CN105437230A - industrial robot tool coordinate calibration device and method - Google Patents
industrial robot tool coordinate calibration device and method Download PDFInfo
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- CN105437230A CN105437230A CN201510907574.1A CN201510907574A CN105437230A CN 105437230 A CN105437230 A CN 105437230A CN 201510907574 A CN201510907574 A CN 201510907574A CN 105437230 A CN105437230 A CN 105437230A
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- 238000001514 detection method Methods 0.000 claims abstract description 39
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- 238000009790 rate-determining step (RDS) Methods 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
- B25J9/16—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 device and a method for calibrating tool coordinates of an industrial robot, wherein a calibration magnetic field generating device which can move along with a tool is fixed on the tool, the strength of a calibration magnetic field is detected by a detection device when the tool moves, and the tool is controlled to move to a position with the maximum detection value of the calibration magnetic field from different coordinate axis directions in sequence, so that teaching in tool coordinate calibration can be automatically completed, and further, the tool coordinate calibration can be carried out based on the movement parameters of the industrial robot recorded by automatic teaching. The device and the method of the embodiment of the invention can improve the efficiency and the precision of calibration.
Description
Technical field
The present invention relates to robot field, be specifically related to a kind of industrial robot tool coordinates calibrating installation and method.
Background technology
Industrial robot is one of parts important in industrial automation system.Usually, need that the instrument (or claiming actuator) performing concrete manufacturing operation is installed on the robotic arm of industrial robot to manufacture.Because industrial robot instrument directly contacts with the target object of processing, coordinate precision and the effect height correlation finally run of industrial robot end-of-arm tooling, therefore need the coordinate precision improving industrial robot end-of-arm tooling.
Usually, tool end is called relative to the calibration of the coordinate of industrial robot ending coordinates system or demarcation tool coordinates is calibrated.In actual applications, the minor variations of instrument and fixture all can make the tool coordinates of industrial robot inaccurate, and the error of tool tip center position will have influence on position and the attitude of robot tool, thus cause the deviation of moving in application process, cause the industrial robot application with requirements for high precision to complete smoothly.In order to truing tool coordinate, usually need to move to a position (this process is commonly called " teaching ") identified by such as cone tips by the artificial end by instrument.Make the controller of industrial robot can calculate the coordinate obtaining tool tip, to realize the calibration for tool coordinates thus.But, carry out the process length consuming time of artificial teaching, and precision can not be guaranteed.
Summary of the invention
In view of this, the invention provides a kind of industrial robot tool coordinates calibrating installation and method, carry out the teaching in tool coordinates calibration in an automated way, improve calibration efficiency and calibration accuracy.
First aspect, provides a kind of industrial robot tool coordinates calibrating installation, comprising:
Calibration magnetic field generation device, for being fixed on the instrument of described industrial robot, produces calibration magnetic field;
Checkout gear, for detecting the intensity in described calibration magnetic field along three different change in coordinate axis direction in precalculated position; And
Control device, be connected with described checkout gear and described industrial robot, for control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and control the moving parameter that described industrial robot obtains correspondence, based on described moving parameter truing tool coordinate.
Preferably, described checkout gear comprises:
Pedestal;
Induction coil;
Rotatable parts, for described induction coil is fixed on described pedestal, and make described induction coil can rotate two rotational freedom scopes relative to described pedestal.
Preferably, described rotatable parts comprise:
First cradle head, is connected with described pedestal, can rotate with the first rotational freedom;
Second cradle head, is connected with the housing of described induction coil, can rotate with the second rotational freedom;
Support component, is arranged between described first cradle head and described second cradle head.
Preferably, described calibration magnetic field generation device comprises:
Magnet assembly, for generation of described calibration magnetic field;
Fixed part, for being fixedly connected with the instrument of described magnet assembly with described industrial robot.
Preferably, described fixed part is suitable for the position that regulates described magnet assembly relative to described instrument.
