CN113650019A - Calibration method and device for tool coordinates of manipulator and robot - Google Patents
Calibration method and device for tool coordinates of manipulator and robot Download PDFInfo
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- CN113650019A CN113650019A CN202111023972.9A CN202111023972A CN113650019A CN 113650019 A CN113650019 A CN 113650019A CN 202111023972 A CN202111023972 A CN 202111023972A CN 113650019 A CN113650019 A CN 113650019A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a calibration method and device for tool coordinates of a manipulator and a robot. The method comprises the following steps: acquiring the geometric center coordinates of at least one product to be calibrated; converting the geometric center coordinate into a tool center point according to a tool coordinate system of the manipulator; and calibrating the tool coordinate of the manipulator according to the tool center point. The technical scheme provided by the invention realizes the quick calibration of the tool coordinate with the geometric center of the regular-shaped product as the center point of the tool, and the recalibration is not needed after the replacement or maintenance of the clamp, so that the working efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to a manipulator calibration technology, in particular to a method and a device for calibrating tool coordinates of a manipulator and a robot.
Background
In the technical processes of assembly, stacking, packaging and the like, the manipulator is required to carry in an auxiliary mode, and the manipulator is usually calibrated by adopting a tool coordinate system. In the prior art, calibration is generally performed by using a 4-point method, a 5-point method or a 6-point method, that is, an external reference point is aligned at different postures through a central point of a robot tool. However, the above method is not easy to mark the tool center point and is cumbersome to operate, for the chuck, the jaws or the geometric center of the clamped product. In addition, when the tool needs to be calibrated again after being repaired or replaced, the working efficiency is reduced, and the consistency of the calibration of the manipulator is influenced.
Disclosure of Invention
The invention provides a calibration method and device for tool coordinates of a manipulator and a robot, which realize quick calibration of tool coordinates with the geometric center of a regular-shaped product as a tool center point, do not need to be calibrated again after a clamp is replaced or maintained, and improve the working efficiency.
In a first aspect, an embodiment of the present invention provides a method for calibrating coordinates of a tool of a manipulator, including:
and acquiring the geometric center coordinates of at least one product to be calibrated.
And converting the geometric center coordinate into a tool center point according to a tool coordinate system of the manipulator.
And calibrating the tool coordinate of the manipulator according to the tool center point.
Optionally, obtaining the geometric center coordinates of at least one product to be calibrated includes:
and (5) installing a positioning tool. The positioning tool comprises a first baffle and a second baffle. The second baffle is arranged on the horizontal plane, and the first baffle and the second baffle are vertically arranged.
Calibrating the first baffle based on a reference geodetic coordinate system. And if the first baffle deflects, calculating the deflection angle of the positioning tool based on a reference geodetic coordinate system.
And calculating the geometric center coordinate of the product to be calibrated in the positioning tool according to the deflection angle.
Optionally, if the first baffle does not deflect, calculating a geometric center coordinate of the product to be calibrated, which is placed in the positioning tool, according to the size of the product to be calibrated.
Optionally, calculating a geometric center coordinate of the product to be calibrated, which is placed in the positioning tool, according to the deflection angle includes:
and acquiring the geometric center coordinate of the second baffle as a material taking point.
And calculating the offset of the geometric center coordinate of the product to be calibrated in the positioning tool relative to the coordinate of the material taking point according to the size of the product to be calibrated, the coordinate of the material taking point and the size of the second baffle plate.
And calculating the geometric center coordinate of the product to be calibrated according to the coordinate of the material taking point, the offset and the deflection angle.
Optionally, calculating a deflection angle of the positioning tool based on a reference geodetic coordinate system includes:
and grabbing the product to be calibrated through the manipulator, aligning any edge of the product to be calibrated with the first baffle, and recording a first coordinate of the center of the end flange of the manipulator.
And horizontally translating the product to be calibrated for any distance along the first baffle, and recording a second coordinate of the center of the tail end flange of the manipulator.
And calculating the deflection angle of the first baffle plate based on a reference geodetic coordinate system according to the first coordinate and the second coordinate.
Optionally, at least two products to be calibrated are included.
The method for acquiring the geometric center coordinates of at least one product to be calibrated comprises the following steps:
and acquiring the geometric center coordinate of each product to be calibrated.
