CN102218738A - Robot tool vector exporting method and correcting method - Google Patents

Abstract

The invention provides a method for exporting robot tool parameters (Tx, Ty, Tz, alpha, beta, gamma), especially for exporting translational components (Tx, Ty, Tz) among the tool parament, namely the tool vectors in a short period and with high precision. The robot tool vector exporting method in the invention is a method of exporting tool vectors on the front of tools equipped on the arm front of a robot (2). The method comprises the steps of acquiring more than three gestures in a way to make the tool (6) front of the robot (2) located adjacent to specified points of a space relative to the robot (2); calculating the position deviation of the tool (6) in each gesture and adopting the position deviation as a real-position deviation; and calculating the tool vector (T) based on the calculated real-position deviation.

Description

The deriving method and the bearing calibration of the instrument vector of robot

Technical field

The present invention relates to be installed in the instrument of the front end of welding robot etc., relate to easy and can derive accurately at short notice, the technology of aligning tool vector.

Background technology

For example, in the welding robot people that workpiece is welded automatically, the soldering appliance that possesses welding torch etc. is installed at the fore-end (wrist portion) of welding robot.

At the leading section setting means coordinate system of this soldering appliance, this tool coordinates system can carry out coordinate transform from the flange coordinate system by using transformation matrix, and this transformation matrix has used tool parameters (difference of tool parameters and instrument vector is narrated in the back).The flange coordinate system is the coordinate system that is set on the flange part that the leading section of welding robot forms, and this flange coordinate system can utilize control device to calculate according to each data of welding robot.

From above situation as can be known, need correctly to derive in advance tool parameters indispensable in the coordinate transform for the position of in control device, correctly holding the instrument front end.The export job of tool parameters carries out after changing the instrument of welding robot, but also can be when collisions such as instrument and operation workpiece etc. carries out during the change of generation tool parameters etc.

As with the derivation of tool parameters, proofread and correct relevant technology, patent documentation 1 disclosed technology is for example arranged.

Patent documentation 1 discloses a kind of tool parameters deriving method of robot, the tool parameters of posture of instrument that Dingan County is contained in the arm front end of robot of fighting to the finish derives, it is characterized in that, based on spatially a bit locate above-mentioned instrument with three different postures at least the time each locator data and the coordinate system of the installation portion of the above-mentioned instrument of computing, obtain at least two any two observed straight lines that comprise the tool location candidate that show the coordinate system of above-mentioned installation portion from the tool using parameter, based on the coordinate system of mutual intersection point of above-mentioned straight line and installation portion and derive above-mentioned tool parameters.

Patent documentation 1: No. 2774939 communique of Japan Patent

By using patent documentation 1 disclosed technology,, in fact need improvement though tool parameters can roughly correctly be derived.

Promptly, in patent documentation 1 disclosed technology, the anchor clamps (special fixture 1) of the point of needle-like are installed at the leading section of welding robot, on the other hand, similarly preparing front end becomes the anchor clamps of needle-like (special fixture 2), make the posture of robot that various variations take place and make the needle point location teaching consistent of special fixture 1,, carry out inferring of tool parameters according to its result with the needle point of special fixture 2.

According to this technology, though calculating, the derivation of tool parameters becomes simple formula, owing to need carry out the location of " needle point is involutory " that carry out via the operator, so be difficult to carry out correct positioning according to proficiency or based on visual direction etc.Because the checking of the result after proofreading and correct is also undertaken by visual, therefore be difficult to hold quantitatively.In other words, operator's proficiency or technical ability etc. can influence the positioning accuracy or the instrument derivation precision foremost of instrument.

Thereby in order to improve the derivation precision of tool parameters, needs increase instrumentation is counted and is made the error equalization, but the increase that instrumentation is counted can cause the increase of operator's activity duration.

Summary of the invention

Therefore, the present invention is point in view of the above problems, and its purpose is to provide a kind of and operator's proficiency or technical ability etc. irrelevant, derives the tool parameters (T of robot more easily at short notice and accurately _x, T _y, T _z, α, beta, gamma), especially derive the translational component (T in the tool parameters _x, T _y, T _z) i.e. the method for " instrument vector ".

