CN108081255B - A kind of robot zero point correction method and device - Google Patents
A kind of robot zero point correction method and device Download PDFInfo
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- CN108081255B CN108081255B CN201611047078.4A CN201611047078A CN108081255B CN 108081255 B CN108081255 B CN 108081255B CN 201611047078 A CN201611047078 A CN 201611047078A CN 108081255 B CN108081255 B CN 108081255B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
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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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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of robot zero point correction methods, comprising: after the dead-center position of manipulator shaft is lost, obtains the coarse positioning dead-center position of the manipulator shaft；Using the coarse positioning dead-center position as starting point, robot is run according to initial trace, obtains the first physical location of the postrun manipulator shaft；By the postrun manipulator shaft teaching to track center position, the second physical location of the manipulator shaft after obtaining teaching；According to first physical location and second physical location, the coarse positioning dead-center position is finely adjusted, the dead-center position of the manipulator shaft is obtained.Correspondingly, the invention also discloses a kind of robot zero point correction devices.Using the embodiment of the present invention, it is capable of the dead-center position of quickly and accurately calibration machine people.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of robot zero point correction method and devices.
Background technique
With the raising of equipment automatization level, requirement of the modern production industry to equipment repair time is gradually shortened.
A part that ABB robot is applied as modern production, when motor needs replacing or robot zero point is caused to be lost for external force,
Since initial zero teaching is visually setting, and observing every time can not be completely the same, so as to cause again using visually setting
And initially setting dead-center position, there are deviations, and when being amplified to tool side, deviation is about ± 2mm or more, are not able to satisfy automation
Produce required precision.And again in teaching robot's program each tracing point position, but again to different workpieces carry out rail
Mark teaching causes to take a long time since workpiece is more.And if connection producer, allow technical professional to carry out skill to scene
Art supports that the waiting time is longer, long using the specific purpose tool time, and can generation technology back-dtopping cost.
Summary of the invention
The embodiment of the present invention proposes a kind of robot zero point correction method and device, being capable of quickly and accurately calibration machine
The dead-center position of people.
The embodiment of the present invention provides a kind of robot zero point correction method, comprising:
After the dead-center position of manipulator shaft is lost, the coarse positioning dead-center position of the manipulator shaft is obtained；
Using the coarse positioning dead-center position as starting point, robot is run according to initial trace, obtains the postrun machine
First physical location of device people's axis；
By the postrun manipulator shaft teaching to track center position, the of the manipulator shaft after obtaining teaching
Two physical locations；
According to first physical location and second physical location, the coarse positioning dead-center position is finely adjusted,
Obtain the dead-center position of the manipulator shaft.
Further, described to obtain the zero point coarse positioning position of the manipulator shaft after manipulator shaft replaces motor, have
Body includes:
After the dead-center position of manipulator shaft is lost, receive operator's sending carries out teaching to the manipulator shaft
First control instruction；
According to the mobile manipulator shaft of first control instruction, by the manipulator shaft teaching to robot base
Groove center position；
The position of the manipulator shaft after obtaining teaching, and coarse positioning zero of the position that will acquire as the robot
Point position.
Further, the institute by the postrun manipulator shaft teaching to track center position, after obtaining teaching
The second physical location for stating manipulator shaft, specifically includes:
Receive the second control instruction to the manipulator shaft teaching that operator issues；
According to the mobile manipulator shaft of second control instruction, by the manipulator shaft teaching to track centering position
It sets；
The position of the manipulator shaft after obtaining teaching, and second reality of the position that will acquire as the robot
Position.
Further, described according to first physical location and second physical location, to the coarse positioning zero point
Position is finely adjusted, and is obtained the dead-center position of the manipulator shaft, is specifically included:
Calculate the difference of first physical location and second physical location；
The coarse positioning dead-center position is finely adjusted according to the difference, obtains the dead-center position of the manipulator shaft.
Preferably, the difference is radian value.
