CN103706945A - Method and device for correcting tool central point of industrial robot - Google Patents
Method and device for correcting tool central point of industrial robot Download PDFInfo
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- CN103706945A CN103706945A CN201310680224.7A CN201310680224A CN103706945A CN 103706945 A CN103706945 A CN 103706945A CN 201310680224 A CN201310680224 A CN 201310680224A CN 103706945 A CN103706945 A CN 103706945A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/046—Automatically focusing the laser beam
Abstract
The invention discloses a method and a device for correcting a tool central point of an industrial robot. The method comprises the following steps of acquiring a reference with an XY coordinate axis; defining TCP of the industrial robot into a theoretical laser focus, and aligning the theoretical laser focus with an origin point position of the XY coordinate axis; vertically rotating a laser of the industrial robot by a first angle to acquire a rotated focus position; running a create point program; acquiring the position of an actual laser focus; calculating to acquire a correction result of the TCP according to the origin point position, the rotated focus position and the position of the actual laser focus. That is to say, the own axis of the industrial robot is used as a benchmark to measure the rotated predetermined angles such as deviation values of laser focus after 90 degrees, and the calculation is carried out by means of linear equations or similar triangles, thereby achieving technical effects of high intelligence level and high correction precision.
Description
Technical field
The present invention relates to intelligent machine technical field, relate in particular to a kind of bearing calibration and device of industrial robot tool center point.
Background technology
Along with the development of modern production, the utilization rate of industrial robot is more and more higher, has improved greatly efficiency and the quality of suitability for industrialized production.
Utilizing industrial robot to carry out in the technical field of Intelligent Laser processing, the laser processing application of modern complex parts mainly relies on six-joint robot to carry out, and general way is by laser Machining head or directly laser instrument is arranged on the 6th axle of robot.Laser beam should be to overlap completely with the axial line of camera lens in theory, but due to the error of processing or assembling, in fact laser beam is not the axial line of camera lens, generally has the deviation of 1 ° of left and right, and the deviation being reacted in focus even can reach 5-10mm.
Traditional solution has two kinds, the first is directly to adopt the mode of artificial teaching to programme to processing of robots path, so just do not need to measure the deviate of laser beam, but artificial teach mode can only be directed to and uncomplicated simple path, processing for large-scale complex part still need to be used the mode of off-line programing, therefore need to accurately measure this deviate and then be compensated, otherwise programming laser beam path meeting and Actual path out there is very large skew.So far, can only be to rely on independent measurement laser instrument camera lens or the light beam precision of laser Machining head, this needs special laboratory and professional measured material and testing tool, and general factory is difficult to realize.
Summary of the invention
The embodiment of the present invention provides a kind of bearing calibration and device of industrial robot tool center point, for solving the technical problem that prior art is not high to the intellectuality of industrial robot TCP point calibration, correction accuracy is low, reach the technique effect that industrial robot TCP point calibration intelligent level is high, correction accuracy is high.
The embodiment of the present invention provides a kind of bearing calibration of industrial robot tool center point, and described method comprises: acquisition one has the object of reference of XY reference axis; The TCP point of described industrial robot is defined as to theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis; Laser instrument vertical rotary the first angle by described industrial robot, obtains described postrotational focal position; Operation creates some program; Obtain the position of practical laser focus; According to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.
Further, described method also comprises: the programming software that the correction result of described TCP is inputed to described industrial robot compensates.
Further, before described operation creates some program, also comprise: obtain one and create some program.
Further, described by laser instrument vertical rotary first angle of described industrial robot, be specially: by the laser instrument vertical rotary of described industrial robot 90 degree.
Further, described method also comprises: the coordinate that configures described origin position is (0,0); The coordinate that configures described postrotational focal position is (X1, Y1); The coordinate that configures the position of described actual focal spot is (X2, Y2); According to described similar triangle theory or linear equation, calculate, described in acquisition
the collecting lens focal length that configures described industrial robot is P; According to described similar triangle theory or linear equation, calculate, the correction result of described TCP is: directions X, skew X2; Y-direction, offset Y 2; Z direction, skew
The present invention also provides a kind of means for correcting of industrial robot tool center point, and described device comprises: first obtains unit, and described first obtains unit for obtaining an object of reference with XY reference axis; The first focal position determining unit, described the first focal position determining unit is used for the TCP of described industrial robot to be defined as theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis; The second focal position determining unit, described the second focal position determining unit, for by laser instrument vertical rotary first angle of described industrial robot, obtains described postrotational focal position; Running unit, described running unit is used for moving the some program that creates; The 3rd focus position determination unit, described the 3rd focus position determination unit is for obtaining the position of practical laser focus; Computing unit, described computing unit is used for according to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.