To achieve these goals, adopt following technical scheme in the present invention.

The deriving method of the tool parameters of robot of the present invention is that decision is installed in the method that the instrument vector of the front position of the instrument on the arm front end of robot is derived, it is characterized in that, so that near the mode that the instrument front end of described robot is positioned at the regulation point on the space is got posture more than three kinds with respect to described robot, the position offset of the instrument front end in each posture of instrumentation is calculated the instrument vector as the physical location side-play amount based on the physical location side-play amount that measures.

In addition, so-called instrument vector is meant that in the parameter that the tool coordinates system and the flange coordinate system of robot are set up contact be tool parameters (T _x, T _y, T _z, α, beta, gamma) in, translational component (T only taken out _x, T _y, T _z) vector.

Preferably, when calculating described instrument vector, so that the consistent mode of the physical location side-play amount of the instrument front end that the position offset of the instrument front end that calculates and instrumentation obtain is calculated described instrument vector.

Specifically, as described later in the formula (7) shown in the performance, preferably obtain the " position offset (P in the calculating of the front position of the instrument that the tool using vector calculates _In-P _I1) " " physical location side-play amount (A that obtains with instrumentation value according to the front position of instrument _n-A ₁) " consistent instrument vector.

In the derivation of instrument vector, setting can the described instrument front end of instrumentation the tester of physical location side-play amount, about the instrumentation coordinate system of setting by described tester, preferably, on the basis of and reference axis that makes the instrumentation coordinate system and the axial unanimity that is set in the robot coordinate system in the robot consistent with the origin position of described tester at the initial point that makes this instrumentation coordinate system, the physical location side-play amount of the instrument front end in each posture of instrumentation.

In addition, the bearing calibration of the tool parameters of robot of the present invention is characterised in that, uses the deriving method of above-mentioned instrument vector, obtains the instrument vector, based on the instrument vector of obtaining, revises the instrument vector that has been set in the described robot.

The invention effect

When using technology of the present invention, can with operator's proficiency or technical ability etc. irrespectively, derive the instrument vector of robot more easily at short notice and accurately.

Description of drawings

Fig. 1 is the overall structure figure of the robot system of embodiments of the present invention.

Fig. 2 is the concept map that the relation of tool coordinates system and flange coordinate system is shown.

Fig. 3 is the concept map that the method for instrumentation physical location side-play amount is shown.

Fig. 4 is the flow chart that the derivation order of instrument vector is shown.

Fig. 5 is the figure that another embodiment of the present invention is shown.

Symbol description:

1 robot system

2 welding robots

3 teaching pendles

4 control device

5 computers

6 soldering appliances

7 flange surfaces

10 testers

11 dial ga(u)ges

12 instrumentation detectors

13 spheroid portions

14 plane contact parts

15 cameras

The specific embodiment

Based on the description of drawings embodiments of the present invention.In addition, in the following description, to the additional prosign of same parts.Their title and function are also identical.Therefore, do not repeat their detailed description.

The overall structure of the robot system 1 of present embodiment at first, is described.

As shown in Figure 1, robot system 1 comprises welding robot 2, possesses control device 4, the computer 5 (personal computer) of teaching pendle 3.Welding robot 2 is industrial robots of six of vertical multi-joint type, is provided with the soldering appliance 6 (situation that the instrument of abbreviating as 6 is also arranged) that is made of welding torch etc. at its front end.This welding robot 2 also can be equipped on and make the sliding part (not shown) that himself moves.

Control device 4 is according to the programme-control welding robot 2 of teaching in advance.The situation that situation that the teaching pendle 3 that tutorial program has use to be connected with control device 4 makes or use have utilized the off-line teaching system of computer 5 to make.Under any circumstance, tutorial program all made before the action of reality in advance.The program that makes by computer 5 transmits to control device 4 to control device 4 handing-over or by data communication via the medium of magnetically storing data etc.

Computer 5 is that the off-line teaching system possesses and can carry out display that figure shows as display unit, and possesses keyboard or mouse as input unit.And, be provided with magnetic memory apparatus or communicator for the CAD information that is taken into workpiece.

Yet, the present invention relates to be used for correctly to derive the method for the required tool parameters (especially instrument vector) in the position of accurate assurance instrument front end.