Correspondingly, the embodiment of the present invention also provides a kind of robot zero point correction device, comprising:
Coarse positioning module, for obtaining the coarse positioning zero of the manipulator shaft after the dead-center position of manipulator shaft loss
Point position；
Module is run, for robot being run according to initial trace, obtaining fortune using the coarse positioning dead-center position as starting point
First physical location of the manipulator shaft after row；
Teaching module, for the institute by the postrun manipulator shaft teaching to track center position, after obtaining teaching
State the second physical location of manipulator shaft；And
Module is finely tuned, is used for according to first physical location and second physical location, to the coarse positioning zero point
Position is finely adjusted, and obtains the dead-center position of the manipulator shaft.
Further, the coarse positioning module specifically includes:
First controling instructin unit, for the dead-center position of manipulator shaft loss after, receive operator issue pair
The manipulator shaft carries out the first control instruction of teaching；
First teaching unit is used for according to the mobile manipulator shaft of first control instruction, by the robot
Groove center position of the axis teaching to robot base；And
Coarse positioning dead-center position acquiring unit, for obtaining the position of the manipulator shaft after teaching, and will acquire
Coarse positioning dead-center position of the position as the robot.
Further, the teaching module specifically includes:
Second controling instructin unit, the second control to the manipulator shaft teaching for receiving operator's sending refer to
It enables；
Second teaching unit is used for according to the mobile manipulator shaft of second control instruction, by the robot
Axis teaching is to track center position；And
Second physical location acquiring unit, for obtaining the position of the manipulator shaft after teaching, and the position that will acquire
Set the second physical location as the robot.
Further, the fine tuning module specifically includes:
Difference computational unit, for calculating the difference of first physical location and second physical location；And
Fine-adjusting unit obtains the robot for being finely adjusted according to the difference to the coarse positioning dead-center position
The dead-center position of axis.
Preferably, the difference is radian value.
The implementation of the embodiments of the present invention has the following beneficial effects:
Robot zero point correction method and device provided in an embodiment of the present invention can lose in the dead-center position of manipulator shaft
After mistake, coarse positioning first is carried out to the dead-center position of manipulator shaft, robot is run according still further to initial trace, obtains manipulator shaft
Kinematic error, and then according to the error transfer factor coarse positioning dead-center position, to obtain the actual dead-center position of manipulator shaft, without weight
New teaching robot track, does not need professional tool yet, quick, the accurate alignment of robot dead-center position can be realized, reach
The accuracy guarantee of original program track, and save the cost.
Detailed description of the invention
Fig. 1 is the flow diagram of one embodiment of robot zero point correction method provided by the invention；
Fig. 2 is the structural schematic diagram of one embodiment of robot zero point correction device provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the flow diagram of one embodiment of robot zero point correction method provided by the invention, comprising:
S1, manipulator shaft dead-center position lose after, obtain the coarse positioning dead-center position of the manipulator shaft；
S2, using the coarse positioning dead-center position as starting point, run robot according to initial trace, obtain postrun described
First physical location of manipulator shaft；
S3, the manipulator shaft by the postrun manipulator shaft teaching to track center position, after obtaining teaching
The second physical location；
S4, according to first physical location and second physical location, the coarse positioning dead-center position is carried out micro-
It adjusts, obtains the dead-center position of the manipulator shaft.
It should be noted that needing after robot replaces motor or external force causes robot zero point to be lost to robot
The middle manipulator shaft for losing zero point re-starts zero point correction.Manual teaching first is carried out to the manipulator shaft, coarse positioning goes out the machine
The dead-center position of device people's axis obtains the coarse positioning dead-center position of the manipulator shaft.It in turn, is starting with the coarse positioning dead-center position
Point makes robot run to any point in track according to initial trace, and record postrun manipulator shaft first is real
Border position.Since the coarse positioning dead-center position of manipulator shaft and initial dead-center position have deviation, so that manipulator shaft is run
Rear the first physical location and track center position have deviation, by manual teaching by manipulator shaft from the first physical location tune
It is whole to arrive track center position, and record the second physical location of manipulator shaft at this time.Finally, postrun according to manipulator shaft
The second track position after first physical location and teaching, can the coarse positioning dead-center position correspondingly to manipulator shaft adjust
It is whole, to be adjusted to the initial dead-center position of manipulator shaft.Come calibration machine people's zero point position in such a way that first coarse positioning is finely tuned again
It sets, makes the calibration of dead-center position more quickly, accurately.
