CN105437230B - Industrial robot tool coordinates calibrating installation and method - Google Patents
Industrial robot tool coordinates calibrating installation and method Download PDFInfo
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- CN105437230B CN105437230B CN201510907574.1A CN201510907574A CN105437230B CN 105437230 B CN105437230 B CN 105437230B CN 201510907574 A CN201510907574 A CN 201510907574A CN 105437230 B CN105437230 B CN 105437230B
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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
Abstract
The invention discloses a kind of industrial robot tool coordinates calibrating installation and method, can be with the synkinematic calibration magnetic field generating arrangement of instrument one by the fixation on instrument, and the intensity in magnetic field is calibrated when detecting movement of tool by detection means, the maximum position of calibration magnetic field detection value is moved to from different change in coordinate axis direction by control instrument successively, thus, the teaching in tool coordinates calibration can be automatically performed, and then the industrial robot that can be recorded based on automatic teaching moves parameter to carry out tool coordinates calibration.The apparatus and method of the embodiment of the present invention can improve the efficiency and precision of calibration.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of industrial robot tool coordinates calibrating installation and method.
Background technology
Industrial robot is one of important part in industrial automation system.It is often necessary in the machine of industrial robot
Installed on device arm and perform the instrument (or actuator) of specific manufacturing operation to be manufactured.Because industrial robot instrument is straight
Connect and be in contact with the target object processed, the coordinate precision of industrial robot end-of-arm tooling and the effect height phase finally run
Close, it is therefore desirable to improve the coordinate precision of industrial robot end-of-arm tooling.
Generally, the calibration or demarcation of the coordinate by tool end relative to industrial robot ending coordinates system are referred to as to instrument
Calibrating coordinates.In actual applications, the minor variations of instrument and fixture can all make it that the tool coordinates of industrial robot are forbidden
Really, and the error of tool tip center position will have influence on position and the posture of robot tool, so as to cause application process
The deviation of middle motion, causes the industrial robot application with requirements for high precision not smoothly complete.For truing tool coordinate,
It is generally necessary to which the end of instrument is moved into a position by such as cone tips mark by manually, (this process is usual
It is referred to as " teaching ").So that the controller of industrial robot can calculate obtain tool tip coordinate, with realize for
The calibration of tool coordinates.However, carrying out the process of artificial teaching, time-consuming, and precision cannot be guaranteed.
The content of the invention
In view of this, the present invention provides a kind of industrial robot tool coordinates calibrating installation and method, in an automated way
To carry out the teaching in tool coordinates calibration, calibration efficiency and calibration accuracy are improved.
First aspect there is provided a kind of industrial robot tool coordinates calibrating installation, including：
Magnetic field generation device is calibrated, the instrument for being fixed on the industrial robot produces calibration magnetic field；
Detection means, the intensity for detecting the calibration magnetic field along three different change in coordinate axis direction in precalculated position；With
And
Control device, is connected with the detection means and the industrial robot, for control the industrial robot according to
It is secondary along three different change in coordinate axis direction be moved to along respective coordinates axle move when the maximum position of calibration magnetic field detection value, and control
The industrial robot obtains corresponding moving parameter, based on the moving parameter truing tool coordinate.
Preferably, the detection means includes：
Pedestal；
Induction coil；
Rotatable parts, for the induction coil to be fixed on into the pedestal, and enable the induction coil relative to
The pedestal is rotated in two rotational freedom scopes.
Preferably, the rotatable parts include：
First cradle head, is connected with the pedestal, can be rotated with the first rotational freedom；
Second cradle head, is connected with the housing of the induction coil, can be rotated with the second rotational freedom；
Support member, is arranged between first cradle head and second cradle head.
Preferably, the calibration magnetic field generation device includes：
Magnet assembly, for producing the calibration magnetic field；
Fixed component, for the magnet assembly to be fixedly connected with the instrument of the industrial robot.
Preferably, the fixed component is suitable to adjust position of the magnet assembly relative to the instrument.