Preferably, described control device moves back and forth along the first change in coordinate axis direction for controlling described industrial robot, and the detected value in the calibration magnetic field of receiving detection device acquisition, and control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the first reference axis, record the moving parameter of described industrial robot along the first change in coordinate axis direction;
Described control device is that starting point moves back and forth along the second change in coordinate axis direction for controlling described industrial robot with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the second reference axis, record the moving parameter of described industrial robot along the second change in coordinate axis direction;
Described control device is that starting point moves back and forth along three axes direction for controlling described industrial robot with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of three axes, record described industrial robot along the axial moving parameter of three-dimensional.
Preferably, described checkout gear comprises:
Pedestal;
Induction coil;
Rotatable parts, for described induction coil is fixed on described pedestal, and control described induction coil is rotated two rotational freedom scopes relative to described pedestal according to described control device;
Described control device also for controlling described industrial robot along change in coordinate axis direction shuttle era, controlling described rotatable parts and rotating to make the axis of described induction coil parallel with corresponding change in coordinate axis direction.
Preferably, described control device be used for repeatedly control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and control industrial robot many groups moving parameter, and carry out tool coordinates calibration based on the many groups moving parameter obtained.
Second aspect, provides a kind of industrial robot tool coordinates calibration steps, comprising:
The instrument of described industrial robot arranges calibration magnetic field generation device, to produce the calibration magnetic field with movement of tool, and checkout gear is set in precalculated position to detect described calibration magnetic field;
Control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and obtain the moving parameter of industrial robot, move parametric calibration tool coordinates based on described industrial robot.
Preferably, control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and the moving parameter obtaining industrial robot comprises:
Control described industrial robot to move back and forth along the first change in coordinate axis direction, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the first reference axis, record the moving parameter of described industrial robot along the first change in coordinate axis direction;
Controlling described industrial robot is that starting point moves back and forth along the second change in coordinate axis direction with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the second reference axis, record the moving parameter of described industrial robot along the second change in coordinate axis direction;
Controlling described industrial robot is that starting point moves back and forth along three axes direction with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of three axes, record described industrial robot along the axial moving parameter of three-dimensional.
Preferably, control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and obtain the moving parameter of industrial robot, move parametric calibration tool coordinates based on described industrial robot and comprise:
Repeatedly control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, to obtain many groups moving parameter of industrial robot, and carry out tool coordinates calibration based on the many groups moving parameter obtained.
Can with the synkinematic calibration magnetic field generating arrangement of instrument one by fixing on instrument, and by calibrating the intensity in magnetic field during the motion of checkout gear testing tool, move to calibration magnetic field detection from different change in coordinate axis direction successively by control tool to be worth maximum position and (to be also, position near checkout gear), thus, automatically can complete the teaching in tool coordinates calibration, and then parameter can be moved based on the industrial robot of automatic teaching record and carry out tool coordinates calibration.The apparatus and method of the embodiment of the present invention can improve efficiency and the precision of calibration.
Accompanying drawing explanation
By referring to the description of accompanying drawing to the embodiment of the present invention, above-mentioned and other objects, features and advantages of the present invention will be more clear, in the accompanying drawings:
Fig. 1 is the block diagram of the industrial robot tool coordinates calibrating installation of the embodiment of the present invention;
Fig. 2 is the schematic diagram of the industrial robot tool coordinates calibrating installation of the embodiment of the present invention;
Fig. 3 is the schematic diagram of the checkout gear of the embodiment of the present invention;
Fig. 4 is the curve map of the magnetic field intensity detected value that the checkout gear of the embodiment of the present invention obtains;
Fig. 5 is the flow chart of the industrial robot tool coordinates calibration steps of the embodiment of the present invention;
Fig. 6 is the flow chart of rate-determining steps in the industrial robot tool coordinates calibration steps of the embodiment of the present invention.
Detailed description of the invention
Based on embodiment, present invention is described below, but the present invention is not restricted to these embodiments.In hereafter details of the present invention being described, detailedly describe some specific detail sections.Do not have the description of these detail sections can understand the present invention completely for a person skilled in the art yet.In order to avoid obscuring essence of the present invention, known method, process, flow process, element and circuit do not describe in detail.