Converting the geometric center coordinates into a tool center point according to a tool coordinate system of the manipulator, including:
and converting each geometric center coordinate into a tool center point according to a tool coordinate system of the manipulator.
Calibrating the tool coordinate of the manipulator according to the tool center point, comprising:
and calibrating the tool coordinates of the manipulator according to each tool center point.
Optionally, the calculation formula for calculating the geometric center coordinate of the product to be calibrated is as follows:
and P4.x is a first coordinate of the geometric center coordinate of the product to be calibrated. And P4.y is a second coordinate of the geometric center coordinate of the product to be calibrated. And P4.z is a third coordinate of the geometric center coordinate of the product to be calibrated. P3.x is a first coordinate of the geometric center coordinate of the second baffle. P3.y is a second coordinate of the geometric center coordinate of the second baffle. P3.z is the third coordinate of the geometric center coordinate of the second baffle. θ is the horizontal deflection angle. H is the height from the robot clamp to the surface of the product. dx is the lateral offset of the geometric center of the product with respect to the geometric center of the second baffle. dy is the longitudinal offset of the geometric centre of the product with respect to the geometric centre of the second baffle.
In a second aspect, an embodiment of the present invention provides a calibration apparatus for coordinates of a tool of a manipulator, including:
and the coordinate acquisition module is used for acquiring the geometric center coordinates of at least one product to be calibrated.
And the conversion module is used for converting the geometric center coordinate according to a tool coordinate system of the manipulator to be used as a tool center point.
And the calibration module is used for calibrating the tool coordinate of the manipulator according to the tool center point.
Optionally, the calibration device for coordinates of the mechanical hand tool further comprises a positioning tool, and the positioning tool comprises: a first baffle and a second baffle. The second baffle is arranged on the horizontal plane, and the first baffle and the second baffle are vertically arranged.
The coordinate acquisition module includes:
and the deflection calculating unit is used for calculating the deflection angle of the positioning tool based on the reference geodetic coordinate system when deflection occurs.
And the coordinate calculation unit is used for calculating the geometric center coordinate of the product to be calibrated, which is arranged in the positioning tool, according to the deflection angle.
The coordinate calculation unit is also used for calculating the geometric center coordinate of the product to be calibrated, which is arranged in the positioning tool, according to the size of the product to be calibrated when the deflection does not occur.
In a third aspect, an embodiment of the present invention provides a robot, including a calibration apparatus for coordinates of any of the robot tools according to the embodiments of the present invention.
According to the technical scheme provided by the embodiment of the invention, the geometric center coordinate of at least one product to be calibrated is obtained, the geometric center coordinate of the product is taken as the tool center point of the manipulator, and the tool coordinate of the manipulator is calibrated by using the tool coordinate point, so that the corresponding position relationship between the flange at the tail end of the manipulator and the tool coordinate point is established. The position of the tool center point is fixed relative to the center point of the tail end flange of the manipulator, when the clamp is replaced or maintained, the product can be still taken up only by ensuring the clamp without re-calibration, and the tool center point still keeps the relative position with the tail end flange of the manipulator, so that the re-calibration is not needed, and the working efficiency of the clamp after replacement or maintenance is improved.
Drawings
Fig. 1 is a schematic flow chart of a method for calibrating coordinates of a tool of a manipulator according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a positioning tool and a product to be calibrated according to an embodiment of the present invention.
Fig. 3 is a schematic flowchart of a process of calculating a geometric center coordinate of a product to be calibrated according to a deflection angle according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a geometric relationship between a positioning tool and a product to be calibrated according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a calibration position of a manipulator according to an embodiment of the present invention.
Fig. 6 is a schematic flowchart of calculating a deflection angle of the positioning tool based on a reference geodetic coordinate system according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of another positioning tool and a product to be calibrated according to an embodiment of the present invention.
Fig. 8 is a schematic flowchart of a further method for calibrating coordinates of a robot tool according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of another positioning tool and a product to be calibrated according to an embodiment of the present invention.
FIG. 10 is a schematic structural diagram of another positioning tool and a product to be calibrated according to an embodiment of the present invention
Fig. 11 is a schematic flowchart of a method for calibrating coordinates of a tool of a manipulator according to another embodiment of the present invention.