Preferably, the control device is used to control the industrial robot to move back and forth along the first change in coordinate axis direction, and
The detected value in the calibration magnetic field that receiving detection device is obtained, and control industrial robot movement to detection means in the first reference axis
Maximum detected value correspondence position, record moving parameter of the industrial robot along the first change in coordinate axis direction；
The control device is used to control the industrial robot past along the second change in coordinate axis direction by starting point of current location
Multiple motion, and the detected value in calibration magnetic field that receiving detection device is obtained, control industrial robot movement to detection means is the
The correspondence position of the maximum detected value of two reference axis, records moving parameter of the industrial robot along the second change in coordinate axis direction；
The control device is used to control the industrial robot past by starting point of current location along three axes direction
Multiple motion, and the detected value in calibration magnetic field that receiving detection device is obtained, control industrial robot movement to detection means is the
The correspondence position of the maximum detected value of three axes, records moving parameter of the industrial robot along three axes direction.
Preferably, the detection means includes：
Pedestal；
Induction coil；
Rotatable parts, for the induction coil to be fixed on into the pedestal, and cause according to control device control
The induction coil is rotated relative to the pedestal in two rotational freedom scopes；
The control device is additionally operable to controlling the industrial robot along change in coordinate axis direction shuttle era, and control is described
Rotatable parts are rotated such that the axial direction of the induction coil is parallel with corresponding change in coordinate axis direction.
Preferably, the control device is used to repeatedly control the industrial robot successively along three different reference axis
Direction, which is moved to, calibrates magnetic field detection value maximum position when being moved along respective coordinates axle, and controls the multigroup movement of industrial robot
Parameter, and multigroup moving parameter based on acquisition carries out tool coordinates calibration.
Second aspect there is provided a kind of industrial robot tool coordinates calibration method, including：
Calibration magnetic field generation device is set on the instrument of the industrial robot, to produce the calibration magnetic with movement of tool
, and set detection means to detect the calibration magnetic field in precalculated position；
Control the industrial robot successively along three different change in coordinate axis direction be moved to along respective coordinates axle move when school
The maximum position of quasi- magnetic field detection value, and the moving parameter of industrial robot is obtained, parameter is moved based on the industrial robot
Truing tool coordinate.
Preferably, control the industrial robot to be moved to along respective coordinates axle along three different change in coordinate axis direction successively to transport
Magnetic field detection value maximum position is calibrated when dynamic, and obtains the moving parameter of industrial robot includes：
The industrial robot is controlled to be moved back and forth along the first change in coordinate axis direction, and the calibration magnetic that receiving detection device is obtained
The detected value of field, control industrial robot movement to detection means is in the correspondence position of the maximum detected value of the first reference axis, note
Record moving parameter of the industrial robot along the first change in coordinate axis direction；
Control the industrial robot to be moved back and forth by starting point of current location along the second change in coordinate axis direction, and receive detection
The detected value in the calibration magnetic field that device is obtained, maximum detection of the control industrial robot movement to detection means in the second reference axis
The correspondence position of value, records moving parameter of the industrial robot along the second change in coordinate axis direction；
Control the industrial robot to be moved back and forth by starting point of current location along three axes direction, and receive detection
The detected value in the calibration magnetic field that device is obtained, maximum detection of the control industrial robot movement to detection means in three axes
The correspondence position of value, records moving parameter of the industrial robot along three axes direction.
Preferably, control the industrial robot to be moved to along respective coordinates axle along three different change in coordinate axis direction successively to transport
Calibration magnetic field detection value maximum position when dynamic, and the moving parameter of industrial robot is obtained, based on the industrial robot to transport
Dynamic parametric calibration tool coordinates include：
The industrial robot is repeatedly controlled to be moved to successively along three different change in coordinate axis direction along respective coordinates axle
Magnetic field detection value maximum position is calibrated during motion, to obtain multigroup moving parameter of industrial robot, and based on many of acquisition
Group moving parameter carries out tool coordinates calibration.