As shown in Figure 2, this tool parameters is meant that the coordinate system on the flange part that to be tool coordinates system form from the leading section that is set in welding robot 2 of the position coordinates with the leading section of soldering appliance 6 (pad) is the parameter that the flange coordinate system carries out coordinate transform, and this flange coordinate system can utilize control device 4 to calculate according to each data of welding robot 2.That is,, can utilize control device 4 to calculate the position coordinates of instrument front end by the tool using parameter.

Yet, in the tool parameters of robot, (T is arranged _x, T _y, T _z, α, beta, gamma) three components of translation and three components of rotation, the invention discloses the translational component (T that derives in the tool parameters _x, T _y, T _z) i.e. the method for " instrument vector ".This method is used the side-play amount of the position of tester 10 instrumentation instrument front ends described later, in control device 4 or computer 5, based on instrumentation to side-play amount and calculate the instrument vector.

Below, describe the deriving method of the instrument vector of robot of the present invention in detail.

At first, the tester 10 that uses among the present invention is described.

As Fig. 1, shown in Figure 3, it is dial ga(u)ge 11 apart from displacement meter that tester 10 has three, for the three dimensional change amount of trap tool front end exactly each dial ga(u)ge 11 is equipped with along orthogonal directions respectively.About the instrumentation coordinate that constitutes by this tester 10, with the initial point of its origin position as tester 10, and make the instrumentation coordinate reference axis axially be set in robot on robot coordinate system axial consistent.

On the other hand, be soldering appliance 6 on the flange surface 7 about the front end that is installed in robot, instrumentation is installed with detector 12 at the front end of soldering appliance 6.This instrumentation has the spheroid portion 13 that is made of steel ball etc. with the leading section of detector 12, positions so that the center of this spheroid portion 13 becomes the mode of position of the front end (wanting the instrument front end of instrumentation) of soldering appliance 6.In order to read the variable quantity of the position of spheroid portion 13 reliably, and the front end of described dial ga(u)ge 11 is made of plate on the plane etc. and becomes plane contact part 14.Even welding robot 2 is taken as various postures, because instrumentation carries out contacting with the spheroid portion 13 of detector 12 and plane contact part 14, so tester 10 also can detect the variable quantity of the position of spheroid portion 13 reliably.

Yet, as mentioned above, as long as each instrumentation direction of tester 10 (3 dado disk indicator 11) is configured to axial consistent with the robot coordinate system, the instrumentation value of each dial ga(u)ge 11 will become the instrumentation value among the corresponding robot coordinate system, but this kind configuration is difficult to realize usually.At this moment, preferably set (correction) instrumentation coordinate system according to following order.

That is,

(i) near the positioning robot's front end initial point of tester 10 utilizes this position of tester 10 instrumentations.The instrumentation value of this moment is M1 (M1 _x, M1 _y, M1 _z).

(ii) robot is only moved in the robot coordinate system along X-direction, utilize the tester 10 instrumentations position of this moment.The instrumentation value of this moment is M2 (M2 _x, M2 _y, M2 _z).

(iii) make robot return the position of (i), robot is only moved along Y direction in the robot coordinate system, utilize the tester 10 instrumentations position of this moment, the instrumentation value is M3 (M3 _x, M3 _y, M3 _z).

(iv) derive the matrix of the instrumentation coordinate system that instrumentation value transform one-tenth is consistent with the robot coordinate axle according to following order ^RoboG _Mes

[several 1]

$U=\frac{M2-\mathrm{<figure-callout\; id="1"\; label="M"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">M</figure-callout>}1}{|M2-\mathrm{<figure-callout\; id="1"\; label="M"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">M</figure-callout>}1|}=(\mathrm{Ux},\mathrm{Uy},\mathrm{Uz})$

$W=\frac{U\&times;(M3-M1)}{|U\&times;(M3-M1)|}=(\mathrm{Wx},\mathrm{Wy},\mathrm{Wz})$

V＝W×U＝(Vx，Vy，Vz)

