CN109202903A - The method of sorting machine people's work station carrier chain CountsPerMeter parameter and base coordinate system calibration - Google Patents
The method of sorting machine people's work station carrier chain CountsPerMeter parameter and base coordinate system calibration Download PDFInfo
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- CN109202903A CN109202903A CN201811070553.9A CN201811070553A CN109202903A CN 109202903 A CN109202903 A CN 109202903A CN 201811070553 A CN201811070553 A CN 201811070553A CN 109202903 A CN109202903 A CN 109202903A
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- carrier chain
- countspermeter
- coordinate system
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000004913 activation Effects 0.000 claims description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- 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
- B25J19/0066—Means or methods for maintaining or repairing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of methods that sorting machine people work station carrier chain CountsPerMeter parameter and base coordinate system are calibrated, it is characterized by: specific step is as follows for the method: teaching calibrates needed for CountsPerMeter parameter and base coordinate system at first point, second point needed for base coordinate system is calibrated in teaching, teaching is calibrated needed for base coordinate system thirdly, second point needed for 4th point and CountsPerMeter parameter needed for base coordinate system is calibrated in teaching, CountsPerMeter parameter is calibrated, base coordinate system is calibrated.Method of the invention totally 6 step needs 4 startings and 4 stopping carrier chains, incorporates the part operation of two step calibrations, refined debugging operations, overcome the technology prejudice that must be calibrated respectively.
Description
Technical field
The present invention relates to a kind of industrial robot fields, and in particular to a kind of sorting machine people work station carrier chain
The method of CountsPerMeter parameter and base coordinate system calibration.
Background technique
Sorting machine people's work station has the characteristics that rigidity is high, speed is fast, flexible strong, is widely used in food, electronics, medicine
The industries such as product, light industry.During installation and debugging sorting machine people, need to calibrate carrier chain CountsPerMeter parameter,
I.e. carrier chain is every advances 1 meter, the calculating signal number that controller actual acquisition arrives；Meanwhile needing to calibrate base coordinate system, it influences
The tracking accuracy of carrier chain.
The prior art are as follows: be separately turned on and stop carrier chain 2 times, calibrate CountsPerMeter parameter, then distinguish again
It opens and stops carrier chain 4 times, calibrate base coordinate system.
As shown in Figure 1, prior art calibration method is divided into 8 steps, 6 startings and 6 stopping carrier chains being needed.Starting conveying
Chain, workpiece calibrate needed for CountsPerMeter parameter at first point by synchronous switch, step 1, teaching: stop carrier chain,
Carrier chain device coordinate value on teaching machine is recorded, above robot end's teaching to workpiece, calibrates the feature of needle alignment pieces
Point records robot device's present coordinate values on teaching machine.
Step 2, second point needed for CountsPerMeter parameter is calibrated in teaching: starting carrier chain, range estimation workpiece are mobile
When 0.5~1.5m, stop carrier chain, carrier chain device coordinate value on teaching machine is recorded, in robot end's teaching to workpiece
The characteristic point of needle alignment pieces is calibrated by side, records robot device's present coordinate values on teaching machine.
Step 3 calibrates CountsPerMeter parameter: calculating two according to carrier chain device coordinate value in step 1 and step 2
Carrier chain distance between point calculates point-to-point transmission actual range according to robot device's coordinate in step 1 and step 2, by
CountsPerMeter=carrier chain distance * initial value/actual range calculates CountsPerMeter parameter, and by parameter from showing
Robot is inputted on religion device.
Step 4, teaching calibrate needed for base coordinate system at first point: workpiece coordinate is switched to and the associated workpiece of carrier chain
Coordinate starts carrier chain after executing activation carrier chain instruction, after workpiece is by synchronous switch and the position 0.0m, waits connection work
The instruction of part coordinate system is completed, and carrier chain is stopped, and above robot end's teaching to workpiece, calibrates the feature of needle alignment pieces
Point, the location revision on first point of calibration pedestal option.
Step 5, second point needed for base coordinate system is calibrated in teaching: starting carrier chain, the mobile 0.1~0.3m of range estimation workpiece
When, stop carrier chain, above robot end's teaching to workpiece, calibrate the characteristic point of needle alignment pieces, in calibration pedestal choosing
Location revision on the second point of item.
