the coordinate system of the tool with a fixed point in the space under different postures, so that the value of the origin of the coordinate system of the tool is calculated. The method is simple and easy to operate, but is difficult to operate practically, inaccurate in calibration result, with human errors, and only suitable for tools with obvious characteristic points. 2. Calibration is performed using external position measurement equipment, such as an industrial camera, laser tracker, three-coordinate measuring machine, etc. These calibration methods are highly accurate, but are rather costly, complicated to operate and require specialized technical personnel.
The document Quick Robot Cell Calibration for Small Part Assembly discloses a robotic tool Calibration for a cross-over laser beam device. The device is composed of two groups of laser emitters, the laser emitters are fixed on a cuboid base, a square blank area is arranged in the middle of the laser emitters, and laser beams are distributed in a cross shape. The calibration principle is as follows: and controlling the robot to move so that the tool translates in the square area, acquiring the position of the tool tangent to the laser beam by monitoring the signal of the laser transmitter, obtaining the position of the intersection point of the tool axis and the laser beam, and calculating to obtain the direction of the tool axis. And then controlling the robot to translate along the axis so that the origin of the tool coordinate system coincides with the intersection point of the laser beams, and calculating the position of the origin of the tool coordinate system according to the recorded position of the flange plate of the robot and the known intersection point position of the laser beams. The method provided by the literature can simply obtain the axial direction of the tool, but the solution of the origin of the tool coordinate system requires the known position of the intersection point of the laser beams, which is difficult in practical application, and meanwhile, the position precision of the intersection point of the laser beams directly influences the final calibration result, which easily causes secondary errors.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for calibrating a sharp point type revolving body tool of an industrial robot based on crossed laser beams, and the method aims to realize automatic calibration of a tool coordinate system, so that the problems of complex operation, high cost, difficult practical application and the like in tool calibration are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the method comprises the following steps that firstly, a cross laser correlation device is installed in a working space of the robot, and the cross laser correlation device is connected with a robot motion control system through calibration software; clamping a tool to be calibrated at the tail end of the robot, teaching and controlling the robot to move, and acquiring the tail end pose of the flange plate of the robot; after data are obtained, calibrating software plans an arc track on line, and transmits the track to a robot motion control system to control the robot to automatically execute the track, and in the process of executing the arc track, the calibrating software monitors signals of laser beams and obtains the pose of a flange plate at the tail end of the robot when the signals are suddenly changed; after the axis direction of the tool is obtained through calculation, calibrating software plans linear motion tracks moving along the axis in different postures on line, transmits the linear motion tracks to a robot motion controller and executes the linear motion tracks, monitors laser beam signals, acquires the pose of the tail end of a flange plate of the robot when the signals suddenly change, and calculates the position of a tool sharp point through data in different poses; and fifthly, calculating the pose of the tool coordinate system in the robot flange end coordinate system after all the calibration tracks are executed, and outputting the pose.
According to the technical scheme, in the second step, the tool to be calibrated is located near the center position of the crossed laser device and at the edge position of the measurement area of the crossed laser beam device, and the terminal pose of the flange plate of the robot is obtained through calibration software.
According to the technical scheme, the robot is controlled to change the posture, then the tool is positioned near the center position of the crossed laser beam, the terminal pose of the flange plate of the robot is obtained, the process is repeated for 3 times, and data under four different postures are obtained.
According to the technical scheme, in the third step, the tool axis direction is calculated through the pose of the flange plate at the tail end of the robot, which is obtained when the tool to be marked is tangent to the laser beam.
According to the technical scheme, 16 position data are obtained after the circular arc track is executed, and the axis direction of the tool is obtained through calculation.
According to the technical scheme, in the fourth step, the pose of the tail end of the flange plate of the robot is the pose when the tool sharp point is superposed with the center of the crossed laser device.
