CN110864659A - Line measuring head calibration device and calibration method for industrial robot measuring system - Google Patents

Line measuring head calibration device and calibration method for industrial robot measuring system Download PDF

Info

Publication number
CN110864659A
CN110864659A CN201910895532.9A CN201910895532A CN110864659A CN 110864659 A CN110864659 A CN 110864659A CN 201910895532 A CN201910895532 A CN 201910895532A CN 110864659 A CN110864659 A CN 110864659A
Authority
CN
China
Prior art keywords
industrial robot
standard block
measuring head
coordinate system
flange
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201910895532.9A
Other languages
Chinese (zh)
Inventor
颜昌亚
唐小琦
卢少武
张子龙
张庆祥
曾祥兵
李振瀚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SAMSUN TECHNOLOGY PRECISION Co Ltd
Original Assignee
SAMSUN TECHNOLOGY PRECISION Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SAMSUN TECHNOLOGY PRECISION Co Ltd filed Critical SAMSUN TECHNOLOGY PRECISION Co Ltd
Priority to CN201910895532.9A priority Critical patent/CN110864659A/en
Publication of CN110864659A publication Critical patent/CN110864659A/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01B21/20—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 contours or curvatures, e.g. determining profile
    • 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
    • G01B21/042—Calibration or calibration artifacts

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

The line measuring head calibration device and the calibration method are used in an industrial robot measuring system, wherein the device comprises a clamp and a clamping device positioned below the clamp; the fixture comprises a fixture connecting plate, a first angle table, a second angle table and a connecting frame which are sequentially connected from top to bottom, the fixture connecting plate is used for being connected with the robot main body, and the connecting frame is used for being connected with the line measuring head; the clamping device is sequentially provided with an I-shaped connecting frame, a motor, a third angle table, a fourth angle table and a connecting plate from top to bottom, and the platform of the I-shaped connecting frame is used for arranging a standard block. The invention has the advantages that the special clamp is matched with the customized standard block, so that the surface of the standard block can be quickly adjusted to be parallel to the plane of the flange; the selection of used line gauge head is diversified, can measure the spare part of multiple shape, multiple size and multiple material, effectively reduces the cost input, full play industrial robot's high flexibility characteristics, and complete equipment uses flexibility strong.

