CN107363823A - The coordinate scaling method of mechanical arm - Google Patents
The coordinate scaling method of mechanical arm Download PDFInfo
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- CN107363823A CN107363823A CN201710475948.6A CN201710475948A CN107363823A CN 107363823 A CN107363823 A CN 107363823A CN 201710475948 A CN201710475948 A CN 201710475948A CN 107363823 A CN107363823 A CN 107363823A
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The present invention relates to a kind of coordinate scaling method of mechanical arm, comprise the following steps：Position movement where armshaft toward camera, high-visible within sweep of the eye in the camera lens of camera to initial marking, vision system software records the coordinate for the initial marking that cameras capture arrives, as the first coordinate；Armshaft holding position is constant, and after termination rotates to an angle, vision system software records the coordinate for the initial marking that cameras capture arrives, as the second coordinate；After termination rotates to an angle, the coordinate for the initial marking that cameras capture arrives is recorded, as the 3rd coordinate；First center of circle of circle, obtains centre coordinate A where calculating the first coordinate, the second coordinate and the 3rd coordinate.The sampling and calculating of measurement process are automatically performed, human eye alignment need not be relied on, reduce the probability of happening of random error, reclosing operation is carried out under the visual field of the image magnification of camera shooting, the alignment of ratio of precision human eye will be higher by hundred times, and it is simple and quick, applicability and flexibility are strong.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of coordinate scaling method of mechanical arm.
Background technology
The basis that mechanical arm precisely moves is the accurate foundation of coordinate system, and the foundation of mechanical coordinate system and visual coordinate system is just
After true corresponding relation, could accurately it be moved on corresponding position according to the coordinate parameters that controller provides.Therefore machinery
Arm needs to carry out the demarcation of mechanical arm coordinate before coming into operation, and runs the mechanical arm after a period of time and is also required to periodically carry out
Calibration is re-scaled, ensures running precision.
Be conventionally used to demarcate mechanical arm method have it is following two：
1st, using conical instrument：The first conical instrument is installed in the 3rd axle rotating shaft of mechanical arm, the mechanical arm
The 3rd axle rotating shaft below the second conical instrument of fixed placement, with human eye come be aligned the first conical instrument and second cone
The tip of instrument, the coordinate value after alignment are the centre coordinate value for being considered the axle rotating shaft of mechanical arm the 3rd.Second conical instrument
Position is constant, switching robot right-hand man's mode of operation, is directed at the point of the first conical instrument and the second conical instrument again
End, after alignment mechanical arm is considered as the coordinate of the end positioning of mechanical arm in the coordinate of the point.
2nd, using cylindrical object and array circular hole mould instrument：Customize that a center of circle spacing is equal and spacing known to circular hole
Array mold, control machinery arm are continuously put into the circular hole of array arrangement after capturing cylinder, machinery when record is put into each time
The coordinate value of arm motion, and according to the data of known center of circular hole spacing, the centre coordinate of mechanical arm tail end is extrapolated, and then
Draw the coordinate of mechanical arm tail end positioning.
Traditional round taper-type dropper demarcates mechanical arm, in two operating procedures can produce larger error：First is solid
Fixed conical tool phase, conical instrument are fixed in the rotary shaft of a mechanical arm tail end, and the diameter of rotary shaft is less than circle
The diameter of taper-type dropper, conical instrument need to be withstood from side with screw, fixed on the rotary shaft when fixed.Such installation
Mode can not ensure conical instrument center and robot axis center on the same line, it is certain inclined so as to produce
Difference.Second be two conical instruments cone alignment procedures, this alignment procedures dependent on operating personnel human eye determine,
The precision of human eye identification at most can only achieve about 0.1mm, therefore the precision of the rotary shaft central coordinate of circle of instrument determination can only reach
To 0.1mm, this precision can not meet required precision of the practical application to mechanical arm.