Fig. 12 is a schematic structural diagram of a device for calibrating coordinates of a tool of a manipulator according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a method for calibrating coordinates of a manipulator tool according to an embodiment of the present invention, and referring to fig. 1, the method is suitable for calibrating a tool after a manipulator fixture is replaced or repaired in an assembly, palletizing, and packaging application, and the method can be executed by a device for calibrating coordinates of a manipulator tool, and is integrated in a control unit of a robot, and the device can be implemented in a hardware and/or software manner. The method specifically comprises the following steps:
and S110, acquiring the geometric center coordinates of at least one product to be calibrated.
Specifically, a reference geodetic coordinate system can be established according to the operation platform, wherein the reference geodetic coordinate system is formed by adding a third-dimensional coordinate, namely a Z axis according to a right-hand rule on the basis of a horizontal plane two-dimensional coordinate system, and the reference geodetic coordinate system comprises X, Y and the Z axis. Wherein the origin of the reference geodetic coordinate system can be determined according to the actual requirements. And placing the product to be calibrated in a preset area of the workbench, and acquiring the geometric center coordinate of the product to be calibrated according to the reference geodetic coordinate system. The preset area can comprise a target position area where the manipulator grabs the product to be placed.
And S120, converting the geometric center coordinate into a tool center point according to a tool coordinate system of the manipulator.
The tool coordinate system is used for calibrating the position and the posture of the tool relative to the end flange of the robot hand, and determining the tool coordinate system so that the robot can know how to move to enable the tool to reach the specified position and swing the corresponding posture. And converting the geometric center coordinates of the product to be calibrated into tool coordinates in a tool coordinate system, and taking the tool coordinates as a tool center point, namely taking the geometric center of the product to be calibrated as the tool center point.
And S130, calibrating the tool coordinate of the manipulator according to the tool center point.
Specifically, the tool center point is used as the origin of a tool coordinate system, and the position relation between the end flange of the robot hand and the tool center point is calibrated. The position of the tool center point is fixed relative to the center point of the end flange of the manipulator, and the tool coordinate system established by taking the tool center point as an origin can be actually regarded as translation and rotation relative to the end flange of the manipulator. Therefore, after the clamp of the manipulator is replaced or maintained, the product can be taken up only by ensuring the clamp without re-calibration, and the precision of the tool center point cannot be lost.
According to the technical scheme provided by the embodiment of the invention, the geometric center coordinate of at least one product to be calibrated is obtained, the geometric center coordinate of the product is taken as the tool center point of the manipulator, and the tool coordinate of the manipulator is calibrated by using the tool coordinate point, so that the corresponding position relationship between the flange at the tail end of the manipulator and the tool coordinate point is established. The position of the tool center point is fixed relative to the center point of the tail end flange of the manipulator, the tool coordinate with the geometric center of the regular-shaped product as the tool center point is calibrated quickly, after the clamp is replaced or maintained, the product can be still taken up only by ensuring the clamp without re-calibration, and the tool center point still keeps the relative position with the tail end flange of the manipulator, so that the re-calibration is not needed, and the working efficiency after the clamp is replaced or maintained is improved.
Based on the above embodiment, optionally, the obtaining of the geometric center coordinate of at least one product to be calibrated includes:
and (5) installing a positioning tool. Wherein, location frock includes first baffle and second baffle. The second baffle is arranged on the horizontal plane, and the first baffle and the second baffle are vertically arranged.
The first baffle is calibrated based on a reference geodetic coordinate system. And if the first baffle deflects, calculating the deflection angle of the positioning tool based on the reference geodetic coordinate system.
And calculating the geometric center coordinate of the product to be calibrated in the positioning tool according to the deflection angle.
Specifically, fig. 2 is a schematic structural diagram of a positioning tool and a product to be calibrated according to an embodiment of the present invention, referring to fig. 2, the positioning tool includes a first baffle 330, a second baffle 310, and at least two controllable machines 340 for positioning and fixing, where the controllable machines 340 may be cylinders or motors, for example. The first barrier 330 and the second barrier 310 are vertically installed. The positioning tool is installed on the operation platform, the second baffle plate 310 is placed on a horizontal plane formed by an x axis and a y axis of a reference geodetic coordinate system, and the first baffle plate 330 is connected perpendicular to the second baffle plate. The positioning tool is used for positioning and placing a product clamped by the manipulator in a target area. After the positioning tool is installed, the deflection angle of the first baffle 310 with respect to the x-axis direction of the reference geodetic coordinate system is determined according to the position of the first baffle 330. If there is a deflection angle in the first baffle 310, the deflection angle may be calculated based on the coordinate parameters of the first baffle 310. And positioning the geometric center coordinate of the product to be calibrated according to the geometric relationship according to the size and the deflection angle of the product to be calibrated.