Description

Line measuring head calibration device and calibration method for industrial robot measuring system
Technical Field
The invention relates to the field of part surface quality detection, in particular to a method for assembling and calibrating a line measuring head of an industrial robot measuring system.
Background
The traditional part shape measurement is generally carried out by a three-coordinate measuring machine, but the method has the defects of high instrument cost, difficulty in integration with an automatic production line and insufficient flexibility. Along with the development of industrial robots, the highest repeated precision of the industrial robots at the present stage can reach 0.01mm, the precision is continuously improved, and the flexible manufacturing system has the characteristics of programmability and high automation, is extremely easy to integrate with an automatic production line to achieve the online detection capability, and is gradually applied to the part appearance detection with the detection precision requirement of 0.01-0.1 mm level. With the further improvement of the precision of the industrial robot, the detection precision which can be achieved by the industrial robot is improved, and the application can be expected to have wide development prospect.
The end effector of the industrial robot is provided with a flange, a line measuring head needs to be assembled with the flange, a coordinate system is aligned, and a coordinate conversion relation between a line measuring head measuring coordinate system and an industrial robot flange coordinate system is calibrated, so that accurate measurement is performed. In the conventional method, after a linear measuring head is generally installed on a flange plate by a specific clamp, a customized calibration method is designed, and coordinate system alignment or calibration is performed step by means of mechanical adjustment and measurement adjustment, but the related method needs to be combined with equipment such as a clamp customized for practical application, and the operation is complex and difficult to realize standardization.
Disclosure of Invention
The invention discloses a line measuring head calibration device and a calibration method used in an industrial robot measuring system, which are used for the shape measurement of an industrial robot clamping line measuring head execution part. Specifically, two trapezoidal grooves perpendicular to each other are formed in the upper surface of the standard block, and the depth of each groove is predetermined.
The technical scheme of the invention is as follows: the wire measuring head is connected with the clamp and then fixedly connected to the tail end of the industrial robot flange, and the standard block is placed on the table board through the clamping device. The measuring head fixture consists of two manual angle tables, a connecting frame and a connecting plate, and the standard block clamping device consists of a DD motor, two manual angle tables and a connecting plate.
The invention relates to a line measuring head calibration method, which comprises the following steps:
s1, mounting the wire measuring head clamp at the end of the industrial robot flange through a connecting plate, mounting the standard block clamping device on a mounting surface, and placing the mounting surface in the working range of the industrial robot;
s2: adjusting the angle of an angle table on the standard block clamping device, and controlling a DD motor to rotate to enable the upper surface of the standard block to be parallel to the plane of the flange;
s3: adjusting the angle of an angle station on the line measuring head fixture to ensure that the axis of the line measuring head is vertical to the upper surface of the standard block;
s4: and calibrating the position of the working coordinate origin of the line measuring head under the industrial robot base coordinate system.
Specifically, step S2 includes the following sub-steps:
s21: adjusting R of standard blockzSo that its y-axis is coplanar with the industrial robot flange y-axis. Adjusting the angle of a joint connected with the flange plate under the zero position of the industrial robot to enable the flange surface to be parallel to the bottom surface of the industrial robot; under the rectangular coordinate system of the industrial robot, driving the line measuring head to measure the upper surface of the standard block to obtain the distance d from the working origin of the line measuring head to the surface of the standard block; controlling the linear measuring head to move along the x-axis direction of the industrial robot from the point A, and when the linear measuring head measures the bottom surface of the transverse groove from the surface of the standard block, carrying out first mutation on the obtained data, and recording the position B of the mutation of the measured value; the industrial robot drives the measuring head along the y axisHorizontally moved by a predetermined distance lBCAnd when the position C is reached, controlling the measuring head to move along the x axis of the industrial robot, recording the position D where the second sudden change of the measured data occurs, and simultaneously recording the distance l between the position C and the position DCDThe angle value α of the DD motor of the clamping device is required to be adjusted by adjusting the y axis of the standard block to be coplanar with the y axis of the industrial robot through a formula I,
