CN105397807A - Robot zero calibration device, robot zero calibration system and robot zero calibration method - Google Patents
Robot zero calibration device, robot zero calibration system and robot zero calibration method Download PDFInfo
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- CN105397807A CN105397807A CN201510974828.1A CN201510974828A CN105397807A CN 105397807 A CN105397807 A CN 105397807A CN 201510974828 A CN201510974828 A CN 201510974828A CN 105397807 A CN105397807 A CN 105397807A
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- 230000006698 induction Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 239000011159 matrix material Substances 0.000 claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
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- 230000001427 coherent effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The invention discloses a robot zero calibration device, a robot zero calibration system and a robot zero calibration method, wherein the robot zero calibration device comprises: the robot comprises a sensing component (1), wherein the sensing component (1) is provided with a sensing cavity and an opening for a robot (4) to enter the sensing cavity, and the inner side surface of the sensing cavity is provided with a position sensor matrix; a positioning block (2) for connection with a calibration site of the robot (4) for detection by the position sensor matrix; a moving base (3) for moving the robot (4) into the induction cavity. According to the zero calibration device for the robot, the robots of the same type can be automatically calibrated only by calibrating one robot and combining the sensing part, the positioning block and the mobile base, so that the complexity of manual sequential calibration is avoided, and the calibration efficiency and precision are improved; the calibration device is simple in structure, can calibrate zero positions of various types of robots, and improves universality.
Description
Technical field
The present invention relates to robotics, particularly a kind of robot zero point correction device, robot zero point correction system and calibration steps.
Background technology
At present, industrial robot has become a kind of standard device and has been used widely in the whole world.In industrial robot practical application, in order to reduce the error in practical operation, robot precision needs suitable method or system carries out calibration raising.
The manipulator motion of industrial robot needs according to the origin coordinates in three dimensions and terminal point coordinate determination movement locus, thus carries out trajectory planning.After trajectory planning, implement module by the action of moving control module for controlling, driven machine people.Mechanical arm can be moved in working space the point of a never teaching by the position of the target that robot works and attitude, is called calculation level.The precision arriving calculation level is the positioning precision of mechanical arm.The positioning precision of mechanical arm is subject to the impact of repeatable accuracy, is also subject to the impact of parameters precision in Robot kinematics equations simultaneously.Error in D-H (Denavit-Hartenberg, matrix) parameter will cause the error of calculation of joint angle in inverse kinematics equation.Therefore, the positioning precision of mechanical arm is usually poor, and change is quite large.
In the practical application of industrial robot, the high-precision applied environment of many needs can be related to, such as microelectronics, medical treatment, Precision Machining etc.In these cases, the calibration of industrial robot positioning precision is even more important.On the one hand, need to utilize calibration technique to do further to improve to industrial robot precision; On the other hand, the coherent detection industrial robot of R & D design being carried out to operating accuracy is needed, to quantize the reliability and stability of industrial robot work.
The zero point correction method of robot mainly contains three kinds of modes.The first, three-coordinates measuring machine or laser interferometer is used to carry out coordinate setting, then dead-center position calibration is carried out in the calculating by carrying out more intensive to equation in coordinates and calibration equation, the precision measured is higher, but measuring process is comparatively loaded down with trivial details, efficiency is not high, and the testing process of different model is different, and versatility is not high; The second, carries out the design of zero position in each joint, add fastening screw and calibrate, and the method precision is lower; The third, be contained in high-precision sensor on robot body, then carries out the demarcation at zero point, and the method is easy to install, design, but sensor is comparatively accurate, can introduce error and cause dead-center position inaccuracy in installation process.
Therefore, how to improve calibration efficiency and precision, improving versatility, is the art personnel problem demanding prompt solutions.
Summary of the invention
In view of this, the invention provides a kind of robot zero point correction device, improve calibration efficiency and precision, improve versatility.The invention also discloses a kind of robot zero point correction system and the robot zero point correction method with above-mentioned robot zero point correction device.
For achieving the above object, the invention provides following technical scheme:
A kind of robot zero point correction device, is characterized in that, comprising:
Sensing element, described sensing element has induction cavity and enters the opening of described induction cavity for robot, and the medial surface of described sensing cavity has position sensor matrix;
For being connected with the calibration site of described robot, for the locating piece that described position sensor matrix detects;
For described robot being moved to the movable base in described induction cavity.
