CN114012784B - Calibration device and calibration method for robot tool coordinate system - Google Patents
Calibration device and calibration method for robot tool coordinate system Download PDFInfo
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- CN114012784B CN114012784B CN202111209743.6A CN202111209743A CN114012784B CN 114012784 B CN114012784 B CN 114012784B CN 202111209743 A CN202111209743 A CN 202111209743A CN 114012784 B CN114012784 B CN 114012784B
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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
- B25J19/0095—Means or methods for testing 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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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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]
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Abstract
The invention discloses a calibration device and a calibration method of a robot tool coordinate system, wherein the calibration device of the robot tool coordinate system comprises a tool calibration workbench, the tool calibration workbench comprises a working platform, a first light beam sensor and a second light beam sensor, the first light beam sensor and the second light beam sensor are respectively provided with a first light beam and a second light beam, the first light beam and the second light beam are parallel to the upper surface of the working platform, and the first light beam and the second light beam are arranged in an out-of-plane cross manner. When the calibration device of the robot tool coordinate system in the embodiment is used for calibrating the tool, under the condition that the tail ends of the tool are not thick, the calculated Z-axis direction deviation of the tool can be reduced or avoided, and the tool calibration precision is further improved. In addition, the first light beam and the second light beam do not need to intersect, so that the processing and assembling difficulty of the calibration device is reduced.
Description
Technical Field
The invention relates to a calibration device and a calibration method for a robot tool coordinate system.
Background
The final purpose of tool calibration of the industrial robot is to obtain a transformation matrix of a tool coordinate system relative to a robot end flange coordinate system, so that the accuracy of actual track operation is ensured. The existing robot tool calibration is mainly performed by adopting a robot teaching mode or external position measurement equipment. The robot teaching mode is that the origin of the coordinate system of the tool is touched with a fixed point in space under different postures by controlling the robot, so that the value of the origin of the coordinate system of the tool is calculated. The method is simple and easy to operate, but is difficult to operate in practice, inaccurate in calibration result, has human errors, and is only suitable for tools with obvious characteristic points. The other type of calibration is performed by using external position measuring equipment, such as an industrial camera, a laser tracker, a three-coordinate measuring instrument and the like, and the calibration method has high precision, but has quite high cost and complex operation and needs professional technicians. The following technical problems exist in the prior art in a robot teaching mode:
1) The section of the end of the applicable tool must be equal in thickness, otherwise, the Z-axis direction of the determined tool coordinate system has deviation, and the accuracy of tool calibration is further affected;
2) An operator determines that the tail end of the tool is positioned at the crossing center of the laser beams through human vision, and the precision cannot be ensured;
3) It takes a long time for the operator to control the coincidence of the tool tip and the laser beam intersection center.
Disclosure of Invention
The invention aims to overcome the defect that a section of a tool end suitable for tool calibration by adopting a robot teaching mode in the prior art must be equal in thickness, or else, the Z-axis direction of a determined tool coordinate system has deviation, and provides a calibration device and a calibration method for the robot tool coordinate system.
The invention solves the technical problems by the following technical scheme:
the invention provides a calibration device of a robot tool coordinate system, which comprises a tool calibration workbench, wherein the tool calibration workbench comprises a workbench, a first light beam sensor and a second light beam sensor, the first light beam sensor and the second light beam sensor are respectively provided with a first light beam and a second light beam, the first light beam and the second light beam are parallel to the upper surface of the workbench, and the first light beam and the second light beam are arranged in an out-of-plane cross manner.
In the scheme, the structural form is adopted, when the calibration device of the robot tool coordinate system in the embodiment is adopted for calibrating the tool, the calculated Z-axis direction deviation of the tool can be reduced or avoided under the condition that the tail end of the tool is not thick, and the tool calibration precision is further improved. In addition, the first light beam and the second light beam do not need to intersect, so that the processing and assembling difficulty of the calibration device is reduced.
Preferably, the orthographic projections of the first light beam and the second light beam on the working platform are perpendicular to each other.
Preferably, the first beam sensor is a laser sensor, and the first beam is a laser beam;
the second beam sensor is a laser sensor, and the second beam is a laser beam.
In this scheme, adopt above-mentioned structural style, because laser straightness is good, the divergence is little, and the laser sensor discerns fast and blocks or not blocks, can reduce or avoid measuring deviation.
