CN103706945B - A kind of bearing calibration of tool central point of industrial robot and device - Google Patents

A kind of bearing calibration of tool central point of industrial robot and device Download PDF

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Publication number
CN103706945B
CN103706945B CN201310680224.7A CN201310680224A CN103706945B CN 103706945 B CN103706945 B CN 103706945B CN 201310680224 A CN201310680224 A CN 201310680224A CN 103706945 B CN103706945 B CN 103706945B
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China
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described
industrial robot
unit
position
tcp
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CN201310680224.7A
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Chinese (zh)
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CN103706945A (en
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莫衡阳
胡家强
李春旺
赵毅
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武汉钢铁(集团)公司
武汉武钢华工激光大型装备有限公司
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Priority to CN201310680224.7A priority Critical patent/CN103706945B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/046Automatically focusing the laser beam

Abstract

The invention discloses a kind of bearing calibration and device of tool central point of industrial robot, by obtaining the object of reference that has XY reference axis; Then, the TCP of described industrial robot is defined as theoretical laser spot, and described theoretical laser spot is aimed at the origin position of described XY reference axis; Subsequently, by laser instrument vertical rotary first angle of described industrial robot, described postrotational focal position is obtained; Subsequently, an establishment point program is run; Subsequently, the position of practical laser focus is obtained; Subsequently, 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, utilize the axle of industrial robot self for benchmark, measure and rotate predetermined angular, the deviant of laser spot after such as 90 degree, and utilize linear equation or similar triangles to calculate, the technique effect that level of intelligence is high, correction accuracy is high can be reached.

Description

A kind of bearing calibration of tool central point of industrial robot and device

Technical field

The present invention relates to intelligent machine technical field, particularly relate to a kind of bearing calibration and device of tool central point of industrial robot.

Background technology

Along with the development of modern production, the utilization rate of industrial robot is more and more higher, improves efficiency and the quality of suitability for industrialized production greatly.

Carry out in the technical field of Intelligent Laser processing utilizing industrial robot, 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 is directly arranged on the 6th axle of robot by laser instrument.Laser beam should be overlap completely with the axial line of camera lens in theory, but due to the error of processing or assemble, in fact laser beam is not the axial line of camera lens, generally has the deviation of about 1 °, and the deviation be reacted in focus even can reach 5-10mm.

Traditional solution has two kinds, the first directly adopts the mode of artificial teaching to programme to processing of robots path, so just do not need the deviate measuring laser beam, but artificial teach mode can only be directed to and uncomplicated simple path, processing for large-scale complex part still needs the mode using off-line programing, therefore need to accurately measure this deviate then to be compensated, otherwise the laser beam path meeting of programming out and Actual path have very large skew.So far, can only be rely on independent measurement laser instrument camera lens or the light beam precision of laser Machining head, this needs measured material and the testing tool of special laboratory and specialty, 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 tool central point of industrial robot, for solving the technical problem not high to the intellectuality of industrial robot TCP point calibration in prior art, correction accuracy is low, reach the technique effect that industrial robot TCP point calibration intelligent level is high, correction accuracy is high.

Embodiments provide a kind of bearing calibration of tool central point of industrial robot, described method comprises: obtain the object of reference that has XY reference axis; The TCP of described industrial robot point is defined as theoretical laser spot, and described theoretical laser spot is aimed at the origin position of described XY reference axis; By laser instrument vertical rotary first angle of described industrial robot, obtain described postrotational focal position; Run and create 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: compensated by the programming software that the correction result of described TCP inputs to described industrial robot.

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 90 degree of described industrial robot.