Step 6, teaching are calibrated needed for base coordinate system thirdly: starting carrier chain, the mobile 0.1~0.3m of range estimation workpiece
When, stop carrier chain, above robot end's teaching to workpiece, calibrate the characteristic point of needle alignment pieces, in calibration pedestal choosing
The thirdly upper location revision of item.
Step 7, teaching calibrate needed for base coordinate system at the 4th point: starting carrier chain, the mobile 0.1~0.3m of range estimation workpiece
When, stop carrier chain, above robot end's teaching to workpiece, calibrate the characteristic point of needle alignment pieces, in calibration pedestal choosing
Location revision on the 4th point of item.
Step 8, confirmation the above-mentioned 4th to step 7 are defeated when confirming the characteristic point in four alignment pieces of robot end
The coordinate value of chain is sent, so that it is determined that base coordinate system.
But in prior art calibration method, two calibration operations exist locally close to debugging step not enough refines.
Summary of the invention
Exist for above-mentioned two calibration operations in the prior art locally close to the technology that debugging step not enough refines is asked
Topic, the object of the present invention is to provide a kind of sorting machine people work station carrier chain CountsPerMeter parameter and base coordinate system schools
The quasi- method being combined into one.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of method of sorting machine people work station carrier chain CountsPerMeter parameter and base coordinate system calibration, including machine
People calibrates needle, and workpiece, synchronous switch, carrier chain, teaching machine, specific step is as follows for the method:
1, teaching calibrates needed for CountsPerMeter parameter and base coordinate system at first point: after activation carrier chain instruction, starting
Carrier chain executes and waits connection workpiece coordinate system instruction, after workpiece is by synchronous switch and the position 0.0m, stops carrier chain,
Workpiece coordinate is switched to robot basis coordinates, above robot end's teaching to workpiece, calibrates the characteristic point of needle alignment pieces,
Robot device's present coordinate values on teaching machine are recorded, and record carrier chain device coordinate value on teaching machine；Workpiece mark is switched
It returns with the associated workpiece coordinate of carrier chain, the location revision on first point of calibration pedestal option.
2, second point needed for teaching calibration base coordinate system: starting carrier chain stops when estimating workpiece 0.1~0.3m of movement
Only carrier chain calibrates the characteristic point of needle alignment pieces robot end's teaching to above workpiece, the of calibration pedestal option
Location revision on 2 points.
3, needed for teaching calibration base coordinate system thirdly: starting carrier chain stops when estimating workpiece 0.1~0.3m of movement
Only carrier chain calibrates the characteristic point of needle alignment pieces robot end's teaching to above workpiece, the of calibration pedestal option
Location revision on 3 points.
4, second point needed for the 4th point and CountsPerMeter parameter needed for teaching calibration base coordinate system: starting is defeated
Chain is sent, when estimating workpiece 0.1~0.3m of movement, stops carrier chain, above robot end's teaching to workpiece, calibration needle is aligned
The characteristic point of workpiece, the location revision on the 4th point of calibration pedestal option, determines base coordinate system preliminary calibration；Workpiece coordinate
Robot basis coordinates are switched to, robot device's present coordinate values on teaching machine are recorded, carrier chain device on teaching machine is recorded and sits
Scale value.
5, CountsPerMeter parameter: two carrier chain device coordinate values according to step 1 and step 4 is calibrated
Point-to-point transmission carrier chain distance is calculated, point-to-point transmission actual range is calculated according to two robot device's coordinate values, by public affairs
Formula CountsPerMeter=carrier chain distance * initial value/actual range, calculate CountsPerMeter parameter, and by parameter from
Teaching machine inputs robot.
6, it calibrates base coordinate system: calling base coordinate system adjustment programme, according to the base coordinate system and step just calibrated in step 4
The CountsPerMeter parameter calculated in 5, determines base coordinate system.
Preferably, in the specific steps 5, CountsPerMeter parameter is calibrated: according to step 1 and step 4
Two carrier chain device coordinate values, the program calculation point-to-point transmission carrier chain distance in robot, according to two machines
People's device coordinate value, the program calculation point-to-point transmission actual range in robot, by formula CountsPerMeter=carrier chain away from
From * initial value/actual range, CountsPerMeter parameter is calculated, and parameter is inputted into robot from teaching machine.