Optionally, if the first baffle does not deflect, calculating a geometric center coordinate of the product to be calibrated, which is placed in the positioning tool, according to the size of the product to be calibrated.
Specifically, if the first baffle does not deflect, the product to be calibrated can be placed in the target area without deflection according to the positioning tool, so that the size of the product can be confirmed according to the product type, and the coordinate of the geometric center of the corresponding reference geodetic coordinate system can be obtained according to the size data.
Based on the above embodiment, fig. 3 is a schematic flowchart of a process for calculating a geometric center coordinate of a product to be calibrated according to a deflection angle according to an embodiment of the present invention, and referring to fig. 3, the method includes:
s210, acquiring the geometric center coordinate of the second baffle as a material taking point.
Specifically, fig. 4 is a schematic structural diagram of a geometric relationship between a positioning tool and a product to be calibrated according to an embodiment of the present invention. Referring to fig. 4 in conjunction with fig. 2, the material taking point is an anchor point when the center of the flange at the end of the robot grips the product. The take-off point P3 is set to the geometric center of the second baffle 310. The robot end flange center includes a laser emitter or a pointed cone through which the geometric center of the second shutter 310 can be aligned, so that the geometric center coordinates of the second shutter 310 can be acquired by teaching the picking point P3 as the tool coordinate system of the robot arm.
S220, calculating the offset of the geometric center coordinate of the product to be calibrated in the positioning tool relative to the coordinate of the material taking point according to the size of the product to be calibrated, the coordinate of the material taking point and the size of the second baffle plate.
Specifically, the product to be calibrated may be in a shape of a rectangle or a circle, and the shape of the product to be calibrated is only an example and is not particularly limited. For example, the product to be calibrated in the embodiment of the present invention adopts a rectangle. The length of the second flap 310 is set to L0 and the width W0. The rectangular product 320 has a length L1 and a width W1. The rectangular product 320 has an upper edge that abuts and aligns with the first baffle 330 and an adjacent edge of the upper edge that abuts and aligns with the second baffle 310. According to the position relationship between the rectangular product 320 and the second baffle 310, the offset of the geometric center P4 coordinate of the rectangular product 320 in the positioning tool relative to the coordinate of the material taking point P3 can be calculated. Exemplary calculation formula:
wherein dx is the lateral offset of the geometric center of the rectangular product relative to the geometric center of the second baffle. dy is the longitudinal offset of the geometric center of the rectangular product with respect to the geometric center of the second baffle.
And S230, calculating the geometric center coordinate of the product to be calibrated according to the coordinate, the offset and the deflection angle of the material taking point.
Specifically, a triangular geometric relationship is established through the position relationship between the product to be calibrated and the positioning tool, and the geometric center coordinate of the product to be calibrated can be calculated according to the coordinate of the material taking point P3, namely the geometric center coordinate of the second baffle plate, by utilizing the offset and the deflection angle. In this embodiment, fig. 5 is a schematic structural diagram of a calibration position of a manipulator according to an embodiment of the present invention, referring to fig. 5 in combination with fig. 4, the calculation of a coordinate of a geometric center P4 of a product to be calibrated can be completed according to an offset and a deflection angle through a coordinate of a calibrated material taking point P3, and further the calibration of a tool center point can be completed, where the manipulator 350 uses the geometric center of the product as the tool center point. The position of the center point of the tool is fixed relative to the center point of the end flange of the manipulator by calibrating the position relationship between the end flange of the manipulator and the center point of the tool, namely the relative positions of the material taking point P3 and the center point of the tool (geometric center P4 of a calibrated product) are fixed. Thereby, calibration can be completed. Compared with the prior art, the calibration is carried out by using a 4-point method, a 5-point method or a 6-point method, the calibration operation of the manipulator is simplified in the whole process, and the working efficiency is improved.