Further, described device also comprises: input block, described input block compensates for the correction result of described TCP being inputed to the programming software of described industrial robot.
Further, described device also comprises: second obtains unit, and described second obtains unit is used for obtaining an establishment point program.
Further, described device also comprises: the second rotary unit, described the second rotary unit is for spending the laser instrument vertical rotary of described industrial robot 90.
Further, described device also comprises: the first dispensing unit, and described the first dispensing unit is (0,0) for configuring the coordinate of described origin position; The second dispensing unit, described the second dispensing unit is (X1, Y1) for configuring the coordinate of described postrotational focal position; The 3rd dispensing unit, described the 3rd dispensing unit is (X2, Y2) for configuring the coordinate of the position of described actual focal spot; The first computing unit, described the first computing unit is for calculating according to described similar triangle theory or linear equation, described in acquisition
the 4th dispensing unit, described the 4th dispensing unit is P for configuring the collecting lens focal length of described industrial robot; The second computing unit, described the second computing unit is for calculating according to described similar triangle theory or linear equation, and the correction result of described TCP is: directions X, skew X2; Y-direction, offset Y 2; Z direction, skew
The beneficial effect of the embodiment of the present invention is as follows:
Bearing calibration and the device of a kind of industrial robot tool center point that one embodiment of the invention provides, by obtaining an object of reference with XY reference axis; Then, the TCP of described industrial robot is defined as to theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis; Again then, laser instrument vertical rotary the first angle by described industrial robot, obtains described postrotational focal position; Again then, operation creates some program; Again then, obtain the position of practical laser focus; Again then, according to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.That is to say, the axle that utilizes industrial robot self is benchmark, measures and rotates predetermined angular, such as the deviant of laser spot after 90 degree, and utilize linear equation or similar triangles to calculate, can reach the technique effect that level of intelligence is high, correction accuracy is high.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of a kind of bearing calibration of industrial robot tool center point in one embodiment of the invention;
Fig. 2 is the position view of the actual focal spot in XY axis coordinate system in a kind of bearing calibration in one embodiment of the invention;
Fig. 3 is the calculating schematic diagram of the bearing calibration of a kind of industrial robot tool center point in one embodiment of the invention;
Fig. 4 is the another calculating schematic diagram for a kind of bearing calibration of industrial robot tool center point in one embodiment of the invention;
Fig. 5 is the structural representation of a kind of means for correcting of industrial robot tool center point in one embodiment of the invention.
The specific embodiment
Bearing calibration and the device of a kind of industrial robot tool center point that one embodiment of the invention provides, by obtaining an object of reference with XY reference axis; Then, the TCP of described industrial robot is defined as to theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis; Again then, laser instrument vertical rotary the first angle by described industrial robot, obtains described postrotational focal position; Again then, operation creates some program; Again then, obtain the position of practical laser focus; Again then, according to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.That is to say, the axle that utilizes industrial robot self is benchmark, measures and rotates predetermined angular, such as the deviant of laser spot after 90 degree, and utilize linear equation or similar triangles to calculate, can reach the technique effect that level of intelligence is high, correction accuracy is high.
For making those skilled in the art understand more in detail the present invention, below in conjunction with accompanying drawing, describe the present invention.
[embodiment mono-]
As described in Figure 1, Fig. 1 is the bearing calibration of a kind of industrial robot tool center point in one embodiment of the invention, and described method comprises:
Step 110: acquisition one has the object of reference of XY reference axis;
Specifically, the present embodiment is mainly calculated and can be found fast, efficiently, accurately practical laser focus by simple measurement and data, and proofreaies and correct in off-line programming software.So the present embodiment step 110 provides an object of reference with XY reference axis.Specifically, object of reference can be the blank sheet of paper of an A4, then by ruler Freehandhand-drawing, goes out an XY reference axis, or printer in CAD graphics software again.