Further, described to obtain the zero point coarse positioning position of the manipulator shaft after manipulator shaft replaces motor, have
Body includes:
After the dead-center position of manipulator shaft is lost, receive operator's sending carries out teaching to the manipulator shaft
First control instruction；
According to the mobile manipulator shaft of first control instruction, by the manipulator shaft teaching to robot base
Groove center position；
The position of the manipulator shaft after obtaining teaching, and coarse positioning zero of the position that will acquire as the robot
Point position.
It should be noted that operator is in operating side to the manipulator shaft after the dead-center position of manipulator shaft is lost
Teaching operation is carried out, coarse positioning is carried out with the dead-center position to manipulator shaft.The groove pair of the visual robot base of operator
Middle position, the teaching knob at rotation process end make manipulator shaft teaching to groove center position with mobile robot axis.Wherein,
Groove center position is close with the initial dead-center position of manipulator shaft.After teaching, operator clicks calibration function in operating side
Button is updated robot interior data, i.e., redefines to the dead-center position of manipulator shaft, by manipulator shaft
Dead-center position be defined as the current location after manipulator shaft teaching, to realize the dead-center position coarse positioning of manipulator shaft.
Further, the institute by the postrun manipulator shaft teaching to track center position, after obtaining teaching
The second physical location for stating manipulator shaft, specifically includes:
Receive the second control instruction to the manipulator shaft teaching that operator issues；
According to the mobile manipulator shaft of second control instruction, by the manipulator shaft teaching to track centering position
It sets；
The position of the manipulator shaft after obtaining teaching, and second reality of the position that will acquire as the robot
Position.
It should be noted that still robot is run according to former track using coarse positioning dead-center position as starting point, so that machine
The postrun position of device people deviates.For example, running robot to P point, robot by starting point of actual dead-center position
Axle position in track center position, including but not limited to sell and the centering of key seat, the centering of pin and pin hole, two square planars pair
It is medium.And robot is reruned to P point using coarse positioning dead-center position as starting point, manipulator shaft deviates, that is, sells and sell
Seat is misaligned, is sold and pin hole misaligns, two square planars misalign.The of manipulator shaft at this time is read out by teaching machine
One physical location, is indicated with L1.In turn, manual teaching is carried out to postrun robot by operator.Operator's mesh
Apparent path center position, the teaching knob at rotation process end make manipulator shaft teaching to track centering position with mobile robot axis
It sets, for example, making pin and key seat, pin and pin hole or two square planars etc. be in Shaft alignment state by rotation teaching knob.Pass through
Teaching machine reads out the second physical location of manipulator shaft at this time, is indicated with L2.
Further, described according to first physical location and second physical location, to the coarse positioning zero point
Position is finely adjusted, and is obtained the dead-center position of the manipulator shaft, is specifically included:
Calculate the difference of first physical location and second physical location；
The coarse positioning dead-center position is finely adjusted according to the difference, obtains the dead-center position of the manipulator shaft.
It should be noted that being calculated after the first physical location L1 and the second physical location L2 for reading out manipulator shaft
Difference X1=L2-L1 between first physical location L1 and the second physical location L2, and according to difference X1 to coarse positioning zero point
Position is finely adjusted.Wherein, if coarse positioning dead-center position than practical dead-center position to the position positivity bias X1 of robot shaft,
Then X1 is negative value；If coarse positioning dead-center position is than practical dead-center position to the position robot shaft negative sense deviation X1, X1 is positive
Value.For example, the first physical location L1=0.36884 radian, the second physical location L2=0.39403 radian, can calculate thick
Position the value X1=L2-L1=0.39403-0.36884=0.02519 radian finely tuned needed for dead-center position.To coarse positioning zero
After point fine position, operator clicks calibration function button in operating side, is carried out again with the dead-center position to manipulator shaft
Definition, the dead-center position of the manipulator shaft after obtaining accurate adjustment.
Preferably, the difference is radian value.
It should be noted that when passing through the first physical location and the second physical location of teaching machine read machine people's axis,
Operator operates teaching machine so that the first physical location and the second physical location are shown with arc pattern, to calculate
The first physical location and the second physical location difference be radian value, and then according to radian value come to coarse positioning dead-center position into
Row accurate adjustment makes dead-center position adjusted be accurate to ± 0.5mm, adjusts more accurate.