Preferably, in above-mentioned robot zero point correction device, described sensing element comprises four sensor boards;
Be respectively: for being arranged at first sensor plate and the four-sensor plate of the both sides of to-be-detected machine people, for being arranged at second sensor board at the top of to-be-detected machine people, for being arranged at the 3rd sensor board of the front side of to-be-detected machine people.
Preferably, in above-mentioned robot zero point correction device, the medial surface of sensor board described in described position sensor Matrix cover.
Preferably, in above-mentioned robot zero point correction device, the bottom of described sensing element has horizontally disposed gripper shoe.
Preferably, in above-mentioned robot zero point correction device, the connecting pin for being connected with the calibration site of described robot by described locating piece is also comprised.
Present invention also offers a kind of robot zero point correction system, comprise robot, also comprise the robot zero point correction device as described in above-mentioned any one.
Preferably, in above-mentioned robot zero point correction system, described robot comprises the pedestal, first connecting rod, second connecting rod, third connecting rod, double leval jib, the 5th connecting rod and the end flange that are connected by axle joint successively.
Preferably, in above-mentioned robot zero point correction system, the quantity of described locating piece is four, is respectively the first locating piece be arranged on described first connecting rod, the second locating piece be arranged on described second connecting rod, is arranged at the 3rd locating piece on described third connecting rod and is arranged at the 4th locating piece of described end flange.
Present invention also offers a kind of robot zero point correction method, apply robot zero point correction device as described above; Comprise step:
1) calibration data is set;
2) robot to be calibrated is installed on movable base, locating piece is installed on its calibrating position, and move in induction cavity;
3) calibration site of described robot is detected and data acquisition;
4) image data and described calibration data are contrasted, Record Comparison result;
5) micrometric displacement adjustment is carried out to robot, then enters step 3) cycle detection, after cycle detection pre-determined number, enter next step;
6) using image data described in minimum for the difference of choosing image data and described calibration data a group as zero point correction data;
7) calculate the joint rotation angle of described robot according to described zero point correction data, and described joint rotation angle is saved in the controller of robot, as the deviation angle of the dead-center position of robot.
Preferably, in above-mentioned robot zero point correction method, described step 1) be specially:
11) calibrated robot is installed on movable base, locating piece is installed on its calibrating position, and move in induction cavity;
12) data acquisition carried out to the calibration site of described robot and be recorded as described calibration data.
Preferably, in above-mentioned robot zero point correction method, described step 5) in, according to comparing result, micrometric displacement adjustment is carried out to robot.
As can be seen from above-mentioned technical scheme, robot provided by the invention zero point correction device, in robot zero point correction process, show by calibrated robot as on movable base, the calibration site of robot connects locating piece; Robot moves in its induction cavity with movable base by the opening of sensing element, is recorded as calibration data by the position of the position sensor matrix detection and location block of the medial surface of sensing cavity.Then exit calibrated robot, by robot to be calibrated as on movable base, the calibration site of robot to be calibrated connects locating piece; Robot moves in induction cavity with movable base, compared with calibration data by the position of the position sensor matrix detection and location block of the medial surface of sensing cavity, robot is regulated according to comparative result, choose the zero point correction data of the image data minimum with calibration data difference as this robot, and calculate the joint rotation angle of robot, as the deviation angle of robot dead-center position.Robot provided by the invention zero point correction device, only need, to calibration robot, in conjunction with sensing element, locating piece and movable base, automatic calibration to be carried out to the robot of model of the same race, avoid manually calibrate successively loaded down with trivial details, improve calibration efficiency and precision; Calibrating installation structure is simple, can carry out dead-center position calibration, improve versatility to polytype robot.
Present invention also offers a kind of robot zero point correction system and the robot zero point correction method with above-mentioned robot zero point correction device.Because above-mentioned robot zero point correction device has above-mentioned technique effect, robot zero point correction system and the robot zero point correction method with above-mentioned robot zero point correction device also should have same technique effect, introduce no longer in detail at this.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural representation of the robot zero point correction system that Fig. 1 provides for the embodiment of the present invention;
The structural representation of the sensing element that Fig. 2 provides for the embodiment of the present invention;
The structural representation of the robot that Fig. 3 provides for the embodiment of the present invention and locating piece;
First structural representation of the robot that Fig. 4 provides for the embodiment of the present invention;
Second structural representation of the robot that Fig. 5 provides for the embodiment of the present invention.