${}^{\mathrm{mes}}G_{\mathrm{robo}}=\left(\begin{array}{cccc}\mathrm{Ux}& \mathrm{Vx}& \mathrm{Wx}& 0\\ \mathrm{Uy}& \mathrm{Vy}& \mathrm{Wy}& 0\\ \mathrm{Uz}& \mathrm{Vz}& \mathrm{Wz}& 0\\ 0& 0& 0& 1\end{array}\right)$

${}^{\mathrm{robo}}G_{\mathrm{mes}}={\left({}^{\mathrm{mes}}G_{\mathrm{robo}}\right)}^{-1}=\left(\begin{array}{cccc}\mathrm{Ux}& \mathrm{Uy}& \mathrm{Uz}& 0\\ \mathrm{Vx}& \mathrm{Vy}& \mathrm{Vz}& 0\\ \mathrm{Wx}& \mathrm{Wy}& \mathrm{Wz}& 0\\ 0& 0& 0& 1\end{array}\right)$

In addition, the U in [several 1] is the X-direction from tester 10 observed robots, and V is the Y direction from tester 10 observed robots, and W is axial from the Z of tester 10 observed robots, ^MesG _RoboExpression is with the transformation matrix of instrumentation coordinate system to robot coordinate system's conversion from tester 10 observed robot coordinate systems (initial point is the instrumentation coordinate).

Should by using ^MesG _Robo, can (imagination ground) realize each instrumentation direction of tester 10 and robot coordinate system's axial consistent configuration.In the present embodiment, using should ^MesG _Robo

On the other hand, details is narrated in the back, in the derivation of instrument vector, the side-play amount of the position of the instrument front end in each posture of instrumentation i.e. " physical location side-play amount ", according to instrumentation to " physical location side-play amount " calculate the instrument vector, therefore the residual quantity (variable quantity) of the instrumentation value in the tester 10 is very important, and the displacement of initial point finally offsets and do not need.Thereby, by ^MesG _RoboInverse matrix definition ^RoboG _MesOrigin position with tester 10 is that benchmark shows by the robot orthogonal axis, therefore fully, need not to infer exactly the position vector from robot coordinate system's the instrumentation origin of coordinates.

In addition, for instrumentation value M (M with each dial ga(u)ge 11 of tester 10 _x, M _y, M _z) be transformed to the instrumentation value A (A in the instrumentation coordinate system _x, A _y, A _z), get final product and carry out following conversion.

[several 2]

$A=\left(\begin{array}{c}\mathrm{<figure-callout\; id="1"\; label="Ax\; Ay\; Az"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">Ax</figure-callout>}& \\ \mathrm{Ay}\\ \mathrm{Az}\\ 1\end{array}\right)={}^{\mathrm{robo}}G_{\mathrm{mes}}\&CenterDot;M=\left(\begin{array}{cccc}\mathrm{Ux}& \mathrm{Uy}& \mathrm{Uz}& 0\\ \mathrm{Vx}& \mathrm{Vy}& \mathrm{Vz}& 0\\ \mathrm{Wx}& \mathrm{Wy}& \mathrm{Wz}& 0\\ 0& 0& 0& 1\end{array}\right)\&CenterDot;\left(\begin{array}{c}\mathrm{<figure-callout\; id="1"\; label="Mx\; My\; Mz"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">Mx</figure-callout>}& \\ \mathrm{My}\\ \mathrm{Mz}\\ 1\end{array}\right)$

As long as specify, the instrumentation value in the present embodiment is exactly the value of having carried out in (axially with robot orthogonal axis consistent) instrumentation coordinate system of this conversion.

Sum up above situation, by carrying out the conversion of [several 2] expression, and the instrumentation value of tester 10 becomes the value in the instrumentation coordinate system consistent with the robot orthogonal axis, even under each instrumentation direction of tester 10 and robot coordinate system's the axial inconsistent situation, also can obtain correct instrumentation value reliably.

Below narration is based on the correct instrumentation value that so obtains and the method for derivation instrument vector.

The instrument front end that has used the deriving method of the instrument vector of tester 10 to obtain welding robot 6 with respect to welding robot 6 is positioned near the posture more than 3 the regulation point on the space, the position offset of the instrument front end in each posture of instrumentation is the physical location side-play amount, and based on instrumentation to the physical location side-play amount and calculate the instrument vector.