Can be with the synkinematic calibration magnetic field generating arrangement of instrument one by the fixation on instrument, and detected by detection means
The intensity in magnetic field is calibrated during movement of tool, calibration magnetic field detection is moved to from different change in coordinate axis direction by control instrument successively
It is worth maximum position (that is, near the position of detection means), thus, it is possible to be automatically performed showing in tool coordinates calibration
Religion, and then tool coordinates calibration can be carried out based on the industrial robot movement parameter of automatic teaching record.The present invention is implemented
The apparatus and method of example can improve the efficiency and precision of calibration.
Brief description of the drawings
By description referring to the drawings to the embodiment of the present invention, above-mentioned and other purpose of the invention, feature and
Advantage will be apparent from, 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 detection means of the embodiment of the present invention；
Fig. 4 is the curve map of the magnetic field intensity detected value of the detection means acquisition of the embodiment of the present invention；
Fig. 5 is the flow chart of the industrial robot tool coordinates calibration method of the embodiment of the present invention；
Fig. 6 be the embodiment of the present invention industrial robot tool coordinates calibration method in rate-determining steps flow chart.
Embodiment
Below based on embodiment, present invention is described, but the present invention is not restricted to these embodiments.Under
Text is detailed to describe some specific detail sections in the detailed description of the present invention.Do not have for a person skilled in the art
The description of these detail sections can also understand the present invention completely.In order to avoid obscuring the essence of the present invention, known method, mistake
Journey, flow, element and circuit do not have detailed narration.
In addition, it should be understood by one skilled in the art that provided herein accompanying drawing be provided to explanation purpose, and
What accompanying drawing was not necessarily drawn to scale.
Unless the context clearly requires otherwise, otherwise entire disclosure is similar with the " comprising " in claims, "comprising" etc.
Word should be construed to the implication included rather than exclusive or exhaustive implication；That is, being containing for " including but is not limited to "
Justice.
In the description of the invention, it is to be understood that term " first ", " second " etc. be only used for describe purpose, without
It is understood that to indicate or imply relative importance.In addition, in the description of the invention, unless otherwise indicated, the implication of " multiple "
It 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 embodiment of the present invention
Industrial robot tool coordinates calibrating installation schematic diagram.
As depicted in figs. 1 and 2, the industrial robot tool coordinates calibrating installation of the present embodiment includes calibration magnetic field generation dress
Put 1, detection means 2 and control device 3.In Fig. 1, the connecting line between part, mechanical connection indicated by the solid line uses dotted line
Represent electrical connection or signal connection.
Wherein, calibration magnetic field generation device 1 is used for the instrument 5 for being fixed on the industrial robot 4, produces calibration magnetic
.
Specifically, calibration magnetic field generation device 1 can include fixing device magnet assembly 11 and fixed component 12.Wherein,
Magnet assembly 11 can be permanent magnet or magnet coil, for producing the calibration magnetic field being distributed by predetermined rule.Fixed component
12 are used to magnet assembly 11 being fixedly connected with the instrument 5 of the industrial robot 4.After fixation, magnet assembly 11 will be with instrument 5
Motion.
When mounted, the end of instrument 5 after fixing is caused to be located at the center of magnet assembly 11 as far as possible, that is, magnetic field
Intensity most strong position.Preferably, fixed component 12 is arranged to be suitable to the relative position of regulation magnet assembly 11 and instrument 5,
To realize above-mentioned target.Certainly, even if it will be understood by those skilled in the art that to be not at magnetic field strong the end of instrument 5 after installing
Degree most strong position, because the relativeness of itself and magnetic field intensity most strong position is determined, therefore, in magnetic field intensity most strong position
When reaching a precalculated position, the end of instrument 5 also can accordingly reach a precalculated position.And because teaching process is for position
And it is not specially provided, it is only necessary to the position of each teaching is identical, thus, even if the end of instrument 5 is not at magnetic after installing
Field intensity most strong position, can also realize the purpose of the present invention.