Optionally, the calculation formula for calculating the geometric center coordinate of the product to be calibrated is as follows:
and P4.x is a first coordinate of the geometric center coordinate of the product to be calibrated. And P4.y is a second coordinate of the geometric center coordinate of the product to be calibrated. And P4.z is a third coordinate of the geometric center coordinate of the product to be calibrated. P3.x is the first coordinate of the geometric center coordinate of the second baffle. P3.y is the second coordinate of the geometric center coordinate of the second baffle. P3.z is the third coordinate of the geometric center coordinate of the second baffle. Theta is the horizontal deflection angle. H is the height from the robot clamp to the surface of the product. dx is the lateral offset of the geometric center of the product relative to the geometric center of the second baffle. dy is the longitudinal offset of the geometric center of the product with respect to the geometric center of the second baffle.
Specifically, with reference to fig. 4, according to the geometric relationship, the included angle between the longitudinal offset dy and the auxiliary line S2 is the deflection angle θ, the included angle between the lateral offset dx and the auxiliary line S1 is also the deflection angle θ, the product of the cosine of the lateral offset dx and the deflection angle θ and the product of the sine of the longitudinal offset dy and the deflection angle θ can be calculated, and according to the geometric relationship, the product of the cosine of the lateral offset dx and the deflection angle θ is subtracted from the coordinate of the material taking point P3 in the x-axis direction, and the product of the sine of the longitudinal offset dy and the deflection angle θ is added to obtain the coordinate of the product to be calibrated on the x-axis. Similarly, the sine product of the transverse offset dx and the deflection angle theta and the cosine product of the longitudinal offset dy and the deflection angle theta are calculated, the sine product of the transverse offset dx and the deflection angle theta is subtracted from the coordinate of the material taking point P3 in the y-axis direction according to the geometric relation, and the cosine product of the longitudinal offset dy and the deflection angle theta is subtracted to obtain the coordinate of the product to be calibrated on the y-axis. The coordinate on the z-axis of the product to be calibrated may be obtained by subtracting the height from the robot clamp to the surface of the product, i.e., the height from the robot clamp to the material taking point P3, from the coordinate in the z-axis direction of the material taking point P3.
When the positioning tool has no deflection angle, namely, the first baffle plate does not deflect. At the moment, the offset of the geometric center coordinate of the product to be calibrated in the positioning tool relative to the coordinate of the material taking point can be calculated according to the position relation between the product to be calibrated and the second baffle. According to the geometric relationship, the included angle between the longitudinal offset dy and the auxiliary line S2 is 0, and the included angle between the transverse offset dx and the auxiliary line S1 is 0, so that the coordinate of the product to be calibrated can be calculated and confirmed according to the offset of the coordinate of the material taking point and the coordinate of the material taking point. Or solving according to a calculation formula for calculating the geometric center coordinate of the product to be calibrated.
Based on the foregoing embodiment, fig. 6 is a schematic flowchart of a process for calculating a deflection angle of a positioning tool based on a reference geodetic coordinate system according to an embodiment of the present invention, and with reference to fig. 6, the specific steps include:
s510, grabbing a product to be calibrated through the manipulator, aligning any edge of the product to be calibrated with the first baffle, and recording a first coordinate of the center of the end flange of the manipulator.
Specifically, fig. 7 is a schematic structural diagram of another positioning tool and a product to be calibrated according to an embodiment of the present invention, referring to fig. 7, the product to be calibrated is grasped by the robot, and taking the product to be calibrated as a rectangle, any side of the rectangular product 320 is abutted against the first baffle 410 and aligned by the robot, and the coordinate of the center of the end flange of the robot at this time is recorded as a first coordinate P1.
S520, horizontally translating the product to be calibrated for any distance along the first baffle, and recording a second coordinate of the center of the end flange of the manipulator.
Specifically, after the first coordinate P1 is recorded, the rectangular product 320 is translated by the robot arm any distance along the first barrier 410, and after the rectangular product is stationary, the coordinate of the center of the end flange of the robot arm at that time is recorded as the second coordinate P2.
And S530, calculating the deflection angle of the first baffle plate based on the reference geodetic coordinate system according to the first coordinate and the second coordinate.