The invention has the following beneficial effects: and a simple cross laser correlation device is adopted, so that the cost of the calibration equipment is greatly reduced. Through direct connection communication between software and equipment, the precision and the real-time performance of calibration data are improved, and the operation of a user is simplified. Through the ingenious design of the calibration track, the installation requirement of calibration equipment and the technical requirement of operators are reduced, and the pose of the tool coordinate system can be obtained only by simply teaching a plurality of positions. Through the direct connection of software and the robot motion controller, the automation of calibration track operation and data acquisition is realized, the overall calibration efficiency is improved, and the execution difficulty of the calibration scheme is reduced.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of an apparatus used in a method for calibrating a cusp type revolving body tool of an industrial robot according to an embodiment of the present invention;
FIG. 2 is a detailed illustration of a cross laser correlation device of a core device of the industrial robot cusp type revolving body tool calibration method in the embodiment of the invention;
FIG. 3 is a flowchart of an embodiment of a method for calibrating a cusp-type revolving body tool of an industrial robot according to the present invention;
FIG. 4 is a schematic diagram of a point sampling of a tool to be calibrated near a laser center point in different postures when the industrial robot sharp point type revolving body tool calibration method is implemented in the embodiment of the present invention;
fig. 5 is a schematic diagram of point sampling of a tool to be calibrated at an edge position of a cross laser device when the industrial robot sharp point type revolving body tool calibration method is implemented in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows: the automatic calibration method for the pointed rotary body tool comprises the following steps:
(1) the cross laser correlation device is installed in the working space of the robot, and the laser device and the robot motion control system are connected through calibration software.
(2) Clamping a tool to be calibrated at the tail end of the robot, controlling the robot to move so that the tool is positioned near the central position of the crossed laser device and at the edge position of the measurement area of the crossed laser beam device, and recording the tail end pose of the flange of the robot through software; and controlling the robot to change the posture, enabling the tool to be positioned near the center position of the crossed laser beam, recording the terminal posture of the flange plate of the robot at present, repeating for 3 times, and taking data under four different postures.
(3) After key data are obtained, calibration software plans an arc track on line, the track is transmitted to a robot motion control system, the robot is controlled to automatically execute the track, signals of laser beams are monitored in the arc track executed by the robot, the pose of a flange plate at the tail end of the robot is recorded when the signals are suddenly changed, namely the pose of a tool tangent to the laser beams, 16 pose data can be obtained after the arc track is executed, and the axial direction of the tool is obtained through calculation.
(4) After the axial direction of the tool is known, calibration software plans linear motion tracks moving along the axial line under different postures on line, transmits the linear motion tracks into a robot motion controller and executes the linear motion tracks, monitors a laser beam signal, records the pose of the tail end of a flange plate of the robot when the signal is suddenly changed, namely the pose when the tool sharp point is superposed with the center of a cross laser device, and calculates the position of the tool sharp point according to data under different poses.
(5) And after all the calibration tracks are executed, automatically calculating the pose of the tool coordinate system in the robot flange plate tail end coordinate system, and outputting the pose.
Example two: fig. 1 shows a schematic diagram of an experimental connection of a cross laser correlation device, which is mainly composed of three parts: 1. the cross laser correlation device, 2, the data acquisition box, 3, the software of PC end. Fig. 2 shows the structure of the cross laser correlation device, which mainly comprises two groups of laser correlation devices, each group comprises a transmitting end and a receiving end, the transmitting end and the receiving end are arranged on the base through a right-angle bracket, so that the transmitting end and the receiving end are opposite, and two laser beams are positioned on the same plane and cross at one point. . The data acquisition box is internally composed of two parts: 1. and the power supply device provides stable voltage for the laser correlation device. And 2, the AD conversion module is used for converting the analog signal output by the laser correlation device into a digital signal and sending the digital signal to the software of the PC end.
In this embodiment, RCS — industrial robot base coordinate system, ECS — industrial robot flange end coordinate system, TCS — robot tool coordinate system, TCP — origin of robot tool coordinate system.
The industrial robot needs to set a tool coordinate system and a workpiece coordinate system before running a given track. In actual machining, a tool coordinate system is generally set according to the theoretical design size of the tool, but due to deformation and abrasion of the tool, an error exists between an actual value and a theoretical value, and the actual running effect of the track is directly influenced. The invention provides an automatic calibration method of a sharp point type revolving body tool based on a cross laser correlation device. The method comprises the following specific steps:
(1) and connecting the cross laser correlation device with a data acquisition box, and connecting the data acquisition box with a 220V power supply.
(2) And fixedly clamping the cross laser correlation device in the working space of the industrial robot.
(3) And the data line is connected with the data acquisition box and the computer and is connected with the industrial robot motion control system and the computer.
(4) And (4) opening calibration software, respectively establishing connection with the data acquisition box and the robot motion control system, and enabling the test software to normally acquire data.
(5) And clamping a tool to be calibrated on a flange plate at the tail end of the industrial robot.
