CN110487233A - Correct the method and system of robotic user coordinate system - Google Patents
Correct the method and system of robotic user coordinate system Download PDFInfo
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- CN110487233A CN110487233A CN201910695011.9A CN201910695011A CN110487233A CN 110487233 A CN110487233 A CN 110487233A CN 201910695011 A CN201910695011 A CN 201910695011A CN 110487233 A CN110487233 A CN 110487233A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
Abstract
The present invention relates to a kind of method and system for correcting robotic user coordinate system.The mobile terminal of robot is provided with the probe of the position coordinates for detection workpieces surface point, method includes the following steps, under the first coordinate system, the position coordinates of at least ten sampling points are taken in the workpiece surface by the probe, wherein the X-coordinate of four sampling points is respectively 1X, 2X, 5X and 6X, the Y-coordinate of other two sampling point is respectively 3Y and 4Y, and the Z coordinate of remaining four sampling points is respectively 7Z, 8Z, 9Z and 10Z；Determine the first check point coordinate (X1, Y1, Z1)；Determine the second check point coordinate (X2, Y2, Z2)；Determine third check point coordinate (X3, Y3, Z3).The system for correcting robotic user coordinate system characterized by comprising jig is used for clamping workpiece；And robot, robot include mobile terminal, and probe is provided on mobile terminal, the mobile terminal of robot drives the mobile position coordinates with detection workpieces surface sampling point of probe.
Description
Technical field
The present invention relates to technical field of mechanical processing, more particularly to a kind of method for correcting robotic user coordinate system and
System.
Background technique
Industrial robot usually has origin system, tool coordinates system and user coordinate system.
Origin system is generally arranged on the pedestal of industrial robot.Tool coordinates system is generally arranged at industrial robot
Tool tip.And user coordinate system is typically defined in the target workpiece that robot needs to grab, i.e., it is dynamic in industrial robot
Make any position in allowed band, XYZ axis, the direction of user coordinate system need to define according to client at any angle for setting.
Therefore before processing, need to be corrected user coordinate system.
Currently used bearing calibration is manual 3 points corrections, but manual 3 point school is exactly based on artificial range estimation and looks at random
The mode of point look for a little, when being corrected to the different robots under the same jig, such as in Liang Ge robot, by
In looking for randomness a little to cause the point found in each robot substantially different, the workpiece on same jig is come in this way
It says, there is a certain error.And manual 3 points of corrections are there are correction time is longer, ineffective problem.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide it is a kind of correct robotic user coordinate system method and be
System.
A method of correction robotic user coordinate system, the mobile terminal of the robot is provided with for detection workpieces table
The probe of the position coordinates of millet cake, the described method comprises the following steps:
Under the first coordinate system, the position coordinates of at least ten sampling points are taken in the workpiece surface by the probe,
In the X-coordinate of four sampling points be respectively 1X, 2X, 5X and 6X, the Y-coordinate of other two sampling point is respectively 3Y and 4Y, four remaining
The Z coordinate of sampling point is respectively 7Z, 8Z, 9Z and 10Z；
Determine the first check point coordinate (X1, Y1, Z1), wherein X1=(1X+2X)/2, Y1=(3Y+4Y)/2, Z1=(7Z
+ 8Z+9Z+10Z)/4, Rz=atan ((6X-5X)/t), t is any number；
Determine the second check point coordinate (X2, Y2, Z2), wherein X2=X1+t, Y2=Y1+t*tanRz, Ry=atan
((7Z-8Z)/t), Z2=Z1+t*tanRy；
Determine third check point coordinate (X3, Y3, Z3), wherein X3=X1+t*tanRz, Y3=Y1+t, Rx=atan
((10Z-9Z)/t), Z3=Z1+t*tanRx；
Take the first check point coordinate as the origin of the user coordinate system after correction, with the first check point coordinate and
Straight line where second calibration coordinate is the X-direction of the user coordinate system after correction, with the first check point coordinate, the second correction
Plane where point coordinate and third check point coordinate is the X/Y plane of user coordinate system.
By adopting the above technical scheme, above-mentioned first check point coordinate, the second check point coordinate and third check point coordinate
It is not random for taking point mode, but related with the selection of parameter t, after parameter t is selected, the first check point coordinate,
Two check point coordinates and third check point coordinate are determined, and take a standard consistent, and different robot calibration's results is more unified, and
Correct efficiency block.