The invention also provides a calibration method of the robot tool coordinate system, which adopts the calibration device of the robot tool coordinate system to calibrate the tool coordinate system of the robot, and the calibration method of the robot tool coordinate system comprises the following steps:
s1, setting a first track line, wherein the first track line is parallel to the upper surface of the working platform, and controlling a tool to move along the first track line, wherein the tool is provided with a tail end, and the first track line enables the tail end to block the first light beam;
s2, recording the position of a flange connected with the tool when the tail end blocks the first light beam, and recording the position as a first position; recording the position of the flange as a second position at the moment when the end leaves the first beam;
s3, setting a second track line, wherein the second track line is positioned below the first track line, the orthographic projection of the first track line on the working platform coincides with the orthographic projection of the second track line on the working platform, the tool is controlled to move along the second track line, and the second track line enables the tail end to block the first light beam;
s4, recording the position of the flange when the tail end blocks the first light beam, and recording the position as a third position; recording the position of the flange as a fourth position at the moment when the end leaves the first light beam;
s5, taking the midpoints of the first position and the second position, marking the midpoints as a fifth position, taking the midpoints of the third position and the fourth position, marking the midpoints as a sixth position, and taking the straight line direction passing through the fifth position and the sixth position as the Z-axis direction of the tool coordinate system;
s6, calculating the tool coordinate system, and completing calibration of the tool coordinate system.
In the scheme, the tail end blocks the first light beam twice, and when the tool is blocked along the first track line, a first position and a second position are obtained; when the tool is blocked along the second track line, a third position and a fourth position are obtained, and the thickness deviation of the two blocking sections can be calculated, so that the calibration method can be suitable for the condition that the tail ends are not equal in thickness. In general, the calibration method adopted in the embodiment can reduce or avoid the calculated deviation in the Z-axis direction under the condition that the tail ends are not equal in thickness, and further improves the tool calibration precision.
Preferably, the step S6 includes the following steps:
s61, setting a crossing point of the orthographic projection of the second light beam and the orthographic projection of the first light beam as a first point, and marking a point corresponding to the first point on the second light beam as a crossing point;
s62, controlling the tail end to move to the position of the cross point, and recording the position of the flange as a seventh position;
s63, the control tool keeps different postures and repeats the step S62 for three times, and the positions of the flanges are recorded respectively and are recorded as an eighth position, a ninth position and a tenth position;
s64, calibrating the tool coordinate system according to the Z-axis direction, the seventh position, the eighth position, the ninth position and the tenth position.
In the scheme, the tool coordinate system is calibrated according to the Z-axis direction by using a four-point method, so that the tool calibration precision is further improved.
Preferably, the step S62 includes the steps of:
s621, the second light beam is positioned below the first light beam, the tail end is controlled to move to one end of the second light beam, and the position of the flange is recorded and is recorded as an eleventh position;
s622, controlling the tail end to be positioned on the other end of the second light beam, and recording the position of the flange as a twelfth position;
s623, setting a third track line, wherein the third track line is positioned above the second light beam, the orthographic projection of the third track line on the working platform coincides with the orthographic projection of the second light beam on the working platform, the point corresponding to the eleventh position on the third track line is marked as a thirteenth position, the point corresponding to the twelfth position is marked as a fourteenth position, the tail end can be positioned on the first light beam when being controlled to move between the thirteenth position and the fourteenth position, and the position of the flange is recorded when the tail end is positioned on the first light beam, and the fifteenth position is marked as a seventh position.
In the scheme, the positioning point is found when the thirteenth position and the fourteenth position move, so that the positioning precision is effectively improved. In addition, the first light beam and the second light beam do not need to intersect, so that the processing and assembling difficulty of the device formed by the first light beam and the second light beam is reduced.
Preferably, the step S621 includes the following steps:
s6211, when the second light beam is positioned below the first light beam and the tail end is positioned on one end of the second light beam by a dichotomy, recording the position of the flange, namely a sixteenth position, namely an eleventh position;
step S622 includes the steps of:
s6221, recording the position of the flange when the tail end is positioned on the other end of the second light beam through a bisection method, and marking the position as a seventeenth position, namely the twelfth position;
step S623 includes the steps of:
and S6231, recording the position of the flange when the tail end is positioned on the first light beam by a dichotomy, and marking the position as an eighteenth position, namely the seventh position.
In the scheme, a dichotomy method is adopted, an effective and gradual approach method is adopted for finding out the pose when the tail end is positioned on one end of the second light beam, the pose when the tail end is positioned on the other end of the second light beam and the pose when the tail end is positioned on the first light beam through multiple experiments, and an operator is not required to manually find out a locating point through naked eyes, so that the locating precision is improved; and, the end can be made to arrive at the anchor point quickly and accurately to record the sixteenth position, the seventeenth position and the eighteenth position to obtain the seventh position.