Robot zero point correction method provided in an embodiment of the present invention, can the dead-center position of manipulator shaft loss after,
Coarse positioning first is carried out to the dead-center position of manipulator shaft, robot is run according still further to initial trace, obtains the operation of manipulator shaft
Error, and then according to the error transfer factor coarse positioning dead-center position, to obtain the actual dead-center position of manipulator shaft, without showing again
Teach robot trajectory, also do not need professional tool, can be realized quick, the accurate alignment of robot dead-center position, and save at
This.
Correspondingly, can be realized the machine in above-described embodiment the present invention also provides a kind of robot zero point correction device
All processes of people's zero point correction method.
Referring to fig. 2, be robot zero point correction device provided by the invention one embodiment structural schematic diagram, packet
It includes:
Coarse positioning module 1, for obtaining the coarse positioning zero of the manipulator shaft after the dead-center position of manipulator shaft loss
Point position；
Module 2 is run, for robot being run according to initial trace, being obtained using the coarse positioning dead-center position as starting point
First physical location of the postrun manipulator shaft；
Further, the coarse positioning module specifically includes:
First controling instructin unit, for receiving pair that operator issues after the dead-center position of manipulator shaft loss
The manipulator shaft carries out the first control instruction of teaching；
First teaching unit is used for according to the mobile manipulator shaft of first control instruction, by the robot
Groove center position of the axis teaching to robot base；And
Coarse positioning dead-center position acquiring unit, for obtaining the position of the manipulator shaft after teaching, and will acquire
Coarse positioning dead-center position of the position as the robot.
Further, the teaching module specifically includes:
Second controling instructin unit, the second control to the manipulator shaft teaching for receiving operator's sending refer to
It enables；
Second teaching unit is used for according to the mobile manipulator shaft of second control instruction, by the robot
Axis teaching is to track center position；And
Second physical location acquiring unit, for obtaining the position of the manipulator shaft after teaching, and the position that will acquire
Set the second physical location as the robot.
Further, the fine tuning module specifically includes:
Difference computational unit, for calculating the difference of first physical location and second physical location；And
Fine-adjusting unit obtains the robot for being finely adjusted according to the difference to the coarse positioning dead-center position
The dead-center position of axis.
Preferably, the difference is radian value.
Robot zero point correction device provided in an embodiment of the present invention, can the dead-center position of manipulator shaft loss after,
Coarse positioning first is carried out to the dead-center position of manipulator shaft, robot is run according still further to initial trace, obtains the operation of manipulator shaft
Error, and then according to the error transfer factor coarse positioning dead-center position, to obtain the actual dead-center position of manipulator shaft, without showing again
Robot trajectory is taught, professional tool is not needed yet, quick, the accurate alignment of robot dead-center position can be realized, reach original
The accuracy guarantee of program track, and save the cost.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of robot zero point correction method characterized by comprising
After the dead-center position of manipulator shaft is lost, the coarse positioning dead-center position of the manipulator shaft is obtained；
Using the coarse positioning dead-center position as starting point, robot is run according to initial trace, obtains the postrun robot
First physical location of axis；
By the postrun manipulator shaft teaching to track center position, second of the manipulator shaft after obtaining teaching is real
Border position；
According to first physical location and second physical location, the coarse positioning dead-center position is finely adjusted, is obtained
The dead-center position of the manipulator shaft.
2. robot zero point correction method as described in claim 1, which is characterized in that described to replace motor in manipulator shaft
Afterwards, the zero point coarse positioning position for obtaining the manipulator shaft, specifically includes:
After the dead-center position of manipulator shaft is lost, receive operator's sending carries out the first of teaching to the manipulator shaft
Control instruction；
According to the mobile manipulator shaft of first control instruction, by the manipulator shaft teaching to the recessed of robot base
Slot center position；
The position of the manipulator shaft after obtaining teaching, and coarse positioning zero point position of the position that will acquire as the robot
It sets.