In addition, it should be understood by one skilled in the art that the accompanying drawing provided at this is all for illustrative purposes, and accompanying drawing is not necessarily drawn in proportion.
Unless the context clearly requires otherwise, similar words such as " comprising ", " comprising " otherwise in whole description and claims should be interpreted as the implication that comprises instead of exclusive or exhaustive implication; That is, be the implication of " including but not limited to ".
In describing the invention, it is to be appreciated that term " first ", " second " etc. are only for describing object, and instruction or hint relative importance can not be interpreted as.In addition, in describing the invention, except as otherwise noted, the implication of " multiple " is two or more.
Fig. 1 is the block diagram of the industrial robot tool coordinates calibrating installation of the embodiment of the present invention.Fig. 2 is the schematic diagram of the industrial robot tool coordinates calibrating installation of the embodiment of the present invention.
As depicted in figs. 1 and 2, the industrial robot tool coordinates calibrating installation of the present embodiment comprises calibration magnetic field generation device 1, checkout gear 2 and control device 3.In FIG, the connecting line between parts, mechanical connection indicated by the solid line, electrical connection represented by dashed line or signal connect.
Wherein, calibration magnetic field generation device 1, for being fixed on the instrument 5 of described industrial robot 4, produces calibration magnetic field.
Particularly, calibrate magnetic field generation device 1 and can comprise fixture magnet assembly 11 and fixed part 12.Wherein, magnet assembly 11 can be permanent magnet or solenoid, for generation of the calibration magnetic field by the distribution of predetermined rule.Fixed part 12 is for being fixedly connected with the instrument 5 of magnet assembly 11 with described industrial robot 4.After fixing, magnet assembly 11 will move with instrument 5.
When mounted, make the end of fixing rear instrument 5 be positioned at the center of magnet assembly 11 as far as possible, also, the position that magnetic field intensity is the strongest.Preferably, fixed part 12 is set to the relative position being suitable for regulating magnet assembly 11 and instrument 5, to realize above-mentioned target.Certainly, it will be appreciated by those skilled in the art that, even if the end of instrument 5 is not in the strongest position of magnetic field intensity after installing, because the relativeness of itself and the most strong position of magnetic field intensity is determined, therefore, when the position that magnetic field intensity is the strongest reaches a precalculated position, the end of instrument 41 also can corresponding arrival precalculated position.And because teaching process is for position and not specially provided for, only need the position of each teaching identical, thus, even if the end of instrument 41 is not in the strongest position of magnetic field intensity after installing, also object of the present invention can be realized.
Checkout gear 2 is for detecting the intensity in described calibration magnetic field along three different change in coordinate axis direction in precalculated position.
Particularly, checkout gear 2 comprises pedestal 21, induction coil 22 and rotatable parts 23.
Wherein, in a preferred embodiment, the two ends of induction coil 22 are drawn by wire, are connected to control device 3, are obtained the detected value of magnetic field intensity by control device 3 based on induced-current.
Rotatable parts 23 are for being fixed on the top of pedestal 21 by induction coil 22.Meanwhile, rotatable parts 23 can rotate described induction coil 22 relative to described pedestal two rotational freedom scopes, make induction coil 22 and different reference axis keeping parallelisms thus, thus the magnetic field of induction on different change in coordinate axis direction.
As shown in Figure 3, in a preferred embodiment, the rotatable parts 23 support component 23c that can comprise the first cradle head 23a, the second cradle head 23b and be arranged between the two.Wherein, the first cradle head 23a is connected with described pedestal, can rotate with the first rotational freedom.In coordinate system shown in Fig. 3, described first cradle head 23a can rotate around Z axis.Second cradle head 23b is connected with described support component 23c and described induction coil 22 (such as its housing), can rotate with the second rotational freedom.In the coordinate system shown in Fig. 3, described second cradle head 23b can rotate around Y-axis.Thus, axially arranging along X-axis, Y-axis or Z axis of induction coil 22 can be made by rotating first, second cradle head 23a and 23b, thus detect the magnetic field of correspondence direction.