During using cylinder and array of circular apertures mould demarcation mechanical arm coordinate, have compared with the precision using conical calibration tool
Some improve, and the process of demarcation has avoided relying on human eye and determined precision.But still have certain constant error.It is first
First, need strictly to accomplish that center of circle spacing is equal when making array of circular apertures, therefore the making precision of the mould can directly affect
To the coordinate precision of mechanical arm.Secondly, the Circularhole diameter of array of circular apertures mould is greater than cylinder diameter, is being put into process
In, gap still be present, therefore the center at the center of circular hole and cylinder can not be completely superposed.So using cylinder and circle
Hole array mould still has demarcating the coordinate of mechanical arm and very big improves space.
The content of the invention
Based on this, the present invention provides a kind of coordinate scaling method of mechanical arm, its automatic Calibration mechanical arm coordinate, without people
Work operation alignment, avoids human error, and simple and quick, and applicability and flexibility are strong.
In order to realize the purpose of the present invention, the present invention uses following technical scheme：
A kind of coordinate scaling method of mechanical arm, calibration tool, calibration tool include camera, initial marking and vision system
Software, mechanical arm include armshaft, the rotary shaft for connecting armshaft and the termination for connecting rotary shaft, and initial marking is installed on termination, phase
The parallel face relative to where initial marking of machine, the coordinate scaling method of mechanical arm comprise the following steps：
Step 1：Position movement where armshaft from one end toward camera away from camera, to the mirror of initial marking straight-on camera
Head stops, and initial marking is high-visible within sweep of the eye in the camera lens of camera, and vision system software records what cameras capture arrived
The coordinate of initial marking, as the first coordinate；
Step 2：Armshaft holding position is constant, and termination is counterclockwise or after the certain angle that turns clockwise, vision system software
The coordinate for the initial marking that cameras capture arrives is recorded, as the second coordinate；
Step 3：Armshaft holding position is constant, and termination is continued counterclockwise or after the certain angle that turns clockwise, vision system
The coordinate for the initial marking that cameras capture arrives under software records, as the 3rd coordinate；
Step 4：First center of circle of circle where the first coordinate, the second coordinate and the 3rd coordinate is calculated with vision system software,
Centre coordinate of first center of circle as rotary shaft；
If the first coordinate overlaps with the second coordinate, the centre coordinate of the first coordinate or the second coordinate as rotary shaft, save
Slightly step 3 and 4.
The coordinate scaling method of above-mentioned mechanical arm, sampling in measurement process and calculate by camera and vision system software from
It is dynamic to complete, without relying on human eye alignment, the probability of happening of random error is reduced, reclosing operation is that the image shot in camera is put
Carried out under the visual field of big multiple, the alignment of ratio of precision human eye will be higher by hundred times, and simple and quick, applicability and flexibly
Property is strong.
In one of the embodiments, it is further comprising the steps of：
Step 5：Armshaft is kept with rotary shaft and step 3 identical position, and on the basis of first center of circle, camera takes the first circle
The corresponding point in termination of the heart is the second mark, and vision system software records the coordinate for the second mark that cameras capture arrives, as
First A coordinates；
Step 6：Armshaft holding position is constant, and termination is counterclockwise or after the certain angle that turns clockwise, vision system software
The coordinate for the second mark that cameras capture arrives is recorded, as the 2nd A coordinates；
Step 7：Armshaft holding position is constant, and termination is continued counterclockwise or after the certain angle that turns clockwise, vision system
The coordinate for the second mark that cameras capture arrives under software records, as the 3rd A coordinates；
Step 8：Second circle of circle where calculating the first A coordinates, the 2nd A coordinates and the 3rd A coordinates with vision system software
The heart, centre coordinate of second center of circle as rotary shaft；
If the first A coordinates overlap with the 2nd A coordinates, the first A coordinates or the centre coordinate that the 2nd A coordinates are rotary shaft.
In one of the embodiments, mechanical arm includes left operational mode and right operational mode, step 1 to 5 or step
Rapid 1 to 8 is left operational mode, and the coordinate scaling method of mechanical arm is further comprising the steps of：
Step 9：After the centre coordinate for obtaining left operational mode, camera takes the centre coordinate of left operational mode to correspond to
The point of termination is final mark, and mechanical arm switches to right operational mode from left operational mode, amplifies the shooting multiple of camera,
Armshaft is adjusted, final mark is overlapped with centre coordinate, completes the coordinate demarcation of the right operational mode of mechanical arm.