Further, described method also comprises: configure the coordinate of described origin position for (0,0); The coordinate configuring described postrotational focal position is (X 1, Y 1); The coordinate configuring the position of described actual focal spot is (X 2, Y 2); Calculate, described in acquisition according to described similar triangle theory or linear equation the collecting lens focal length configuring described industrial robot is P; Calculate according to similar triangle theory or linear equation, the correction result of described TCP is: X-direction, skew X 2; Y-direction, offset Y 2; Z-direction, skew

Present invention also offers a kind of means for correcting of tool central point of industrial robot, described device comprises: first obtains unit, and described first obtains unit for obtaining the object of reference that has XY reference axis; First focal position determining unit, described 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 at the origin position of described XY reference axis; Second focal position determining unit, described second focal position determining unit is used for laser instrument vertical rotary first angle of described industrial robot, obtains described postrotational focal position; Running unit, described running unit creates some program for running; 3rd focal position determining unit, described 3rd focal position determining 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, and the programming software that described input block is used for the correction result of described TCP to input to described industrial robot compensates.

Further, described device also comprises: second obtains unit, and described second obtains unit for obtaining an establishment point program.

Further, described device also comprises: the second rotary unit, and described second rotary unit is used for the laser instrument vertical rotary 90 degree of described industrial robot.

Further, described device also comprises: the first dispensing unit, and described first dispensing unit is for configuring the coordinate of described origin position for (0,0); Second dispensing unit, described second dispensing unit is (X for configuring the coordinate of described postrotational focal position 1, Y 1); 3rd dispensing unit, described 3rd dispensing unit is (X for configuring the coordinate of the position of described actual focal spot 2, Y 2); First computing unit, described first computing unit is used for calculating, described in acquisition according to described similar triangle theory or linear equation 4th dispensing unit, described 4th dispensing unit is P for configuring the collecting lens focal length of described industrial robot; Second computing unit, described second computing unit is used for calculating according to described similar triangle theory or linear equation, and the correction result of described TCP is: X-direction, skew X 2; Y-direction, offset Y 2; Z-direction, skew

The beneficial effect of the embodiment of the present invention is as follows:

The bearing calibration of a kind of tool central point of industrial robot that one embodiment of the invention provides and device, by obtaining the object of reference that has XY reference axis; Then, the TCP of described industrial robot is defined as theoretical laser spot, and described theoretical laser spot is aimed at the origin position of described XY reference axis; Subsequently, by laser instrument vertical rotary first angle of described industrial robot, described postrotational focal position is obtained; Subsequently, an establishment point program is run; Subsequently, the position of practical laser focus is obtained; Subsequently, 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, utilize the axle of industrial robot self for benchmark, measure and rotate predetermined angular, the deviant of laser spot after such as 90 degree, and utilize linear equation or similar triangles to calculate, the technique effect that level of intelligence is high, correction accuracy is high can be reached.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of the bearing calibration of a kind of tool central point of industrial robot in one embodiment of the invention;

Fig. 2 is the position view of the actual focal spot in one embodiment of the invention in a kind of bearing calibration in XY axis coordinate system;

Fig. 3 is the calculating schematic diagram of the bearing calibration of a kind of tool central point of industrial robot in one embodiment of the invention;

The another calculating schematic diagram of the bearing calibration that Fig. 4 is tool central point of industrial robot a kind of in one embodiment of the invention;

Fig. 5 is the structural representation of the means for correcting of a kind of tool central point of industrial robot in one embodiment of the invention.

Detailed description of the invention

The bearing calibration of a kind of tool central point of industrial robot that one embodiment of the invention provides and device, by obtaining the object of reference that has XY reference axis; Then, the TCP of described industrial robot is defined as theoretical laser spot, and described theoretical laser spot is aimed at the origin position of described XY reference axis; Subsequently, by laser instrument vertical rotary first angle of described industrial robot, described postrotational focal position is obtained; Subsequently, an establishment point program is run; Subsequently, the position of practical laser focus is obtained; Subsequently, 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, utilize the axle of industrial robot self for benchmark, measure and rotate predetermined angular, the deviant of laser spot after such as 90 degree, and utilize linear equation or similar triangles to calculate, the technique effect that level of intelligence is high, correction accuracy is high can be reached.

For enabling those skilled in the art understand the present invention more in detail, describe the present invention below in conjunction with accompanying drawing.

