CN113715061B - Non-contact industrial robot tool coordinate calibration tool and calibration method - Google Patents
Non-contact industrial robot tool coordinate calibration tool and calibration method Download PDFInfo
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- CN113715061B CN113715061B CN202111046933.0A CN202111046933A CN113715061B CN 113715061 B CN113715061 B CN 113715061B CN 202111046933 A CN202111046933 A CN 202111046933A CN 113715061 B CN113715061 B CN 113715061B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000036544 posture Effects 0.000 description 4
- 206010070834 Sensitisation Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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 non-contact industrial robot tool coordinate calibration tool and a calibration method, which belong to the technical field of robots, wherein the non-contact industrial robot tool comprises a laser transmitter, a photosensitive panel and a hexagonal mirror base, wherein the photosensitive panel is arranged at the position of 1.5cm from the hexagonal mirror to the corner tip, and a photosensitive spot is arranged at the center of the photosensitive panel. When the calibration is carried out, the laser transmitter is installed on the industrial robot tail end quick-change clamp, and the transmitting point of the laser transmitter is coaxial with the industrial robot quick-change clamp. Since the angle of incidence is equal to the angle of reflection, the height of the emitter at three points can be determined to be the same height, and the laser emitter center should be emitted above the hexagonal specular angle center setpoint. The invention can lead the calibration coordinates of the industrial robot to be more accurate. The non-contact can effectively avoid unnecessary collision. Thereby better protecting the durability of the industrial robot and the precision of the robot tool coordinates.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a non-contact industrial robot tool coordinate calibration tool and a calibration method.
Background
Among the existing industrial robot tool coordinate calibration methods, the most widely used is the pinnacle teaching tool. The center of the tool tip of the robot contacts with the fixed datum point through three different postures, and the corresponding positions of the current teaching point and the center point of the tool mounting flange can be obtained through calculation. Such contact three-point and six-point methods often involve a teaching person teaching that the tip of the robot tool collides with the datum point, resulting in an industrial robot alarm and damage to the datum point device. The method has the advantages of high operation difficulty and low precision.
Under the general condition, a demonstrator needs to teach for many times to succeed, the point positions of the demonstrator are different from person to person, and the accuracy is unstable. The teaching personnel are guided to accurately teach without the standardized point position information.
Disclosure of Invention
The invention aims to: the invention aims to provide a non-contact industrial robot tool coordinate calibration tool and a calibration method, which overcome the defect that the positioning point accuracy is not high when a tool coordinate system is taught, provide an accurate positioning point method and tool to facilitate the positioning teaching of teaching personnel, and reduce unnecessary errors caused by subjective factors.
The technical scheme is as follows: in order to achieve the above purpose, the present invention provides the following technical solutions: the non-contact industrial robot tool coordinate calibration tool comprises a hexagonal smooth mirror base, wherein prisms are arranged on three corners of the hexagonal smooth mirror base, and the prisms are arranged at equal intervals; a photosensitive panel is arranged on each prism, and a center point is arranged in the middle of each photosensitive panel; the center of the hexagonal smooth mirror base is provided with a mirror center positioning point.
Further, the photosensitive panels are a first photosensitive panel, a second photosensitive panel and a third photosensitive panel respectively; the center points are arranged in one-to-one correspondence, and the center points are a first center point, a second center point and a third center point respectively.
Further, the side length of the prism is 10mm, and the height of the prism is 30mm.
Further, the center positioning point of the mirror surface is positioned at the intersection point of the diagonal lines of the hexagonal smooth mirror surface base, and the half diameter is 0.5mm.
Further, the radius of the first photosensitive panel, the radius of the second photosensitive panel and the radius of the third photosensitive panel are 12mm, and the center height of the photosensitive panels is 15mm from the height of the hexagonal smooth mirror surface; the first center point, the second center point and the third center point are circle center areas with the radius of 0.5mm, and the first center point, the second center point and the third center point are all on the same horizontal plane.
Further, the robot quick-change device also comprises a laser transmitter which is arranged on the robot quick-change device and is coaxial with the robot quick-change device.
Further, the laser transmitter consists of a laser sleeve and a point-shaped laser, which are fixed on the axis of the industrial robot quick-change device; during teaching, the laser transmitter transmits a punctiform facula parallel to the axis of the quick-change device, and the punctiform facula is incident on a mirror surface center positioning point on the hexagonal smooth mirror surface base.
Further, the teaching method of the non-contact industrial robot tool coordinate calibration tool comprises the following steps:
1) Firstly, a laser transmitter of the industrial robot quick-change device is positioned right above a mirror surface center positioning point in a hexagonal smooth mirror surface base, and the height of the laser transmitter is between the top surface of a prism and the mirror surface center positioning point;
2) Adjusting the pose of the industrial robot to ensure that a laser beam emitted by a quick-change device at the tail end of the industrial robot is consistent with the vertical distance from the quick-change device at the tail end of the industrial robot to a mirror surface center positioning point of a hexagonal smooth mirror surface base along the first incident direction, reflecting the laser beam by the mirror surface center positioning point, overlapping with a first center point of a photosensitive panel, finishing the teaching of the first point, and recording the position;
3) And the teaching and point position recording of the other two points are completed along the second incident direction and the third incident direction, the positions of the three points are consistent in height during teaching, and the total turning angle of the robot is 120 degrees.