Detection means 2 is used to detect the intensity in the calibration magnetic field along three different change in coordinate axis direction in precalculated position.
Specifically, detection means 2 includes 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, the detected value of magnetic field intensity is obtained based on induced-current by control device 3.
Rotatable parts 23 are used for the top that induction coil 22 is fixed on to pedestal 21.Meanwhile, rotatable parts 23 can be relative
The induction coil 22 is rotated in two rotational freedom scopes in the pedestal, so that induction coil 22 and different seats
Parameter keeping parallelism, so as to sense the magnetic field on different change in coordinate axis direction.
As shown in figure 3, in a preferred embodiment, rotatable parts 23 can include the first cradle head 23a, second
Cradle head 23b and it is arranged at support member 23c between the two.Wherein, the first cradle head 23a is connected with the pedestal,
It can be rotated with the first rotational freedom.In coordinate system shown in Fig. 3, the first cradle head 23a can be around Z axis rotation.
Second cradle head 23b is connected with the support member 23c and the induction coil 22 (such as its housing), can be with second turn
The dynamic free degree is rotated.In the coordinate system shown in Fig. 3, the second cradle head 23b can be around Y-axis rotation.Thus, pass through
Being arranged axially along X-axis, Y-axis or Z axis for induction coil 22 can be caused by rotating first, second cradle head 23a and 23b, so that
Detect the magnetic field of correspondence direction.
Connected between control device 3 and detection means 2 by communication interface, the communication interface can be wireline interface
It can be wave point.Control device 3 can be arranged in the pedestal of the detection means, so that both are formed as one
Body.Thus, between the two can directly transmitting digital signals or other kinds of electric signal (for example, current signal).Control device 3
The controller also with industrial robot 4 is connected simultaneously, for controlling the industrial robot 4 successively along three different reference axis sides
To be moved to along respective coordinates axle move when the maximum position of calibration magnetic field detection value, and obtain the mobile ginseng of industrial robot 4
Number, parametric calibration tool coordinates are moved based on the industrial robot.
Specifically, control device 3 controls industrial robot movement to precalculated position to complete teaching in the following way.
First, by rotating rotatable parts 23 so that induction coil 22 is parallel with the first change in coordinate axis direction, then control is filled
Put the 3 controls driving instrument 5 of industrial robot 4 to move back and forth along the first change in coordinate axis direction (such as Z-direction), and receive inspection
Survey the detected value in the calibration magnetic field that device 2 is obtained.The position of detection means 2 should be covered in by the reciprocating scope
It is interior.As shown in figure 4, as magnet assembly 11 is different from the position of detection means 2, the calibration magnetic field that detection means 2 is got
Detected value can change, when detected value is maximum, magnet assembly 11 actually when closest to detection means 2.Thus, control device
Correspondence position of the detection means 2 in the maximum detected value of the first reference axis is arrived in 3 control industrial robot movements, and records the work
The moving parameter of the change in coordinate axis direction of industry Robot first.Thus, it is possible to determine the end for causing instrument 5 in the first reference axis side
To the position for being located nearest to detection means 2.
Further, by rotating rotatable parts 23 so that induction coil 22 is parallel with the second change in coordinate axis direction, then control
Device 3 controls the industrial robot 4 to drive the instrument 5 by starting point of current location along the second change in coordinate axis direction (such as X-axis
Direction) move back and forth, and the detected value for calibrating magnetic field that receiving detection device 2 is obtained, control industrial robot movement to detection
Device is in the correspondence position (that is, X-direction closest to the position of detection means 2) of the maximum detected value of the second reference axis, note
Record moving parameter of the industrial robot along the second change in coordinate axis direction.