In one of the embodiments, in the step of taking a coordinate 1X and 2X, by the probe along the y axis in institute
State 2 points side-draw of workpiece.
By adopting the above technical scheme, convenient for obtaining midpoint coordinates, it can be that the midpoint coordinates is that a benchmark is taken on workpiece
Benchmark.
In one of the embodiments, in the step of taking a coordinate 1X and 2X, corresponding two points of coordinate 1X and 2X are set
Set the workpiece along the first coordinate system Y direction apart from maximum.
By adopting the above technical scheme, convenient for the coordinate precision of raising midpoint coordinates.
In one of the embodiments, in the step of taking a coordinate 5X and 6X, corresponding two points of coordinate 5X and 6X
Position is t in the distance of the X-direction along first coordinate system of the workpiece.
By adopting the above technical scheme, by selecting unified parameter t, convenient for taking a little.
In one of the embodiments, in the step of taking a coordinate 3Y and 4Y, corresponding two points of coordinate 3Y and 4Y are set
Set the workpiece along the first coordinate system X-direction apart from maximum.
By adopting the above technical scheme, convenient for the coordinate precision of raising midpoint coordinates.
The workpiece is cuboid in one of the embodiments,.
By adopting the above technical scheme, cuboid workpiece configurations rule, takes a precision higher, speed is faster.
Four points corresponding to described coordinate 1X, 3Y, 2X and 4Y are located at the length in one of the embodiments,
Four sides of the workpiece of cube.
By adopting the above technical scheme, by taking a little in side, take point mode simple, quickly, efficiently.
Two points corresponding to coordinate 5X and 6X are respectively positioned on the one of the workpiece of the cuboid in one of the embodiments,
On side.
By adopting the above technical scheme, a convenience is taken, and high-efficient.
Four points corresponding to described coordinate 7Z, 8Z, 9Z and 10Z are located at described in one of the embodiments,
On the workpiece top surface of cuboid.
The coordinate of Z-direction is determined by four points in one of the embodiments, it is high-efficient, and precision is high.
A kind of system correcting robotic user coordinate system, comprising:
Jig is used for clamping workpiece；And
Robot, the robot include mobile terminal, and probe, the mobile terminal of the robot are provided on the mobile terminal
Drive the mobile position coordinates to detect the workpiece surface sampling point of the probe.
By adopting the above technical scheme, the correction of user coordinate system is carried out by system, is realized intelligence, is improved efficiency.
In conclusion above-mentioned first check point coordinate, the second check point coordinate and third check point coordinate take point mode
It is not random, but it is related with the selection of parameter t, after parameter t is selected, the first check point coordinate, the second check point
Coordinate and third check point coordinate are determined, and take a standard consistent, and different robot calibration's results is more unified, and correct efficiency
Block.
Detailed description of the invention
Schematic diagram when Fig. 1 is the correction robotic user coordinate system in one embodiment；
Fig. 2 is the top view of the workpiece in one embodiment；
Fig. 3 is to take schematic diagram a little in XZ plane in one embodiment；
Fig. 4 is to take schematic diagram a little in YZ plane in one embodiment.
Appended drawing reference: 100, workpiece；110, first side；120, second side；130, third side；140, the 4th side
Side；150, top surface；160, robot；170, it pops one's head in；180, grinding head.
Specific embodiment
To facilitate the understanding of the present invention, referring to relevant drawings to invention is more fully described.It is given in attached drawing
Present pre-ferred embodiments are gone out.But the invention can be realized in many different forms, however it is not limited to described herein
Embodiment.On the contrary, purpose of providing these embodiments is keeps the understanding of the disclosure of invention more preferably thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes.
Schematic diagram when Fig. 1 is correction 160 user coordinate system of robot in one embodiment, wherein robot 160 can
Think industrial robot, is specifically as follows milling robot.Robot 160 at least has there are two coordinate system, and respectively tool is sat
Mark system and user coordinate system.By taking milling robot as an example, the grinding head of the mobile terminal of milling robot is arranged in tool coordinates system
On 180, user coordinate system is arranged on workpiece 100.Before polishing, need to be corrected the user coordinate system on workpiece 100,
The grinding head 180 of robot 160 can be made accurately to move to the position of setting.
A method of correction 160 user coordinate system of robot, the mobile terminal of robot 160 is provided with for detection workpieces
The probe 170 of the position coordinates of 100 surface point, this approach includes the following steps.
