CN109848989A - A kind of robot execution end automatic Calibration and detection method based on ruby probe - Google Patents
A kind of robot execution end automatic Calibration and detection method based on ruby probe Download PDFInfo
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Abstract
The present invention relates to a kind of, and the robot based on ruby probe executes end automatic Calibration and detection method.Robot kinematics' model is established, for analysis robot ending coordinates system end positioning accuracy offset issue caused by robot end's clamping error.In workpiece surface clamped by robot end and the dynamic process of probe initial contact, using the Search L instruction in RAPID program language complete touching stop with point coordinate data assignment, to realize automatic Calibration；Calibration is sought by carrying out touching to workpiece surface profile using fixed ruby probe, work pieces process front and rear surfaces profile tolerance is calculated, calculated result is delivered in robot controller, robot end's workpiece surface profile calculation is realized and shows.The present invention can be realized the surface profile degree detection that robot executes end automatic Calibration and is automatically performed before and after work pieces process, and simplified operation is conducive to hoisting machine people processing efficiency and quality.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of robot based on ruby probe executes end
Hold automatic Calibration and detection method.
Background technique
Industrial Robot Technology is widely used in the manufacture manufacture field such as automobile, rail traffic, aerospace.Actual processing
In the process, due to robot end's clamping error, CAD model error etc., cause workpiece in robot simulation work station empty
Quasi-coordinate system is inconsistent with actual coordinates, directly affects part processing precision, or even causes the danger such as interference, collision.In order to
Above-mentioned adverse effect is avoided, virtual coordinate system and actual coordinates need to be demarcated before processing, and by calculating two coordinates
Transition matrix between system seeks a kind of Fast Calibration, and can be realized the side of automatic detection part processing front and rear surfaces profile tolerance
Method.
At present there are mainly three types of robot system scaling methods: 1) by the point cloud matching method of scanner；2) machine is utilized
9 methods of vision progress hand and eye calibrating；3) half active scanner-probe standardization.Point cloud matching method precision highest, error are mended
The effect repaid is best, but needs for entire workpiece to be scanned, computationally intensive, data handling procedure is complicated, for large-scale structure
It builds substantially infeasible；Manual operation robot touching subpoint is needed to carry out using 9 methods that machine vision carries out hand and eye calibrating
Calibration, there are certain manual operation errors；Half active scanner-probe standardization is to be calibrated by manual operation machine people
End handles visual signal and is transferred to the mobile device of probe base, make close to scanner, scanner scanning end to be calibrated
Probe carries out touching from trend end to be calibrated and seeks, and completes to demarcate, but this method is still groped in theory at present, and the party
Method is harsh to the mobile absolute accuracy requirement of probe base mobile device, higher cost.
Summary of the invention
End automatic Calibration is executed the object of the present invention is to provide a kind of robot and piece surface profile tolerance is examined automatically
The method of survey.The present invention passes through in the workpiece virtual coordinate system and robot real work station in calculating robot's simulation work station
Workpiece coordinate system between transition matrix, for subsequent identical jobs automatic Calibration during touching seek instruction provider
The point data on workpiece surface contour line/face are obtained to reference, and by the calibration of ruby probe, at control cabinet data
Reason calculates workpiece surface profile tolerance.
The technical scheme adopted by the invention is that:
A kind of robot execution end automatic Calibration and detection method based on ruby probe, which is characterized in that including
Following steps:
S10. Robot calibration, processing and the simulation work station of detection and real work station are established, robot end is used for
Calibration, processing, detection process simulation analysis, extraction machine people's distal workpiece demarcate three-dimensional point position data, and complete automatic Calibration,
Automatic detection off-line programing and work pieces process trajectory planning；
S20. same class workpiece is determined into workpiece coordinate and calibration point according to surface characteristics in simulation work station, then existed
Real work station makes robotic gripper workpiece, and alignment and fixation ruby probe carries out touching to corresponding calibration point and seeks, obtains two
Calibration point transformational relation is organized, and calculates the coordinate conversion matrix of workpiece virtual coordinate system Yu workpiece actual coordinates with this；
When S30. processing same type workpiece, transition matrix obtained in step S20 is imported into real work station, is counted
Calculate the preliminary calibration point coordinate under real work station；
S40. it at real work station, is sought using preliminary calibration point coordinate pair workpiece, and records point information, passed through
Two groups of corresponding points interdigit transformational relations in simulation work station and real work station, determine workpiece coordinate system in real work station；
S50. in the automatic detection process of work pieces process front and rear surfaces profile tolerance, using robot instruction, press from both sides robot
Workpieces processing is held, the corresponding contour line in workpiece surface processing front and back/in face of quasi- probe is sought, probe contact profile
Point on line/face records position coordinate data, work pieces process front and rear surfaces profile tolerance is calculated.