formula one
Figure BDA0002210086090000031
The standard block is rotated by an angle α by controlling the DD motor of the horizontal turning device so that the y-axis of the standard block is coplanar with the y-axis of the industrial robot.
S22: adjusting R of standard blockxSo that its y-axis is parallel to the industrial robot flange y-axis. Keeping the starting state of the line measuring head, and returning the measured data in real time; adjusting a knob of an angle table at the upper side in the wire measuring head fixture, and fixing the angle table at the current angle value when the obtained data value is minimum, wherein the axis of the wire measuring head is parallel to the yoz plane of the standard block at the moment; controlling an industrial robot to translate a distance l along its y-axisHIWhen the line measuring head measures from the edge E point of the transverse groove of the standard block to the bottom of the groove, the obtained data value changes suddenly, and the distance value obtained when the point H is measured is lHObtaining a distance value of l before the measurement is mutatedEThe value of the distance obtained when the critical measurement is made to the bottom of the tank is lGThe depth of the standard block groove is known as lEFFrom the above, the included angle β between the linear measuring head and the normal direction of the surface of the standard block can be obtained1In order to realize the purpose,
Figure BDA0002210086090000041
according to the cosine theorem, there are
Formula two
Figure BDA0002210086090000042
Formula three
Figure BDA0002210086090000043
And (3) solving the angle β required to rotate the angular table through the second and third formulas, and manually adjusting an upper angular table knob of the standard block clamping device to enable the y axis of the standard block to be parallel to the y axis of the flange plate.
S23: adjusting R of standard blockyAnd the x axis of the standard block is parallel to the x axis of the flange plate of the industrial robot, so that the upper surface of the standard block is parallel to the flange plate of the industrial robot. Keeping the starting state of the line measuring head, and returning the measured data in real time; adjusting a knob of a lower angle station in the linear measuring head fixture, and fixing the angle station at the current angle value when the obtained data value is minimum, wherein the axis of the linear measuring head is parallel to the plane of the standard block xoz; controlling an industrial robot to translate a distance l along its x-axisMNWhen the line measuring head measures from the L point on the edge of the transverse groove of the standard block to the bottom of the groove, the obtained data value changes suddenly, and the distance value obtained when the M point is measured is LMThe distance value obtained before the measured value is changed suddenly is lLThe value of the distance obtained when the critical measurement is made to the bottom of the tank is lJThe depth of the standard block groove is known as lLKFrom the above, the included angle gamma between the line measuring head and the normal direction of the surface of the standard block can be obtained1In order to realize the purpose,
Figure BDA0002210086090000044
according to the cosine theorem, there are
Formula four
Figure BDA0002210086090000051
Formula five
Figure BDA0002210086090000052
Through the above formulas IV and V, the angle gamma of the angular table needing to be rotated is obtained, and the knob of the lower angular table of the standard block clamping device is manually adjusted, so that the x axis of the standard block is parallel to the x axis of the flange plate, that is, the upper surface of the standard block is adjusted to be parallel to the end plane of the flange of the industrial robot.
Specifically, step S3 includes:
keeping the starting state of the line measuring head, and returning the measured data in real time; adjusting a knob of an upper angular position table in the clamping device, and fixing the angular position table at the current angular value when the obtained data value is minimum; the knob of the angular table on the lower side of the clamping device is adjusted by the same method, and when the obtained data value is minimum, the angular table is fixed at the current angular value.
Specifically, step S4 includes:
controlling the industrial robot to measure points on the upper surface of the standard block under different poses, and recording the poses of the flange coordinate system ECS under the industrial robot base coordinate system RCS
Figure BDA0002210086090000053
And obtains the measured value { L of the line probei}；
On the basis of the steps, the origin P of the work coordinate system of the line measuring head is expressed as a formula I under the base coordinate system of the industrial robot:
Figure BDA0002210086090000054
wherein
Figure BDA0002210086090000061
Representing a roto-translational transformation of the flange coordinate system ECS with respect to the industrial robot base coordinate system RCS,
Figure BDA0002210086090000062