Further, by rotating rotatable parts 23 so that induction coil 22 is parallel with three axes direction, then control
Device 3 processed controls the industrial robot 4 to drive the instrument 5 by starting point of current location along three axes direction (such as Y
Direction of principal axis) move back and forth, and the detected value for calibrating magnetic field that receiving detection device 2 is obtained, control industrial robot movement to inspection
Correspondence position (that is, X-direction closest to detection means 2 position) of the device in the maximum detected value of three axes is surveyed,
Record moving parameter of the industrial robot along three axes direction.
Wherein, the rotation of rotatable parts 23 can be accomplished manually, can also by control device 3 to driving rotatable parts
23 motor sends control instruction and is automatically performed.Obviously, automatically control the position of induction coil 22 can by control device 3
With the further efficiency and precision for improving completion teaching process.
Thus, by independently moving to the maximum position of corresponding magnetic field detection value from three change in coordinate axis direction successively,
Industrial robot driving instrument can be caused to be moved to a predetermined position from initial position, and obtain what correspondence was moved
Moving parameter, is automatically performed a teaching.
Generally, multiple teaching can be completed, and obtain the shifting of industrial robot in multiple teaching by changing initial position
Tool coordinates are calibrated by dynamic parameter based on the moving parameter.Preferably, in the present embodiment, by circulating said process 4
It is secondary, 4 teachings are completed, are calibrated based on 4 groups of different moving parameters to realize for tool coordinates.
Thus, can be with the synkinematic calibration magnetic field generating arrangement of instrument one by the fixation on instrument, and pass through detection dress
The intensity in magnetic field is calibrated when putting detection movement of tool, calibration magnetic is moved to from different change in coordinate axis direction by control instrument successively
The maximum position of detected value (that is, near the position of detection means), thus, it is possible to be automatically performed in tool coordinates calibration
Teaching, and then the industrial robot movement parameter that can be recorded based on automatic teaching carry out tool coordinates calibration.The present invention
The device of embodiment can improve the efficiency and precision of calibration.Meanwhile, the detection target for carrying out calibrating coordinates using magnetic field can be kept away
Exempt from external interference.
Fig. 5 is the flow chart of the industrial robot tool coordinates calibration method of the embodiment of the present invention.As shown in figure 5, described
Method includes：
Step S100, the setting calibration magnetic field generation device on the instrument of the industrial robot, are transported with producing with instrument
Dynamic calibration magnetic field, and set detection means to detect the calibration magnetic field in precalculated position.
Step S200, the control industrial robot are moved to along respective coordinates axle along three different change in coordinate axis direction successively
Magnetic field detection value maximum position is calibrated during motion, and obtains the moving parameter of industrial robot, based on the industrial robot
Moving parameter truing tool coordinate.
Specifically, as shown in fig. 6, the step 200 includes：
Step 210, the control industrial robot are moved back and forth along the first change in coordinate axis direction, and receiving detection device is obtained
Calibration magnetic field detected value, control industrial robot movement to detection means the maximum detected value of the first reference axis correspondence
Position, records moving parameter of the industrial robot along the first change in coordinate axis direction.
Step 220, the industrial robot is controlled to be moved back and forth by starting point of current location along the second change in coordinate axis direction, and
The detected value in the calibration magnetic field that receiving detection device is obtained, control industrial robot movement is to detection means in the second reference axis
The correspondence position of maximum detected value, records moving parameter of the industrial robot along the second change in coordinate axis direction.
Step 230, control the industrial robot by starting point of current location along three axes direction move back and forth, and
The detected value in the calibration magnetic field that receiving detection device is obtained, control industrial robot movement is to detection means in three axes
The correspondence position of maximum detected value, records moving parameter of the industrial robot along three axes direction.
Step 240, according to the moving parameter truing tool coordinate.
Preferably, can be obtained by multiple automatic teaching industrial robot driving instrument be moved to from initial position it is pre-
Position the multigroup moving parameter put.Under the premise of herein, step S200 can include：
Step 240a, judge whether to complete number of repetition, if it is not, then being transferred to step 210, shown automatically next time
Religion, if it is not, then being transferred to step 240.