Under the first coordinate system, the first coordinate system can be tool coordinates system or other pre-set coordinate systems, pass through
Probe 170 takes the position coordinates of at least ten sampling points in workpiece 100, wherein the position coordinates of sampling point do not need acquisition whole
Coordinate in three reference axis, it is only necessary to acquire position coordinates of the sampling point in a wherein reference axis.Following example
In, indicate that collected coordinate, such as aX indicate the seat in the collected sampling point of X-direction of the first coordinate system as follows
Scale value, such as bY indicate the coordinate value in the collected sampling point of Y direction of the first coordinate system, such as cZ expression is in the first coordinate
The coordinate value of the collected sampling point of the Z-direction of system.Specifically, following ten sampling points are taken in the first coordinate system, wherein four samples
Point is 1X, 2X, 5X and 6X in the coordinate of X-direction, this four points are not acquired in the coordinate of Y direction and the coordinate of Z-direction；
Two of them sampling point Y direction coordinate be 3Y and 4Y, the two point X-direction coordinate and Z-direction coordinate not
Acquisition；Wherein four sampling points are 7Z, 8Z, 9Z and 10Z in the coordinate of Z-direction, this four points are in X-direction and Y direction
Coordinate does not acquire.Wherein, above-mentioned ten points are to be taken a little by probe 170 in the outer surface of workpiece 100.
The first check point coordinate (X1, Y1, Z1) is determined based on above-mentioned collected ten sampling points.Wherein, X1, Y1 and Z1
Value is calculated according to following formula respectively:
X1=(1X+2X)/2；
I.e. the coordinate value of X1 is sampling point 1X and sampling point 2X in the midpoint of X-direction.
Y1=(3Y+4Y)/2；
I.e. the coordinate value of Y1 be sampling point 3Y and 4Y the midpoint in Y direction.
Z1=(7Z+8Z+9Z+10Z)/4；
I.e. the coordinate value of Z1 is sampling point 7Z, 8Z, 9Z and 10Z in the midpoint of Z-direction.
As shown in Fig. 2, calculating the angle value of Rz, Rz=atan ((6X-5X)/t), wherein t is any by trigonometric function
Numerical value, such as t can be 200mm with value.
The second check point coordinate (X2, Y2, Z2) is determined based on above-mentioned collected ten sampling points.Wherein, X2, Y2 and Z2
Value is calculated according to following formula respectively:
X2=X1+t=(1X+2X)/2+t；The extended distance t along the x axis i.e. under the first coordinate system, obtains the second correction
The X-coordinate of point is X2.
Y2=Y1+t*tanRz=Y1=(3Y+4Y)/2+t*tanRz=(3Y+4Y)/2+6X-5X；I.e. in the first coordinate system
Lower rotation Rz angle post-equalization X/Y plane, the Y-coordinate for then obtaining moving along the x-axis the second check point after distance t is Y2.
As shown in figure 3, calculating the angle value of Ry, Ry=atan ((7Z-8Z)/t) by trigonometric function.
Then, Z2=Z1+t*tanRy=Z1+7Z-8Z；Ry angle post-equalization XZ plane is rotated i.e. under the first coordinate system, so
The Z coordinate for obtaining moving along the x-axis the second check point after distance t afterwards is Z2.
Third check point coordinate (X3, Y3, Z3) is determined based on above-mentioned collected ten sampling points.Wherein, X3, Y3 and Z3
Value is calculated according to following formula respectively:
X3=X1+t*tanRz=X1+6X-5X；Rz angle post-equalization Y-axis is rotated i.e. under the first coordinate system, is then obtained
The X-coordinate of third check point after Y-axis moving distance t.
Y3=Y1+t=(3Y+4Y)/2+t；I.e. extended distance t obtains third position along the y axis under the first coordinate system
Set Y-coordinate a little.
Rx=atan ((10Z-9Z)/t)；
Z3=Z1+t*tanRx=(7Z+8Z+9Z+10Z)/4+10Z-9Z.I.e. under the first coordinate system, after rotating Rx angle
YZ axis is corrected, then obtains obtaining the Z coordinate of third check point after Y-axis moving distance t.
Take the first check point coordinate as the origin of the user coordinate system after correction, with the first check point coordinate and
Straight line where second calibration coordinate is the X-direction of the user coordinate system after correction, with the first check point coordinate, the second correction
Plane where point coordinate and third check point coordinate is the X/Y plane of user coordinate system.