Preferably, the tool calibration workbench is used for calibrating the tool of the robot, the robot comprises a control system and a flange, one end of the control system is connected with the flange to control the movement of the tool, and the other end of the control system is connected with the first light beam sensor and the second light beam sensor.
In the scheme, the control system is used for receiving signals transmitted by the light beam sensor, recording the real-time pose of the flange, and further improving the tool calibration precision, and the automation degree is high.
Preferably, the first beam sensor and the second beam sensor each include a beam emitter and a beam receiver, respectively, and when the end blocks the first beam or the second beam, the beam receiver sends a blocking signal to the control system, and the control system can record the current position of the flange; when the tail end leaves the first light beam or the second light beam, the light beam receiver sends a receiving signal to the control system, and the control system can record the current position of the flange.
In this scheme, adopt above-mentioned structural style, need not operating personnel and judge whether end blocks first light beam or second light beam through naked eye, through the cooperation relation between first light beam sensor, second light beam sensor and the control system, the real-time position appearance of record flange, degree of automation is high, has reduced or avoided measuring error, has improved positioning accuracy.
Preferably, step S6211 includes the steps of:
s62111, setting a fourth track, parallel to the upper surface of the working platform and located at one end of the second light beam, and controlling the tool to move along the fourth track, wherein the fourth track enables the end to block the second light beam;
s62112, recording the position of the flange when the tail end blocks the second light beam, and recording the position as a nineteenth position;
s62113, setting a fifth trajectory, wherein the trajectory is located above the fourth trajectory, and the fifth trajectory coincides with the orthographic projection of the fourth trajectory on the working platform, and when the tool is controlled to keep the current posture and move along the fifth trajectory, the tail end cannot block the second light beam;
s62114, setting a sixth track line, wherein the sixth track line is positioned in the middle of the fourth track line and the fifth track line in the vertical direction, controlling the tool to keep the current posture to move along the sixth track line, and judging whether the tail end blocks the second light beam;
s62115, if the tail end can block the second light beam, continuously moving the translation track of the tool upwards from the sixth track line by a dichotomy until the moment when the control system receives the blocking signal and switches to the moment when the control system receives the receiving signal, recording the position of the flange, and recording the position as a twentieth position, namely the eleventh position;
if the tail end cannot block the second light beam, continuously moving the translation track of the tool upwards from the fourth track line by a dichotomy until the moment when the control system receives the blocking signal and switches to the moment when the control system receives the receiving signal, recording the position of the flange, and recording the position as a twenty-first position, namely the eleventh position.
In the scheme, a dichotomy is adopted, a series of effective and gradually approaching steps are adopted for finding the pose when the tail end is positioned at one end of the second light beam through multiple experiments, an operator is not required to manually find a locating point through naked eyes, and the locating precision is improved.
The invention has the positive progress effects that:
when the calibration device of the robot tool coordinate system in the embodiment is used for calibrating the tool, under the condition that the tail ends of the tool are not thick, the calculated Z-axis direction deviation of the tool can be reduced or avoided, and the tool calibration precision is further improved. In addition, the first light beam and the second light beam do not need to intersect, so that the processing and assembling difficulty of the calibration device is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a calibration device for a robot tool coordinate system according to a preferred embodiment of the present invention.
Fig. 2 is a flowchart of a calibration method of a robot tool coordinate system according to a preferred embodiment of the present invention.
FIG. 3 is a schematic view of another angle of the calibration device of the robot tool coordinate system according to the preferred embodiment of the present invention.
FIG. 4 is a schematic view of another angle of the calibration device of the robot tool coordinate system according to the preferred embodiment of the present invention.
Fig. 5 is a schematic diagram of calibrating a Z-axis direction in a calibration method of a robot tool coordinate system according to a preferred embodiment of the present invention.
Fig. 6 is a schematic diagram of the calibration method of the robot tool coordinate system according to the preferred embodiment of the present invention, in which the seventh position, the eighth position, the ninth position and the tenth position are identified in step S6.