In one of the embodiments, the shooting multiple of the amplification camera of step 9 is more than ten times.
In one of the embodiments, step 4 calculates the first coordinate, the second coordinate and the 3rd coordinate with vision system software
First center of circle of place circle, the coordinate of the first coordinate, the second coordinate and the 3rd coordinate are respectively (x1, y1), (x2, y2), (x3,
Y3), if the coordinate in first center of circle is (x, y), the computational methods in first center of circle are：
Wherein,
A=2 (x2-x1),
B=2 (y2-y1),
C=x22+y22-x12-y12,
D=2 (x3-x2),
E=2 (y3-y2),
F=x32+y32-x22-y22。
In one of the embodiments, camera is industrial camera.
In one of the embodiments, the pixel of the pixel of camera >=8,000,000.
In one of the embodiments, the position of camera and initial marking is mutually replaced.
In one of the embodiments, initial marking is circular pattern.
In one of the embodiments, armshaft includes the first joint shaft, the first joint arm, the second joint axle being sequentially connected
And second joint arm, axis connection second joint arm is rotated, termination is installed on rotation the tip of the axis.
In one of the embodiments, second joint axle is perpendicular to the first joint arm, and rotary shaft is perpendicular to second joint arm.
Brief description of the drawings
Fig. 1 is that calibration tool in the coordinate scaling method of the mechanical arm of a preferred embodiment of the present invention and mechanical arm show
It is intended to；
Fig. 2 is the schematic diagram of the termination and initial marking in the coordinate scaling method of Fig. 1 mechanical arm；
Fig. 3 is the first coordinate, the second coordinate, the 3rd coordinate and the first circle in the coordinate scaling method of Fig. 1 mechanical arm
The schematic diagram of the heart；
Fig. 4 is the calibration process schematic diagram of the right operational mode in the coordinate scaling method of Fig. 1 mechanical arm.
Embodiment
For the ease of understanding the present invention, the present invention will be described more fully below.But the present invention can be with perhaps
More different form is realized, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is to make
Understanding more thorough and comprehensive to the disclosure.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Fig. 1 to Fig. 4 is referred to, for the coordinate scaling method of the mechanical arm of a better embodiment of the invention, including demarcation
Instrument and mechanical arm 10, calibration tool include camera 21, initial marking 22 and vision system software.
Industrial camera of the camera 21 of the present embodiment from pixel for 8,000,000 pixels, initial marking 22 is a circular pattern,
Vision system software is installed in the control system of connection mechanical arm 10, and vision system software has record, storage and calculates work(
Energy.In some applications, vision system software can also be installed in the operating element of camera 21.
Referring again to Fig. 1, in the present embodiment, mechanical arm 10 includes support 11 and the armshaft being installed on support 11, connection
The rotary shaft 14 of armshaft and the termination 15 for connecting rotary shaft 14, armshaft include the first joint shaft 12, the first joint being sequentially connected
Arm 12a, second joint axle 13 and second joint arm 13a, rotary shaft 14 connect second joint arm 13a, and rotary shaft 14 is perpendicular to the
Two joint arm 13a, termination 15 are installed on the bottom of rotary shaft 14.Initial marking 22 is installed on the bottom of termination 15, initial marking
22 slightly offset from rotary shaft 14 central axis, camera 21 is fixedly installed in the lower section of initial marking 22, when termination 15 is moved to
The top of camera 21, when initial marking 22 falls into the camera lens field range of camera 21, camera 21 is parallel relative to initial marking 22.
Mechanical arm 10 includes left operational mode and right operational mode, and the present embodiment first demarcates the rotation of left operational mode
The centre coordinate 17 of rotating shaft 14, the coordinate of right operational mode is demarcated further according to the centre coordinate 17 of left operational mode.
It should be noted that mechanical arm 10 is provided with teaching machine in systems, for control machinery arm 10 along not Tongfang
To motion.
