CN106610267B - The automatic calibrating end executive device of joint of robot zero point and its method - Google Patents
The automatic calibrating end executive device of joint of robot zero point and its method Download PDFInfo
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- CN106610267B CN106610267B CN201510705386.0A CN201510705386A CN106610267B CN 106610267 B CN106610267 B CN 106610267B CN 201510705386 A CN201510705386 A CN 201510705386A CN 106610267 B CN106610267 B CN 106610267B
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Abstract
The invention discloses a kind of automatic calibrating end executive devices of joint of robot zero point, positioning ball including the mechanical gripper and outside that are mounted on robot body, the mechanical gripper is made of 3 mutually orthogonal vertical laser distance sensors, 3 laser distance sensors are located at the surface of positioning ball by contact, for carrying out the automatic calibration of joint of robot, with the features such as precision height, lossless, long-term behaviour is stablized；And the calibration method of its automation, directly the position and vector of each axis are measured, avoid calculating and model error, improves the control precision of robot, reduces the machining accuracy and cost of robot.
Description
Technical field
The present invention relates to robot automation's technical field, in particular to a kind of automatic calibrating end of joint of robot zero point
Executive device and its method.
Background technique
Currently, all machine Moral quality cards need after robot is completed to before dispatching from the factory to each of robot
It is calibrated in a joint.However, traditional calibration method is more troublesome and inefficient, traditional method be by a micrometer by
A pair of each joint shaft carries out zero point correction.As shown in Figure 1, data are recorded when thimble touches the minimum point of V-groove,
And it is labeled as zero point, V-groove is located on the circumference at joint of robot.Mode by then passing through human eye range estimation records data hardly possible
Exempt to will cause fault, it is difficult to guarantee absolute reliable, and inefficiency.The micrometer for even using sensor type, although energy
V-groove minimum point is enough automatically recorded, but is needed by manually could repeatedly be completed to the installation unloading of each joint shaft, still
It is not fully up to expectations.
Summary of the invention
In order to overcome drawbacks described above, the present invention provides a kind of automatic calibrating ends of joint of robot zero point to execute dress
It sets, and relative to traditional calibration method, can be improved the precision of calibration accuracy and Controlling model, improve the precision of robot
Device person joint's zero point automatic calibrating method.
The present invention is to solve technical solution used by its technical problem: a kind of zero point auto-calibration of joint of robot
End executive device, the positioning ball including the mechanical gripper that is mounted on robot body and outside, the mechanical gripper by
3 mutually orthogonal vertical laser distance sensor compositions, 3 laser distance sensors are located at positioning ball by contact
Surface.
A kind of joint of robot zero point automatic calibrating method calibrated using device as described in claim 1, packet
Include following steps:
1) one angle [alpha] of the first axle on rotary machine human body twice, and it is fixed to record outside measured by handgrip
The sphere centre coordinate P of position ball1、P2And P3；
2) P is drawn1P2And P2P3Perpendicular bisector, their intersection point is exactly the rotation center position of the first axle of robot
Set Px1；
3) simultaneously, the axial vector Ax1 of first axle can pass through vector cross product P1P2×P2P3Calculated result obtain；
4) it repeats the above steps, measures the axial vector Ax of other each axis of robot body respectivelyiAnd its rotation center
Position Pxi Coordinate, after obtaining the mutual distance of each rotation center, that is, obtain each interarticular length of robot, together
When, each axial vector is obtained, that is, obtains each interarticular relative position.And these close the opposite of panel lengths and joint
Position is exactly the data of joint of robot calibration, to accurately be calibrated.
The beneficial effects of the present invention are: a kind of novel non-contact laser sensor handgrip of the present invention, for carrying out
The automatic calibration of joint of robot has the features such as precision is high, and lossless, long-term behaviour is stablized；And a kind of school of automation
Quasi- method directly measures the position and vector of each axis, avoids calculating and model error, improves the control of robot
Precision processed reduces the machining accuracy and cost of robot；
The calibration of typically now joint of robot axis requires to expend a large amount of manpowers, and labour is greatly saved in the present invention,
The full-automation for realizing calibration, improves productivity.The present invention can also improve the precision of machine human operator model, improve machine
The absolute precision of device people in actual use.
Detailed description of the invention
Fig. 1 is this existing each joint calibration method schematic diagram of robot；
Fig. 2 is the device of the invention structural schematic diagram；
Fig. 3 is the calculation method schematic diagram of the sphere centre coordinate P of external positioning ball in the present invention；
Fig. 4 is each joint calibration method schematic diagram of robot of the invention；
It is indicated in figure: 1- robot body；2- mechanical gripper；3- positions ball；4- laser distance sensor.
Specific embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment and attached drawing, the invention will be further described, should
The examples are only for explaining the invention, is not intended to limit the scope of the present invention..
Fig. 2 shows a kind of a kind of embodiment of the automatic calibrating end executive device of joint of robot zero point of the invention,
Positioning ball 3 including the mechanical gripper 2 that is mounted on robot body 1 and outside, the mechanical gripper 2 by 3 mutually just
It hands over vertical laser distance sensor 4 to form, is respectively laser distance sensor a, laser distance sensor b and laser distance
Sensor c, 3 laser distance sensors 4 are located at the surface of positioning ball 3 by contact.