Detailed description of the invention
The invention discloses a kind of robot zero point correction device, improve calibration efficiency and precision, the scope of application is wide.The invention also discloses a kind of robot zero point correction system and the robot zero point correction method with above-mentioned robot zero point correction device.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please refer to Fig. 1 and Fig. 2, the structural representation of the robot zero point correction system that Fig. 1 provides for the embodiment of the present invention; The structural representation of the sensing element that Fig. 2 provides for the embodiment of the present invention.
Embodiments provide a kind of robot zero point correction device, comprise sensing element 1, locating piece 2 and movable base 3.Sensing element 1 has induction cavity and enters the opening of induction cavity for robot 4, and the medial surface of sensing cavity has position sensor matrix; Locating piece 2 for being connected with the calibration site of robot 4, the position of position sensor matrix detection and location block 2; Movable base 3 is for moving to robot 4 in induction cavity.
The robot zero point correction device that the embodiment of the present invention provides, in robot zero point correction process, show by calibrated robot as on movable base 3, the calibration site of robot 4 connects locating piece 2; Robot moves in its induction cavity with movable base 3 by the opening of sensing element 1, is recorded as calibration data by the position of the position sensor matrix detection and location block 2 of the medial surface of sensing cavity.Then exit calibrated robot, by robot to be calibrated as on movable base 3, the calibration site of robot 4 to be calibrated connects locating piece 2; Robot moves in induction cavity with movable base 3, compared with calibration data by the position of the position sensor matrix detection and location block 2 of the medial surface of sensing cavity, robot 4 is regulated according to comparative result, choose the zero point correction data of the image data minimum with calibration data difference as this robot 4, and calculate the joint rotation angle of robot 4, as the deviation angle of robot dead-center position.The robot zero point correction device that the embodiment of the present invention provides, only need calibration robot 4, in conjunction with sensing element 1, locating piece 2 and movable base 3, automatic calibration can be carried out to the robot 4 of model of the same race, avoid manually calibrate successively loaded down with trivial details, improve calibration efficiency and precision; Calibrating installation structure is simple, can carry out dead-center position calibration, improve versatility to polytype robot 4.
In the present embodiment, sensing element 1 comprises four sensor boards; Be respectively: for being arranged at first sensor plate 11 and the four-sensor plate 14 of the both sides of to-be-detected machine people, for being arranged at second sensor board 12 at the top of to-be-detected machine people, for being arranged at the 3rd sensor board 13 of the front side of to-be-detected machine people.That is, sensing element 1 is rectangular configuration, only bottom surface and the face on rear side of robot vacant, and these two faces all can as robot 4 enter induction cavity opening.Preferably, due to bottom surface down, be not easy to robot 4 and pass in and out, therefore, preferably using the face of sensing element 1 on rear side of robot as opening, and the cavity of being encircled a city by first sensor plate 11, second sensor board 12, the 3rd sensor board 13 and four-sensor plate 14 is as induction cavity.By above-mentioned setting, facilitate the setting of sensing element 1, only need first sensor plate 11, second sensor board 12, the 3rd sensor board 13 and four-sensor plate 14 mutually vertically to connect.
In order to improve degree easy to detect and extensive degree further, the medial surface of position sensor Matrix cover sensor board.Also position sensor matrix can be made to be positioned at the local of the medial surface of sensor board, as position sensor matrix is positioned at the center or the upper right corner etc. of the medial surface of sensor board.
As shown in Figure 2, the bottom of sensing element 1 has horizontally disposed gripper shoe 15.In testing process, sensing element 1 is as on work-yard, and gripper shoe 15 is horizontally disposed with, and ensure that the stability of sensing element 1, avoids sensing element 1 and rocks, further increase calibration accuracy.
The robot zero point correction device that the embodiment of the present invention provides also comprises the connecting pin 5 for being connected with the calibration site of robot by locating piece 2.That is, locating piece 2 is connected with the calibration site of robot by connecting pin 5, makes locating piece 2 accurately be arranged at the calibration site of robot, further increases calibration accuracy.
The embodiment of the present invention additionally provides a kind of robot zero point correction system, comprises robot 4, also comprises as any one robot zero point correction device above-mentioned.Because above-mentioned robot zero point correction device has above-mentioned technique effect, the robot zero point correction system with above-mentioned robot zero point correction device also should have same technique effect, tires out no longer one by one state at this.