The coordinate scaling method of the mechanical arm comprises the following steps：
Step 1：Mechanical arm 10 is in left operational mode, armshaft action, and the first joint shaft 12 drives the first joint arm
12a, second joint axle 13 drive the position where second joint arm 13a and rotary shaft 14 from one end away from camera 21 toward camera 21
Movement is put, is stopped to the camera lens top of the straight-on camera 21 of initial marking 22, now, initial marking 22 is in the camera lens visual field of camera 21
In the range of it is high-visible, vision system software records the coordinate for the initial marking 22 that camera 21 captures, as the first coordinate
16a (x1, y1).
Step 2：Armshaft and the holding position of rotary shaft 14 are constant, and rotary shaft 14 drives termination 15 to turn clockwise after 45 °, depending on
Feel that system software records the coordinate for the initial marking 22 that camera 21 captures, as the second coordinate 16b (x2, y2).
Step 3：Armshaft and the holding position of rotary shaft 14 are constant, and termination 15 is continued to turn clockwise after 45 °, and vision system is soft
Part records the coordinate for the initial marking 22 that camera 21 captures, as the 3rd coordinate 16c (x3, y3).
Step 4：Circle where calculating the first coordinate 16a, the second coordinate 16b and the 3rd coordinate 16c with vision system software
The center of circle, i.e. first center of circle 16, first center of circle 16 and the first coordinate 16a, the second coordinate 16b and the 3rd coordinate 16c relation such as Fig. 3
It is shown, centre coordinate A of first center of circle 16 as rotary shaft 14.
The computational methods in first center of circle 16 are：First coordinate 16a (x1, y1), the second coordinate 16b (x2, y2), the 3rd coordinate
16c (x3, y3), if the coordinate of first center of circle 16 is (x, y), the first coordinate 16a, the second coordinate 16b and the 3rd coordinate 16c places circle
Radius be R, thus：
(x1-x)2-(y1-y)2=R2 (1)
(x2-x)2-(y2-y)2=R2 (2)
(x3-x)2-(y3-y)2=R2 (3)
(1)-(2)：
x12-y22+y12-x22+ 2 (xx2-xx1-yy1+yy2)=0
(2)-(3)：
x22-y32+y22-x32+ 2 (xx3-xx2-yy2+yy3)=0
Arrange：
2 (x2-x1) x+2 (y2-y1) y=y22+x22-x12-y12
2 (x3-x2) x+2 (y3-y2) y=y32+x32-x22-y22
If
A=2 (x2-x1),
B=2 (y2-y1),
C=x22+y22-x12-y12,
D=2 (x3-x2),
E=2 (y3-y2),
F=x32+y32-x22-y22,
The calculation formula for drawing first center of circle 16 is：
It is centre coordinate A to calculate first center of circle 16 (x, y) of gained.
Step 5：Armshaft and rotary shaft keep with step 3 identical position, on the basis of first center of circle 16, camera 21 takes the
The corresponding point in termination 15 in one center of circle 16 is the second mark, and vision system software records the second mark that camera 21 captures
Coordinate, as the first A coordinates (x11, y11).
Step 6：Armshaft and the holding position of rotary shaft 14 are constant, and termination 15 turns clockwise after 90 °, vision system software note
The coordinate for the second mark that the lower camera 21 of record captures, as the 2nd A coordinates (x21, y21).
Step 7：Armshaft holding position is constant, and termination 15 is continued to turn clockwise after 90 °, and vision system software records phase
The coordinate for the second mark that machine 21 captures, as the 3rd A coordinates (x31, y31).
Step 8：Second circle of circle where calculating the first A coordinates, the 2nd A coordinates and the 3rd A coordinates with vision system software
The heart, final centre coordinate of second center of circle as rotary shaft.