Reference numerals illustrate:
tool calibration workbench 1
First light beam sensor 11
First light beam 111
Second beam sensor 12
Second light beam 121
Work platform 13
Tool 2
End 21
Flange 3
First trajectory line L1
Second trajectory line L2
Z-axis direction L Z
First position P1
Second position P2
Third position P3
Fourth position P4
Fifth position P5
Sixth position P6
Seventh position P7
Eighth position P8
Ninth position P9
Tenth position P10
Detailed Description
The invention is further illustrated by means of the following examples, which are not, however, intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a calibration device for a robot tool coordinate system, including a tool calibration workbench 1, where the tool calibration workbench 1 includes a workbench 13, a first beam sensor 11 and a second beam sensor 12, the first beam sensor 11 and the second beam sensor 12 respectively have a first beam 111 and a second beam 121, the first beam 111 and the second beam 121 are parallel to an upper surface of the workbench 13, and the first beam 111 and the second beam 121 are disposed in an out-of-plane intersection manner. The out-of-plane intersection arrangement here means that the orthographic projections of the first light beam 111 and the second light beam 121 on the work platform 13 intersect each other, and that the first light beam 111 and the second light beam 121 have a distance in the extending direction perpendicular to the work platform 13. When the calibration device of the robot tool coordinate system in the embodiment is used for calibrating the tool, under the condition that the tail ends of the tool are not thick, the calculated Z-axis direction deviation of the tool can be reduced or avoided, and the tool calibration precision is further improved. In addition, the first light beam 111 and the second light beam 121 do not need to intersect, so that the processing and assembling difficulty of the calibration device is reduced.
Preferably, the distance between the first light beam 111 and the second light beam 121 in the extending direction perpendicular to the work platform 13 is 5mm-15mm. The distance between the first light beam 111 and the second light beam 121 is too long, so that the occupied space of the whole device is increased; too short a distance, the tool 2 is prone to miscontact with other light beams when moving.
As a preferred embodiment, the orthographic projections of the first light beam 111 and the second light beam 121 on the working platform 13 are perpendicular to each other.
Of course, in other embodiments, the front projection of the first beam 111 on the working platform 13 and the front projection of the second beam 121 on the working platform 13 may not be perpendicular to each other.
As a preferred embodiment, the first beam sensor 11 is a laser sensor, and the first beam 111 is a laser beam; the second beam sensor 12 is a laser sensor and the second beam 121 is a laser beam. Because the laser linearity is good, the divergence is little, and the laser sensor discerns blocking or unblocking fast, can reduce or avoid measuring deviation.
As shown in fig. 1, 2 and 5, the embodiment of the present invention further provides a method for calibrating a robot tool coordinate system, where the calibration device for the robot tool coordinate system according to any one of the embodiments is used for calibrating the tool coordinate system of the robot, and the method for calibrating the robot tool coordinate system includes the following steps:
s1, setting a first track line L1, wherein the first track line L1 is parallel to the upper surface of the working platform 13, controlling a tool 2 to move along the first track line L1, and the tool 2 is provided with a tail end 21, wherein the tail end 21 can block the first light beam 111 by the first track line L1, and the tail end 21 refers to a section of linear part of the tail end in the tool 2;
s2, recording the position of the flange 3 connected with the tool 2 as a first position P1 when the tail end 21 blocks the first light beam 111; the position of the flange 3, denoted as second position P2, is recorded at the moment when the tip 21 leaves the first light beam 111, wherein the position of the flange 3 is the position of the center point of the flange 3 in six dimensions, wherein a cross section of the first light beam 111 is shown in fig. 5;
s3, setting a second track line L2, wherein the second track line L2 is positioned below the first track line L1, the orthographic projection of the first track line L1 on the working platform 13 is overlapped with the orthographic projection of the second track line L2 on the working platform 13, the control tool 2 moves along the second track line L2, and the second track line L2 enables the tail end 21 to block the first light beam 111;
s4, recording the position of the flange 3 when the tail end 21 blocks the first light beam 111, and recording the position as a third position P3; the position of the flange 3 is recorded at the moment when the tip 21 leaves the first light beam 111, denoted as fourth position P4;
s5, taking the midpoints of the first position P1 and the second position P2 as a fifth position P5, taking the midpoints of the third position P3 and the fourth position P4 as a sixth position P6, and taking the straight line direction passing through the fifth position P5 and the sixth position P6 as the Z-axis direction L of the tool coordinate system Z ；
And S6, calculating a tool coordinate system, and completing calibration of the tool coordinate system.