As an improvement, when processing the workpiece, for different type workpiece, need to carry out according to step S20 to demarcate once, with
Obtain such workpiece coordinate conversion matrix under simulation work station and real work station.
As an improvement, in step slo, it is identical as real work station arrangement using being built in robot off-line programming software
Robot grinding and polishing simulation work station, robot end's calibration, Toolpath Generation, robot kinematics detection emulation all with
Robot grinding and polishing simulation work station be platform base carry out verification experimental verification, simulation work station capital equipment include: industrial robot,
Belt sander and ruby demarcate probe.
As an improvement, in the step S20, calibration point search method are as follows: in step S20 calibration process, utilize
SearchL instruction, makes robotic gripper workpiece carry out seeking contact to ruby probe, seeks in the dynamic process of contact and visit
Needle real-time detection touches signal, and transmits I/O signal to robot controller when being in contact, and robot is stood after receiving signal
Stop seeking, and by current point information assignment and is recorded in PointInEnd point.
As an improvement, obtaining workpiece virtual coordinate system { N } and workpiece actual coordinate by demarcating point in step S20
It is { F }, it may be assumed that
In above formula, x, y and z respectively represent three reference axis of coordinate system, nx,ox,ax ny,oy,ay nz,oz,azIt respectively indicates
9 parameters of Eulerian angles spin matrix, n under workpiece virtual coordinate systemx',ox',ax'ny',oy',ay'nz',oz',az' difference table
Show 9 parameters of Eulerian angles spin matrix under workpiece actual coordinates, XF、YFAnd ZFCalibration point is respectively indicated at x, y and z tri-
The displacement of change in coordinate axis direction is obtained by the calibration resulting workpiece virtual coordinate system { N } of point and workpiece actual coordinates { F }
Transition matrix T between the two, it may be assumed that { N } T={ F }, wherein T is workpiece virtual coordinate system { N } and workpiece actual coordinates { F }
Between transition matrix, it may be assumed that
Wherein r is the parameter of transition matrix, and p is workpiece actual coordinates { F } relative to the flat of workpiece virtual coordinate system { N }
Move matrix.
As an improvement, it is as follows to calculate work pieces process front and rear surfaces profile tolerance method in step S50:
Calibration off-line programing is sought in workpiece surface contour line/face touching in S301, completion simulation work station；
Robotic gripper workpiece in S302, real work station demarcates work pieces process front and rear surfaces contour line/face；
S303, the coordinate data for measuring processing front and back is calculated and compared, 2 times of the maximum absolute value of its difference is taken to make
For the profile error value of the part, it may be assumed that
L=2 | pi-qi|max
Wherein, L indicates Line contour degree, piIndicate i-th Point Measurement coordinate data on work pieces process rear-wheel profile, qiTable
Show i-th Point Measurement coordinate data on work pieces process front-wheel profile.
The beneficial effects of the present invention are:
The present invention is proposed using the advantage that ruby probe rigidity is big, durability is good, at low cost based on ruby probe
Robot execute end automatic Calibration and workpiece surface profile tolerance automatic testing method.It is produced from robot clamping precision deviation
The main reason for raw, starts with, and seeks a kind of method for reducing calibrated error and saving calibration cost.The present invention passes through computing machine
The transition matrix between workpiece coordinate system in workpiece virtual coordinate system in people's simulation work station and robot real work station,
Instruction is sought for the touching during the automatic Calibration of subsequent identical jobs, and direction reference is provided.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the structural schematic diagram of the embodiment of the present invention；
Fig. 3 is the calibration transition matrix schematic diagram of the embodiment of the present invention；
Fig. 4 a is the automatic Calibration schematic diagram of the embodiment of the present invention, and Fig. 4 b is automatic Calibration detail view；
Fig. 5 a is the polishing processing schematic diagram of the embodiment of the present invention, and Fig. 5 b is polishing processing detail view.