The joint of robot zero point automatic calibrating method calibrate as shown in Figure 4, comprising the following steps:
1) one angle [alpha] of the first axle on rotary machine human body twice, and it is fixed to record outside measured by handgrip
The sphere centre coordinate P of position ball1、P2And P3；
As shown in figure 3, sphere centre coordinate P n (n=1,2,3), 3 vertex representations 3 of broken line triangle in front view
Laser sensor projects to the measurement point of spherical surface, since the radius of a ball is known as R, it is easy to acquire the circumradius r of this 3 points
With the distance d and sphere center position Pc of the circle to the centre of sphere.
2) P is drawn1P2And P2P3Perpendicular bisector, their intersection point is exactly the rotation center position of the first axle of robot
Set Px1；
3) simultaneously, the axial vector Ax1 of first axle can pass through vector cross product P1P2×P2P3Calculated result obtain；
4) it repeats the above steps, measures the axial vector Ax of other each axis of robot body respectivelyiAnd its rotation center
Position Pxi Coordinate, after obtaining the mutual distance of each rotation center, that is, obtain each interarticular length of robot, together
When, each axial vector is obtained, that is, obtains each interarticular relative position.And these close the opposite of panel lengths and joint
Position is exactly the data of joint of robot calibration, to accurately be calibrated.
Claims (1)
1. a kind of automatic calibrating end of joint of robot zero point executes method, which is characterized in that including being mounted on robot body
(1) the positioning ball (3) of mechanical gripper (2) and outside on, the mechanical gripper (2) is by 3 mutually orthogonal vertical laser
Range sensor (4) composition, 3 laser distance sensors (4) are located at the surface of positioning ball (3), method packet by contact
Include following steps:
1) one angle [alpha] of the first axle on rotary machine human body twice, and it is fixed to record outside measured by mechanical gripper
The sphere centre coordinate P of position ball1、P2And P3；
2) P is drawn1P2And P2P3Perpendicular bisector, their intersection point is exactly the rotation center position P of the first axle of robotx1；
3) simultaneously, the axial vector Ax1 of first axle can pass through vector cross product P1P2×P2P3Calculated result obtain；
4) it repeats the above steps, measures the axial vector Ax of other each axis of robot body respectivelyiAnd its rotation center position
Pxi Coordinate, after obtaining the mutual distance of each rotation center, that is, obtain each interarticular length of robot, meanwhile, obtain
Each axial vector was obtained, that is, obtains each interarticular relative position, and these close the relative position of panel length and joint
It is exactly the data of joint of robot calibration, to accurately be calibrated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510705386.0A CN106610267B (en) | 2015-10-27 | 2015-10-27 | The automatic calibrating end executive device of joint of robot zero point and its method |
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| CN201510705386.0A CN106610267B (en) | 2015-10-27 | 2015-10-27 | The automatic calibrating end executive device of joint of robot zero point and its method |
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| CN106610267A CN106610267A (en) | 2017-05-03 |
| CN106610267B true CN106610267B (en) | 2019-09-17 |
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| CN111070209B (en) * | 2019-12-27 | 2022-04-15 | 深圳市越疆科技有限公司 | Shaft precision measuring method and device and industrial robot |
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| US6321137B1 (en) * | 1997-09-04 | 2001-11-20 | Dynalog, Inc. | Method for calibration of a robot inspection system |
| CN101524842A (en) * | 2009-01-09 | 2009-09-09 | 成都广泰实业有限公司 | Industrial robot calibration method |
| CN101537617A (en) * | 2007-08-30 | 2009-09-23 | 应用材料公司 | Method and apparatus for robot calibrations with a calibrating device |
| JP2011011321A (en) * | 2009-07-06 | 2011-01-20 | Fuji Electric Holdings Co Ltd | Robot system and calibration method for the same |
| CN102706277A (en) * | 2012-05-25 | 2012-10-03 | 南京理工大学 | Industrial robot online zero position calibration device based on all-dimensional point constraint and method |
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| JP2014018932A (en) * | 2012-07-20 | 2014-02-03 | Kobe Steel Ltd | Calibration method for robot with optical sensor |
| CN205120040U (en) * | 2015-10-27 | 2016-03-30 | 柯昆（昆山）自动化有限公司 | Terminal final controlling element of robot joint self -calibration at zero point |
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2015
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Patent Citations (8)
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|---|---|---|---|---|
| US6321137B1 (en) * | 1997-09-04 | 2001-11-20 | Dynalog, Inc. | Method for calibration of a robot inspection system |
| CN101537617A (en) * | 2007-08-30 | 2009-09-23 | 应用材料公司 | Method and apparatus for robot calibrations with a calibrating device |
| CN101524842A (en) * | 2009-01-09 | 2009-09-09 | 成都广泰实业有限公司 | Industrial robot calibration method |
| JP2011011321A (en) * | 2009-07-06 | 2011-01-20 | Fuji Electric Holdings Co Ltd | Robot system and calibration method for the same |
| CN103365246A (en) * | 2012-04-05 | 2013-10-23 | 菲迪亚股份公司 | Device for error correction for CNC machines |
| CN102706277A (en) * | 2012-05-25 | 2012-10-03 | 南京理工大学 | Industrial robot online zero position calibration device based on all-dimensional point constraint and method |
| JP2014018932A (en) * | 2012-07-20 | 2014-02-03 | Kobe Steel Ltd | Calibration method for robot with optical sensor |
| CN205120040U (en) * | 2015-10-27 | 2016-03-30 | 柯昆（昆山）自动化有限公司 | Terminal final controlling element of robot joint self -calibration at zero point |
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| 双机器人系统的快速手眼标定方法;魏振忠等;《光学精密工程》;20110831;第19卷(第8期);第1895-1902页 |
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