representing the rotational-translational transformation of the measurement coordinate system TCS of the line probe relative to the flange coordinate system ECS,TCSp denotes the origin of the coordinate system of the line probe.
Figure BDA0002210086090000063
Representing a rotational transformation of the flange coordinate system ECS with respect to the industrial robot base coordinate system RCS,
Figure BDA0002210086090000064
representing the translation transformation of the flange coordinate system ECS relative to the industrial robot base coordinate system RCS;
Figure BDA0002210086090000065
represents the rotational transformation of the measurement coordinate system TCS of the line probe relative to the flange coordinate system ECS,
Figure BDA0002210086090000066
representing the translation transformation of a measurement coordinate system TCS of the line measuring head relative to a flange coordinate system ECS;
Figure BDA0002210086090000067
order to
Figure BDA0002210086090000068
So that the method has the advantages that,
Figure BDA0002210086090000069
all the measuring points are on the same plane, soRCSP satisfies the plane constraint equation,
n·P-D＝0
Figure BDA00022100860900000610
n＝[n1,n2,n3]is a unit normal vector of a plane, wherein the unknowns are:
Figure BDA00022100860900000611
setting the objective function as
Figure RE-GDA00023621036100000614
s.t.
Figure BDA0002210086090000071
Solving the unknown quantity by a quadratic penalty function optimization solving method:
change of objective function to
Figure BDA0002210086090000072
Wherein u (u >0) is a penalty factor, and the iterative solution step is as follows:
s421: given residual threshold ε>0, appropriately select u1>0, estimating an initial value w according to the mounting structure of the line probe0，k＝1。
S422: with yk-1For the initial value, the approximate minimum y of the objective function g (w, u) is solved by LM algorithm (Leverberg-Marguardt)k。
S423: when | c (w) & gtdoes not yellow<Stopping iteration when epsilon to obtain the optimal solution yk(ii) a Otherwise, let uk+1＝0.1ukAnd k is k +1, step S422 is repeated.
Generally, compared with the prior art, the above technical solution conceived by the present invention can achieve the following beneficial effects:
(1) the surface of the standard block can be quickly adjusted to be parallel to the plane of the flange by matching the special clamp with the customized standard block;
(2) the line measuring head used in the equipment has diversified selections, can measure parts with various shapes, sizes and materials, effectively reduces the cost investment, fully exerts the high flexibility characteristic of the industrial robot, and has strong use flexibility of the whole equipment.
Drawings
Fig. 1 is a schematic view of a usage state of a line measuring head calibration device of the present invention;
FIG. 2 is a schematic view of a wire gauging head calibration apparatus according to the present invention;
FIG. 3 is a schematic view of another perspective of FIG. 2;
FIG. 4 is a schematic perspective view of a standard block of the present invention;
FIG. 5 is a schematic block diagram of the process of the present invention;
FIG. 6 is a block of adjustment criteria RzA time angle schematic diagram;
FIG. 7 is a block of the adjustment criteria RxA time angle schematic diagram;
FIG. 8 shows the adjustment criteria block RyTime angle diagram.
In all the figures, the same reference numerals denote the same features, in particular: 1. A clamp; 11. a clamp connecting plate; 12. a first angular table; 13. a second angular position table; 14. a connecting frame; 2. a wire probe; 3. a standard block; 4. a clamping device; 41. an I-shaped connecting frame; 42. A DD motor; 43. a connecting plate; 44. a third corner table; 45. a fourth corner table; 46. connecting the bottom plate; 47. a table top; 5. a robot main body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1 to 4, fig. 1 to 4 disclose a line probe calibration device for an industrial robot measurement system, which includes a fixture 1 for connecting with a robot main body 5, and a clamping device 4 located below the fixture 1 for carrying and driving a standard block 3; the fixture 1 comprises a fixture connecting plate 11, a first angle table 12, a second angle table 13 and a connecting frame 14 which are sequentially connected from top to bottom, the fixture connecting plate 11 is used for being connected with the robot main body 5, and the connecting frame 14 is used for being connected with the line measuring head 2; clamping device 4 is from last to being equipped with I shape link 41, motor 42, third angle platform 44, fourth angle platform 45 and connecting plate 46 down in proper order, the platform 47 of I shape link 41 is used for setting up standard block 3.
Preferably, two trapezoidal grooves 31, 32 perpendicular to each other are provided on the upper surface of the standard block 3, and the depth of the trapezoidal grooves 31, 32 is predetermined.
Preferably, an intermediate connection plate 43 is provided between the DD motor 42 and the third position stage 44.
Preferably, the line measuring head 2 is a laser distance measuring sensor.
Preferably, the laser ranging sensor is a spectroscopic confocal measurement instrument.
In the present invention, the line measuring head is exemplified by a spectral confocal measuring instrument, and other line measuring heads, such as all laser ranging sensors, can be used universally.