Wherein, the process of foundation is illustrated in fig. 2 shown below, and center should be take as an XY coordinate system of initial point work at the place, center of camera lens in the position of laser beam foucing in theory, and actual focus may drop on the optional position of any one quadrant.Wherein, in Fig. 2, introduce respectively actual focal spot and dropped on respectively first quartile, the second quadrant, third quadrant, four kinds of situations of fourth quadrant.
Step 120: the TCP of described industrial robot is defined as to theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis;
Specifically, the present embodiment step 120 is by the TCP(tool centre position of industrial robot) be defined as theoretical laser spot, and the theoretical laser spot of industrial robot is aimed to the origin position of described XY reference axis.
Specifically, in the present embodiment step 120, the attitude of industrial robot is adjusted into after it loads laser instrument and makes laser machine camera lens vertically downward, then in XY reference axis, appoint and get a bit, then the TCP of industrial robot is moved to this point.
Step 130: laser instrument vertical rotary the first angle by described industrial robot, obtains described postrotational focal position;
Specifically, in the present embodiment, step 130, by industrial robot with laser instrument vertical rotary certain angle, obtains postrotational focal position.In this process, the coordinate position of TCP does not change, just the attitude of robot changes, and laser instrument camera lens is perpendicular to the ground all the time, laser instrument does not just raise around theoretical laser beam center line has rotated certain angle to reduce or any position occurs and is offset.
Step 140: operation creates some program;
Specifically, the present embodiment is the bearing calibration that realizes industrial robot tool center point of the mode put by establishment.Itself has obtained the parameter of proofreading and correct in conjunction with the mode of the simple measurement such as linear equation or similar triangle theory and mathematical computations.
Wherein, in order to move described establishment point program, need to first create described establishment point program, obtain an establishment point program.This kind of creation method belongs to the choice of technology of those skilled in the art's routine, and the embodiment of the present application is not done concrete elaboration.
Step 150: the position that obtains practical laser focus;
Specifically, the present embodiment step 150 is moved industrial robot after described establishment point program, obtained industrial robot practical laser focal position, simultaneously because program is set for theoretical laser spot, the position of the practical laser focus after therefore rotating to an angle is certain to change.This also provides real basis to obtaining correction parameter by mathematical computations below.
Step 160: according to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.
Specifically, the step 160 of the present embodiment is that the mode of concrete mathematical computations obtains the mode that TCP proofreaies and correct result.Above-mentioned origin position, the postrotational focal position of main dependence, and the position of actual focal spot.
Step 170: the programming software that the correction result of described TCP is inputed to described industrial robot compensates.
Specifically, the present embodiment step 170 is proofreaied and correct result by the TCP of acquisition and is sent to described industrial robot, and compensates by programming software, reaches the technique effect that TCP precision is provided.
For the clearer implementation procedure of introducing the application, from the anglec of rotation of industrial robot, be that 90 degree are launched to introduce below.Certainly, the not concrete predetermined angle of the embodiment of the present invention, as long as the angle scheme that can realize by mathematical logic computing is the application's protection domain.Such as situations such as 270 degree ,-90 degree.
Specifically, first configure above-mentioned origin position, postrotational focal position, and the parameter of the position of actual focal spot.As shown in Figure 3, such as:
The coordinate that configures described origin position is O point (0,0);
The coordinate that configures described postrotational focal position is C point (x1, y1);
The coordinate that configures the position of described actual focal spot is D point (X2, Y2);
Then, above-mentioned point is coupled together with line and makes the projection of X, Y direction, such as C point X-axis be projected as OA, at the OH that is projected as of Y-axis; Such as D point X-axis be projected as OF, at the OG that is projected as of Y-axis; Wherein, the perpendicular bisector that in figure, DE is OC.Specifically, the position of some C can directly be measured, thus CH and AC known, because a C obtains after an O rotates 9 around a D, so the position of laser actual focal spot D should be on the perpendicular bisector of OC and ∠ ODC=90, DO=DC, is not difficult to draw
can release
Need a minute situation to make discussion below:
1, rotation back focus position C drops on first quartile
When | x1| >=| during y1|, x2 >=0, y2 > 0;
When | x1| < | during y1|, x2 < 0, y2 > 0.