In figure: the abrasive band 1- polished machine, 2- wheel grinding machine, 3- robot, 4- ruby probe, 5- case of transmission, 6-
Robot control cabinet controls station in 7-.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
The simulation work station that the present invention is built includes abrasive band polished machine, wheel grinding as real work station structure
Machine, robot, ruby probe, robot control cabinet and middle control station, processing object are case of transmission.
A kind of robot execution end automatic Calibration and detection method based on ruby probe, comprising steps of
S10. Robot calibration, processing, detection simulation work station and real work station are established, is marked for robot end
Fixed, processing, detection process simulation analysis, extraction machine people end case of transmission demarcate three-dimensional point position data, and complete automatic
Calibration, automatic detection off-line programing and case of transmission Toolpath Generation.
S20. same class workpiece is determined into workpiece coordinate and calibration point according to surface characteristics in simulation work station, then existed
Real work station makes robotic gripper workpiece, and alignment and fixation ruby probe carries out touching to corresponding calibration point and seeks, obtains two
Calibration point transformational relation is organized, and calculates the coordinate conversion matrix of workpiece virtual coordinate system Yu workpiece actual coordinates with this, is sought
Method is as follows:
During the calibration process, using robot instruction, robotic gripper case of transmission is made to carry out seeking contact to probe.
The dynamic process middle probe real-time detection touching signal of contact is sought, and activation signal is transmitted to robot controller, works as machine
When device people receives touching signal, robot stopping is sought, and records point information.
S30. in case of transmission (workpieces processing of the present embodiment) processing automatic detection process of front and rear surfaces profile tolerance,
Premised on robot end demarcates completion, using robot instruction, makes robotic gripper case of transmission, its surface is processed
The corresponding contour line in front and back/sought in face of quasi- probe, the point on probe contact wheel profile/face, records position coordinate number
According to calculating case of transmission processes front and rear surfaces profile tolerance.
S40. calculated result is delivered in robot controller, realizes that robot executes automatic Calibration and the change of end
The automatic detection of fast device shell processing front and rear surfaces profile tolerance.
In step slo, it is built using ABB robot simulation software RobotStudio identical as real work station arrangement
Robot grinding and polishing simulation work station, as shown in Fig. 2, robot execute end calibration, Toolpath Generation, robot motion's mistake
Journey detection emulation all carries out verification experimental verification by platform base of robot grinding and polishing simulation work station.Its capital equipment for including has:
ABB IRB6700 industrial robot, belt sander, ruby demarcate probe.
S101, ideally, processing of robots tool-workpiece contact situation and simulation work station in real work station
Middle robot end's piece-holder position, posture are consistent, but due to robot end's clamping error, workpiece virtual coordinate system with
Workpiece actual coordinates inevitably result from certain translation rotating deviation, which can be indicated with transition matrix T；
S102, virtual coordinate system { N } and actual coordinates { F } by having marked, can establish workpiece virtual coordinate system and work
Part actual coordinates transformational relation { N } T={ F }, acquires transition matrix T, and the schematic diagram of transition matrix T is as shown in Figure 3；
When S103, follow-up calibration same class external form workpiece actual coordinates, it is virtual workpiece can be demarcated in simulation work station
After the completion of coordinate system { N }, workpiece actual coordinates { F } is extrapolated as direction is sought automatically by { N } T={ F }, is carried out certainly
Dynamic calibration.