Be connected by communication interface between control device 3 with checkout gear 2, described communication interface can be wireline interface also can be wave point.Control device 3 can be arranged in the pedestal of described checkout gear, thus both are formed as one.Thus, between the two can the signal of telecommunication (such as, current signal) of directly transmitting digital signals or other types.Control device 3 is also connected with the controller of industrial robot 4 simultaneously, for control described industrial robot 4 successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and obtain the moving parameter of industrial robot 4, move parametric calibration tool coordinates based on described industrial robot.
Particularly, control device 3 controls industrial robot in the following way and moves precalculated position to complete teaching.
First, make induction coil 22 parallel with the first change in coordinate axis direction by rotating tumbler 23, then control device 3 controls described industrial robot 4 driven tool 5 along the first change in coordinate axis direction (such as Z-direction) reciprocating motion, and the detected value in the calibration magnetic field of receiving detection device 2 acquisition.In checkout gear 2 position should cover by this reciprocating scope.As shown in Figure 4, along with magnet assembly 11 is different from the position of checkout gear 2, the detected value in the calibration magnetic field that checkout gear 2 gets can change, when detected value is maximum, magnet assembly 11 in fact time closest to checkout gear 2.Thus, control device 3 controls industrial robot and moves the correspondence position of checkout gear 2 at the maximum detected value of the first reference axis, and records the moving parameter of described industrial robot along the first change in coordinate axis direction.Thus, can determine to make the end of instrument 41 be positioned at the position closest to checkout gear 2 at the first change in coordinate axis direction.
Further, make induction coil 22 parallel with the second change in coordinate axis direction by rotating tumbler 23, then control device 3 controls described industrial robot 4 is that starting point drives described instrument 5 to move back and forth along the second change in coordinate axis direction (such as X-direction) with current location, and the detected value in the calibration magnetic field of receiving detection device 2 acquisition, control industrial robot moves checkout gear and at the correspondence position of the maximum detected value of the second reference axis (is also, in X-direction closest to checkout gear 2 position), record the moving parameter of described industrial robot along the second change in coordinate axis direction.
Further again, make induction coil 22 parallel with three axes direction by rotating tumbler 23, then control device 3 controls described industrial robot 4 is that starting point drives described instrument 5 to move back and forth along three axes direction (such as Y direction) with current location, and the detected value in the calibration magnetic field of receiving detection device 2 acquisition, control industrial robot moves checkout gear and at the correspondence position of the maximum detected value of three axes (is also, in X-direction closest to checkout gear 2 position), record described industrial robot along the axial moving parameter of three-dimensional.
Wherein, the rotation of tumbler 23 can have and manually completes, and also automatically can be completed to driving the motor sending controling instruction of tumbler 23 by control device 3.Obviously, the position automatically controlling induction coil 22 by control device 3 can improve efficiency and the precision of teaching process further.
Thus, maximum position is worth by moving to corresponding magnetic field detection independently from three change in coordinate axis direction successively, industrial robot driven tool can be made to move to a preposition from initial position, and obtain the corresponding moving parameter carrying out movement, automatically complete a teaching.
Usually, by changing initial position, repeatedly teaching can be completed, and obtain the moving parameter of industrial robot in repeatedly teaching, based on this moving parameter, tool coordinates being calibrated.Preferably, in the present embodiment, by circulation said process 4 times, complete 4 teachings, realize tool coordinates is calibrated based on 4 groups of different moving parameters.