The computational methods in second center of circle are：First A coordinates (x11, y11), the 2nd A coordinates (x21, y21) and the 3rd A coordinates
(x31, y31), if the coordinate of first center of circle 16 is (x, y), then
Wherein,
A=2 (x21-x11),
B=2 (y21-y11),
C=x212+y212-x112-y112,
D=2 (x31-x21),
E=2 (y31-y21),
F=x312+y312-x212-y212。
Step 9：After the centre coordinate 17 for obtaining left operational mode, camera 21 takes the centre coordinate 17 of left operational mode
The corresponding point in termination 15 is final mark 18, and mechanical arm 10 switches to right operational mode from left operational mode, amplifies phase
The shooting multiple of machine 21 is 25 times, and amplification process is as shown in figure 4, reset condition progressively amplifying camera times by non-multiplication factor
Number, second joint axle 13 is then finely tuned by teaching machine and drives rotary shaft 14 and termination 15 somewhat to move, make final mark 18 with
The centre coordinate 17 that left operational mode obtains overlaps, and vision system software records coordinate now, that is, completes rotary shaft 14
Right operational mode coordinate demarcation.
The pixel for amplifying camera 21 is 8,000,000 pixels, and shooting multiple is 25 times, and mark area reaches 3cm2, resolution ratio is
3264 × 2448, precision can reach 0.9 × 10-5M, compare eye-observation alignment demarcation and be precisely higher by hundred times.
In certain embodiments, the pixel higher than 8,000,000 also can be selected in the pixel of camera 21, then precision will be higher.
In certain embodiments, the precision of centre coordinate is less demanding, then takes first center of circle as in rotary shaft 14
Heart coordinate.
In certain embodiments, the if desired center of circle of marked ratio second more accurately centre coordinate, then with second center of circle pair
It should be the 3rd mark in the point where termination, the operation of repeat step 5 to 8, obtain the 3rd center of circle, made with the coordinate in the 3rd center of circle
For the centre coordinate of the rotary shaft of left operational mode.By that analogy, if desired than n-th center of circle more accurately centre coordinate, then
Using n-th center of circle it is corresponding where termination o'clock for the (n+1)th mark, the operation of repeat step 5 to 8, (n+1)th center of circle of acquisition, finally
Centre coordinate using (n+1)th center of circle as the rotary shaft of final left operational mode.
In certain embodiments, after having carried out step 1, step 2 and step 3, the first coordinate 16a, the second coordinate 16b and
Three coordinate 16c are overlapped, i.e. the first coordinate 16a is equal to the 3rd coordinate 16c equal to the second coordinate 16b, then now initial marking 22
Center and the same axis in center of rotary shaft 14, the first coordinate 16a, the second coordinate 16b and the 3rd coordinate 16c fall in centre coordinate
17 position, calculate the coordinate in first center of circle 16 is equal to the first coordinate 16a or the second coordinate 16b or the 3rd coordinate 16c, first
Coordinate 16a or the second coordinate 16b or the 3rd coordinate 16c is the centre coordinate 17 of rotary shaft 14.Then step 5 to 8 can without after
It is continuous to carry out, the operation of the above-mentioned steps that directly continue 9.
The operation principle of the coordinate scaling method of above-mentioned mechanical arm is：Rotary shaft 14 is determined by left operational mode first
Centre coordinate 17, then by switching right operational mode, amplification camera 21 identification multiple in the case of, make finally to mark
Know 18 to overlap with the centre coordinate 17 of left operational mode, the centre coordinate 17 of left operational mode is demarcated as right hand operation mould
The centre coordinate 18 of formula, the then centre coordinate 17 that left operational mode obtains are common for left operational mode and right operational mode
Centre coordinate.
Certainly, the coordinate scaling method of mechanical arm of the invention can also first demarcate the centre coordinate of right operational mode,
The coordinate of left operational mode is demarcated again, and now, the centre coordinate scaling method of right operational mode is carried out by step 1 to 8, left
The coordinate scaling method of hand operator scheme is carried out by step 9.
In some embodiments, initial marking 22 can also be installed on the top of rotary shaft 14, and now, termination 15 is installed on rotation
The top of rotating shaft 14, initial marking 22 are installed on the upper surface of termination 15, and camera 21 is located at the top of initial marking 22, works as termination
15 are moved to the lower section of camera 21, and when the camera of initial marking 22 falls into the camera lens field range of camera 21, camera 21 is parallel relative
In initial marking 22, the coordinate of camera 21 and the cooperation demarcation mechanical arm 10 of initial marking 22 can be also realized.