[embodiment one]

As described in Figure 1, Fig. 1 is the bearing calibration of a kind of tool central point of industrial robot in one embodiment of the invention, and described method comprises:

Step 110: obtain the object of reference that has XY reference axis;

Specifically, the present embodiment, mainly through simply to measure and data calculating can find practical laser focus fast, efficiently, accurately, and to correct in off-line programming software.So the present embodiment step 110 provides the object of reference that has XY reference axis.Specifically, object of reference can be the blank sheet of paper of an A4, then goes out an XY reference axis by ruler Freehandhand-drawing, or printer in CAD graphics software again.

Wherein, the process of foundation is illustrated in fig. 2 shown below, and the position of laser beam foucing should at the center place of camera lens in theory, and be that initial point makes an XY coordinate system with center, actual focus may drop on the optional position of any one quadrant.Wherein, describe actual focal spot in Fig. 2 respectively and drop on first quartile, the second quadrant, third quadrant, fourth quadrant four kinds of situations respectively.

Step 120: the TCP of described industrial robot is defined as theoretical laser spot, and the origin position described theoretical laser spot being aimed at described XY reference axis;

Specifically, the TCP (toolcentreposition) of industrial robot is defined as theoretical laser spot by the present embodiment step 120, and by the origin position of the XY reference axis described in the theoretical laser spot aligning of industrial robot.

Specifically, in the present embodiment step 120, the pose adjustment of industrial robot is made laser machine camera lens vertically downward for it loads after laser instrument, then appoint in XY reference axis and get a bit, then the TCP of industrial robot is moved to this point.

Step 130: by laser instrument vertical rotary first angle of described industrial robot, obtain described postrotational focal position;

Specifically, in the present embodiment, step 130 is 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, namely laser instrument does not just raise around theoretical laser beam center line have rotated certain angle and reduces or occur the skew of any position.

Step 140: run and create some program;

Specifically, the present embodiment realizes the bearing calibration of tool central point of industrial robot by the mode of establishment point.Itself simply to measure in conjunction with linear equation or similar triangle theory etc. and the mode of mathematical computations obtains the parameter of correction.

Wherein, in order to described establishment point program can be run, need first to create described establishment point program, namely obtain one and create some 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 does not do concrete elaboration.

Step 150: the position obtaining practical laser focus;

Specifically, after industrial robot is run described establishment point program by the present embodiment step 150, obtain industrial robot practical laser focal position, simultaneously because program sets for theoretical laser spot, the position of the practical laser focus after therefore rotating to an angle is certain to change.This also obtains to passing behind mathematical computations the basis that correction parameter provides reality.

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 corrects result.The above-mentioned origin position of main dependence, postrotational focal position, and the position of actual focal spot.

Step 170: the programming software that the correction result of described TCP inputs to described industrial robot is compensated.

Specifically, the TCP of acquisition is corrected result and sends to described industrial robot by the present embodiment step 170, and is compensated by programming software, reaches the technique effect providing TCP precision.

In order to the clearer implementation procedure introducing the application, be 90 degree from the anglec of rotation of industrial robot below and launched to introduce.Certainly, the not concrete predetermined angle of the embodiment of the present invention, as long as the angular arrangements that can be able to be realized by mathematical logic computing is the protection domain of the application.Such as 270 degree, the situation such as-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 configuring described origin position is O point (0,0);

The coordinate configuring described postrotational focal position is C point (X 1, Y 1);

The coordinate configuring the position of described actual focal spot is D point (X 2, Y 2);

Then, coupled together and make the projection of X, Y direction by above-mentioned some line, such as C point is projected as OA X-axis, is projected as OH in Y-axis; Such as D point is projected as OF X-axis, is projected as OG in Y-axis; Wherein, in figure, DE is the perpendicular bisector of OC.Specifically, the position of some C can directly be measured, therefore CH and AC is known, because a C is that an O obtains around after a D half-twist, therefore the position of laser actual focal spot D should be on the perpendicular bisector of OC and ∠ ODC=90 °, DO=DC, does not seldom go out ⊿ DFO ≌ ⊿ DBC, can release | Y 2 | = | Y 1 + X 1 2 | .

A point situation is needed to make discussion below:

1, rotate back focus position C and drop on first quartile

When | X 1|>=| Y 1| time, X 2>=0, Y 2> 0;

When | X 1| < | Y 1| time, X 2< 0, Y 2> 0.