The beneficial effects are that: compared with the prior art, the non-contact industrial robot tool coordinate calibration tool and the calibration method have the advantages that the laser is emitted to irradiate the center point of the hexagonal smooth mirror surface, the incident angle of the incident laser is changed by the teaching personnel through adjusting the pose of the robot, and the first direction can be accurately taught when the reflected light beam just corresponds to the center point of the photosensitive panel. And the three-point teaching of the robot tool coordinate is completed by analogy to the second direction and the third direction. The method for adjusting the laser emitter at the tail end of the industrial robot to irradiate the central positioning point of the photosensitive panel is used for completing the calibration of the tool coordinates of the industrial robot, avoiding the collision caused by contact calibration, further protecting the accuracy of the industrial robot and reducing some unnecessary contact errors.
Drawings
FIG. 1 is a schematic diagram of a non-contact industrial robot tool coordinate calibration tool;
FIG. 2 is a schematic illustration of a non-contact industrial robot tool coordinate calibration tool;
Reference numerals: 1-hexagonal smooth mirror base, 2-mirror center point, 3-sensitization panel, 4-sensitization panel center point, 5-laser emitter.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
1-2, A non-contact industrial robot tool coordinate calibration tool comprises a hexagonal smooth mirror base 1, a mirror center positioning point 2, a first photosensitive panel 3, a second photosensitive panel 3', a third photosensitive panel 3' which are uniformly distributed, a first center point 4, a second center point 4 ', a third center point 4' and a laser emitter 5 of the photosensitive panels; the laser transmitter 5 is mounted on and coaxial with the robot quick change device. The first photosensitive panel 3, the second photosensitive panel 3 'and the third photosensitive panel 3' are arranged on three prisms with the same specification, the hexagonal mirror plate of which extends out, and the center points of the photosensitive panel 3, the photosensitive panel 3 'and the photosensitive panel 3' are all on the same horizontal plane.
The hexagonal smooth mirror surface base 1 is provided with three prisms with the same specification, wherein the side length of each prism is 10mm, and the height of each prism is 30mm.
The mirror center positioning point 2 is at the intersection point of the diagonal lines of the hexagonal smooth mirror base, and the half-diameter is 0.5mm millimeter.
The radius of the first photosensitive panel 3, the second photosensitive panel 3 'and the third photosensitive panel 3″ is about 12mm, and the first photosensitive panel, the second photosensitive panel 3' and the third photosensitive panel 3″ are arranged on the triangular prism of the hexagonal smooth mirror base, and the central height of the photosensitive panels is 15mm from the height of the hexagonal smooth mirror.
The first center point 4, the second center point 4', and the third center point 4″ have a center area with a radius of 0.5mm.
The laser transmitter 5 is composed of a laser sleeve and a spot laser fixed on the axis of the industrial robot quick-change device. During teaching, the laser transmitter 5 transmits a punctiform facula parallel to the axis of the quick-change device, and the punctiform facula is incident on the mirror center positioning point 2 on the hexagonal smooth mirror base 1.
The teaching method of the tool coordinate system comprises the following steps:
when teaching, the laser transmitter 5 of the industrial robot quick-change device is firstly positioned right above the mirror surface center positioning point 2 in the hexagonal smooth mirror surface base 1, and the height of the laser transmitter is between the prism top surface and the mirror surface center positioning point 2. And then, adjusting the pose of the industrial robot to ensure that the laser beam emitted by the quick-change device at the tail end of the industrial robot is shown along the first incident azimuth, wherein the vertical distance between the quick-change device at the tail end of the robot and the mirror surface center positioning point 2 of the hexagonal smooth mirror surface base is unchanged, and the laser beam is overlapped with the first center point 4 of the photosensitive panel after being reflected by the mirror surface center positioning point 2, so that the first point teaching and the position recording are completed. Similarly, teaching and point position recording of other two points are completed along the second incident direction and the third incident direction, the positions of the three points are consistent in height during teaching, and the total turning angle of the robot is 120 degrees.
Three-point method:
the three-point teaching is that, by giving three pieces of position information of a Tool Center Point (TCP), a robot forms a fixed relationship between a new TCP point and a default tool coordinate system by transformation and calculation of the system, thereby setting the tool center point (X, Y, Z positions of the tool coordinate system). In teaching, the position of the TCP is automatically calculated by pointing the end TCP at one point in different postures from 3 reference directions. To make the correct setting, the three approaching directions should be different as much as possible, and the three teaching poses are distributed in different orientations above the center of the hexagonal mirror base.
The robot TCP forms reflected light at a circle center positioning point 2 of the hexagonal mirror surface through laser shot in three different postures, the reflected light is respectively overlapped with a first center point 4, a second center point 4 'and a third center point 4' of the photosensitive panel, the position and the posture of the robot are recorded, the corresponding positions of the current TCP and the center point of the tool mounting flange are calculated, and therefore the tool coordinate system position (X, Y and Z) is obtained.