Preferably, the adjustment programme in the specific steps 6 is that CountsPerMeter parameter is determined as initial value, institute
Four stated and the associated workpiece coordinate value of carrier chain, the workpiece coordinate value after being adjusted to CountsPerMeter parametric calibration,
And then determine base coordinate system.
Preferably, in the specific steps 5, the scale division value of actual range is less than 1mm.
Preferably, in the specific steps 1,2,3,4, teaching uses linear movement mode.
The invention has the benefit that compared with prior art, method of the invention merges the part behaviour of two step calibrations
Make, has refined debugging operations, the customer service technology prejudice that must be calibrated respectively.
Detailed description of the invention
Fig. 1 is the flow chart of art methods.
Fig. 2 is the flow chart of the method for the present invention.
Specific embodiment
In conjunction with following accompanying drawings, the present invention is described in further detail.
As shown in Fig. 2, a kind of sorting machine people work station carrier chain CountsPerMeter parameter and base coordinate system calibration
Method, including robot calibrates needle, workpiece, synchronous switch, carrier chain, teaching machine, and method of the invention is divided into 6 steps, needs
4 startings and 4 stopping carrier chains, specific step is as follows for the method:
1, teaching calibrates needed for CountsPerMeter parameter and base coordinate system at first point: after activation carrier chain instruction, starting
Carrier chain executes and waits connection workpiece coordinate system instruction, after workpiece is by synchronous switch and the position 0.0m, stops carrier chain,
Workpiece coordinate is switched to robot basis coordinates, above robot end's teaching to workpiece, calibrates the characteristic point of needle alignment pieces,
Robot device's present coordinate values on teaching machine are recorded, and record carrier chain device coordinate value on teaching machine；Workpiece mark is switched
It returns with the associated workpiece coordinate of carrier chain, the location revision on first point of calibration pedestal option；In robot device, workpiece
Coordinate be switched to the associated workpiece coordinate of carrier chain, could be used to calibrate modification pedestal, calibration modification uses four-point method；This
Step incorporate calibration CountsPerMeter parameter needed for first point and calibration base coordinate system needed for first point.
2, second point needed for teaching calibration base coordinate system: starting carrier chain stops when estimating workpiece 0.1~0.3m of movement
Only carrier chain calibrates the characteristic point of needle alignment pieces robot end's teaching to above workpiece, the of calibration pedestal option
Location revision on 2 points；This step is not related to the calibration of CountsPerMeter parameter just for the calibration of base coordinate system.
3, needed for teaching calibration base coordinate system thirdly: starting carrier chain stops when estimating workpiece 0.1~0.3m of movement
Only carrier chain calibrates the characteristic point of needle alignment pieces robot end's teaching to above workpiece, the of calibration pedestal option
Location revision on 3 points；This step is not related to the calibration of CountsPerMeter parameter just for the calibration of base coordinate system.
4, second point needed for the 4th point and CountsPerMeter parameter needed for teaching calibration base coordinate system: starting is defeated
Chain is sent, when estimating workpiece 0.1~0.3m of movement, stops carrier chain, above robot end's teaching to workpiece, calibration needle is aligned
The characteristic point of workpiece, the location revision on the 4th point of calibration pedestal option, determines base coordinate system preliminary calibration；Workpiece coordinate
Robot basis coordinates are switched to, robot device's present coordinate values on teaching machine are recorded, carrier chain device on teaching machine is recorded and sits
Scale value；This step incorporate calibration base coordinate system needed for the 4th point and calibration CountsPerMeter parameter needed for second
Point.
5, CountsPerMeter parameter: two carrier chain device coordinate values according to step 1 and step 4 is calibrated
Point-to-point transmission carrier chain distance is calculated, calculates point-to-point transmission actual range according to two robot device's coordinate values, it is practical
The scale division value of distance is less than 1mm, by formula CountsPerMeter=carrier chain distance * initial value/actual range, calculates
CountsPerMeter parameter, and parameter is inputted into robot from teaching machine.
