CN109202903B - Method for calibrating countsPerMeter parameter and base standard system of sorting robot workstation conveying chain - Google Patents
Method for calibrating countsPerMeter parameter and base standard system of sorting robot workstation conveying chain Download PDFInfo
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- CN109202903B CN109202903B CN201811070553.9A CN201811070553A CN109202903B CN 109202903 B CN109202903 B CN 109202903B CN 201811070553 A CN201811070553 A CN 201811070553A CN 109202903 B CN109202903 B CN 109202903B
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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
- B25J9/1656—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
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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
- B25J19/0066—Means or methods for maintaining or repairing manipulators
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- 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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Abstract
The invention discloses a method for calibrating countsPerMeter parameters and a base standard system of a conveying chain of a sorting robot workstation, which is characterized by comprising the following steps of: the method comprises the following specific steps: teaching a first point required for calibrating the CountsPerMeer parameter and the base coordinate system, teaching a second point required for calibrating the base coordinate system, teaching a third point required for calibrating the base coordinate system, teaching a fourth point required for calibrating the base coordinate system and a second point required for the CountsPerMeer parameter, calibrating the CountsPerMeer parameter, and calibrating the base coordinate system. The method of the invention has 6 steps, 4 times of starting and 4 times of stopping the conveying chain are needed, partial operations of two-step calibration are combined, the debugging operation is refined, and the technical prejudice that the calibration must be respectively carried out is overcome.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a method for calibrating countsPerMeter parameters and a base standard system of a conveying chain of a sorting robot workstation.
Background
The sorting robot workstation has the characteristics of high rigidity, high speed and strong flexibility, and is widely applied to the industries of food, electronics, medicines, light industry and the like. In the process of installing and debugging the sorting robot, the countsPerMeter parameter of the conveying chain needs to be calibrated, namely the number of the calculation signals actually acquired by the controller every time the conveying chain advances by 1 meter; at the same time, a calibration of the base coordinate system is required, which affects the tracking accuracy of the conveyor chain.
The prior art is as follows: the conveyor chain was started and stopped 2 times, respectively, to calibrate the countsermeter parameter, and then started and stopped 4 times, respectively, to calibrate the base coordinate system.
As shown in fig. 1, the prior art calibration method is divided into 8 steps, requiring 6 starts and 6 stops of the conveyor chain. Starting a conveying chain, enabling a workpiece to pass through a synchronous switch, and teaching a first point required for calibrating a CountsPerMeter parameter in the step 1: stopping the conveying chain, recording coordinate values of a conveying chain device on the demonstrator, demonstrating the tail end of the robot to the upper side of the workpiece, aligning the calibration needle to the feature points of the workpiece, and recording the current coordinate values of the robot device on the demonstrator.
Step 2, teaching a second point required for calibrating the countsermeter parameter: and starting the conveying chain, stopping the conveying chain when the workpiece moves 0.5-1.5 m by visual inspection, recording coordinate values of a conveying chain device on the demonstrator, demonstrating the tail end of the robot to the upper part of the workpiece, aligning the calibration needle to the characteristic points of the workpiece, and recording the current coordinate values of the robot device on the demonstrator.
Step 3, calibrating CountsPerMeter parameters: and calculating the distance between two points according to the coordinate values of the conveying chain devices in the step 1 and the step 2, calculating the actual distance between the two points according to the coordinate values of the robot devices in the step 1 and the step 2, calculating a CountsPerMeter parameter according to the CountsPerMeter = conveying chain distance and the initial value/actual distance, and inputting the parameter into the robot from the demonstrator.
Step 4, teaching a first point required by the calibration base coordinate system: and switching the workpiece coordinates to workpiece coordinates associated with the conveying chain, starting the conveying chain after executing a conveying chain activating command, waiting for the completion of a workpiece coordinate system connecting command after the workpiece passes through a synchronous switch and a position of 0.0m, stopping the conveying chain, teaching the tail end of the robot to the upper part of the workpiece, aligning the calibration needle to the characteristic point of the workpiece, and modifying the position on the first point of the option of the calibration base.