Six-point method:
Setting a tool center point as in the three-point method, switching a Cartesian coordinate system of the industrial robot on the basis of a third teaching point, enabling a mobile robot in the X-axis direction of the coordinate system marked on the hexagonal smooth mirror base 1 to enable a terminal clamp laser to reach the point A, and recording the position; then, the position is recorded after the lens reaches the point B of the Y axis on the hexagonal smooth mirror base under the Cartesian coordinate system; and then returning to the Z-axis direction on the center of the mirror surface under the Cartesian coordinate system to record the C point, and keeping the robot coordinate system unchanged in the operation process. The center point (X, Y, Z) and the pose (W, P, R) of the tool coordinate system are obtained through the industrial robot system, and the tool can define the tool pose after six-point teaching.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A non-contact industrial robot tool coordinate calibration tool is characterized in that: the novel mirror comprises a hexagonal smooth mirror base (1), wherein prisms are arranged on three corners of the hexagonal smooth mirror base (1), and the prisms are arranged at equal intervals; a photosensitive panel is arranged on each prism, and a center point is arranged in the middle of each photosensitive panel; the center of the hexagonal smooth mirror base (1) is provided with a mirror center positioning point (2).
2. A non-contact industrial robot tool coordinate marking tool according to claim 1, wherein: the photosensitive panels are respectively a first photosensitive panel (3), a second photosensitive panel (3 '), and a third photosensitive panel (3'); the center points are arranged in one-to-one correspondence, and the center points are a first center point (4), a second center point (4 ') and a third center point (4').
3. A non-contact industrial robot tool coordinate marking tool according to claim 1, wherein: the side length of the prism is 10mm, and the height of the prism is 30mm.
4. A non-contact industrial robot tool coordinate marking tool according to claim 1, wherein: the mirror center positioning point (2) is positioned at the intersection point of the diagonal lines of the hexagonal smooth mirror base, and the half diameter is 0.5 mm.
5. A non-contact industrial robot tool coordinate marking tool according to claim 2, wherein: the radius of the first photosensitive panel (3), the second photosensitive panel (3 ') and the third photosensitive panel (3') is 12mm, and the center height of the photosensitive panels is 15mm from the height of the hexagonal smooth mirror surface; the first center point (4), the second center point (4 '), and the third center point (4') are circle center areas with the radius of 0.5mm, and the first center point (4), the second center point (4 '), and the third center point (4') are all on the same horizontal plane.
6. The non-contact industrial robot tool coordinate system calibration tool of claim 5, wherein: the robot quick-change device also comprises a laser emitter (5), wherein the laser emitter (5) is arranged on the robot quick-change device and is coaxial with the robot quick-change device.
7. The non-contact industrial robot tool coordinate system calibration tool of claim 6, wherein: the laser transmitter (5) consists of a laser sleeve and a point-shaped laser, which are fixed on the axis of the industrial robot quick-change device; during teaching, the laser transmitter (5) transmits a dot-shaped light spot parallel to the axis of the quick-change device, and the dot-shaped light spot is incident to the mirror center positioning point (2) on the hexagonal smooth mirror base (1).
8. A method for teaching a non-contact industrial robot tool coordinate calibration tool according to claim 6 or 7, characterized in that: the method comprises the following steps:
1) Firstly, a laser transmitter (5) of the industrial robot quick-change device is positioned right above a mirror surface center positioning point (2) in a hexagonal smooth mirror surface base (1), and the height of the laser transmitter is between the top surface of a prism and the mirror surface center positioning point (2);
2) Adjusting the pose of the industrial robot to ensure that a laser beam emitted by a quick-change device at the tail end of the industrial robot is consistent with the vertical distance from the quick-change device at the tail end of the industrial robot to a mirror surface center positioning point (2) of a hexagonal smooth mirror surface base at the moment along the first incident direction, and the laser beam is overlapped with a first center point (4) of a photosensitive panel after being reflected by the mirror surface center positioning point (2) to complete the first point teaching and record the position;
3) And the teaching and point position recording of the other two points are completed along the second incident direction and the third incident direction, the positions of the three points are consistent in height during teaching, and the total turning angle of the robot is 120 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111046933.0A CN113715061B (en) | 2021-09-07 | 2021-09-07 | Non-contact industrial robot tool coordinate calibration tool and calibration method |
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| CN202111046933.0A CN113715061B (en) | 2021-09-07 | 2021-09-07 | Non-contact industrial robot tool coordinate calibration tool and calibration method |
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| CN113715061B true CN113715061B (en) | 2024-04-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103101060B (en) * | 2011-11-11 | 2015-07-01 | 鸿富锦精密工业（深圳）有限公司 | Sensing calibration method for robot tool center point |
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| CN102825602A (en) * | 2012-08-21 | 2012-12-19 | 华北电力大学（保定） | PSD (Position Sensitive Detector)-based industrial robot self-calibration method and device |
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