In the present embodiment, when the tool 2 is blocked along the first trajectory L1When the tool 2 leaves the first light beam 111 along the first trajectory L1, the other side of the tip 21 is tangent to the first light beam 111, and the tangent point is Q2, so that the second position P2 is obtained; similarly, when the tool 2 blocks the first light beam 111 along the second path line L2, one side of the tip 21 is tangent to the first light beam 111, the tangent point is Q3, the third position P3 is obtained, when the tool 2 leaves the first light beam 111 along the second path line L2, the other side of the tip 21 is tangent to the first light beam 111, the tangent point is Q4, the fourth position P4 is obtained, the relationship between Q1, Q2, Q3, Q4 and P1, P2, P3, P4 can be corresponded, and the relationship between the two sets of position points can be corresponded, since the connecting line direction of the midpoint Q5 of Q1 and Q2 and the midpoint Q6 of Q3 and Q4 is the extending direction of the tip 21, the connecting line direction of the midpoint fifth position P5 of the first position P1 and the second position P2 and the midpoint sixth position P6 of the third position P3 and the fourth position P4 is the extending direction of the tip 21, namely the Z axis direction L Z . The end 21 blocks the first light beam 111 twice, and the tool 2 gets a first position P1 and a second position P2 when it blocks along the first trajectory L1; when the tool 2 is interrupted along the second trajectory L2, the third position P3 and the fourth position P4 are obtained, and the thickness deviation of the interrupted cross section twice can be calculated, so that the calibration method can be applied to the case where the ends 21 are not equally thick. In general, the calibration method used in the present embodiment can reduce or avoid the calculated Z-axis direction L in the case that the tip 21 is not equally thick Z Deviation occurs, and the tool calibration precision is further improved.
In actual operation, the extending direction of the distal end 21 is controlled as much as possible to be perpendicular to the upper surface of the work platform 13.
As shown in fig. 6, as a preferred embodiment, step S6 includes the steps of:
s61, setting a first point at the intersection of the orthographic projection of the second light beam 121 and the orthographic projection of the first light beam 111, and marking a point corresponding to the first point on the second light beam 121 as an intersection point, wherein the connecting line direction between the first point and the intersection point is perpendicular to the upper surface of the working platform 13;
s62, the control end 21 moves to the crossing point, and the position of the flange 3 is recorded and is marked as a seventh position P7;
s63, the control tool 2 keeps different postures and repeats S62 three times, and the positions of the flange 3 are recorded respectively and are recorded as an eighth position P8, a ninth position P9 and a tenth position P10;
s64 according to Z-axis direction L Z The seventh position P7, the eighth position P8, the ninth position P9 and the tenth position P10 complete the calibration of the tool coordinate system.
In the present embodiment, according to the Z-axis direction L Z And a four-point method is used for calibrating a tool coordinate system, so that the tool calibration precision is further improved.
As shown in fig. 4, as a preferred embodiment, step S62 includes the steps of:
s621, the second light beam 121 is located below the first light beam 111, and the control end 21 is moved to one end of the second light beam 121, and the position of the recording flange 3 is recorded as an eleventh position;
s622, the control end 21 is positioned on the other end of the second light beam 121, and the position of the flange 3 is recorded as a twelfth position;
s623, setting a third trace, where the third trace is located above the second light beam 121, and the orthographic projection of the third trace on the working platform 13 coincides with the orthographic projection of the second light beam 121 on the working platform 13, a point on the third trace corresponding to the eleventh position is denoted as a thirteenth position, a point corresponding to the twelfth position is denoted as a fourteenth position, a connecting line direction between the eleventh position and the thirteenth position is perpendicular to the upper surface of the working platform 13, and a connecting line direction between the twelfth position and the fourteenth position is perpendicular to the upper surface of the working platform 13. The control tip 21 can be positioned on the first light beam 111 when the control tip 21 is moved between the thirteenth position and the fourteenth position, and the position of the flange 3 is recorded as the fifteenth position, i.e. the seventh position P7, when the tip 21 is positioned on the first light beam 111, i.e. the bottom end point of the tip 21 is positioned on the first light beam 111.
In this embodiment, the first light beam 111 and the second light beam 121 do not need to intersect, so that the difficulty in processing and assembling the device composed of the first light beam 111 and the second light beam 121 is reduced. In addition, by finding the positioning point seventh position P7 when moving between the thirteenth position and the fourteenth position, the positioning accuracy is effectively improved. Similarly, the eighth position P8, the ninth position P9, and the tenth position P10 can also be obtained by the method in the present embodiment.
As a preferred embodiment, step S621 includes the steps of:
s6211, the second light beam 121 is located below the first light beam 111, so that when the end 21 is located at one end of the second light beam 121 by bisection, the position of the recording flange 3 is denoted as the sixteenth position, i.e., the eleventh position;
step S622 includes the steps of:
s6221, recording the position of the flange 3 when the end 21 is located on the other end of the second beam 121 by the bisection method, and recording the seventeenth position as the twelfth position;
step S623 includes the steps of:
when the end 21 is positioned on the first light beam 111 by the bisection method, the position of the flange 3 is recorded as an eighteenth position, i.e., a seventh position.