It follows that above-mentioned first check point coordinate, the second check point coordinate and third check point coordinate take point mode
It is not random, but it is related with the selection of parameter t, after parameter t is selected, such as t selects 200mm, then the first school
Coordinate, the second check point coordinate and third check point coordinate are determined on schedule, even if in replacement different robots 160, and to same
When the workpiece 100 of the jig of one standard is corrected, the first check point coordinate, the second check point coordinate and third check point coordinate
It is to determine position.Therefore, it can solve the error problem for taking a standard inconsistent caused by tradition takes a little at random.It can be
This is replicated in multiple robots 160 and takes point mode, takes a standard consistent between robots 160 different in this way, so that different
The correction reference of the user coordinate system of robot 160 is unified, and whens actual tests finds that trueness error is in +/- 1mm or so.By
In taking point mode using unified, above-mentioned method can be realized by 160 program of robot, a little improve effect than manually taking at random
Rate.
As shown in Fig. 2, being described in detail by taking cuboid workpiece 100 as an example, still, the workpiece 100 of concrete application is unlimited
It can also be the workpiece of arbitrary shape in cuboid.
When workpiece 100 is cuboid, a kind of method correcting 160 user coordinate system of robot can be taken as follows
Point.The coordinate system as shown in Fig. 2, Fig. 3 and Fig. 4 is the first coordinate system, i.e. coordinate system before the correction of robot 160, machine
It after the correction of 160 user coordinate system of people is obtained after rotating a certain angle on the basis of the first coordinate system.
The coordinate of following sample point is carried out on the first coordinate system.
The workpiece 100 of cuboid includes first side 110, second side 120, third side 130,140 and of four side
Top surface 150.
In the step of taking a coordinate 1X and 2X, by probe 170 along the y axis in 2 points side-draw of workpiece 100.That is,
It is contradicted on first side 110 and third side 130 at random by probe 170, obtains the coordinate 1X and 2X in X-direction.When
When workpiece 100 is cuboid, probe 170 takes a little in any position of first side 110 and third side 130.
When workpiece 100 is other shapes, in the step of taking a coordinate 1X and 2X, corresponding two points of coordinate 1X and 2X
Position at the maximum distance of the Y direction along first coordinate system of the workpiece 100, that is to say, that coordinate 1X and
The position of corresponding two points of 2X workpiece 100 along the first coordinate system Y direction apart from maximum.If such as can be by
The dry axis for being parallel to Y-axis intersects with workpiece 100, in all intersection points, the X of the maximum point of two distances along the y axis
Coordinate is the coordinate of corresponding 1X and 2X.Certainly this take point mode be intended merely to it is convenient found under different robots 160 it is identical
Point, take a little in the way of taking at random a little when taking.
In the step of taking a coordinate 5X and 6X, the position of corresponding two points of coordinate 5X and 6X is in the workpiece 100
Distance along the X-direction of first coordinate system is t.T can be 200mm, and 300mm is equivalent, specific value without limitation,
But it after should ensure that 170 moving distance t of probe, still is able to contradict in 100 side of workpiece.
It is contradicted on second side 120 and four side 140 at random by probe 170, obtains the coordinate 3Y in Y direction
And 4Y.In the step of taking a coordinate 3Y and 4Y, the positions of corresponding two points of coordinate 3Y and 4Y the workpiece 100 along
At the maximum distance of the X-direction of first coordinate system, that is to say, that the position of corresponding two points of coordinate 3Y and 4Y is in work
Part 100 along the first coordinate system X-direction apart from maximum.Similar to mode when taking 1X and 2X, when workpiece 100 is rectangular
When body, due to second side 120 with third side 130 be it is parallel, in the X-coordinate for the point that entire second side 120 takes
It is identical, is also identical in the X-coordinate for the point that entire four side 140 takes.In order to facilitate midpoint coordinates is determined, work as workpiece
100 when being other shapes, and two taken the point of the present embodiment can be the Y of the two farthest points of distance along the x axis of workpiece 100
Coordinate.
Four points corresponding to point coordinate 7Z, 8Z, 9Z and 10Z are located at 100 top surface 150 of workpiece of the cuboid
On.
A kind of system correcting 160 user coordinate system of robot, comprising: jig is used for clamping workpiece 100；And machine
People 160, and the robot 160 includes mobile terminal, are provided with probe 170, the mobile terminal of the robot 160 on the mobile terminal
Drive the mobile position coordinates to detect the 100 surface sampling point of workpiece of the probe 170.Robot 160 can execute above-mentioned
Program in method take a little and correcting user coordinate system.