Thus, can with the synkinematic calibration magnetic field generating arrangement of instrument one by fixing on instrument, and by calibrating the intensity in magnetic field during the motion of checkout gear testing tool, move to calibration magnetic field detection from different change in coordinate axis direction successively by control tool to be worth maximum position and (to be also, position near checkout gear), thus, automatically can complete the teaching in tool coordinates calibration, and then parameter can be moved based on the industrial robot of automatic teaching record and carry out tool coordinates calibration.The device of the embodiment of the present invention can improve efficiency and the precision of calibration.Meanwhile, the detection target using magnetic field to carry out calibrating coordinates can avoid external interference.
Fig. 5 is the flow chart of the industrial robot tool coordinates calibration steps of the embodiment of the present invention.As shown in Figure 5, described method comprises:
Step S100, calibration magnetic field generation device is set on the instrument of described industrial robot, to produce the calibration magnetic field with movement of tool, and checkout gear is set in precalculated position to detect described calibration magnetic field.
Step S200, control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and obtain the moving parameter of industrial robot, move parametric calibration tool coordinates based on described industrial robot.
Particularly, as shown in Figure 6, described step 200 comprises:
Step 210, control described industrial robot and move back and forth along the first change in coordinate axis direction, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the first reference axis, record the moving parameter of described industrial robot along the first change in coordinate axis direction.
Step 220, to control described industrial robot be that starting point moves back and forth along the second change in coordinate axis direction with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the second reference axis, record the moving parameter of described industrial robot along the second change in coordinate axis direction.
Step 230, to control described industrial robot be that starting point moves back and forth along three axes direction with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of three axes, record described industrial robot along the axial moving parameter of three-dimensional.
Step 240, according to described moving parameter truing tool coordinate.
Preferably, can by repeatedly automatically teaching obtain industrial robot driven tool to move to precalculated position many groups moving parameter from initial position.Putting before this, step S200 can comprise:
Step 240a, judge whether number of repetition, if not, then proceeded to step 210, carried out teaching automatically next time, if not, then proceed to step 240.
Thus, can with the synkinematic calibration magnetic field generating arrangement of instrument one by fixing on instrument, and by calibrating the intensity in magnetic field during the motion of checkout gear testing tool, move to calibration magnetic field detection from different change in coordinate axis direction successively by control tool to be worth maximum position and (to be also, position near checkout gear), thus, automatically can complete the teaching in tool coordinates calibration, and then parameter can be moved based on the industrial robot of automatic teaching record and carry out tool coordinates calibration.The method of the embodiment of the present invention can improve efficiency and the precision of calibration.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, to those skilled in the art, the present invention can have various change and change.All do within spirit of the present invention and principle any amendment, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. an industrial robot tool coordinates calibrating installation, comprising:
Calibration magnetic field generation device, for being fixed on the instrument of described industrial robot, produces calibration magnetic field;
Checkout gear, for detecting the intensity in described calibration magnetic field along three different change in coordinate axis direction in precalculated position; And
Control device, be connected with described checkout gear and described industrial robot, for control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and control the moving parameter that described industrial robot obtains correspondence, based on described moving parameter truing tool coordinate.
2. industrial robot tool coordinates calibrating installation according to claim 1, it is characterized in that, described checkout gear comprises:
Pedestal;
Induction coil;
Rotatable parts, for described induction coil is fixed on described pedestal, and make described induction coil can rotate two rotational freedom scopes relative to described pedestal.
3. industrial robot tool coordinates calibrating installation according to claim 2, it is characterized in that, described rotatable parts comprise:
First cradle head, is connected with described pedestal, can rotate with the first rotational freedom;
Second cradle head, is connected with the housing of described induction coil, can rotate with the second rotational freedom;
Support component, is arranged between described first cradle head and described second cradle head.
4. industrial robot tool coordinates calibrating installation according to claim 1, is characterized in that, described calibration magnetic field generation device comprises:
Magnet assembly, for generation of described calibration magnetic field;
Fixed part, for being fixedly connected with the instrument of described magnet assembly with described industrial robot.
5. industrial robot tool coordinates calibrating installation according to claim 4, is characterized in that, described fixed part is suitable for the position regulating described magnet assembly relative to described instrument.