In the embodiment, a dichotomy method is adopted, through multiple experiments, an effective and gradual approach method is adopted to find the pose of the tail end 21 when the tail end 21 is positioned on one end of the second light beam 121, the pose of the tail end 21 when the tail end 21 is positioned on the other end of the second light beam 121 and the pose of the tail end 21 when the tail end 21 is positioned on the first light beam 111, so that an operator is not required to manually find a positioning point through naked eyes, and the positioning precision is improved; and, the tip 21 can be made to reach the anchor point quickly and accurately to record the sixteenth position, the seventeenth position, and the eighteenth position to obtain the seventh position.
As shown in fig. 2, 3 and 4, as a preferred embodiment, the robot comprises a control system and a flange 3, wherein one end of the control system is connected to the flange 3 for controlling the movement of the tool 2, and the other end is connected to the first beam sensor 11 and the second beam sensor 12. The first light beam sensor 11 and the second light beam sensor 12 are respectively connected into a control system through an I/O interface, and the control system can receive signals transmitted by the first light beam sensor 11 and the second light beam sensor 12 in real time; the control system comprises an upper computer which can read real-time state and pose data of the robot (namely the flange 3) and process the data. The control system receives signals transmitted by the first light beam sensor 11 and the second light beam sensor 12, can record the real-time pose of the flange 3, has high automation degree, and further improves the tool calibration precision.
As a preferred embodiment, the first beam sensor 11 and the second beam sensor 12 each comprise a beam emitter and a beam receiver, respectively, which send a blocking signal to the control system, which is able to record the current position of the flange 3, when the end 21 blocks the first beam 111 or the second beam 121; at the moment when the end 21 leaves the first beam 111 or the second beam 121, the beam receiver sends a receiving signal to the control system, which is able to record the current position of the flange 3. The real-time pose of the flange 3 is recorded through the coordination relation between the first light beam sensor 11, the second light beam sensor 12 and the control system without the need of an operator to judge whether the tail end 21 blocks the first light beam 111 or the second light beam 121 through naked eyes, so that the degree of automation is high, measurement errors are reduced or avoided, and the positioning precision is improved.
As a preferred embodiment, step S6211 includes the steps of:
s62111, setting a fourth track, which is parallel to the upper surface of the working platform 13 and is located at one end of the second light beam 121, and enables the end 21 to block the second light beam 121 when the control tool 2 moves along the fourth track;
s62112, recording the position of the flange 3, which is the nineteenth position, at the moment when the tip 21 blocks the second light beam 121;
s62113, setting a fifth trajectory line, where the trajectory line is located above the fourth trajectory line, and the fifth trajectory line coincides with the orthographic projection of the fourth trajectory line on the working platform 13, and when the control tool 2 keeps the current posture and moves along the fifth trajectory line, the end 21 cannot block the second light beam 121;
s62114, setting a sixth trajectory line so that the sixth trajectory line is located at the middle of the fourth trajectory line and the fifth trajectory line in the vertical direction, and controlling the tool 2 to move along the sixth trajectory line while maintaining the current posture, and determining whether the tip 21 blocks the second light beam 121;
s62115 if the end 21 can block the second light beam 121, estimating the distance X between the bottom end point of the end 21 and the second light beam 121 by continuously moving up the translation track of the tool 2 from the sixth track line by dichotomy 1 Setting a track line a 1 So that the track line a 1 Is positioned right above the sixth track line and has a distance X 1 2, the control means 2 follow a path line a 1 Moving; setting a track line a 2 So that the track line a 2 Located on the track line a 1 Directly above (2) and at a distance X 1 4, the control means 2 follow a path line a 2 Moving; setting a track line a 3 So that the track line a 3 Located on the track line a 2 Directly above (2) and at a distance X 1 And/8, the control means 2 being along the trajectory a 3 Moving; … …; until the moment when the control system receives the blocking signal and switches to the receiving signal, if the control system is set that when the tail end 21 blocks the second light beam 121, the control system receives an electric signal '1', when the tail end 21 does not block the second light beam 121, the control system receives an electric signal '0', and when the electric signal received by the control system is changed from '1' to '0', namely, when the tail end 21 does not block the second light beam 121, the position of the flange 3 is recorded and is marked as a twentieth position, namely, an eleventh position;
if the tip 21 is unable to block the second beam 121, the translational trajectory of the tool 2 is continuously moved up from the fourth trajectory by dichotomy, and the distance X between the bottom end of the tip 21 and the second beam 121 is estimated 2 Setting a track line b 1 So that the track line b 1 Is positioned right above the fourth track line and has a distance X 2 2, the control means 2 being along a path line b 1 Moving; setting a track line b 2 So that the track line b 2 Located at the track line b 1 Directly above (2) and at a distance X 2 4, the control means 2 follow a path line b 2 Moving; setting a track line b 3 So that the track line b 3 Located at the track line b 2 Directly above (2) and at a distance X 2 /8, the control means 2 being along the path line b 3 Moving; … …; until the moment when the control system receives the blocking signal and switches to the moment when the end 21 just does not block the second light beam 121, the position of the flange 3 is recorded when the end point at the bottom of the end 21 is just above the second light beam 121, and the position is marked as a twenty-first position, namely an eleventh position.