Or in some applications, the position of camera 21 and initial marking 22 can also mutually be replaced, i.e., camera 21 is installed
In termination 15, initial marking 22 is fixedly installed in the parallel face relative to where camera 21.
In summary, the coordinate scaling method of above-mentioned mechanical arm, sampling in measurement process and calculates by camera 21 and regards
Feel that system software is automatically performed, without relying on human eye alignment, reduce the probability of happening of random error, reclosing operation is in camera
Carried out under the visual field of the image magnification of 21 shootings, the alignment of ratio of precision human eye will be higher by hundred times, and simple to operate fast
Victory, applicability and flexibility are strong.
The coordinate scaling method of mechanical arm of the present invention applies also for armshaft and only includes the first joint shaft 12 and the first joint
Arm 12a mechanical arm, or armshaft include the coordinate demarcation of the mechanical arm of more than two joint shaft and joint arm, can also realize
Precisely demarcation.
The coordinate scaling method of mechanical arm of the present invention applies also for only left operational mode or only right operational mode
Mechanical arm coordinate demarcation.
Embodiment described above only expresses one embodiment of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. coordinate scaling method of mechanical arm, it is characterised in that including calibration tool, the calibration tool include camera, Initial marking and vision system software, the mechanical arm include armshaft, the rotary shaft of the connection armshaft and the connection rotation The termination of axle, the initial marking are installed on the termination, the parallel face relative to where the initial marking of the camera, institute The coordinate scaling method for stating mechanical arm comprises the following steps：Step 1：Position movement where the armshaft from one end toward the camera away from the camera, to the initial marking The camera lens of camera described in face stops, and the initial marking is high-visible within sweep of the eye in the camera lens of the camera, described to regard Feel that system software records the coordinate for the initial marking that the cameras capture arrives, as the first coordinate；Step 2：The armshaft holding position is constant, and the termination is counterclockwise or after the certain angle that turns clockwise, the vision System software records the coordinate for the initial marking that the cameras capture arrives, as the second coordinate；Step 3：The armshaft holding position is constant, and the termination is continued counterclockwise or after the certain angle that turns clockwise, described Vision system software records the coordinate for the initial marking that the cameras capture arrives, as the 3rd coordinate；Step 4：First circle of circle where calculating first coordinate, the second coordinate and the 3rd coordinate with the vision system software The heart, centre coordinate of first center of circle as the rotary shaft；If the first coordinate overlaps with the second coordinate, the centre coordinate of the first coordinate or the second coordinate as the rotary shaft, save Slightly described step 3 and step 4.
- 2. the coordinate scaling method of mechanical arm according to claim 1, it is characterised in that：It is further comprising the steps of：Step 5：The armshaft is kept and step 3 identical position, on the basis of first center of circle, the camera with rotary shaft The corresponding point in the termination in first center of circle is taken to record the cameras capture for the second mark, the vision system software The coordinate of second mark arrived, as the first A coordinates；Step 6：The armshaft holding position is constant, and the termination is counterclockwise or after the certain angle that turns clockwise, the vision System software records the coordinate for second mark that the cameras capture arrives, as the 2nd A coordinates；Step 7：The armshaft holding position is constant, and the termination is continued counterclockwise or after the certain angle that turns clockwise, described Vision system software records the coordinate for second mark that the cameras capture arrives, as the 3rd A coordinates；Step 8：The of circle where calculating the first A coordinates, the 2nd A coordinates and the 3rd A coordinates with the vision system software Two centers of circle, centre coordinate of second center of circle as the rotary shaft；If the first A coordinates overlap with the 2nd A coordinates, the first A coordinates or the 2nd A coordinates are sat for the center of the rotary shaft Mark.