It in step S20 calibration process, is instructed using SearchL, visits robotic gripper case of transmission to ruby
Needle carries out seeking contact, and calibration process schematic diagram is as shown in figures 4 a and 4b.The dynamic process middle probe for seeking contact is examined in real time
Touching signal is surveyed, and transmits I/O signal to robot controller when being in contact, robot stops visiting immediately after receiving signal
It seeks, and by current point information assignment and is recorded in PointInEnd point.
S201, workpiece virtual coordinate system { N } can be obtained by case of transmission point demarcation in simulation work station, passes through reality
Workpiece point demarcation can obtain workpiece actual coordinates { F } in work station, it may be assumed that
Wherein, { N } is expressed as workpiece virtual coordinate system, is visited by robotic gripper workpiece touching ruby in simulation work station
Needle calibration gained；{ F } is workpiece actual coordinates, by robotic gripper workpiece touching ruby probe calibration in real work station
Gained；
Both S202, pass through the calibration resulting workpiece virtual coordinate system { N } of point and workpiece actual coordinates { F }, obtain
Between transition matrix T, it may be assumed that
{ N } T={ F } formula (1)
Wherein, transition matrix of the T between workpiece virtual coordinate system { N } and workpiece actual coordinates { F }, by spin matrix
R and translation matrix P is constituted, it may be assumed that
Then:
During step S30 measures surface profile degree, premised on robot end demarcates completion, Search L is utilized
Instruction, makes robotic gripper case of transmission, will processing front and back workpiece surface contour line/seek in face of quasi- probe, probe
Point on contact wheel profile/face records position coordinate data, calculates case of transmission and processes front and rear surfaces profile variation.Calibration
Case of transmission surface profile line/face process schematic is the same as Fig. 4 a and Fig. 4 b.
Calibration off-line programing is sought in case of transmission surface profile line/face touching in S301, completion simulation work station；
Robotic gripper case of transmission in S302, real work station carries out forge piece surface profile line/face before processing
Calibration；
S303, polishing processing is carried out to the case of transmission surface that robot end clamps using fixed abrasive band processing machine,
Machining sketch chart is as shown in figure 5 a and 5b；
Robotic gripper case of transmission in S304, real work station carries out forge piece surface profile line after processing/face
Calibration；
S305, the coordinate data for measuring processing front and back is calculated and compared, 2 times of the maximum absolute value of its difference is taken to make
For the profile error value of the part, it may be assumed that
L=2 | pi-qi|maxFormula (3)
Wherein, L indicates Line contour degree, piIndicate i-th Point Measurement coordinate data on work pieces process rear-wheel profile, qiTable
Show i-th Point Measurement coordinate data on work pieces process front-wheel profile.
In step s 40, calculated result is delivered in robot controller, realizes robot end's workpiece automatic Calibration
And the automatic detection of work pieces process front and rear surfaces profile tolerance.
Present invention main cause caused by the robot clamping precision deviation is started with, and analysis reduces the side of clamping error
Method, the present invention pass through the workpiece virtual coordinate system in calculating robot's simulation work station and the workpiece in robot real work station
Transition matrix between coordinate system seeks instruction for the touching in subsequent identical jobs calibration process and provides direction reference, with reality
The automation now demarcated.And on the basis of demarcating completion, using robot instruction, make robotic gripper workpiece to be processed, it will
Workpiece surface contour line corresponding with threedimensional model/sought in face of quasi- probe, the point on probe contact wheel profile/face,
Position coordinate data are recorded, actual profile and three-D profile deviation are calculated, to realize automatic detection work pieces process front and rear surfaces wheel
Wide degree.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of robot based on ruby probe executes end automatic Calibration and detection method, which is characterized in that including such as
Lower step:
S10. Robot calibration, processing and the simulation work station of detection and real work station are established, demarcated for robot end,
Processing, detection process simulation analysis, extraction machine people's distal workpiece demarcate three-dimensional point position data, and complete automatic Calibration, automatic
Detect off-line programing and work pieces process trajectory planning；
S20. same class workpiece is determined into workpiece coordinate and calibration point according to surface characteristics in simulation work station, then in reality
Work station makes robotic gripper workpiece, and alignment and fixation ruby probe carries out touching to corresponding calibration point and seeks, obtains two groups of marks
Transformational relation is pinpointed, and calculates the coordinate conversion matrix of workpiece virtual coordinate system Yu workpiece actual coordinates with this；
When S30. processing same type workpiece, transition matrix obtained in step S20 is imported into real work station, is calculated
The preliminary calibration point coordinate under real work station；
S40. it at real work station, is sought using preliminary calibration point coordinate pair workpiece, and records point information, pass through emulation
Two groups of corresponding points interdigit transformational relations in work station and real work station, determine workpiece coordinate system in real work station；
S50. in the automatic detection process of work pieces process front and rear surfaces profile tolerance, using robot instruction, add robotic gripper
Work workpiece is sought the corresponding contour line in workpiece surface processing front and back/in face of quasi- probe, probe contact wheel profile/face
On point, record position coordinate data, work pieces process front and rear surfaces profile tolerance is calculated.