It is all or part of based on computer programs process process to solve the problems, such as that invention proposes, pass through computer
Execute the computer program by the establishment of above-mentioned process, the solution that computer external object or internal object are controlled or handled
Scheme.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of method for correcting robotic user coordinate system, which is characterized in that the mobile terminal of the robot, which is provided with, to be used for
The probe of the position coordinates of detection workpieces surface point, the described method comprises the following steps:
Under the first coordinate system, the position coordinates of at least ten sampling points are taken in the workpiece surface by the probe, wherein four
The X-coordinate of a sampling point is respectively 1X, 2X, 5X and 6X, and the Y-coordinate of other two sampling point is respectively 3Y and 4Y, remaining four sampling points
Z coordinate be respectively 7Z, 8Z, 9Z and 10Z；
Determine the first check point coordinate (X1, Y1, Z1), wherein X1=(1X+2X)/2, Y1=(3Y+4Y)/2, Z1=(7Z+8Z+
9Z+10Z)/4, Rz=atan ((6X-5X)/t), t is any number；
Determine the second check point coordinate (X2, Y2, Z2), wherein X2=X1+t, Y2=Y1+t*tanRz, Ry=atan ((7Z-
8Z)/t), Z2=Z1+t*tanRy；
Determine third check point coordinate (X3, Y3, Z3), wherein X3=X1+t*tanRz, Y3=Y1+t, Rx=atan ((10Z-
9Z)/t), Z3=Z1+t*tanRx；
It take the first check point coordinate as the origin of the user coordinate system after correction, with the first check point coordinate and second
Straight line where calibration coordinate is the X-direction of the user coordinate system after correction, is sat with the first check point coordinate, the second check point
Plane where mark and third check point coordinate is the X/Y plane of user coordinate system.
2. it is according to claim 1 correction robotic user coordinate system method, which is characterized in that take a coordinate 1X and
In the step of 2X, by the probe along the y axis in 2 points side-draw of the workpiece.
3. it is according to claim 2 correction robotic user coordinate system method, which is characterized in that take a coordinate 1X and
In the step of 2X, the distance of Y direction of the workpiece along the first coordinate system is arranged in most in corresponding two points of coordinate 1X and 2X
General goal.
4. it is according to claim 1 correction robotic user coordinate system method, which is characterized in that take a coordinate 5X and
In the step of 6X, the position of corresponding two points of coordinate 5X and 6X is in the X-axis side along first coordinate system of the workpiece
To distance be t.
5. it is according to claim 1 correction robotic user coordinate system method, which is characterized in that take a coordinate 3Y and
In the step of 4Y, the distance of X-direction of the workpiece along the first coordinate system is arranged in most in corresponding two points of coordinate 3Y and 4Y
General goal.
6. the method for correction robotic user coordinate system according to claim 1, which is characterized in that the workpiece is rectangular
Body.
7. the method for correction robotic user coordinate system according to claim 6, which is characterized in that described coordinate 1X,
Four points corresponding to 3Y, 2X and 4Y are located at four sides of the workpiece of the cuboid.
8. the method for correction robotic user coordinate system according to claim 6, which is characterized in that coordinate 5X and 6X institute is right
Two points answered are respectively positioned on a side of the workpiece of the cuboid.
9. the method for correction robotic user coordinate system according to claim 6, which is characterized in that described coordinate 7Z,
Four points corresponding to 8Z, 9Z and 10Z are located on the workpiece top surface of the cuboid.
10. a kind of system for correcting robotic user coordinate system characterized by comprising
Jig is used for clamping workpiece；And
Robot, the robot include mobile terminal, and probe is provided on the mobile terminal, and the mobile terminal of the robot drives
The mobile position coordinates to detect the workpiece surface sampling point of probe.
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| CN114918737A (en) * | 2022-04-20 | 2022-08-19 | 鸿富锦精密电子（成都）有限公司 | Coordinate system correction method, industrial equipment and storage medium |
| US11738462B2 (en) | 2020-06-11 | 2023-08-29 | Delta Electronics, Inc. | Coordinate calibration method of manipulator |
| US11745349B2 (en) | 2020-06-11 | 2023-09-05 | Delta Electronics, Inc. | Origin calibration method of manipulator |
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