As shown in Fig. 3, Fig. 4 and Fig. 5, robot 4 is six-joint robot.It comprises the pedestal 40, first connecting rod 41, second connecting rod 42, third connecting rod 43, double leval jib 44, the 5th connecting rod 45 and the end flange 46 that are connected by axle joint successively.That is, pedestal 40 is all connected by axle joint with between end flange 46 with the 5th connecting rod 45 and the 5th connecting rod 45 with double leval jib 44, double leval jib 44 with third connecting rod 43, third connecting rod 43 with second connecting rod 42, second connecting rod 42 with first connecting rod 41, first connecting rod 41.By the six-joint robot being set to commonly use the most by robot 4, facilitate use.Certainly, also robot 4 can be set to wu-zhi-shan pig or four axle robots etc., not do concrete restriction at this.
In the present embodiment, the quantity of locating piece 2 is four, is respectively the first locating piece 21 be arranged on first connecting rod 41, the second locating piece 22 be arranged on second connecting rod 42, is arranged at the 3rd locating piece 23 on third connecting rod 43 and is arranged at the 4th locating piece 24 of end flange 46.Due to double leval jib 44 and the 5th connecting rod 45 less, therefore, locating piece 2 is not set, only first connecting rod 41, second connecting rod 42, third connecting rod 43 and end flange 46 is calibrated, while guaranteeing calibration accuracy, decrease parts.Five or six locating pieces 2 also can be set, so that improve calibration accuracy further.Certainly, also can arrange and be less than four locating pieces 2, e.g., a locating piece 2 is only set, reach the detection to calibrating position multiple in robot 4 by the position of running fix block 2 in robot 4.
The embodiment of the present invention additionally provides a kind of robot zero point correction method, and application is as any one robot zero point correction device above-mentioned; Comprise step:
S1: calibration data is set; In the position sensor matrix of sensing element 1, input the calibration data with the robot 4 of robot 4 model of the same race to be calibrated in advance, this calibration data is the data of robot 4 dead-center position.
S2: robot 4 to be calibrated is installed on movable base 3, locating piece 2 is installed on its calibrating position, and move in induction cavity; Wherein, the position of movable base 3 in induction cavity is fixed.
S3: data acquisition is carried out to the calibration site of robot 4; By position sensor matrix detection and location block 2, and then reach the detection of the calibration site to robot 4.
S4: image data and calibration data are contrasted, Record Comparison result; Contrast, the two difference result as a comparison according to the data gathered and the calibration data set before.
S5: carry out micrometric displacement adjustment to robot, then enters step S3 cycle detection, after cycle detection pre-determined number, enters next step.Be 10 times for cycle detection pre-determined number, be one-time detection by step 3-step 4-step 5, after finely tuning, enter step S3 again, circulate after 10 step 3-step 4-steps 5, enter next step.Be understandable that, cycle detection pre-determined number is determined according to actual demand, does not do concrete restriction at this.
S6: using one group of minimum for the difference of choosing image data and calibration data image data as zero point correction data.Be 10 times for cycle detection pre-determined number, in 10 testing processes, need to draw comparing result 10 times, wherein, determine according to comparing result, choose one group that the difference of image data and calibration data is minimum, be set to zero point correction data.
S7: according to the joint rotation angle of zero point correction data computer device people, and joint rotation angle is saved in the controller of robot, as the deviation angle of the dead-center position of robot.
The robot zero point correction method that the embodiment of the present invention provides, avoids manually calibrate successively loaded down with trivial details, improves calibration efficiency and precision; Calibrating installation structure is simple, and can carry out dead-center position calibration to polytype robot 4, the scope of application is wide.
Further, step S1 is specially:
S11: calibrated robot 4 is installed on movable base 3, locating piece 2 is installed on its calibrating position, and move in induction cavity;
S12: the calibration site of robot 4 is carried out to data acquisition and is recorded as calibration data.
That is, only need calibration robot 4, with this robot 4 for foundation, setting calibration data.Effectively improve the accuracy of calibration data.Also can regulate robot to be detected in testing process, and then draw calibration data, introduce no longer in detail at this.
Further, in step S5, according to comparing result, micrometric displacement adjustment is carried out to robot.By comparing result, micrometric displacement adjustment is carried out to robot to be detected, make image data closer to calibration data, further increase calibration accuracy.Wherein, micrometric displacement adjustment reaches Adjustment effect according to regulating the joint angles of robot.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (11)
1. a robot zero point correction device, is characterized in that, comprising:
Sensing element (1), described sensing element (1) has induction cavity and enters the opening of described induction cavity for robot (4), and the medial surface of described sensing cavity has position sensor matrix;
For being connected with the calibration site of described robot (4), for the locating piece (2) that described position sensor matrix detects;
For described robot (4) being moved to the movable base (3) in described induction cavity.