2. robot as described in claim 1 executes end automatic Calibration and detection method, it is characterised in that: in workpieces processing
When, for different type workpiece, need to carry out according to step S20 to demarcate it is primary, with obtain such workpiece in simulation work station and
Coordinate conversion matrix under real work station.
3. robot as described in claim 1 executes end automatic Calibration and detection method, it is characterised in that: in step S10
In, using building robot grinding and polishing simulation work station identical with real work station arrangement, machine in robot off-line programming software
The calibration of device people end, Toolpath Generation, robot kinematics detection emulation are all flat with robot grinding and polishing simulation work station
Stylobate plinth carries out verification experimental verification, and simulation work station capital equipment includes: industrial robot, belt sander and ruby calibration probe.
4. robot as claimed in claim 3 executes end automatic Calibration and detection method, it is characterised in that: the step
In S20, calibration point search method are as follows: in step S20 calibration process, instructed using SearchL, make robotic gripper workpiece to
Ruby probe carries out seeking contact, seeks the dynamic process middle probe real-time detection touching signal of contact, and is being in contact
When to robot controller transmit I/O signal, robot receives to be stopped after signal seeking immediately, and by current point information assignment
And it is recorded in PointInEnd point.
5. robot as claimed in claim 4 executes end automatic Calibration and detection method, it is characterised in that: in step S20
In, workpiece virtual coordinate system { N } and workpiece actual coordinates { F } are obtained by demarcating point, it may be assumed that
In above formula, x, y and z respectively represent three reference axis of coordinate system, nx,ox,ax ny,oy,ay nz,oz,azRespectively indicate workpiece
9 parameters of Eulerian angles spin matrix, n under virtual coordinate systemx',ox',ax'ny',oy',ay'nz',oz',az' respectively indicate work
9 parameters of Eulerian angles spin matrix, X under part actual coordinatesF、YFAnd ZFCalibration point is respectively indicated in tri- coordinates of x, y and z
Both the displacement of axis direction, by the calibration resulting workpiece virtual coordinate system { N } of point and workpiece actual coordinates { F }, obtain
Between transition matrix T, it may be assumed that { N } T={ F }, wherein T is between workpiece virtual coordinate system { N } and workpiece actual coordinates { F }
Transition matrix, it may be assumed that
Wherein r is the parameter of transition matrix, and p is the translation square of workpiece actual coordinates { F } relative to workpiece virtual coordinate system { N }
Battle array.
6. robot as claimed in claim 4 executes end automatic Calibration and detection method, it is characterised in that: in step S50,
It is as follows to calculate work pieces process front and rear surfaces profile tolerance method:
Calibration off-line programing is sought in workpiece surface contour line/face touching in S301, completion simulation work station；
Robotic gripper workpiece in S302, real work station demarcates work pieces process front and rear surfaces contour line/face；
S303, the coordinate data for measuring processing front and back is calculated and compared, takes 2 times of the maximum absolute value of its difference to be used as and is somebody's turn to do
The profile error value of part, it may be assumed that
L=2 | pi-qi|max
Wherein, L indicates Line contour degree, piIndicate i-th Point Measurement coordinate data on work pieces process rear-wheel profile, qiIndicate work
Part processes i-th Point Measurement coordinate data on front-wheel profile.
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