And 5, teaching a second point required by the calibration base coordinate system: and starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual inspection, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on the second point of the calibration base option.
And 6, teaching a third point required by the calibration base coordinate system: and starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual inspection, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on the third point of the calibration base option.
And 7, teaching a fourth point required by the calibration base coordinate system: and starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual inspection, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on the fourth point of the calibration base option.
And 8, confirming the coordinate values of the conveying chain when the 4 th to 7 th steps are confirmed, namely the tail end of the robot is aligned to the characteristic point on the workpiece four times, thereby determining the base coordinate system.
However, in the prior art calibration method, the two calibration operations are locally close to each other, and the debugging step is not refined enough.
Disclosure of Invention
Aiming at the technical problems that two calibration operations are locally close and the debugging step is not refined enough in the prior art, the invention aims to provide a method for combining the countsPerMeter parameter of a conveying chain of a sorting robot workstation and the calibration of a base standard system into a whole.
The purpose of the invention is realized by the following technical scheme:
a method for calibrating countsPerMeter parameters and a base standard system of a conveying chain of a sorting robot workstation comprises a robot, a calibration needle, a workpiece, a synchronous switch, the conveying chain and a demonstrator, and specifically comprises the following steps:
1. the first point required to calibrate the countsermeter parameter and the susceptor standard is taught: activating a conveying chain instruction, starting the conveying chain, executing an instruction of waiting for connection of a workpiece coordinate system, stopping the conveying chain after the workpiece passes through a synchronous switch and a position of 0.0m, switching a workpiece coordinate to a robot base coordinate, teaching a robot tail end to the position above the workpiece, aligning a calibration needle to a feature point of the workpiece, recording a current coordinate value of a robot device on a demonstrator, and recording a coordinate value of the conveying chain device on the demonstrator; the workpiece mark is switched back to the workpiece coordinates associated with the conveyor chain, modifying the position at the first point of the calibration base option.
2. Teaching a second point required for calibrating the base coordinate system: and starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual inspection, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on the second point of the calibration base option.
3. And (3) teaching a third point required by the calibration base coordinate system, namely starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on the third point of the calibration base option.
4. Teaching a fourth point required to calibrate the base coordinate system and a second point required for the countsermeter parameter: starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the feature point of the workpiece, modifying the position on the fourth point of the calibration base option, and determining the initial calibration of the base standard; and switching the workpiece coordinate to a robot base coordinate, recording the current coordinate value of the robot device on the demonstrator, and recording the coordinate value of the conveying chain device on the demonstrator.
5. Calibration of countsermeter parameters: calculating the distance between two points according to the coordinate values of the two conveying chain devices in the steps 1 and 4, calculating the actual distance between the two points according to the coordinate values of the two robot devices, calculating a countsPerMeter parameter according to a formula CountsPerMeter = conveying chain distance and initial value/actual distance, and inputting the parameter into the robot from a teach pendant.
6. Calibration base coordinate system: and calling a base coordinate system adjusting program, and determining a base standard system according to the base standard system preliminarily calibrated in the step 4 and the CountsPerMeter parameter calculated in the step 5.
Preferably, in the specific step 5, the countsermeter parameter is calibrated: and (4) programming and calculating the distance between the two conveying chains in the robot according to the coordinate values of the two conveying chain devices in the step (1) and the step (4), programming and calculating the actual distance between the two points in the robot according to the coordinate values of the two conveying chain devices, calculating a CountsPerMeter parameter according to a formula CountsPerMeter = conveying chain distance and an initial value/actual distance, and inputting the parameter into the robot from a demonstrator.
Preferably, the adjusting procedure in the specific step 6 is to determine the countsermeter parameter as an initial value, and the four workpiece coordinate values associated with the conveying chain are adjusted to the workpiece coordinate values after the countsermeter parameter is calibrated, so as to determine the base coordinate system.
Preferably, in the specific step 5, the division value of the actual distance is less than 1 mm.
Preferably, in the specific steps 1, 2, 3 and 4, the teaching adopts a linear motion mode.