In other words, with instrument 6 at least with different three postures location spatially a bit near, instrumentation position offset (variable quantity of tester 10) at this moment, based on instrumentation to position offset (physical location side-play amount) front position of coming operational tool 6 so that the mode consistent with the physical location side-play amount of the position offset in the calculating of instrument 6 derives the instrument vector.

Specifically, shown in the S1 of Fig. 4, at first, the operator is set in instrumentation the assigned position P of the instrumentation scope of tester 10 with the spheroid portion 13 of detector 12 by teaching pendle 3.This assigned position P is preferably near the initial point of tester 10.

Then, shown in S2, to the instrumentation value A of tester 10 ₁(A _1x, A _1y, A _1z) carry out instrumentation, and each value of instrumentation robot.Based on each value of the robot that obtains, obtain the position P among the robot coordinate system of assigned position P ₁(P _1x, P _1y, P _1z), the position F in the flange coordinate system ₁(l _1x, l _1y, l _1z, m _1x, m _1y, m _1z, n _1x, n _1y, n _1z, o _1x, o _1y, o _1z).

The instrument vector that defines from flange surface 7 observed instrument front ends is T (T _x, T _y, T _z) time, described A ₁(A _1x, A _1y, A _1z), P ₁(P _1x, P _1y, P _1z), F ₁(l _1x, l _1y, l _1z, m _1x, m _1y, m _1z, n _1x, n _1y, n _1z, o _1x, o _1y, o _1z) relation can represent by formula (1).

[several 3]

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\&CenterDot;T=\left(\begin{array}{cccc}{l}_{1x}& m_{1x}& n_{1x}& o_{1x}\\ l_{1y}& m_{1y}& n_{1y}& o_{1y}\\ l_{1z}& m_{1z}& n_{1z}& o_{1z}\\ 0& 0& 0& 1\end{array}\right)\&CenterDot;\left(\begin{array}{c}{T}_x\\ T_{\mathrm{<figure-callout\; id="1"\; label="y\; T\; z"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">y</figure-callout>}}& \\ T_z{}_{}\\ 1\end{array}\right)=\left(\begin{array}{c}{P}_{1x}\\ P_{1y}\\ P_{1\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">z</figure-callout>}}\\ 1\end{array}\right)=P_1---\left(1\right)$

Next, as S4, make the posture change of instrument 6, be positioned at the assigned position P of the instrumentation scope of tester 10 with the posture different with the posture that adopts among the S1.

Position in (k) robot coordinate is P at this moment _k, the flange coordinate of robot is F _kThe time, obtain formula (2).In addition, be A in fall into a trap k value measuring of the coordinate system of tester 10 _k(A _Kx, A _Ky, A _Kz) time, because A _kInstrumentation coordinate system and P _kRobot coordinate system's axial unanimity, therefore as the formula (3), the variable quantity unanimity.

In addition, the posture of employing is preferably 3 more than the posture, therefore shown in S3, when not reaching 3 postures, adopts other posture again.

[several 4]

F _k·T＝P _k(2)

P _k-P ₁＝A _k-A ₁(3)

At this, when having carried out n instrumentation (having adopted n posture), total eliminant (1), formula (2) become

[several 5]

$\left(\begin{array}{c}{F}_1\\ {\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">F</figure-callout>}}_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n\end{array}\right)\&CenterDot;T=\left(\begin{array}{c}{P}_1\\ {\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">P</figure-callout>}}_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_n\end{array}\right)---\left(4\right).$

In addition, according to the relation of formula (3) with formula (4), formula (5) is set up.

[several 6]

$\left(\begin{array}{c}{F}_1-F_1\\ F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\end{array}\right)\&CenterDot;T=\left(\begin{array}{c}{P}_1-P_1\\ P_2-{\mathrm{<figure-callout\; id="1"\; label="P"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">P</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_n-{\mathrm{<figure-callout\; id="1"\; label="P"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">P</figure-callout>}}_1\end{array}\right)=\begin{array}{c}\left(\begin{array}{c}{A}_1-A_1\\ A_2-{\mathrm{<figure-callout\; id="1"\; label="A"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">A</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ A_n-A_1\end{array}\right)---\left(5\right)\end{array}$

At this, the initial value of instrument vector is T ₀(T _0x, T _0y, T _0z), it is T that i instrument vector of deriving calculated in convergence _i(T _Ix, T _Iy, T _Iz) time, formula (4), formula (5) are as follows.