6. industrial robot tool coordinates calibrating installation according to claim 1, it is characterized in that, described control device moves back and forth along the first change in coordinate axis direction for controlling described industrial robot, and the detected value in the calibration magnetic field of receiving detection device acquisition, and control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the first reference axis, record the moving parameter of described industrial robot along the first change in coordinate axis direction;
Described control device is that starting point moves back and forth along the second change in coordinate axis direction for controlling described industrial robot with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the second reference axis, record the moving parameter of described industrial robot along the second change in coordinate axis direction;
Described control device is that starting point moves back and forth along three axes direction for controlling described industrial robot with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of three axes, record described industrial robot along the axial moving parameter of three-dimensional.
7. industrial robot tool coordinates calibrating installation according to claim 6, it is characterized in that, described checkout gear comprises:
Pedestal;
Induction coil;
Rotatable parts, for described induction coil is fixed on described pedestal, and control described induction coil is rotated two rotational freedom scopes relative to described pedestal according to described control device;
Described control device also for controlling described industrial robot along change in coordinate axis direction shuttle era, controlling described rotatable parts and rotating to make the axis of described induction coil parallel with corresponding change in coordinate axis direction.
8. the industrial robot tool coordinates calibrating installation according to any one of claim 1-7, it is characterized in that, described control device be used for repeatedly control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and control industrial robot many groups moving parameter, and carry out tool coordinates calibration based on the many groups moving parameter obtained.
9. an industrial robot tool coordinates calibration steps, comprising:
The instrument of described industrial robot arranges calibration magnetic field generation device, to produce the calibration magnetic field with movement of tool, and checkout gear is set in precalculated position to detect described calibration magnetic field;
Control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and obtain the moving parameter of industrial robot, move parametric calibration tool coordinates based on described industrial robot.
10. industrial robot tool coordinates calibration steps according to claim 9, it is characterized in that, control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and the moving parameter obtaining industrial robot comprises:
Control described industrial robot to move back and forth along the first change in coordinate axis direction, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the first reference axis, record the moving parameter of described industrial robot along the first change in coordinate axis direction;
Controlling described industrial robot is that starting point moves back and forth along the second change in coordinate axis direction with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of the second reference axis, record the moving parameter of described industrial robot along the second change in coordinate axis direction;
Controlling described industrial robot is that starting point moves back and forth along three axes direction with current location, and the detected value in the calibration magnetic field of receiving detection device acquisition, control industrial robot and move the correspondence position of checkout gear at the maximum detected value of three axes, record described industrial robot along the axial moving parameter of three-dimensional.
Industrial robot tool coordinates calibration steps described in 11. claims 9 or 10, it is characterized in that, control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, and obtain the moving parameter of industrial robot, move parametric calibration tool coordinates based on described industrial robot and comprise:
Repeatedly control described industrial robot successively along three different change in coordinate axis direction move to move along respective coordinates axle time calibration magnetic field detection be worth maximum position, to obtain many groups moving parameter of industrial robot, and carry out tool coordinates calibration based on the many groups moving parameter obtained.
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| CN107803836A (en) * | 2017-11-23 | 2018-03-16 | 纳博特南京科技有限公司 | Industrial robot tool coordinates calibrating installation |
| CN108115683A (en) * | 2016-11-30 | 2018-06-05 | 西门子保健有限责任公司 | The calculating of the calibration parameter of robot tool |
| CN110053040A (en) * | 2018-01-18 | 2019-07-26 | 深圳市裕展精密科技有限公司 | The calibration method in robot tool face |
| US10926414B2 (en) | 2017-09-29 | 2021-02-23 | Industrial Technology Research Institute | System and method for calibrating tool center point of robot |
| CN112605995A (en) * | 2020-12-15 | 2021-04-06 | 山东威高医疗科技有限公司 | Mechanical arm movement calibration method based on magnetic field emitter |
| CN112975960A (en) * | 2021-02-10 | 2021-06-18 | 西北工业大学 | Method for establishing robot tail end fine control model and calibrating parameters |
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