2. robot as claimed in claim 1 zero point correction device, it is characterized in that, described sensing element (1) comprises four sensor boards;
Be respectively: for being arranged at first sensor plate (11) and the four-sensor plate (14) of the both sides of to-be-detected machine people, for being arranged at second sensor board (12) at the top of to-be-detected machine people, for being arranged at the 3rd sensor board (13) of the front side of to-be-detected machine people.
3. robot as claimed in claim 2 zero point correction device, is characterized in that, the medial surface of sensor board described in described position sensor Matrix cover.
4. robot as claimed in claim 1 zero point correction device, it is characterized in that, the bottom of described sensing element (1) has horizontally disposed gripper shoe (15).
5. robot as claimed in claim 1 zero point correction device, is characterized in that, also comprising the connecting pin (5) for being connected with the calibration site of described robot by described locating piece (2).
6. a robot zero point correction system, comprises robot (4), it is characterized in that, also comprises the robot zero point correction device as described in any one of claim 1-5.
7. robot as claimed in claim 6 zero point correction system, it is characterized in that, described robot (4) comprises the pedestal (40), first connecting rod (41), second connecting rod (42), third connecting rod (43), double leval jib (44), the 5th connecting rod (45) and the end flange (46) that are connected by axle joint successively.
8. robot as claimed in claim 7 zero point correction system, it is characterized in that, the quantity of described locating piece (2) is four, is respectively the first locating piece (21) be arranged on described first connecting rod (41), the second locating piece (22) be arranged on described second connecting rod (42), is arranged at the 3rd locating piece (23) on described third connecting rod (43) and is arranged at the 4th locating piece (24) of described end flange (46).
9. a robot zero point correction method, is characterized in that, applies the robot zero point correction device as described in any one of claim 1-5; Comprise step:
1) calibration data is set;
2) robot (4) to be calibrated is installed on movable base (3), locating piece (2) is installed on its calibrating position, and move in induction cavity;
3) calibration site of described robot (4) is detected and data acquisition;
4) image data and described calibration data are contrasted, Record Comparison result;
5) micrometric displacement adjustment is carried out to robot, then enters step 3) cycle detection, after cycle detection pre-determined number, enter next step;
6) using image data described in minimum for the difference of choosing image data and described calibration data a group as zero point correction data;
7) calculate the joint rotation angle of described robot according to described zero point correction data, and described joint rotation angle is saved in the controller of robot, as the deviation angle of the dead-center position of robot.
10. robot as claimed in claim 9 zero point correction method, is characterized in that, described step 1) be specially:
11) calibrated robot (4) is installed on movable base (3), locating piece (2) is installed on its calibrating position, and move in induction cavity;
12) data acquisition carried out to the calibration site of described robot (4) and be recorded as described calibration data.
11. robot zero point correction methods as described in claim 9 or 10, is characterized in that, described step 5) in, according to comparing result, micrometric displacement adjustment is carried out to robot.
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| CN105773660B (en) * | 2016-05-28 | 2018-07-06 | 埃夫特智能装备股份有限公司 | Robot dead-center position caliberating device and scaling method |
| CN107718049A (en) * | 2017-11-10 | 2018-02-23 | 尊道（上海）自动化设备有限公司 | A kind of testing agency of robot work position skew and detection method |
| CN107718049B (en) * | 2017-11-10 | 2022-02-15 | 尊道（上海）自动化设备有限公司 | Detection mechanism and detection method for deviation of working position of manipulator |
| JP2020040165A (en) * | 2018-09-11 | 2020-03-19 | ファナック株式会社 | Calibration system and calibration method for robot |
| US11230013B2 (en) | 2018-09-11 | 2022-01-25 | Fanuc Corporation | Calibration system and calibration method of robot |
| CN111113490A (en) * | 2019-12-31 | 2020-05-08 | 深圳市远弗科技有限公司 | Large-scale customized automatic calibration system and method for visual robot |
| CN113804682A (en) * | 2021-09-14 | 2021-12-17 | 无锡骄成智能科技有限公司 | Tire auxiliary detection unit based on PLC and control method thereof |
| CN115082661A (en) * | 2022-07-11 | 2022-09-20 | 阿斯曼尔科技(上海)有限公司 | Method for reducing assembly difficulty of sensor |
| CN115082661B (en) * | 2022-07-11 | 2024-05-10 | 阿斯曼尔科技(上海)有限公司 | Sensor assembly difficulty reducing method |
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