Referring to fig. 5 to 8, the present invention further provides a method for calibrating a line probe in an industrial robot measurement system, which includes the following specific processes:
s1: the spectrum confocal measuring head 2 is arranged at the tail end of a flange of the industrial robot through an installation plate 11 on a clamp 1, a clamping device 4 of a standard block 3 is arranged on an installation surface, and the installation surface is arranged in the working range of the industrial robot;
s2: the DD motor 42, the angular table 44 and the angular table 45 on the standard block holding device are adjusted so that the upper surface of the standard block 3 is parallel to the plane of the flange. Specifically, the method comprises the following steps:
s21: adjusting R of standard blockzSo that its y-axis is coplanar with the industrial robot flange y-axis. Adjusting the angle of a joint connected with the flange plate under the zero position of the industrial robot to enable the flange surface to be parallel to the bottom surface of the industrial robot; as shown in fig. 4, under the rectangular coordinate system of the industrial robot, the industrial robot drives the spectrum confocal measuring head 2 to measure the upper surface of the standard block, and the distance d from the working starting point a of the spectrum confocal measuring head to the surface of the standard block is obtained; controlling the spectrum confocal measuring head to move along the x-axis direction of the industrial robot, and when the light of the spectrum confocal measuring head 2 is measured from the surface of the standard block to the bottom surface of the transverse groove, the obtained data can generate first mutation, and recording the position B of the mutation of the measured value; an industrial robot drives the spectrum confocal measuring head 2 to horizontally move for a preset distance l along the y axisBCAnd when the position C is reached, controlling the spectrum confocal measuring head 2 to move along the x axis of the industrial robot, recording the position D where the second mutation occurs in the measured data, and simultaneously recording the distance l between the position C and the position DCD(ii) a The DD motor 4 for adjusting the y axis of the standard block 3 to be coplanar with the y axis of the industrial robot and needing to adjust the clamping device is obtained through a formula IThe value α of the angle of 2,
formula one
Figure BDA0002210086090000101
The standard block 3 is rotated by an angle α by controlling the DD motor 42 of the horizontal turning device so that the y-axis of the standard block 3 is coplanar with the y-axis of the industrial robot.
S22: adjusting R of the standard block 3xSo that its y-axis is parallel to the industrial robot flange y-axis. As shown in fig. 5, the linear spectrum confocal measuring head 2 is kept in an open state, and the measured data is returned in real time; adjusting a knob of an angle position table 12 in the spectrum confocal measuring head clamp 1, and fixing the angle position table 12 at the current angle value when the obtained data value is minimum, wherein the axis of the spectrum confocal measuring head 2 is parallel to the yoz plane of the standard block 3; controlling an industrial robot to translate a distance l along its y-axisHIWhen the spectrum confocal measuring head 2 is measured from the point E at the edge of the transverse groove of the standard block 3 to the bottom of the groove, the obtained data value has sudden change, and the distance value obtained when the point H is measured is lHObtaining a distance value of l before the measurement is mutatedEThe value of the distance obtained when the critical measurement is made to the bottom of the tank is lGThe depth of the standard block 3 groove is known to be lEFFrom the above, the included angle β between the spectrum confocal measuring head 2 and the normal direction of the upper surface of the standard block 3 can be obtained1In order to realize the purpose,
Figure BDA0002210086090000102
according to the cosine theorem, there are
Formula two
Figure BDA0002210086090000111
Formula three
Figure BDA0002210086090000112
And (3) manually adjusting the knob of the angular table 44 of the standard block clamping device by solving the second and third formulas, namely the required rotating angle β of the angular table, so that the y axis of the standard block 3 is parallel to the y axis of the flange plate.
S23: adjusting R of the standard block 3yThe x axis of the standard block 3 is parallel to the x axis of the flange plate of the industrial robot, so that the upper surface of the standard block 3 is parallel to the flange plate of the industrial robot. As shown in fig. 6, the spectral confocal measuring head 2 is kept in the open state, and the measured data is returned in real time; adjusting a knob of an angle position table 13 in the linear measuring head clamp 1, and fixing the angle position table at the current angle value when the obtained data value is minimum, wherein the axis of the linear measuring head is parallel to the xoz plane of the standard block 3; controlling an industrial robot to translate a distance l along its x-axisMNWhen the spectrum confocal measuring head 2 measures from the L point on the edge of the transverse groove of the standard block 3 to the bottom of the groove, the obtained data value has sudden change, and the distance value obtained when the M point is measured is LMObtaining a distance value of l before the measurement is mutatedLThe value of the distance obtained when the critical measurement is made to the bottom of the tank is lJThe depth of the groove of the standard block 3 is known as lLKFrom the above, the included angle gamma between the spectrum confocal measuring head 2 and the normal direction of the upper surface of the standard block 3 can be obtained1In order to realize the purpose,