Thus, can be with the synkinematic calibration magnetic field generating arrangement of instrument one by the fixation on instrument, and pass through detection dress
The intensity in magnetic field is calibrated when putting detection movement of tool, calibration magnetic is moved to from different change in coordinate axis direction by control instrument successively
The maximum position of detected value (that is, near the position of detection means), thus, it is possible to be automatically performed in tool coordinates calibration
Teaching, and then the industrial robot movement parameter that can be recorded based on automatic teaching carry out tool coordinates calibration.The present invention
The method of embodiment can improve the efficiency and precision of calibration.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For, the present invention can have various changes and change.It is all any modifications made within spirit and principles of the present invention, equivalent
Replace, improve etc., it should be included in the scope of the protection.
Claims (11)
1. a kind of industrial robot tool coordinates calibrating installation, including：
Magnetic field generation device is calibrated, the instrument for being fixed on the industrial robot produces calibration magnetic field；
Detection means, the intensity for detecting the calibration magnetic field along three different change in coordinate axis direction in precalculated position；And
Control device, is connected with the detection means and the industrial robot, for controlling industrial robot edge successively
Three different change in coordinate axis direction are moved to and magnetic field detection value maximum position are calibrated when being moved along respective coordinates axle, and control described
Industrial robot obtains corresponding moving parameter, based on the moving parameter truing tool coordinate.
2. industrial robot tool coordinates calibrating installation according to claim 1, it is characterised in that the detection means bag
Include：
Pedestal；
Induction coil；
Rotatable parts, for the induction coil to be fixed on into the pedestal, and enable the induction coil relative to described
Pedestal is rotated in two rotational freedom scopes.
3. industrial robot tool coordinates calibrating installation according to claim 2, it is characterised in that the rotatable parts bag
Include：
First cradle head, is connected with the pedestal, can be rotated with the first rotational freedom；
Second cradle head, is connected with the housing of the induction coil, can be rotated with the second rotational freedom；
Support member, is arranged between first cradle head and second cradle head.
4. industrial robot tool coordinates calibrating installation according to claim 1, it is characterised in that the calibration magnetic field production
Generating apparatus includes：
Magnet assembly, for producing the calibration magnetic field；
Fixed component, for the magnet assembly to be fixedly connected with the instrument of the industrial robot.
5. industrial robot tool coordinates calibrating installation according to claim 4, it is characterised in that the fixed component is fitted
In position of the regulation magnet assembly relative to the instrument.
6. industrial robot tool coordinates calibrating installation according to claim 1, it is characterised in that the control device is used
Moved back and forth in the control industrial robot along the first change in coordinate axis direction, and the inspection for calibrating magnetic field that receiving detection device is obtained
Measured value, and control industrial robot movement, in the correspondence position of the maximum detected value of the first reference axis, to record institute to detection means
State moving parameter of the industrial robot along the first change in coordinate axis direction；
The control device is used to control the industrial robot back and forth to transport by starting point of current location along the second change in coordinate axis direction
It is dynamic, and the detected value for calibrating magnetic field that receiving detection device is obtained, control industrial robot is moved to detection means to be sat second
The correspondence position of the maximum detected value of parameter, records moving parameter of the industrial robot along the second change in coordinate axis direction；
The control device is used to control the industrial robot back and forth to transport as starting point along three axes direction using current location
It is dynamic, and the detected value for calibrating magnetic field that receiving detection device is obtained, control industrial robot is moved to detection means to be sat the 3rd
The correspondence position of the maximum detected value of parameter, records moving parameter of the industrial robot along three axes direction.