Specifically, referring to fig. 7 in conjunction with fig. 4, the deflection angle of the first barrier 410 may be calculated according to a geometrical relationship from the first coordinate P1 and the second coordinate P2. The calculation formula for calculating the horizontal deflection angle of the first baffle plate based on the geodetic coordinate system is as follows:
θ＝a tan 2(P2.y-P1.y,P2.x-P1.x)
where θ is the horizontal deflection angle. atan2 is a function of azimuth. P1.x is the first coordinate of the center of the end flange of the robot. P2.x is the first coordinate of the center of the end flange of the robot. P1.y is the second coordinate of the center of the end flange of the robot. P2.y is the second coordinate of the center of the end flange of the robot. Wherein the atan2 function is to use atan (a/b) when the absolute value of the first parameter a is larger than the absolute value of the second parameter b, otherwise, the use of atan (b/a) can ensure the stability of data calculation. And as long as the relative position between the positioning tool and the center of the end flange of the manipulator is not changed, the deflection of the positioning tool does not need to be calibrated again.
Based on the above embodiments, fig. 8 is a schematic flowchart of a further method for calibrating coordinates of a robot tool according to an embodiment of the present invention, and referring to fig. 8, the method includes at least two products to be calibrated. The method for acquiring the geometric center coordinates of at least one product to be calibrated comprises the following steps:
and S710, acquiring the geometric center coordinate of each product to be calibrated.
Specifically, fig. 9 is a schematic structural diagram of another positioning tool and a product to be calibrated provided by an embodiment of the present invention, fig. 10 is a schematic structural diagram of another positioning tool and a product to be calibrated provided by an embodiment of the present invention, and referring to fig. 9 and fig. 10, when a manipulator grabs a plurality of products to be calibrated at one time, a coordinate P4 of a geometric center of each product to be calibrated needs to be determined, and a reference geodetic coordinate system can be established according to an operation platform, where the reference geodetic coordinate system is a reference coordinate system including X, Y and a Z axis by adding a third coordinate, i.e., a Z axis, according to a right-hand rule on the basis of a horizontal plane two-dimensional coordinate system. Wherein the origin of the reference geodetic coordinate system can be determined according to the actual requirements. And placing the product to be calibrated in a preset area of the workbench, and acquiring the geometric center coordinate of the product to be calibrated according to the reference geodetic coordinate system. The preset area can comprise a target position area where the manipulator grabs the product to be placed.
Converting the geometric center coordinates into a tool center point according to a tool coordinate system of the manipulator, including:
and S720, converting each geometric center coordinate into a tool center point according to the tool coordinate system of the manipulator.
Specifically, the geometric center coordinates of each product to be calibrated are converted into tool coordinates in a tool coordinate system, and the tool coordinates are used as a tool center point, that is, the geometric center of each product to be calibrated is used as a tool center point.
Calibrating the tool coordinate of the manipulator according to the tool center point, comprising:
and S730, calibrating the tool coordinate of the manipulator according to each tool center point.
Specifically, the position relation between the end flange of the robot hand and the central point of each tool is calibrated. The position of each tool center point (geometric center P4 of the product to be calibrated) is fixed relative to the center point of the end flange of the manipulator (material taking point P3), and the tool coordinate system established by taking the tool center point as the origin can be actually regarded as translation and rotation relative to the end flange of the manipulator. Therefore, after the clamp of the manipulator is replaced or maintained, the product can be taken up only by ensuring the clamp without re-calibration, and the precision of the tool center point cannot be lost.
Fig. 11 is a schematic flow chart of a calibration method for tool coordinates of a robot according to an embodiment of the present invention, and referring to fig. 11, a tool calibration process is performed on the robot, and a positioning tool is first installed on an operation platform, where the positioning tool includes a first baffle, a second baffle, and at least two controllable machines for positioning and fixing, and for example, the controllable machines may be cylinders or motors. And after the positioning tool is installed, calibrating the deflection angle of the first baffle of the positioning tool based on the reference geodetic coordinate system. The size information of the first baffle, the second baffle and the product to be calibrated of the positioning tool is recorded. And teaching the material taking point according to the geometric center coordinate of the second baffle plate, and calculating the geometric center coordinate of the product to be calibrated according to the size of the product to be calibrated, the coordinate of the material taking point, the size of the second baffle plate and the deflection angle when the first baffle plate deflects. And converting the geometric center coordinates of the product to be calibrated into the center point of the tool to calibrate the manipulator.
Fig. 12 is a schematic structural diagram of a device for calibrating coordinates of a robot tool according to an embodiment of the present invention, and referring to fig. 12, the device includes:
and the coordinate acquisition module 1210 is used for acquiring the geometric center coordinates of at least one product to be calibrated.