3. robot zero point correction method as described in claim 1, which is characterized in that described by the postrun robot
To track center position, the second physical location of the manipulator shaft after obtaining teaching is specifically included for axis teaching:
Receive the second control instruction to the manipulator shaft teaching that operator issues；
According to the mobile manipulator shaft of second control instruction, by the manipulator shaft teaching to track center position；
The position of the manipulator shaft after obtaining teaching, and second actual bit of the position that will acquire as the robot
It sets.
4. robot zero point correction method as described in claim 1, which is characterized in that described according to first physical location
With second physical location, the coarse positioning dead-center position is finely adjusted, obtains the dead-center position of the manipulator shaft, is had
Body includes:
Calculate the difference of first physical location and second physical location；
The coarse positioning dead-center position is finely adjusted according to the difference, obtains the dead-center position of the manipulator shaft.
5. robot zero point correction method as claimed in claim 4, which is characterized in that the difference is radian value.
6. a kind of robot zero point correction device characterized by comprising
Coarse positioning module, for obtaining the coarse positioning zero point position of the manipulator shaft after the dead-center position of manipulator shaft loss
It sets；
Module is run, for robot being run according to initial trace, after obtaining operation using the coarse positioning dead-center position as starting point
The manipulator shaft the first physical location；
Teaching module, for the machine by the postrun manipulator shaft teaching to track center position, after obtaining teaching
Second physical location of device people's axis；And
Module is finely tuned, is used for according to first physical location and second physical location, to the coarse positioning dead-center position
It is finely adjusted, obtains the dead-center position of the manipulator shaft.
7. robot zero point correction device as claimed in claim 6, which is characterized in that the coarse positioning module specifically includes:
First controling instructin unit, for the dead-center position of manipulator shaft loss after, receive operator issue to described
First control instruction of manipulator shaft progress teaching；
First teaching unit, for according to the mobile manipulator shaft of first control instruction, the manipulator shaft to be shown
Teach the groove center position of robot base；And
Coarse positioning dead-center position acquiring unit, for obtaining the position of the manipulator shaft after teaching, and the position that will acquire
Coarse positioning dead-center position as the robot.
8. robot zero point correction device as claimed in claim 6, which is characterized in that the teaching module specifically includes:
Second controling instructin unit, for receiving the second control instruction to the manipulator shaft teaching of operator's sending；
Second teaching unit, for according to the mobile manipulator shaft of second control instruction, the manipulator shaft to be shown
It teaches to track center position；And
Second physical location acquiring unit, for obtaining the position of the manipulator shaft after teaching, and the position that will acquire is made
For the second physical location of the robot.
9. robot zero point correction device as claimed in claim 6, which is characterized in that the fine tuning module specifically includes:
Difference computational unit, for calculating the difference of first physical location and second physical location；And
Fine-adjusting unit obtains the manipulator shaft for being finely adjusted according to the difference to the coarse positioning dead-center position
Dead-center position.
10. robot zero point correction device as claimed in claim 9, which is characterized in that the difference is radian value.
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| CN201611047078.4A CN108081255B (en) | 2016-11-23 | 2016-11-23 | A kind of robot zero point correction method and device |
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| CN109108969A (en) * | 2018-08-21 | 2019-01-01 | 珠海格力智能装备有限公司 | Robot zero point processing method and device |
| CN110793553B (en) * | 2019-11-07 | 2021-07-23 | 歌尔股份有限公司 | Zero point positioning method, system, servo motor and storage medium |
| CN111015723B (en) * | 2019-12-31 | 2021-07-27 | 深圳市优必选科技股份有限公司 | Robot joint positioning method and device, robot and storage medium |
| CN114161420B (en) * | 2021-12-13 | 2023-11-14 | 库卡机器人制造（上海）有限公司 | Robot assembly, control method and control device thereof, and readable storage medium |
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| US4403281A (en) * | 1981-04-03 | 1983-09-06 | Cincinnati Milacron Industries, Inc. | Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path |
| JPS5829008A (en) * | 1981-08-12 | 1983-02-21 | Mitsubishi Electric Corp | Controler for robot |
| CN102806560B (en) * | 2012-08-24 | 2014-08-06 | 电子科技大学 | Method capable of automatically eliminating motion accumulated error of robot |
| CN105091807B (en) * | 2014-04-30 | 2017-12-01 | 鸿富锦精密工业（深圳）有限公司 | The bearing calibration of robot tool coordinate system |
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