7. industrial robot tool coordinates calibrating installation according to claim 6, it is characterised in that the detection means bag
Include：
Pedestal；
Induction coil；
Rotatable parts, for the induction coil to be fixed on into the pedestal, and according to causing control device control
Induction coil is rotated relative to the pedestal in two rotational freedom scopes；
The control device is additionally operable to controlling the industrial robot along change in coordinate axis direction shuttle era, controls described rotate
Part is rotated such that the axial direction of the induction coil is 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 characterised in that described
Control device is used to repeatedly control the industrial robot to be moved to along correspondence seat along three different change in coordinate axis direction successively
Calibration magnetic field detection value maximum position when parameter is moved, and the multigroup moving parameter of industrial robot is controlled, and based on acquisition
Multigroup moving parameter carries out tool coordinates calibration.
9. a kind of industrial robot tool coordinates calibration method, including：
Calibration magnetic field generation device is set on the instrument of the industrial robot, to produce the calibration magnetic field with movement of tool,
And set detection means to detect the calibration magnetic field in precalculated position；
Magnetic is calibrated when controlling the industrial robot to be moved to and moved along respective coordinates axle along three different change in coordinate axis direction successively
The maximum position of field detected value, and the moving parameter of industrial robot is obtained, parametric calibration is moved based on the industrial robot
Tool coordinates.
10. industrial robot tool coordinates calibration method according to claim 9, it is characterised in that the control industry
The maximum position of magnetic field detection value is calibrated when being moved to and moved along respective coordinates axle along three different change in coordinate axis direction successively by robot
Putting, and obtain the moving parameter of industrial robot includes：
The industrial robot is controlled to be moved back and forth along the first change in coordinate axis direction, and the calibration magnetic field of receiving detection device acquisition
Detected value, control industrial robot movement to detection means records institute in the correspondence position of the maximum detected value of the first reference axis
State moving parameter of the industrial robot along the first change in coordinate axis direction；
The industrial robot is controlled to be moved back and forth by starting point of current location along the second change in coordinate axis direction, and receiving detection device
The detected value in the calibration magnetic field of acquisition, maximum detected value of the control industrial robot movement to detection means in the second reference axis
Correspondence position, records moving parameter of the industrial robot along the second change in coordinate axis direction；
The industrial robot is controlled to be moved back and forth by starting point of current location along three axes direction, and receiving detection device
The detected value in the calibration magnetic field of acquisition, maximum detected value of the control industrial robot movement to detection means in three axes
Correspondence position, records moving parameter of the industrial robot along three axes direction.
11. the industrial robot tool coordinates calibration method described in claim 9 or 10, it is characterised in that the control industry
The maximum position of magnetic field detection value is calibrated when being moved to and moved along respective coordinates axle along three different change in coordinate axis direction successively by robot
Put, and obtain the moving parameter of industrial robot, included based on industrial robot movement parametric calibration tool coordinates：
Repeatedly control the industrial robot to be moved to along respective coordinates axle along three different change in coordinate axis direction successively to move
When the maximum position of calibration magnetic field detection value, to obtain multigroup moving parameter of industrial robot, and multigroup shifting based on acquisition
Dynamic parameter carries out tool coordinates calibration.
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| TWI668541B (en) | 2017-09-29 | 2019-08-11 | 財團法人工業技術研究院 | System and method for calibrating tool center point of robot |
| 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 |
| CN110053040B (en) * | 2018-01-18 | 2021-03-02 | 深圳市裕展精密科技有限公司 | Calibration method of robot tool face |
| CN112605995B (en) * | 2020-12-15 | 2022-04-22 | 山东威高医疗科技有限公司 | Mechanical arm movement calibration method based on magnetic field emitter |
| CN112975960B (en) * | 2021-02-10 | 2022-07-05 | 西北工业大学 | Method for establishing robot tail end fine control model and calibrating parameters |
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| JP2014176943A (en) * | 2013-03-15 | 2014-09-25 | Yaskawa Electric Corp | Robot system, calibration method and method for manufacturing workpiece |
| EP2981397B1 (en) * | 2013-04-05 | 2017-06-14 | ABB Schweiz AG | A robot system and method for calibration |
| CN205219126U (en) * | 2015-12-09 | 2016-05-11 | 珠海格力电器股份有限公司 | Industrial robot instrument coordinate calibrating device |
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