And a conversion module 1220, configured to convert the geometric center coordinate according to the tool coordinate system of the manipulator, as the tool center point.
And the calibration module 1230 is configured to calibrate the tool coordinate of the manipulator according to the tool center point.
Specifically, a reference geodetic coordinate system can be established according to the operation platform, wherein the reference geodetic coordinate system is formed by adding a third-dimensional coordinate, namely a Z axis according to a right-hand rule on the basis of a horizontal plane two-dimensional coordinate system, and the reference geodetic coordinate system comprises X, Y and the Z axis. Wherein the origin of the reference geodetic coordinate system can be determined according to the actual requirements. The coordinate obtaining module 1210 for placing the product to be calibrated in the preset area of the workbench obtains the geometric center coordinate of the product to be calibrated. The preset area can comprise a target position area where the manipulator grabs the product to be placed. The conversion module 1220 converts the geometric center coordinates of the product to be calibrated into the tool coordinates, and uses the geometric center of the product to be calibrated as the center point of the tool. The calibration module 1230 uses the tool center point as the origin of the tool coordinate system to calibrate the position relationship between the robot end flange and the tool center point. The position of the tool center point is fixed relative to the center point of the end flange of the manipulator, and the tool coordinate system established by taking the tool center point as an origin can be regarded as translation and rotation relative to the end flange of the manipulator.
According to the technical scheme provided by the embodiment of the invention, the geometric center coordinate of at least one product to be calibrated is obtained through the coordinate obtaining module, the geometric center coordinate of the product is converted into the tool center point of the manipulator through the conversion module, and the calibration module calibrates the tool coordinate of the manipulator by using the tool coordinate point, so that the corresponding position relation between the terminal flange of the manipulator and the tool coordinate point is established. The position of the tool center point is fixed relative to the center point of the tail end flange of the manipulator, when the clamp is replaced or maintained, the product can be still taken up only by ensuring the clamp without re-calibration, and the tool center point still keeps the relative position with the tail end flange of the manipulator, so that the re-calibration is not needed, and the working efficiency of the clamp after replacement or maintenance is improved.
Optionally, the calibration device for the coordinates of the mechanical hand tool further comprises a positioning tool, and the positioning tool comprises: a first baffle and a second baffle. The second baffle is arranged on the horizontal plane, and the first baffle and the second baffle are vertically arranged.
The coordinate acquisition module includes:
and the deflection calculating unit is used for calculating the deflection angle of the positioning tool based on the reference geodetic coordinate system when deflection occurs.
And the coordinate calculation unit is used for calculating the geometric center coordinate of the product to be calibrated, which is arranged in the positioning tool, according to the deflection angle.
The coordinate calculation unit is also used for calculating the geometric center coordinates of the product to be calibrated, which is arranged in the positioning tool, according to the size of the product to be calibrated when the deflection does not occur.
The calibration device for the coordinates of the mechanical hand tool provided by the embodiment of the invention and the calibration method for the coordinates of the mechanical hand tool provided by any embodiment of the invention belong to the same inventive concept, have corresponding beneficial effects, and the detailed technical details of the embodiment are not referred to in the calibration method for the coordinates of the mechanical hand tool provided by any embodiment of the invention.
The embodiment of the invention also provides a robot which comprises the calibration device for any mechanical hand tool coordinate in the embodiment of the invention. Specifically, the robot is grabbed through a manipulator and used for assembly, stacking or packaging and other engineering applications. The calibration device for the coordinates of the mechanical hand tool provided by any embodiment of the invention has the same beneficial effects, and the details are not repeated herein.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A calibration method for tool coordinates of a manipulator is characterized by comprising the following steps:
acquiring the geometric center coordinates of at least one product to be calibrated;
converting the geometric center coordinate into a tool center point according to a tool coordinate system of the manipulator;
and calibrating the tool coordinate of the manipulator according to the tool center point.
2. The method for calibrating the coordinates of a manipulator tool according to claim 1, wherein the obtaining of the coordinates of the geometric center of at least one product to be calibrated comprises:
installing a positioning tool; the positioning tool comprises a first baffle and a second baffle; the second baffle is arranged on the horizontal plane, and the first baffle and the second baffle are vertically arranged;
calibrating the first baffle based on a reference geodetic coordinate system; if the first baffle deflects, calculating the deflection angle of the positioning tool based on a reference geodetic coordinate system;
and calculating the geometric center coordinate of the product to be calibrated in the positioning tool according to the deflection angle.