Figure BDA0002210086090000113
according to the cosine theorem, there are
Formula four
Figure BDA0002210086090000121
Formula five
Figure BDA0002210086090000122
Through the above formulas IV and V, the angle gamma of the angle table needing to be rotated is obtained, and the knob of the angle table 45 of the standard block clamping device 4 is manually adjusted, so that the x axis of the standard block 3 is parallel to the x axis of the flange plate, that is, the upper surface of the standard block 3 is adjusted to be parallel to the end plane of the flange of the industrial robot.
S3: and adjusting the rotation angles of the angle table 12 and the angle table 13 on the spectrum confocal measuring head clamp 1 to ensure that the axis of the spectrum confocal measuring head 2 is vertical to the upper surface of the standard block 3. The specific method is that the spectrum confocal measuring head 2 is moved to the upper part of the standard block 3, so that the standard block 3 is in the working range of the spectrum confocal measuring head 2; keeping the opening state of the spectrum confocal measuring head 2, rotating a knob on the angular position table 12, and fixing the rotation angle of the angular position table 12 when the data value obtained by the measuring head is minimum; and keeping the pose of the industrial robot unchanged, rotating a knob on the angular table 13, and fixing the rotating angle of the angular table 13 when the data value obtained by the side head is minimum, so that the axis of the spectrum confocal measuring head 2 is perpendicular to the upper surface of the standard block 3.
S4: and calibrating the position of the working coordinate origin of the spectral confocal measuring head 2 under the industrial robot base coordinate system RCS. The specific operation steps are as follows:
controlling the industrial robot to measure the points on the upper surface of the standard block 3 under different poses, and recording the poses of the flange coordinate system ECS under the industrial robot base coordinate system RCS
Figure BDA0002210086090000123
And obtains the measured value { L of the spectrum confocal measuring head 2i}；
On the basis of the above steps, the origin P of the working coordinate system of the spectral confocal measuring head 2 is expressed as formula one under the industrial robot base coordinate system:
Figure BDA0002210086090000131
wherein
Figure BDA0002210086090000132
Representing a roto-translational transformation of the flange coordinate system ECS with respect to the industrial robot base coordinate system RCS,
Figure BDA0002210086090000133
TCS relative flange seat for representing spectrum confocal measuring head 2 measuring coordinate systemThe mark is the rotation-translation transformation of the ECS,TCSp denotes the origin of the spectral confocal probe 2 coordinate system.
Figure BDA0002210086090000134
Representing a rotational transformation of the flange coordinate system ECS with respect to the industrial robot base coordinate system RCS,
Figure BDA0002210086090000135
representing the translation transformation of the flange coordinate system ECS relative to the industrial robot base coordinate system RCS;
Figure BDA0002210086090000136
representing the rotation transformation of the measurement coordinate system TCS of the spectral confocal measuring head 2 relative to the flange coordinate system ECS,
Figure BDA0002210086090000137
representing the translation transformation of the measurement coordinate system TCS of the spectrum confocal measuring head 2 relative to the flange coordinate system ECS;
Figure BDA0002210086090000138
order to
Figure BDA0002210086090000139
So that the method has the advantages that,
Figure BDA00022100860900001310
all the measuring points are on the same plane, soRCSP satisfies the plane constraint equation,
n·P-D＝0
Figure BDA00022100860900001311
n＝[n1,n2,n3]is a unit normal vector of a plane, wherein the unknowns are:
Figure BDA0002210086090000141
setting the objective function as
Setting the objective function as
s.t.
Figure BDA0002210086090000143
Solving the unknown quantity by a quadratic penalty function optimization solving method:
change of objective function to
Figure BDA0002210086090000144
Wherein u (u >0) is a penalty factor, and the iterative solution step is as follows:
s421: given residual threshold ε>0, appropriately select u1>0, estimating an initial value w according to the mounting structure of the line probe0，k＝1。
S422: with yk-1For the initial value, the approximate minimum y of the target function g (w, u) is solved by LM algorithm (Leverberg-Marguardt)k。
S423: when | c (w) & gtdoes not yellow<Stopping iteration when epsilon to obtain the optimal solution yk(ii) a Otherwise, let uk+1＝0.1ukAnd k is k +1, step S422 is repeated.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.