2, rotation back focus position C drops on the second quadrant
When | x1| >=| during y1|, x2≤0, y2 < 0;
When | x1| < | during y1|, x2 < 0, y2 > 0.
3, rotation back focus position C drops on third quadrant
When | x1| >=| during y1|, x2≤0, y2 < 0;
When | x1| < | during y1|, x2 > 0, y2 < 0.
4, rotation back focus position C drops on fourth quadrant
When | x1| >=| during y1|, x2 >=0, y2 > 0;
When | x1| < | during y1|, x2 > 0, y2 < 0.
As shown in Figure 4, owing to there being the existence of skew, laser beam should be OB in theory originally, has become now OC, and BC is the length of skew,
Further, as shown in Figure 4, some B and some D are laser beam foucing, and establishing laser lens focal length is P, and OB=OD=P, is not difficult to draw
can release
?
?
Therefore, the correction result of the final TCP of industrial robot is:
Directions X, skew x2;
Y-direction, skew y2;
Z direction, skew
[embodiment bis-]
For clearer, introduce technical scheme of the present invention, the application also provides a kind of means for correcting of industrial robot tool center point, and wherein, described device comprises:
First obtains unit 10, and described first obtains unit 10 for obtaining an object of reference with XY reference axis;
The first focal position determining unit 20, described the first focal position determining unit 20 is for the TCP of described industrial robot is defined as to theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis;
The second focal position determining unit 30, described the second focal position determining unit 30, for by laser instrument vertical rotary first angle of described industrial robot, obtains described postrotational focal position;
Running unit 40, described running unit 40 is for moving the some program that creates;
The 3rd focus position determination unit 50, described the 3rd focus position determination unit 50 is for obtaining the position of practical laser focus;
Computing unit 60, described computing unit 60 is for according to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.
Further, this device also comprises:
Input block 70, described input block 70 compensates for the correction result of described TCP being inputed to the programming software of described industrial robot.
Further, described device also comprises:
Second obtains unit, and described second obtains unit is used for obtaining an establishment point program.
Further, described device also comprises:
The second rotary unit, described the second rotary unit is for spending the laser instrument vertical rotary of described industrial robot 90.
Further, described device also comprises:
The first dispensing unit, described the first dispensing unit is (0,0) for configuring the coordinate of described origin position;
The second dispensing unit, described the second dispensing unit is (X1, Y1) for configuring the coordinate of described postrotational focal position;
The 3rd dispensing unit, described the 3rd dispensing unit is (X2, Y2) for configuring the coordinate of the position of described actual focal spot;
The first computing unit, described the first computing unit is for calculating according to described similar triangle theory or linear equation, described in acquisition
The 4th dispensing unit, described the 4th dispensing unit is P for configuring the collecting lens focal length of described industrial robot;
The second computing unit, described the second computing unit is for calculating according to described similar triangle theory or linear equation, and the correction result of described TCP is:
Directions X, skew X2;
Y-direction, offset Y 2;
Z direction, skew
Bearing calibration and the device of a kind of industrial robot tool center point that in sum, one embodiment of the invention provides have following technique effect:
One embodiment of the invention is by obtaining an object of reference with XY reference axis; Then, the TCP of described industrial robot is defined as to theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis; Again then, laser instrument vertical rotary the first angle by described industrial robot, obtains described postrotational focal position; Again then, operation creates some program; Again then, obtain the position of practical laser focus; Again then, according to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.That is to say, the axle that utilizes industrial robot self is benchmark, measures and rotates predetermined angular, such as the deviant of laser spot after 90 degree, and utilize linear equation or similar triangles to calculate, can reach the technique effect that level of intelligence is high, correction accuracy is high.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (10)
1. a bearing calibration for industrial robot tool center point, is characterized in that, described method comprises:
Acquisition one has the object of reference of XY reference axis;
The TCP point of described industrial robot is defined as to theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis;
Laser instrument vertical rotary the first angle by described industrial robot, obtains described postrotational focal position;
Operation creates some program;
Obtain the position of practical laser focus;
According to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.