- 3. the coordinate scaling method of mechanical arm according to claim 1 or 2, it is characterised in that：The mechanical arm includes a left side Hand operator scheme and right operational mode, the step 1 to 5 or the step 1 are to 8 being left operational mode, the mechanical arm Coordinate scaling method it is further comprising the steps of：Step 9：After the centre coordinate for obtaining left operational mode, the camera takes the centre coordinate pair of left operational mode Should be final mark in the point of the termination, the mechanical arm switches to right operational mode from left operational mode, amplifies institute The shooting multiple of camera is stated, adjusts the armshaft, the final mark is overlapped with the centre coordinate, completes the mechanical arm Right operational mode coordinate demarcation.
- 4. the coordinate scaling method of mechanical arm according to claim 3, it is characterised in that：Described in amplification described in step 9 The shooting multiple of camera is more than ten times.
- 5. the coordinate scaling method of mechanical arm according to claim 1, it is characterised in that：With the vision system in step 4 Software of uniting calculates first center of circle of circle where first coordinate, the second coordinate and the 3rd coordinate, and first coordinate, second sit Mark and the 3rd coordinate coordinate be respectively (x1, y1), (x2, y2), (x3, y3), if the coordinate in first center of circle is (x, y), The computational methods in first center of circle are：<mrow> <mi>x</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>b</mi> <mo>&CenterDot;</mo> <mi>f</mi> <mo>-</mo> <mi>e</mi> <mo>&CenterDot;</mo> <mi>c</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mi>b</mi> <mo>&CenterDot;</mo> <mi>d</mi> <mo>-</mo> <mi>e</mi> <mo>&CenterDot;</mo> <mi>a</mi> <mo>)</mo> </mrow> </mfrac> <mo>,</mo> </mrow><mrow> <mi>y</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>d</mi> <mo>&CenterDot;</mo> <mi>c</mi> <mo>-</mo> <mi>a</mi> <mo>&CenterDot;</mo> <mi>f</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <mi>b</mi> <mo>&CenterDot;</mo> <mi>d</mi> <mo>-</mo> <mi>e</mi> <mo>&CenterDot;</mo> <mi>a</mi> <mo>)</mo> </mrow> </mfrac> </mrow>Wherein,A=2 (x2-x1),B=2 (y2-y1),C=x22+y22-x12-y12,D=2 (x3-x2),E=2 (y3-y2),F=x32+y32-x22-y22。
- 6. the coordinate scaling method of mechanical arm according to claim 1, it is characterised in that：The camera is industrial camera.
- 7. the coordinate scaling method of mechanical arm according to claim 1, it is characterised in that：Pixel >=800 of the camera Ten thousand pixels.
- 8. the coordinate scaling method of mechanical arm according to claim 1, it is characterised in that：The camera and the initial mark Mutually replace the position of knowledge.
- 9. the coordinate scaling method of mechanical arm according to claim 1, it is characterised in that：The armshaft includes being sequentially connected The first joint shaft, the first joint arm, second joint axle and second joint arm, it is described rotation axis connection described in second joint arm, The termination is installed on the rotation the tip of the axis.
- 10. the coordinate scaling method of mechanical arm according to claim 9, it is characterised in that：The second joint axle is vertical In first joint arm, the rotary shaft is perpendicular to the second joint arm.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109732643A (en) * | 2018-12-11 | 2019-05-10 | 中国铁建重工集团有限公司 | A kind of caliberating device and method for mechanical arm |
| CN110103217A (en) * | 2019-05-09 | 2019-08-09 | 电子科技大学 | Industrial robot hand and eye calibrating method |
| CN110340881A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | The scaling method and calibration system of robot tool |
| CN110500986A (en) * | 2019-09-25 | 2019-11-26 | 蓝思智能机器人(长沙)有限公司 | Determine the method, system and unthreaded hole operating system of turntable rotation center line position |