6, it calibrates base coordinate system: calling base coordinate system adjustment programme, according to the base coordinate system just calibrated in step 4, and
When modifying the 1st characteristic point into step 4 in robot end's alignment pieces, carrier chain is calibrated in steps of 5
Coordinate value after CountsPerMeter parameter, so that it is determined that base coordinate system；Base coordinate system adjustment programme is the prior art.
Further, in specific steps 5, the method for another kind calibration CountsPerMeter parameter: according to step 1 and step
Two carrier chain device coordinate values described in rapid 4, the program calculation point-to-point transmission carrier chain distance in robot, according to described
Two robot device's coordinate values, the program calculation point-to-point transmission actual range in robot, by formula CountsPerMeter=defeated
Chain distance * initial value/actual range is sent, calculates CountsPerMeter parameter, and parameter is inputted into robot from teaching machine.
Further, in specific steps 1,2,3,4, teaching uses linear movement mode.
Step 2, step 3, in step 4, calibration pedestal be always use with the associated workpiece coordinate of carrier chain.
The above is only the preferred embodiment of the present invention, is not limited to the technical solution, and should be referred to
Out, those skilled in the art can also make under the premise of not departing from technical solution of the present invention and further improve and change
Become, these improve and change and should all be included within the scope of protection of the present invention.
Claims (5)
1. a kind of method of sorting machine people work station carrier chain CountsPerMeter parameter and base coordinate system calibration, including machine
Device people, calibration needle, workpiece, synchronous switch, carrier chain, teaching machine, it is characterised in that: specific step is as follows for the method:
(1) teaching calibrates needed for CountsPerMeter parameter and base coordinate system at first point: after activation carrier chain instruction, starting
Carrier chain executes and waits connection workpiece coordinate system instruction, after workpiece is by synchronous switch and the position 0.0m, stops carrier chain,
Workpiece coordinate is switched to robot basis coordinates, above robot end's teaching to workpiece, calibrates the characteristic point of needle alignment pieces,
Robot device's present coordinate values on teaching machine are recorded, and record carrier chain device coordinate value on teaching machine；Workpiece coordinate is cut
It gains with the associated workpiece coordinate of carrier chain, the location revision on first point of calibration pedestal option；
(2) second point needed for teaching calibration base coordinate system: starting carrier chain stops defeated when estimating workpiece 0.1~0.3m of movement
Chain is sent, above robot end's teaching to workpiece, the characteristic point of needle alignment pieces is calibrated, in the second point of calibration pedestal option
Upper location revision；
(3) needed for teaching calibration base coordinate system thirdly: starting carrier chain stops defeated when estimating workpiece 0.1~0.3m of movement
Chain is sent, above robot end's teaching to workpiece, calibrates the characteristic point of needle alignment pieces, is calibrating pedestal option thirdly
Upper location revision；
(4) second point needed for the 4th point and CountsPerMeter parameter needed for teaching calibration base coordinate system: starting conveying
Chain stops carrier chain when estimating workpiece 0.1~0.3m of movement, above robot end's teaching to workpiece, calibration needle alignment work
The characteristic point of part, the location revision on the 4th point of calibration pedestal option, determines base coordinate system preliminary calibration；Workpiece coordinate is cut
Robot basis coordinates are changed to, robot device's present coordinate values on teaching machine are recorded, record carrier chain device coordinate on teaching machine
Value；
(5) CountsPerMeter parameter is calibrated: according to two carrier chain device coordinates described in step (1) and step (4)
Value calculates point-to-point transmission carrier chain distance, calculates point-to-point transmission actual range according to two robot device's coordinate values, by
Formula CountsPerMeter=carrier chain distance * initial value/actual range calculates CountsPerMeter parameter, and by parameter
Robot is inputted from teaching machine；
(6) it calibrates base coordinate system: calling base coordinate system adjustment programme, according to the base coordinate system and step just calibrated in step (4)
(5) the CountsPerMeter parameter calculated in, determines base coordinate system.