2, rotate back focus position C and drop on the second quadrant

When | X 1|>=| Y 1| time, X 2≤ 0, Y 2< 0;

When | X 1| < | Y 1| time, X 2< 0, Y 2> 0.

3, rotate back focus position C and drop on third quadrant

When | X 1|>=| Y 1| time, X 2≤ 0, Y 2< 0;

When | X 1| < | Y 1| time, X 2> 0, Y 2< 0.

4, rotate back focus position C and drop on fourth quadrant

When | X 1|>=| Y 1| time, X 2>=0, Y 2> 0;

When | X 1| < | Y 1| time, X 2> 0, Y 2< 0.

As shown in Figure 4, owing to there being the existence of skew, laser beam should be OB in theory originally, have now becomes OC, and BC is the length of skew, namely

Further, as shown in Figure 4, some B and some D is laser beam foucing, if collecting lens focal length is P, then OB=OD=P, does not seldom go out ⊿ OBC ∽ ⊿ OAD, can release namely then OA = P 2 P 2 + X 2 2 + Y 2 2 .

Therefore, the correction result of the final TCP of industrial robot is:

X-direction, skew x2;

Y-direction, skew y2;

Z-direction, skew

[embodiment two]

Introduce technical scheme of the present invention in order to clearer, present invention also provides a kind of means for correcting of tool central point of industrial robot, wherein, described device comprises:

First obtains unit 10, and described first obtains unit 10 for obtaining the object of reference that has XY reference axis;

First focal position determining unit 20, described theoretical laser spot for the TCP of described industrial robot is defined as theoretical laser spot, and is aimed at the origin position of described XY reference axis by described first focal position determining unit 20;

Second focal position determining unit 30, described second focal position determining unit 30, for laser instrument vertical rotary first angle by described industrial robot, obtains described postrotational focal position;

Running unit 40, described running unit 40 creates some program for running;

3rd focal position determining unit 50, described 3rd focal position determining 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 programming software correction result of described TCP being inputed to described industrial robot.

Further, described device also comprises:

Second obtains unit, and described second obtains unit for obtaining an establishment point program.

Further, described device also comprises:

Second rotary unit, described second rotary unit is used for the laser instrument vertical rotary 90 degree of described industrial robot.

Further, described device also comprises:

First dispensing unit, described first dispensing unit is for configuring the coordinate of described origin position for (0,0);

Second dispensing unit, described second dispensing unit is (X for configuring the coordinate of described postrotational focal position 1, Y 1);

3rd dispensing unit, described 3rd dispensing unit is (X for configuring the coordinate of the position of described actual focal spot 2, Y 2);

First computing unit, described first computing unit is used for calculating according to similar triangle theory or linear equation, obtains | X 2 | = | Y 1 - X 1 2 | , | Y 2 | = | Y 1 + X 1 2 | ;

4th dispensing unit, described 4th dispensing unit is P for configuring the collecting lens focal length of described industrial robot;

Second computing unit, described second computing unit is used for calculating according to described similar triangle theory or linear equation, and the correction result of described TCP is:

X-direction, skew X 2;

Y-direction, offset Y 2;

Z-direction, skew

In sum, a kind of bearing calibration of tool central point of industrial robot that provides of one embodiment of the invention and device have following technique effect:

One embodiment of the invention has the object of reference of XY reference axis by acquisition one; Then, the TCP of described industrial robot is defined as theoretical laser spot, and described theoretical laser spot is aimed at the origin position of described XY reference axis; Subsequently, by laser instrument vertical rotary first angle of described industrial robot, described postrotational focal position is obtained; Subsequently, an establishment point program is run; Subsequently, the position of practical laser focus is obtained; Subsequently, 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, utilize the axle of industrial robot self for benchmark, measure and rotate predetermined angular, the deviant of laser spot after such as 90 degree, and utilize linear equation or similar triangles to calculate, the technique effect that level of intelligence is high, correction accuracy is high can be reached.

Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong to the claims in the present invention and be equal to.