(6) Controlling the robot to move through the demonstrator, enabling the tool to be located near the central point of the cross laser correlation device through visual judgment, as shown in fig. 4, clicking a key on software for acquiring the central point, and acquiring the terminal point pose data Q of the robot1。
(7) And (5) controlling the robot through the demonstrator, changing the posture of the tool, repeating the step (6) and acquiring the terminal point pose data Q of the robot.
(8) And (5) repeating the step (7) until the pose data under three different postures are obtained.
(9) The robot is controlled to move by the demonstrator, the tool is positioned near an area point of the cross laser correlation device through visual judgment, as shown in fig. 5, then a key for acquiring the area point on the software is clicked, and the pose data Q' of the tail end point of the robot is acquired.
(10) And clicking a calibration key, starting online planning of a calibration track A by calibration software, conveying the calibration track A to an industrial robot controller, and starting automatic execution.
(11) Software real-time monitoring laser device signalWhen the robot changes suddenly (namely when the tool is tangent to the laser beam), the software sends an instruction to acquire the position data of the current robot end flange coordinate systemRCSPi1}
(12) After a section of complete track A instruction is executed, the running height of the tool is adjusted along the Z axis of the robot base coordinate system, the track A is executed again, the step (11) is repeated, and the position data is collectedRCSPi2}
(13) Calculating the axis vector (V) of the tool in the flange coordinate system according to the existing dataaxis) And planning a calibration track B on line according to the calculated axis vector, and conveying the calibration track B into the robot controller for execution.
(14) Software monitors signals of the laser device in real time, and when two laser signals are suddenly changed (namely when a tool sharp point is coincident with a laser central point), the software sends an instruction to acquire pose data of a current robot end flange coordinate system
(15) After a section of complete track B is executed, changing the current robot posture according to the posture of the previously acquired central point, executing the track B again, repeating the step (14), and collecting the posture data
Until the data acquisition is complete in all poses.
(16) The tool coordinate system is calculated and output in the software interface.
The calibration trajectory mainly consists of two parts: the laser device comprises a track A and a track B, wherein the track A is a plane circular arc track around a fixed point, the diameter of the circular arc is designed according to the area of the laser device, and the track is a full circle track. The track B is a section of linear translation track and is required to move linearly along the axis direction of the tool in the current posture.
The data set is also divided into two parts: 1. position data of the end of the robot when the tool is tangent to the laser beam while moving the circular arc trajectoryRCSPij}. 2. The tools being in a cross laser correlation deviceWhen the rectilinear track is run at heart, the pose of the tail end of the robot is coincided between the tool sharp point and the laser center
yaxisAnd (3) calculating an algorithm: inputting: ECS position information when tool is tangent to laser beam at two different heightsRCSPij}。
Where j represents different heights and i represents different tangent positions at the same height.
And (3) outputting: orientation of tool axis under ECSECSVaxis。
As shown, by P11(x11，y11，z11)，P41(x41，y41，z41) A tangent trajectory line can be obtained:
in the same way, f can be obtained2(x，y，z)，f3(x，y，z)，f4(x，y，z)。
From f1(x，y，z)，f2(x, y, z) obtaining the median:
F1(x，y，z)＝H[f1，f2]。
by the same token, F2(x，y，z)。
Intersection point of two simultaneous linear equations
Also at another height can be obtainedRCSg2(x，y，z)
RCSVaxis＝RCSg2(x，y，z)-RCSg1(x，y，z)
The TCP calculation algorithm: inputting: different ECS pose
And (3) outputting: location of TCPECSPTCP。
Simultaneous system of equations
From the point constraints we can get:
solved to obtainECSPTCP。
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (6)
1. A method for calibrating an industrial robot cusp type revolving body tool based on a cross laser beam is characterized by comprising the following steps of firstly, installing a cross laser correlation device in a robot working space, and connecting the cross laser correlation device with a robot motion control system through calibration software;
clamping a tool to be calibrated at the tail end of the robot, teaching and controlling the robot to move, and acquiring the tail end pose of the flange plate of the robot;
after data are obtained, calibrating software plans an arc track on line, and transmits the track to a robot motion control system to control the robot to automatically execute the track, and in the process of executing the arc track, the calibrating software monitors signals of laser beams and obtains the pose of a flange plate at the tail end of the robot when the signals are suddenly changed;
after the axis direction of the tool is obtained through calculation, calibrating software plans linear motion tracks moving along the axis in different postures on line, transmits the linear motion tracks to a robot motion controller and executes the linear motion tracks, monitors laser beam signals, acquires the pose of the tail end of a flange plate of the robot when the signals suddenly change, and calculates the position of a tool sharp point through data in different poses;
and fifthly, calculating the pose of the tool coordinate system in the robot flange end coordinate system after all the calibration tracks are executed, and outputting the pose.