2. sorting machine people work station carrier chain CountsPerMeter parameter according to claim 1 and base coordinate system school
Quasi- method, it is characterised in that: in the specific steps (5), calibrate CountsPerMeter parameter: according to step (1) and step
Suddenly two carrier chain device coordinate values described in (4), the program calculation point-to-point transmission carrier chain distance in robot, according to described
Two robot device's coordinate values, the program calculation point-to-point transmission actual range in robot, by formula CountsPerMeter=
Carrier chain distance * initial value/actual range calculates CountsPerMeter parameter, and parameter is inputted robot from teaching machine.
3. sorting machine people work station carrier chain CountsPerMeter parameter according to claim 1 and base coordinate system school
Quasi- method, it is characterised in that: the adjustment programme in the specific steps (6) is to be determined as CountsPerMeter parameter just
Initial value, described four and the associated workpiece coordinate value of carrier chain, the workpiece after being adjusted to CountsPerMeter parametric calibration
Coordinate value, and then determine base coordinate system.
4. sorting machine people work station carrier chain CountsPerMeter parameter according to claim 1 and base coordinate system school
Quasi- method, it is characterised in that: in the specific steps (5), the scale division value of actual range is less than 1mm.
5. sorting machine people work station carrier chain CountsPerMeter parameter according to claim 1 and base coordinate system school
Quasi- method, it is characterised in that: the specific steps (1), (2), (3), in (4), teaching uses linear movement mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811070553.9A CN109202903B (en) | 2018-09-13 | 2018-09-13 | Method for calibrating countsPerMeter parameter and base standard system of sorting robot workstation conveying chain |
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| CN201811070553.9A CN109202903B (en) | 2018-09-13 | 2018-09-13 | Method for calibrating countsPerMeter parameter and base standard system of sorting robot workstation conveying chain |
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| CN109202903B CN109202903B (en) | 2021-05-28 |
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| CN108453701A (en) * | 2017-02-09 | 2018-08-28 | 佳能株式会社 | Control method, the method for teaching robot and the robot system of robot |
| CN108507472A (en) * | 2018-03-19 | 2018-09-07 | 江南大学 | A kind of safe automobile air bag strip of paper used for sealing size non-contact vision detection method |
-
2018
- 2018-09-13 CN CN201811070553.9A patent/CN109202903B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
| EP2993002A1 (en) * | 2014-09-03 | 2016-03-09 | Canon Kabushiki Kaisha | Robot apparatus and method for controlling robot apparatus |
| CN106104203A (en) * | 2015-07-13 | 2016-11-09 | 深圳市大疆创新科技有限公司 | The distance detection method of a kind of mobile object, device and aircraft |
| CN106553195A (en) * | 2016-11-25 | 2017-04-05 | 中国科学技术大学 | Object 6DOF localization method and system during industrial robot crawl |
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Inventor after: Wang Yunfei Inventor after: Sun Yanbo Inventor after: Han Yasai Inventor after: Li Li Inventor after: Kong Yijun Inventor after: Lei Zhenxing Inventor after: Yan Jianbing Inventor after: Zhang Liyuan Inventor after: Zhang Qianqian Inventor after: Xu Yutao Inventor after: Guo Chao Inventor before: Wang Yunfei Inventor before: Zhang Liyan Inventor before: Kong Yijun Inventor before: Lei Zhenxing Inventor before: Yan Jianbing Inventor before: Zhang Liyuan |
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Effective date of registration: 20220825 Address after: Room 108, 1st Floor, Building 4, No. 5, Pingan Road, Shilong Economic Development Zone, Mentougou District, Beijing 102300 Patentee after: Beijing tanlong golden diamond Intelligent Technology Co.,Ltd. Address before: 451191 southwest corner of intersection of Taishan Road and Zhengxin Road, Longhu Town, Xinzheng City, Zhengzhou City, Henan Province Patentee before: HENAN MECHANICAL AND ELECTRICAL VOCATIONAL College |
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Address after: No. 1 Xiyuan, Industrial Cluster Zone, Zheyang Street, Fangcheng County, Nanyang City, Henan Province, 473000 Patentee after: Henan Tanlong Gold Diamond Intelligent Manufacturing Co.,Ltd. Address before: Room 108, 1st Floor, Building 4, No. 5, Pingan Road, Shilong Economic Development Zone, Mentougou District, Beijing 102300 Patentee before: Beijing tanlong golden diamond Intelligent Technology Co.,Ltd. |