2. the method for claim 1, is characterized in that, described method also comprises:
The programming software that the correction result of described TCP is inputed to described industrial robot compensates.
3. the method for claim 1, is characterized in that, before described operation creates some program, also comprises:
Obtain one and create some program.
4. the method for claim 1, is characterized in that, described by laser instrument vertical rotary first angle of described industrial robot, is specially:
By the laser instrument vertical rotary of described industrial robot 90 degree.
5. method as claimed in claim 4, is characterized in that, described method also comprises:
The coordinate that configures described origin position is (0,0);
The coordinate that configures described postrotational focal position is (X
1, Y
1);
The coordinate that configures the position of described actual focal spot is (X2, Y2);
According to described similar triangle theory or linear equation, calculate, described in acquisition
The collecting lens focal length that configures described industrial robot is P;
According to described similar triangle theory or linear equation, calculate, the correction result of described TCP is:
Directions X, skew X2;
Y-direction, offset Y 2;
Z direction, skew
6. a means for correcting for industrial robot tool center point, is characterized in that, described device comprises:
First obtains unit, and described first obtains unit for obtaining an object of reference with XY reference axis;
The first focal position determining unit, described the first focal position determining unit is used for the TCP of described industrial robot to be defined as theoretical laser spot, and described theoretical laser spot is aimed to the origin position of described XY reference axis;
The second focal position determining unit, described the second focal position determining unit, for by laser instrument vertical rotary first angle of described industrial robot, obtains described postrotational focal position;
Running unit, described running unit is used for moving the some program that creates;
The 3rd focus position determination unit, described the 3rd focus position determination unit is for obtaining the position of practical laser focus;
Computing unit, described computing unit is used for according to described origin position, described postrotational focal position, and the position calculation of described actual focal spot draws the correction result of described TCP.
7. device as claimed in claim 6, is characterized in that, described device also comprises:
Input block, described input block compensates for the correction result of described TCP being inputed to the programming software of described industrial robot.
8. device as claimed in claim 6, is characterized in that, described device also comprises:
Second obtains unit, and described second obtains unit is used for obtaining an establishment point program.
9. device as claimed in claim 6, is characterized in that, described device also comprises:
The second rotary unit, described the second rotary unit is for spending the laser instrument vertical rotary of described industrial robot 90.
10. device as claimed in claim 9, is characterized in that, described device also comprises:
The first dispensing unit, described the first dispensing unit is (0,0) for configuring the coordinate of described origin position;
The second dispensing unit, described the second dispensing unit is (X for configuring the coordinate of described postrotational focal position
1, Y
1);
The 3rd dispensing unit, described the 3rd dispensing unit is (X2, Y2) for configuring the coordinate of the position of described actual focal spot;
The first computing unit, described the first computing unit is for calculating according to described similar triangle theory or linear equation, described in acquisition
The 4th dispensing unit, described the 4th dispensing unit is P for configuring the collecting lens focal length of described industrial robot;
The second computing unit, described the second computing unit is for calculating according to described similar triangle theory or linear equation, and the correction result of described TCP is:
Directions X, skew X2;
Y-direction, offset Y 2;
Z direction, skew
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| CN108235695A (en) * | 2015-10-21 | 2018-06-29 | 双叶产业株式会社 | Processing unit (plant) and program |
| US10926414B2 (en) | 2017-09-29 | 2021-02-23 | Industrial Technology Research Institute | System and method for calibrating tool center point of robot |
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| CN115916475A (en) * | 2020-05-28 | 2023-04-04 | 西门子（中国）有限公司 | Calibration method, device and system for tool center point of robot |
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| CN112091967B (en) * | 2020-07-27 | 2024-04-19 | 一重集团大连核电石化有限公司 | Off-line programming batch correction method for welding robot track |
| CN114654303A (en) * | 2022-05-05 | 2022-06-24 | 中国航发航空科技股份有限公司 | Method for correcting deviation of positioning accuracy of machine tool |
| CN114654303B (en) * | 2022-05-05 | 2023-02-21 | 中国航发航空科技股份有限公司 | Method for correcting deviation of positioning accuracy of machine tool |
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