In this embodiment, a dichotomy is adopted, and through multiple experiments, a series of steps that are effective and gradually approximate are adopted to find the pose when the tail end 21 is located on one end of the second light beam 121, so that an operator is not required to manually find a locating point through naked eyes, and the locating precision is improved.
Similarly, the seventeenth position and the eighteenth position may be determined by using the specific procedure of the dichotomy in the present embodiment.
In a specific operation, the extending direction of the adjusting end 21 is perpendicular to the upper surface of the working platform 13 as much as possible, and the posture is maintained. Controlling the tool 2 to keep the current posture moving along the first trajectory line L1, recording the position of the flange 3 connected to the tool 2 as the first position P1 at the moment when the tip 21 blocks the first light beam 111; the position of the flange 3 is recorded at the moment when the tip 21 leaves the first light beam 111, denoted as second position P2. The control tool 2 keeps the current attitude moving along the second trajectory line L2, and records the position of the flange 3, which is denoted as a third position P3, at the instant when the tip 21 blocks the first light beam 111; the position of the flange 3 is recorded at the moment when the tip 21 leaves the first light beam 111, denoted as fourth position P4. Taking the midpoints of the first position P1 and the second position P2 as a fifth position P5, taking the midpoints of the third position P3 and the fourth position P4 as a sixth position P6, and taking the straight line direction passing through the fifth position P5 and the sixth position P6 as the Z-axis direction L of the tool coordinate system Z 。
The extending direction of the adjusting tip 21 is perpendicular to the upper surface of the work platform 13 as much as possible, and this posture is maintained. The control means 2 is moved to the vicinity of one end of the second beam 121, the control means 2 is moved along a fourth trajectory, the end 21 being blocked by the second beam 121. The control means 2 move along the fifth trajectory line and the end 21 cannot block the second light beam 121. The control tool 2 keeps the current posture moving along the sixth trajectory line (the sixth trajectory line is located at the very middle of the fourth trajectory line and the fifth trajectory line in the vertical direction) and judges whether the tip blocks the second light beam 121. If the end 21 can block the second light beam 121, continuously moving up the translation track of the tool 2 from the sixth track line by a dichotomy until the moment when the control system receives the blocking signal and switches to the moment when the control system receives the receiving signal, namely, when the end 21 does not block the second light beam 121, recording the position of the flange 3, and marking the position as a twenty-first position, namely, an eleventh position; if the end 21 cannot block the second light beam 121, the translational track of the tool 2 is continuously moved upwards from the fourth track line by the bisection method until the moment when the control system receives the blocking signal and switches to the moment when the control system receives the receiving signal, i.e. the end 21 does not block the second light beam 121, the position of the flange 3 is recorded and is marked as a twenty-second position, i.e. an eleventh position. The control means 2 is moved to the vicinity of the other end of the second beam 121 and the previous steps are repeated to obtain a twelfth position.
The control tool 2 is moved from the eleventh position to the twelfth position, the tip 21 being able to block the first laser beam 111, this trajectory being denoted as ninth trajectory. A tenth trajectory line is set, which is located directly above the ninth trajectory line, and the tip 21 cannot block the first light beam 111 when the control tool 2 moves along the tenth trajectory line. The eleventh trajectory line is set such that the eleventh trajectory line is located midway between the ninth trajectory line and the tenth trajectory line in the vertical direction, and the control tool 2 keeps the current posture moving along the eleventh trajectory line, judging whether the tip 21 blocks the first light beam 111. If the end 21 can block the first light beam 111, continuously moving up the translation track of the tool 2 from the eleventh track line by a dichotomy until the moment when the control system receives the blocking signal and switches to the moment when the control system receives the receiving signal, namely, when the end 21 does not block the first light beam 111, recording the position of the flange 3, and marking the position as a twenty-second position, namely, a seventh position P7; if the end 21 cannot block the first light beam 111, the translational track of the tool 2 is continuously moved up from the ninth track line by the bisection method until the moment when the control system receives the blocking signal and switches to the moment when the control system receives the receiving signal, i.e. the end 21 does not block the first light beam 111, the position of the flange 3 is recorded and is marked as a twenty-third position, i.e. a seventh position P7. The control tool 2 repeats the previous steps of this stage three times with different attitudes, recording the positions of the flange 3, respectively, as eighth position P8, ninth position P9 and tenth position P10.