Claims (10)

1. a bearing calibration for tool central point of industrial robot, is characterized in that, described method comprises:
Obtain the object of reference that has XY reference axis;
The TCP of described industrial robot point is defined as theoretical laser spot, and described theoretical laser spot is aimed at the origin position of described XY reference axis;
By laser instrument vertical rotary first angle of described industrial robot, obtain described postrotational focal position;
Run and create some program;
Obtain the position of practical laser focus;
According to described origin position, described postrotational focal position, and the position calculation of described practical laser focus 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 inputs to described industrial robot is compensated.
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, by laser instrument vertical rotary first angle of described industrial robot, is specially:
By the laser instrument vertical rotary 90 degree of described industrial robot.
5. method as claimed in claim 4, it is characterized in that, described method also comprises:
Configure the coordinate of described origin position for (0,0);
The coordinate configuring described postrotational focal position is (X 1, Y 1);
The coordinate configuring the position of described practical laser focus is (X 2, Y 2);
Calculate according to similar triangle theory or linear equation, obtain | Y 2 | = | Y 1 + X 1 2 | ;
The collecting lens focal length configuring described industrial robot is P;
Calculate according to described similar triangle theory or linear equation, the correction result of described TCP is:
X-direction, skew X 2;
Y-direction, offset Y 2;
Z-direction, skew P 2 P 2 + X 2 2 + Y 2 2 .
6. a means for correcting for tool central point of industrial robot, is characterized in that, described device comprises:
First obtains unit, and described first obtains unit for obtaining the object of reference that has XY reference axis;
First focal position determining unit, described 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 at the origin position of described XY reference axis;
Second focal position determining unit, described second focal position determining unit is used for laser instrument vertical rotary first angle of described industrial robot, obtains described postrotational focal position;
Running unit, described running unit creates some program for running;
3rd focal position determining unit, described 3rd focal position determining 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 practical laser focus draws the correction result of described TCP.
7. device as claimed in claim 6, it is characterized in that, described device also comprises:
Input block, the programming software that described input block is used for the correction result of described TCP to input to described industrial robot compensates.
8. device as claimed in claim 6, it is characterized in that, described device also comprises:
Second obtains unit, and described second obtains unit for obtaining an establishment point program.
9. device as claimed in claim 6, it is characterized in that, described device also comprises:
Second rotary unit, described second rotary unit is used for the laser instrument vertical rotary 90 degree of described industrial robot.
10. device as claimed in claim 9, it is characterized in that, described device also comprises:
First dispensing unit, described first dispensing unit is for configuring the coordinate of described origin position for (0,0);
Second dispensing unit, described second dispensing unit is (X for configuring the coordinate of described postrotational focal position 1, Y 1);
3rd dispensing unit, described 3rd dispensing unit is (X for the coordinate of the position configuring described practical laser focus 2, Y 2);
First computing unit, described first computing unit is used for calculating according to similar triangle theory or linear equation, obtains | X 2 | = | Y - X 1 2 | , | Y 2 | = | Y + X 1 2 | ;
4th dispensing unit, described 4th dispensing unit is P for configuring the collecting lens focal length of described industrial robot;
Second computing unit, described second computing unit is used for calculating according to described similar triangle theory or linear equation, and the correction result of described TCP is:
X-direction, skew X 2;
Y-direction, offset Y 2;
Z-direction, skew P 2 P 2 + X 2 2 + Y 2 2 .
CN201310680224.7A 2013-12-12 2013-12-12 A kind of bearing calibration of tool central point of industrial robot and device CN103706945B (en)

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CN104002039B (en) * 2014-04-29 2016-08-24 大族激光科技产业集团股份有限公司 A kind of laser equipment obtains the method for laser spot
CN105091807B (en) * 2014-04-30 2017-12-01 鸿富锦精密工业(深圳)有限公司 The bearing calibration of robot tool coordinate system
CN105352657A (en) * 2015-10-08 2016-02-24 安徽埃力智能科技有限公司 Forcing device precise correction system and method for calibration of multidimensional force sensor
JP6567949B2 (en) * 2015-10-21 2019-08-28 フタバ産業株式会社 Processing apparatus and program

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