[several 7]

$\left(\begin{array}{c}{F}_1\\ {\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">F</figure-callout>}}_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n\end{array}\right)\&CenterDot;T_i=\left(\begin{array}{c}{P}_{i1}\\ {\mathrm{<figure-callout\; id="2"\; label="P\; i"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_{\mathrm{in}}\end{array}\right)---\left(6\right)$

$\left(\begin{array}{c}{F}_1-F_1\\ F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\end{array}\right)\&CenterDot;T_i=\left(\begin{array}{c}{P}_{i1}-P_{i1}\\ P_{i2}-{\mathrm{<figure-callout\; id="1"\; label="P\; i"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_{\mathrm{in}}-{\mathrm{<figure-callout\; id="1"\; label="P\; i"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\end{array}\right)=\begin{array}{c}\left(\begin{array}{c}{A}_1-A_1\\ A_2-{\mathrm{<figure-callout\; id="1"\; label="A"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">A</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ A_n-A_1\end{array}\right)---\left(7\right)\end{array}$

The instrument vector T of obtaining each residual quantity that makes the front position P that the instrument vector T according to formula (7) calculates and become the residual quantity of instrumentation value gets final product.In other words, obtain " position offset (the P in the calculating of the front position that makes the instrument 6 that the tool using vector calculates _In-P _I1) " " physical location side-play amount (A that obtains with instrumentation value according to the front position of instrument 6 _n-A ₁) " consistent instrument vector T gets final product.

For this reason, shown in S5, can be so that Δ A become 0 mode, calculate by the convergence of having used least square method and to find the solution following equation, thereby obtain the instrument vector T.

[several 8]

$\left(\begin{array}{c}{F}_1-F_1\\ F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\end{array}\right)\&CenterDot;\mathrm{\&Delta;}{T}_i=\left(\begin{array}{c}{A}_1-A_1\\ A_2-{\mathrm{<figure-callout\; id="1"\; label="A"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">A</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ A_n-A_1\end{array}\right)-\left(\begin{array}{c}{P}_{i1}-P_{i1}\\ P_{i2}-{\mathrm{<figure-callout\; id="1"\; label="P\; i"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_{\mathrm{in}}-{\mathrm{<figure-callout\; id="1"\; label="P\; i"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\end{array}\right)=\left(\begin{array}{c}\mathrm{\&Delta;}{A}_{\mathrm{<figure-callout\; id="1"\; label="i"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">i</figure-callout>}1}\\ \mathrm{\&Delta;}{A}_{\mathrm{<figure-callout\; id="2"\; label="i"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">i</figure-callout>}2}\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ \mathrm{\&Delta;}{A}_{\mathrm{in}}\end{array}\right)---\left(8\right)$

By above method, do not need front end with welding robot 2 repeatedly to be set in the location in the instrumentation scope of tester 10 and just can derive instrument vector T (T by shirtsleeve operation _x, T _y, T _z).

Wherein, during for above-mentioned method, owing to be benchmark (benchmark of calculating of position offset) with first instrumentation value, therefore undeniable because the situation that exists of error has the situation of generation error in the instrument vector that obtains.Therefore, by to having used formula (9) to find the solution successively, and can do one's utmost to eliminate the instrumentation error from first to n benchmark.