The invention has the beneficial effects that: compared with the prior art, the method provided by the invention combines partial operations of two-step calibration, refines debugging operation and overcomes the technical bias that calibration must be respectively carried out.
Drawings
FIG. 1 is a flow chart of a prior art method.
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The present invention is described in further detail with reference to the following drawings.
As shown in fig. 2, a method for calibrating countsermeter parameters and a base standard system of a conveying chain of a sorting robot workstation comprises a robot, a calibration needle, a workpiece, a synchronous switch, a conveying chain and a demonstrator, the method of the invention is divided into 6 steps, 4 starting and 4 stopping of the conveying chain are required, and the method comprises the following specific steps:
1. the first point required to calibrate the countsermeter parameter and the susceptor standard is taught: activating a conveying chain instruction, starting the conveying chain, executing an instruction of waiting for connection of a workpiece coordinate system, stopping the conveying chain after the workpiece passes through a synchronous switch and a position of 0.0m, switching a workpiece coordinate to a robot base coordinate, teaching a robot tail end to the position above the workpiece, aligning a calibration needle to a feature point of the workpiece, recording a current coordinate value of a robot device on a demonstrator, and recording a coordinate value of the conveying chain device on the demonstrator; switching the workpiece marker back to the workpiece coordinates associated with the conveyor chain, modifying the position at the first point of the calibration base option; in the robot device, the workpiece coordinates are switched to the workpiece coordinates associated with the conveying chain, and the workpiece coordinates can be used for calibrating and modifying the base only, wherein the calibration and modification adopt a four-point method; this step combines the first point required to calibrate the countsermeter parameters and the first point required to calibrate the base coordinate system.
2. Teaching a second point required for calibrating the base coordinate system: starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on a second point of the calibration base option; this step is only for calibration of the base coordinate system and does not involve calibration of the countsermeter parameters.
3. Starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle to the characteristic point of the workpiece, and modifying the position on the third point of the calibration base option; this step is only for calibration of the base coordinate system and does not involve calibration of the countsermeter parameters.
4. Teaching a fourth point required to calibrate the base coordinate system and a second point required for the countsermeter parameter: starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the feature point of the workpiece, modifying the position on the fourth point of the calibration base option, and determining the initial calibration of the base standard; switching the workpiece coordinate to a robot base coordinate, recording the current coordinate value of the robot device on the demonstrator, and recording the coordinate value of the conveying chain device on the demonstrator; this step combines a fourth point required to calibrate the base coordinate system and a second point required to calibrate the countsermeter parameter.
5. Calibration of countsermeter parameters: and (4) calculating the distance between two points according to the coordinate values of the two conveying chain devices in the steps 1 and 4, calculating the actual distance between the two points according to the coordinate values of the two robot devices, wherein the division value of the actual distance is less than 1mm, calculating a CountsPerMeter parameter by using a formula CountsPerMeter = conveying chain distance and an initial value/actual distance, and inputting the parameter into the robot from a demonstrator.
6. Calibration base coordinate system: calling a base coordinate system adjusting program, and correcting the coordinate value of the countsPermer parameter in step 5 by the conveying chain according to the base coordinate system preliminarily calibrated in step 4 and the coordinate value of the countsPermer parameter when the tail end of the robot is aligned with the feature point on the workpiece in steps 1 to 4, thereby determining the base coordinate system; the base coordinate system adjustment procedure is prior art.
Further, in step 5, another method for calibrating the countsermeter parameter includes: and (4) programming and calculating the distance between the two conveying chains in the robot according to the coordinate values of the two conveying chain devices in the step (1) and the step (4), programming and calculating the actual distance between the two points in the robot according to the coordinate values of the two conveying chain devices, calculating a CountsPerMeter parameter according to a formula CountsPerMeter = conveying chain distance and an initial value/actual distance, and inputting the parameter into the robot from a demonstrator.
Further, in the specific steps 1, 2, 3 and 4, the teaching adopts a linear motion mode.
In step 2, step 3 and step 4, the calibration base is always the workpiece coordinates associated with the conveyor chain.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical solution of the present invention, and it should be noted that those skilled in the art can make further modifications and changes without departing from the technical solution of the present invention, and these modifications and changes should be covered by the protection scope of the present invention.