Claims (10)

1. The utility model provides a line gauge head calibration device for among industrial robot measurement system which characterized in that: comprises a clamp (1) connected with a robot main body (5), and a clamping device (4) positioned below the clamp (1) and used for bearing and driving a standard block (3); the fixture (1) comprises a fixture connecting plate (11), a first angle table (12), a second angle table (13) and a connecting frame (14), which are sequentially connected from top to bottom, the fixture connecting plate (11) is used for being connected with the robot main body (5), and the connecting frame (14) is used for being connected with the line measuring head (2); clamping device (4) are equipped with I shape link (41), motor (42), third position platform (44), fourth position platform (45) and connecting plate (46) from last to down in proper order, platform (47) of I shape link (41) are used for setting up standard block (3).
2. A wire measuring head calibration device for use in an industrial robot measuring system according to claim 1, characterized in that: two trapezoidal grooves (31, 32) which are perpendicular to each other are formed in the upper surface of the standard block (3), and the depth of each trapezoidal groove (31, 32) is predetermined.
3. A wire measuring head calibration device for use in an industrial robot measuring system according to claim 1 or 2, characterized in that: an intermediate connecting plate (43) is arranged between the motor (42) and the third angle table (44).
4. A wire measuring head calibration device for use in an industrial robot measuring system according to claim 1 or 2, characterized in that: the line measuring head (2) is a laser ranging sensor.
5. A wire measuring head calibration device for use in an industrial robot measuring system according to claim 4, characterized in that: the laser ranging sensor is a spectral confocal measuring instrument.
6. A line measuring head calibration method for an industrial robot measuring system is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
s1: the spectral confocal measuring head 2 is arranged at the end of a flange of an industrial robot through an installation plate 11 on a clamp 1, a clamping device 4 of a standard block 3 is arranged on an installation surface, and the installation surface is arranged in the working range of the industrial robot;
s2: adjusting a DD motor 42, an angle table 44 and an angle table 45 on the standard block clamping device to enable the upper surface of the standard block 3 to be parallel to the plane of the flange plate;
s3: adjusting the rotation angles of an angle position table 12 and an angle position table 13 on the spectrum confocal measuring head clamp 1 to enable the axis of the spectrum confocal measuring head 2 to be vertical to the upper surface of the standard block 3;
s4: and calibrating the position of the working coordinate origin of the spectral confocal measuring head 2 under the industrial robot base coordinate system RCS.
7. A method for calibrating a wire probe for use in an industrial robot measuring system according to claim 6, characterized in that: the step S2 includes the following sub-steps:
s21: adjusting R of standard blockzSo that the y axis thereof is coplanar with the y axis of the flange plate of the industrial robot;
s22: adjusting R of standard blockxSo that the y axis of the flange is parallel to the y axis of the flange of the industrial robot;
s23: adjusting R of standard blockyAnd the x axis of the standard block is parallel to the x axis of the flange plate of the industrial robot, so that the upper surface of the standard block is parallel to the flange plate of the industrial robot.
8. A method for calibrating a wire probe for use in an industrial robot measuring system according to claim 6 or 7, characterized in that: the step S3 specifically includes: keeping the starting state of the line measuring head, and returning the measured data in real time; adjusting a knob of an upper angular position table in the clamping device, and fixing the angular position table at the current angular value when the obtained data value is minimum; the knob of the angular table on the lower side of the clamping device is adjusted by the same method, and when the obtained data value is minimum, the angular table is fixed at the current angular value.
9. A method for calibrating a wire probe for use in an industrial robot measuring system according to claim 6 or 7, characterized in that: the step S4 specifically includes: controlling the industrial robot to measure points on the upper surface of the standard block under different poses, and recording the poses of the flange coordinate system ECS under the industrial robot base coordinate system RCS
Figure RE-FDA0002362103600000031
And obtains the measured value { L of the line probei}；
On the basis of the steps, the origin P of the work coordinate system of the line measuring head is expressed as a formula I under the base coordinate system of the industrial robot:
Figure RE-FDA0002362103600000032
wherein
Figure RE-FDA0002362103600000033
Representing a roto-translational transformation of the flange coordinate system ECS with respect to the industrial robot base coordinate system RCS,
Figure RE-FDA0002362103600000034
representing the rotational-translational transformation of the measurement coordinate system TCS of the line probe relative to the flange coordinate system ECS,TCSp represents the origin of the coordinate system of the line measuring head;
Figure RE-FDA0002362103600000035
Figure RE-FDA0002362103600000036
representing a rotational transformation of the flange coordinate system ECS with respect to the industrial robot base coordinate system RCS,
Figure RE-FDA0002362103600000037
representing the translation transformation of the flange coordinate system ECS relative to the industrial robot base coordinate system RCS;
Figure RE-FDA0002362103600000038
Figure RE-FDA0002362103600000039
representing the rotational transformation of the measurement coordinate system TCS of the line probe relative to the flange coordinate system ECS,
Figure RE-FDA00023621036000000310
indicating the measurement coordinates of a line probeTranslation transformation of the system TCS relative to a flange coordinate system ECS;
Figure RE-FDA0002362103600000041
order to
Figure RE-FDA0002362103600000042
So that the method has the advantages that,
Figure RE-FDA0002362103600000043
all the measuring points are on the same plane, soRCSP satisfies the plane constraint equation,
n·P-D＝0
Figure RE-FDA0002362103600000044
n＝[n1，n2，n3]is a unit normal vector of a plane, wherein the unknowns are:
Figure RE-FDA0002362103600000045
setting the objective function as
Figure RE-FDA0002362103600000046
Figure RE-FDA0002362103600000047
Solving the unknown quantity by a quadratic penalty function optimization solving method:
change of objective function to
Figure RE-FDA0002362103600000048
Wherein u (u >0) is a penalty factor.
10. A method for calibrating a wire probe for use in an industrial robot measuring system according to claim 9, characterized in that: also comprises an iterative solving step which comprises the following steps,
s421: given residual threshold ε>0, appropriately select u1>0, estimating an initial value w according to the mounting structure of the line probe0，k＝1；
S422: with yk-1For an initial value, solving the approximate minimum value y of the objective function g (w, u) through an LM algorithmk；
S423: when | c (w) & gtdoes not yellow<Stopping iteration when epsilon to obtain the optimal solution yk(ii) a Otherwise, it orders
uk+1＝0.1ukAnd k is k +1, step S422 is repeated.
CN201910895532.9A 2019-09-21 2019-09-21 Line measuring head calibration device and calibration method for industrial robot measuring system Withdrawn CN110864659A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910895532.9A CN110864659A (en) 2019-09-21 2019-09-21 Line measuring head calibration device and calibration method for industrial robot measuring system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910895532.9A CN110864659A (en) 2019-09-21 2019-09-21 Line measuring head calibration device and calibration method for industrial robot measuring system