3. The method for calibrating the coordinates of the manipulator tool according to claim 2, wherein if the first baffle does not deflect, the geometric center coordinates of the product to be calibrated placed in the positioning tool are calculated according to the size of the product to be calibrated.
4. The method for calibrating the coordinates of the manipulator tool according to claim 2, wherein calculating the coordinates of the geometric center of the product to be calibrated, which is placed in the positioning tool, according to the deflection angle comprises:
acquiring the geometric center coordinate of the second baffle as a material taking point;
calculating the offset of the geometric center coordinate of the product to be calibrated in the positioning tool relative to the coordinate of the material taking point according to the size of the product to be calibrated, the coordinate of the material taking point and the size of the second baffle plate;
and calculating the geometric center coordinate of the product to be calibrated according to the coordinate of the material taking point, the offset and the deflection angle.
5. The method for calibrating the coordinates of the manipulator tool according to claim 2, wherein calculating the deflection angle of the positioning tool based on the reference geodetic coordinate system comprises:
grabbing the product to be calibrated through the manipulator, aligning any edge of the product to be calibrated with the first baffle, and recording a first coordinate of the center of a tail end flange of the manipulator;
horizontally translating the product to be calibrated for any distance along the first baffle, and recording a second coordinate of the center of the tail end flange of the manipulator;
and calculating the deflection angle of the first baffle plate based on a reference geodetic coordinate system according to the first coordinate and the second coordinate.
6. The calibration method of the manipulator tool coordinate according to claim 1, characterized by comprising at least two products to be calibrated;
the method for acquiring the geometric center coordinates of at least one product to be calibrated comprises the following steps:
acquiring the geometric center coordinate of each product to be calibrated;
converting the geometric center coordinates into a tool center point according to a tool coordinate system of the manipulator, including:
converting each geometric center coordinate into a tool center point according to a tool coordinate system of the manipulator;
calibrating the tool coordinate of the manipulator according to the tool center point, comprising:
and calibrating the tool coordinates of the manipulator according to each tool center point.
7. The method for calibrating the coordinates of a robot tool according to claim 4, wherein the formula for calculating the coordinates of the geometric center of the product to be calibrated is:
wherein, P4.x is a first coordinate of the geometric center coordinate of the product to be calibrated; p4.y is a second coordinate of the geometric center coordinate of the product to be calibrated; p4.z is a third coordinate of the geometric center coordinate of the product to be calibrated; p3.x is a first coordinate of the geometric center coordinate of the second baffle; p3.y is a second coordinate of the geometric center coordinate of the second baffle; p3.z is a third coordinate of the geometric center coordinate of the second baffle; θ is the horizontal deflection angle; h is the height from the robot clamp to the surface of the product; dx is the lateral offset of the geometric center of the product with respect to the geometric center of the second baffle; dy is the longitudinal offset of the geometric centre of the product with respect to the geometric centre of the second baffle.
8. A calibration device for tool coordinates of a manipulator is characterized by comprising:
the coordinate acquisition module is used for acquiring the geometric center coordinate of at least one product to be calibrated;
the conversion module is used for converting the geometric center coordinate according to a tool coordinate system of the manipulator to be used as a tool center point;
and the calibration module is used for calibrating the tool coordinate of the manipulator according to the tool center point.
9. The calibration device for the coordinates of the mechanical hand tool of claim 8, further comprising a positioning tool, wherein the positioning tool comprises: a first baffle and a second baffle; the second baffle is arranged on the horizontal plane, and the first baffle and the second baffle are vertically arranged;
the coordinate acquisition module includes:
the deflection calculating unit is used for calculating the deflection angle of the positioning tool based on a reference geodetic coordinate system when deflection occurs;
the coordinate calculation unit is used for calculating the geometric center coordinate of the product to be calibrated, which is arranged in the positioning tool, according to the deflection angle;
the coordinate calculation unit is also used for calculating the geometric center coordinate of the product to be calibrated, which is arranged in the positioning tool, according to the size of the product to be calibrated when the deflection does not occur.
10. A robot comprising means for calibrating the coordinates of a manipulator tool as claimed in any of claims 8 to 9.
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