Claims (5)
1. A method for calibrating a countsPerMeter parameter and a base coordinate system of a conveying chain of a sorting robot workstation comprises a robot, a calibration needle, a workpiece, a synchronous switch, a conveying chain and a demonstrator, and is characterized in that: the method comprises the following specific steps:
(1) the first point required to calibrate the countsermeter parameters and the susceptor coordinate system is taught: activating a conveying chain instruction, starting the conveying chain, executing an instruction of waiting for connection of a workpiece coordinate system, stopping the conveying chain after the workpiece passes through a synchronous switch and a position of 0.0m, switching a workpiece coordinate to a robot base coordinate, teaching a robot tail end to the position above the workpiece, aligning a calibration needle to a feature point of the workpiece, recording a coordinate value of a robot device on a demonstrator, and recording a coordinate value of a conveying chain device on the demonstrator; switching the workpiece coordinates back to workpiece coordinates associated with the conveyor chain, modifying the position at a first point of the calibration base option to form a first workpiece coordinate associated with the conveyor chain;
(2) teaching a second point required for calibrating the base coordinate system: starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on a second point of the calibration base option to form a second workpiece coordinate associated with the conveying chain;
(3) starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, and modifying the position on the third point of the calibration base option to form a third workpiece coordinate associated with the conveying chain;
(4) teaching a fourth point required to calibrate the susceptor coordinate system and a second point required for the countsermeter parameter: starting the conveying chain, stopping the conveying chain when the workpiece moves 0.1-0.3 m by visual observation, teaching the tail end of the robot to the position above the workpiece, aligning the calibration needle with the characteristic point of the workpiece, modifying the position on the fourth point of the calibration base option to form a fourth workpiece coordinate associated with the conveying chain, and determining the primary calibration of the base coordinate system; switching the workpiece coordinate to a robot base coordinate, recording a coordinate value of a robot device on the demonstrator, and recording a coordinate value of a conveying chain device on the demonstrator;
(5) calibration of countsermeter parameters: calculating the distance between two points according to the coordinate values of the two conveying chain devices in the steps (1) and (4), calculating the actual distance between the two points according to the coordinate values of the two robot devices, calculating a CountsPerMeter parameter according to a formula CountsPerMeter = conveying chain distance and initial value/actual distance, and inputting the parameter into the robot from a demonstrator;
(6) calibrating a base coordinate system: and (5) calling a base coordinate system adjusting program, and determining the base coordinate system according to the base coordinate system preliminarily calibrated in the step (4) and the CountsPerMeter parameter calculated in the step (5).
2. The method of sorting robotic workstation conveyor chain countsermeter parameter and base coordinate system calibration according to claim 1, characterized in that: in the specific step (5), calibrating a countspersmeter parameter: and (4) programming and calculating the distance between the two conveying chains in the robot according to the coordinate values of the two conveying chain devices in the step (1) and the step (4), programming and calculating the actual distance between the two points in the robot according to the coordinate values of the two conveying chain devices, calculating a CountsPerMeter parameter by a formula CountsPermer = conveying chain distance and an initial value/actual distance, and inputting the parameter into the robot from a demonstrator.
3. The method of sorting robotic workstation conveyor chain countsermeter parameter and base coordinate system calibration according to claim 1, characterized in that: the adjusting procedure in the specific step (6) is to determine the countsermeter parameter as an initial value, and adjust the four workpiece coordinate values associated with the conveying chain to the workpiece coordinate values after the countsermeter parameter is calibrated, so as to determine the base coordinate system.
4. The method of sorting robotic workstation conveyor chain countsermeter parameter and base coordinate system calibration according to claim 1, characterized in that: in the specific step (5), the division value of the actual distance is less than 1 mm.
5. The method of sorting robotic workstation conveyor chain countsermeter parameter and base coordinate system calibration according to claim 1, characterized in that: in the specific steps (1), (2), (3) and (4), the teaching adopts a linear motion mode.
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