2. The method for calibrating a cusp type revolving body tool of an industrial robot based on intersecting laser beams as claimed in claim 1, wherein in the second step, the tool to be calibrated is located near the center position of the intersecting laser device and at the edge position of the measuring area of the intersecting laser beam device, and the pose of the end of the flange of the robot is obtained through calibration software.
3. The method for calibrating a sharp-point type revolving body tool of an industrial robot based on intersecting laser beams as claimed in claim 2, wherein the robot is controlled to change the posture, the tool is positioned near the center position of the intersecting laser beams, the terminal posture of the flange of the current robot is obtained, the process is repeated for 3 times, and data under four different postures are obtained.
4. The method for calibrating the cusp type revolving body tool of the industrial robot based on the crossed laser beams as claimed in claim 1 or 2, wherein in the third step, the tool axis direction is calculated by the pose of the flange plate at the tail end of the robot obtained when the tool to be calibrated is tangent to the laser beams.
5. The crossed laser beam based industrial robot cusp type revolving body tool calibration method according to claim 4, characterized in that 16 position data are obtained after the circular arc trajectory is executed, and the tool axis direction is calculated.
6. The intersecting laser beam-based tool calibration method for the cusp-type revolving body of the industrial robot according to claim 1 or 2, wherein in the fourth step, the pose of the end of the flange of the robot, that is, the pose of the tool cusp coinciding with the center of the intersecting laser device.
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| CN111795651A (en) * | 2020-07-06 | 2020-10-20 | 安徽工程大学 | Method and equipment for measuring parameters of large-scale revolving body by using mechanical arm |
| CN112549083A (en) * | 2020-12-24 | 2021-03-26 | 常州信息职业技术学院 | Industrial robot tool coordinate system calibration device and method |
| CN112729110A (en) * | 2020-12-23 | 2021-04-30 | 联合汽车电子有限公司 | Slight collision compensation correction system of robot |
| CN113334383A (en) * | 2021-06-22 | 2021-09-03 | 华中科技大学 | Robot tail end tool offset calibration method based on line laser measuring instrument |
| CN113442133A (en) * | 2021-06-09 | 2021-09-28 | 配天机器人技术有限公司 | Method and system for calibrating tool center point of robot, and storage medium |
| CN113696188A (en) * | 2021-10-27 | 2021-11-26 | 季华实验室 | Hand-eye calibration data acquisition method and device, electronic equipment and storage medium |
| WO2021237620A1 (en) * | 2020-05-28 | 2021-12-02 | 西门子(中国)有限公 | Method, device and system for calibrating tool center point of robot |
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| CN112549083A (en) * | 2020-12-24 | 2021-03-26 | 常州信息职业技术学院 | Industrial robot tool coordinate system calibration device and method |
| CN113442133A (en) * | 2021-06-09 | 2021-09-28 | 配天机器人技术有限公司 | Method and system for calibrating tool center point of robot, and storage medium |
| CN113334383A (en) * | 2021-06-22 | 2021-09-03 | 华中科技大学 | Robot tail end tool offset calibration method based on line laser measuring instrument |
| CN113752263A (en) * | 2021-09-29 | 2021-12-07 | 杭州申昊科技股份有限公司 | Tool calibration method and device based on laser sensor and electronic equipment |
| CN113696188B (en) * | 2021-10-27 | 2022-02-08 | 季华实验室 | Hand-eye calibration data acquisition method and device, electronic equipment and storage medium |
| CN113696188A (en) * | 2021-10-27 | 2021-11-26 | 季华实验室 | Hand-eye calibration data acquisition method and device, electronic equipment and storage medium |
| CN114800501A (en) * | 2022-04-26 | 2022-07-29 | 伟创力电脑（苏州）有限公司 | In-plane automatic calibration method for robot |
| CN114800501B (en) * | 2022-04-26 | 2023-09-01 | 伟创力电脑（苏州）有限公司 | In-plane automatic calibration method for robot |
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Application publication date: 20200306 |