Publications (1)

Publication Number Publication Date
CN110864659A true CN110864659A (en) 2020-03-06

Family

ID=69652256

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910895532.9A Withdrawn CN110864659A (en) 2019-09-21 2019-09-21 Line measuring head calibration device and calibration method for industrial robot measuring system

Country Status (1)

Country Link
CN (1) CN110864659A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117095065A (en) * 2023-09-18 2023-11-21 合肥埃科光电科技股份有限公司 Calibration method, system and equipment for linear spectrum copolymerization Jiao Weiyi sensor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117095065A (en) * 2023-09-18 2023-11-21 合肥埃科光电科技股份有限公司 Calibration method, system and equipment for linear spectrum copolymerization Jiao Weiyi sensor
CN117095065B (en) * 2023-09-18 2024-06-11 合肥埃科光电科技股份有限公司 Calibration method, system and equipment for linear spectrum copolymerization Jiao Weiyi sensor

Similar Documents

Publication Publication Date Title
CN111578866B (en) Spatial pose calibration method for multi-line laser sensor combined measurement
JP4275632B2 (en) Calibration method for parallel mechanism mechanism, calibration verification method, calibration verification program, data collection method, and correction data collection method for spatial position correction
KR101200961B1 (en) Parallel kinematic machine, calibration method of parallel kinematic machine, and calibration program product
US6615112B1 (en) Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices
JP2013503380A (en) Calibration method for machine tools
CN109732401A (en) A kind of detection method about the unrelated error of five-axle number control machine tool double back rotating shaft position
CN114012585B (en) Polishing point position calibration method for double-pendulum-shaft type five-axis magnetorheological machine tool
US11293745B2 (en) Inspection master
WO2021092749A1 (en) Multi-sensor calibration method and device for non-contact measurement, and reference block
US11289303B2 (en) Calibrating method and calibrating system
US6895682B2 (en) Polar coordinate-based profilometer and methods
CN110864659A (en) Line measuring head calibration device and calibration method for industrial robot measuring system
CN113587870A (en) Five-axis machine tool rotating shaft geometric error on-machine detection device and error field prediction method
JP6419380B1 (en) Inspection master
CN112797931B (en) Industrial robot pose accuracy and pose repeatability detection device and detection method
CN210625619U (en) Line measuring head calibration device for industrial robot measuring system
KR102040979B1 (en) Automation apparatus for calibraion of 3d measuring apparatus
CN115284330A (en) Method for calibrating laser profilometer by welding robot
JP2008096114A (en) Measuring apparatus
CN115042189A (en) Mechanical arm parameter error identification and compensation method
Klobucar et al. Automatic high resolution measurement set-up for calibrating precise line scales
CN109732643B (en) Calibration device and method for mechanical arm
CN108444433B (en) Turntable rotation angle error detection method based on surface type reference
CN114518087A (en) Device and method for non-contact measurement of thickness and rise in lens
Deutsch et al. Thermo-elastic structural analysis of a machine tool using a multi-channel absolute laser interferometer

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication

Application publication date: 20200306

WW01 Invention patent application withdrawn after publication