| CN111091480A (en) * | 2020-01-06 | 2020-05-01 | 中交四航局江门航通船业有限公司 | Positioning method of pouring equipment |
| CN111250406A (en) * | 2020-03-16 | 2020-06-09 | 科为升视觉技术（苏州）有限公司 | PCB detection production line automatic placement method and system based on visual positioning |
| CN111283676A (en) * | 2018-12-07 | 2020-06-16 | 中达电子零组件(吴江)有限公司 | Tool coordinate system calibration method and calibration device of three-axis mechanical arm |
| CN111311692A (en) * | 2020-03-05 | 2020-06-19 | 广州市斯睿特智能科技有限公司 | Visual calibration method for simple robot |
| WO2021159489A1 (en) * | 2020-02-14 | 2021-08-19 | 西门子（中国）有限公司 | Coordinate system calibrating method, demonstrating board, and projecting member |
| CN113296395A (en) * | 2021-05-14 | 2021-08-24 | 珞石（山东）智能科技有限公司 | Robot hand-eye calibration method in specific plane |
| CN113715062A (en) * | 2021-09-14 | 2021-11-30 | 西安交通大学 | Calibration method for parameters of connecting rod of mechanical arm |
| CN113795358A (en) * | 2019-06-17 | 2021-12-14 | 西门子（中国）有限公司 | Coordinate system calibration method and device and computer readable medium |
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Cited By (19)
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|---|---|---|---|---|
| CN108015770A (en) * | 2017-12-07 | 2018-05-11 | 王群 | Position of manipulator scaling method and system |
| CN110340881A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | The scaling method and calibration system of robot tool |
| CN111283676A (en) * | 2018-12-07 | 2020-06-16 | 中达电子零组件(吴江)有限公司 | Tool coordinate system calibration method and calibration device of three-axis mechanical arm |
| CN109732643A (en) * | 2018-12-11 | 2019-05-10 | 中国铁建重工集团有限公司 | A kind of caliberating device and method for mechanical arm |
| CN109732643B (en) * | 2018-12-11 | 2021-04-06 | 中国铁建重工集团股份有限公司 | Calibration device and method for mechanical arm |
| CN110103217A (en) * | 2019-05-09 | 2019-08-09 | 电子科技大学 | Industrial robot hand and eye calibrating method |
| CN113795358A (en) * | 2019-06-17 | 2021-12-14 | 西门子（中国）有限公司 | Coordinate system calibration method and device and computer readable medium |
| CN110500986A (en) * | 2019-09-25 | 2019-11-26 | 蓝思智能机器人(长沙)有限公司 | Determine the method, system and unthreaded hole operating system of turntable rotation center line position |
| CN110500986B (en) * | 2019-09-25 | 2021-08-24 | 蓝思智能机器人(长沙)有限公司 | Method and system for determining rotary center line position of rotary table and unthreaded hole operation system |
| CN111091480A (en) * | 2020-01-06 | 2020-05-01 | 中交四航局江门航通船业有限公司 | Positioning method of pouring equipment |
| CN111091480B (en) * | 2020-01-06 | 2023-08-04 | 中交四航局江门航通船业有限公司 | Positioning method of pouring equipment |
| WO2021159489A1 (en) * | 2020-02-14 | 2021-08-19 | 西门子（中国）有限公司 | Coordinate system calibrating method, demonstrating board, and projecting member |
| CN111311692A (en) * | 2020-03-05 | 2020-06-19 | 广州市斯睿特智能科技有限公司 | Visual calibration method for simple robot |
| CN111311692B (en) * | 2020-03-05 | 2023-08-25 | 广州市斯睿特智能科技有限公司 | Visual calibration method of simple robot |
| CN111250406A (en) * | 2020-03-16 | 2020-06-09 | 科为升视觉技术（苏州）有限公司 | PCB detection production line automatic placement method and system based on visual positioning |
| CN111250406B (en) * | 2020-03-16 | 2023-11-14 | 科为升视觉技术（苏州）有限公司 | Automatic placement method and system for PCB detection assembly line based on visual positioning |
| CN113296395A (en) * | 2021-05-14 | 2021-08-24 | 珞石（山东）智能科技有限公司 | Robot hand-eye calibration method in specific plane |
| CN113715062A (en) * | 2021-09-14 | 2021-11-30 | 西安交通大学 | Calibration method for parameters of connecting rod of mechanical arm |
| CN113715062B (en) * | 2021-09-14 | 2023-07-07 | 西安交通大学 | Calibration method for connecting rod parameters of mechanical arm |
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