[several 9]

$\left(\begin{array}{c}\left[\begin{array}{c}{F}_1-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">F</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n-F_1\end{array}\right]\\ \left[\begin{array}{c}{F}_1-{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">F</figure-callout>}}_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n-{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">F</figure-callout>}}_2\end{array}\right]\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ \left[\begin{array}{c}{F}_1-F_n\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ F_n-F_n\end{array}\right]\end{array}\right)\left(\mathrm{\&Delta;}{T}_i\right)=\left(\begin{array}{c}\left[\begin{array}{c}{A}_1-{\mathrm{<figure-callout\; id="1"\; label="A"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">A</figure-callout>}}_1\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ A_n-A_1\end{array}\right]\\ \left[\begin{array}{c}{A}_1-{\mathrm{<figure-callout\; id="2"\; label="A"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">A</figure-callout>}}_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ A_n-{\mathrm{<figure-callout\; id="2"\; label="A"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">A</figure-callout>}}_2\end{array}\right]\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ \left[\begin{array}{c}{A}_1-A_n\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ A_n-A_n\end{array}\right]\end{array}\right)\left(\begin{array}{c}\left[\begin{array}{c}{P}_{i1}-{\mathrm{<figure-callout\; id="1"\; label="P\; i"\; filenames="HSA00000421556800011.png,HSA00000421556800031.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_{\mathrm{in}}-P_{i1}\end{array}\right]\\ \left[\begin{array}{c}{P}_{i1}-{\mathrm{<figure-callout\; id="2"\; label="P\; i"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_{\mathrm{in}}-{\mathrm{<figure-callout\; id="2"\; label="P\; i"\; filenames="HSA00000421556800012.png,HSA00000421556800032.png"\; state="\{\{state\}\}">P</figure-callout>}}_i\end{array}\right]\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ \left[\begin{array}{c}{P}_{i1}-P_{\mathrm{in}}\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ P_{\mathrm{in}}-P_{\mathrm{in}}\end{array}\right]\end{array}\right)---\left(9\right)$

The deriving method of the instrument vector by adopting above-described welding robot, can derive the instrument vector of robot more easily at short notice and accurately, thereby can make contributions the raising of welding precision in the robot welding or welding quality.

In addition, should consider that the whole point of this disclosed embodiment is an illustration and not restricted.Scope of the present invention is not by above-mentioned explanation but by shown in the scope of claims, comprises the meaning that equates with the scope of claims and the whole changes in the scope.

For example, in the present embodiment, focus on welding robot 2 replacing behind the instrument 6, the export job of the instrument vector after instrument 6 is changed has been described, but can have used same gimmick in " correction operation of instrument vector " the during change of generation instrument vector when collisions such as instrument 6 and operation workpiece etc.

In addition, in the present embodiment, show the example of use, but be not limited thereto at 3 dial ga(u)ge 11 of the orthogonal coordinates direction of principal axis configuration of tester 10 upper edge robots.As tester 10, as long as instrumentation is installed in the front position of the instrumentation of instrument front end with detector 12 accurately.For example, can adopt used camera shown in Figure 5 15 the 3-D view measuring device as tester 10.Can also adopt the distance meter of laser displacement instrument, static capacity type etc.

In addition, in the present embodiment illustration welding robot as robot, but also can adopt present technique in robot in mounter people's etc. operation.

Claims (4)

1. the deriving method of the instrument vector of a robot, the instrument vector that decision is installed in the front position of the instrument on the arm front end of robot is derived, it is characterized in that,

So that near the mode that the instrument front end of described robot is positioned at the regulation point on the space is got posture more than three kinds with respect to described robot, the position offset of the instrument front end in each posture of instrumentation is calculated the instrument vector as the physical location side-play amount based on the physical location side-play amount that measures.

2. the deriving method of the instrument vector of robot according to claim 1 is characterized in that,

When calculating described instrument vector, so that the consistent mode of the physical location side-play amount of the instrument front end that the position offset of the instrument front end that calculates and instrumentation obtain is calculated described instrument vector.

3. the deriving method of the instrument vector of robot according to claim 1 and 2 is characterized in that,

Setting can the described instrument front end of instrumentation the tester of physical location side-play amount,

About the instrumentation coordinate system of setting by described tester, consistent with the origin position of described tester and make the reference axis of instrumentation coordinate system and be set on the basis of axial unanimity of the robot coordinate system in the robot at the initial point that makes this instrumentation coordinate system,

The physical location side-play amount of the instrument front end in each posture of instrumentation.

4. the bearing calibration of the instrument vector of a robot is characterized in that,

Use the deriving method of each described instrument vector in the claim 1～3, obtain the instrument vector,, revise the instrument vector that has been set in the described robot based on the instrument vector of obtaining.

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