According to the Z-axis direction L Z The seventh position P7, the eighth position P8, the ninth position P9 and the tenth position P10 complete the calibration of the tool coordinate system.
The circles indicated by P1, P2, P3, P4, P5, P6, P7, P8, P9 and P10 in fig. 5 and 6 are not solid, but merely indicate the position of the flange at this time.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (9)
1. The calibration method for the robot tool coordinate system is characterized in that a calibration device of the robot tool coordinate system is used for calibrating the tool coordinate system of the robot, the calibration device of the robot tool coordinate system comprises a tool calibration workbench, the tool calibration workbench comprises a working platform, a first light beam sensor and a second light beam sensor, the first light beam sensor and the second light beam sensor are respectively provided with a first light beam and a second light beam, the first light beam and the second light beam are parallel to the upper surface of the working platform, and the first light beam and the second light beam are arranged in a crossed manner;
the calibration method of the robot tool coordinate system comprises the following steps:
s1, setting a first track line, wherein the first track line is parallel to the upper surface of the working platform, and controlling a tool to move along the first track line, wherein the tool is provided with a tail end, and the first track line enables the tail end to block the first light beam;
s2, recording the position of a flange connected with the tool when the tail end blocks the first light beam, and recording the position as a first position; recording the position of the flange as a second position at the moment when the end leaves the first beam;
s3, setting a second track line, wherein the second track line is positioned below the first track line, the orthographic projection of the first track line on the working platform coincides with the orthographic projection of the second track line on the working platform, the tool is controlled to move along the second track line, and the second track line enables the tail end to block the first light beam;
s4, recording the position of the flange when the tail end blocks the first light beam, and recording the position as a third position; recording the position of the flange as a fourth position at the moment when the end leaves the first light beam;
s5, taking the midpoints of the first position and the second position, marking the midpoints as a fifth position, taking the midpoints of the third position and the fourth position, marking the midpoints as a sixth position, and taking the straight line direction passing through the fifth position and the sixth position as the Z-axis direction of the tool coordinate system;
s6, calculating the tool coordinate system, and completing calibration of the tool coordinate system.
2. The method for calibrating a robot tool coordinate system according to claim 1,
step S6 includes the steps of:
s61, setting a crossing point of the orthographic projection of the second light beam and the orthographic projection of the first light beam as a first point, and marking a point corresponding to the first point on the second light beam as a crossing point;
s62, controlling the tail end to move to the position of the cross point, and recording the position of the flange as a seventh position;
s63, the control tool keeps different postures and repeats the step S62 for three times, and the positions of the flanges are recorded respectively and are recorded as an eighth position, a ninth position and a tenth position;
s64, calibrating the tool coordinate system according to the Z-axis direction, the seventh position, the eighth position, the ninth position and the tenth position.
3. A method for calibrating a robot tool coordinate system according to claim 2,
step 62 includes the steps of:
s621, the second light beam is positioned below the first light beam, the tail end is controlled to move to one end of the second light beam, and the position of the flange is recorded and is recorded as an eleventh position;
s622, controlling the tail end to be positioned on the other end of the second light beam, and recording the position of the flange as a twelfth position;
s623, setting a third track line, wherein the third track line is positioned above the second light beam, the orthographic projection of the third track line on the working platform coincides with the orthographic projection of the second light beam on the working platform, the point corresponding to the eleventh position on the third track line is marked as a thirteenth position, the point corresponding to the twelfth position is marked as a fourteenth position, the tail end can be positioned on the first light beam when being controlled to move between the thirteenth position and the fourteenth position, and the position of the flange is recorded when the tail end is positioned on the first light beam, and the fifteenth position is marked as a seventh position.
4. A method for calibrating a robot tool coordinate system according to claim 3,
step S621 includes the steps of:
s6211, when the second light beam is positioned below the first light beam and the tail end is positioned on one end of the second light beam by a dichotomy, recording the position of the flange, namely a sixteenth position, namely an eleventh position;
step S622 includes the steps of:
s6221, recording the position of the flange when the tail end is positioned on the other end of the second light beam through a bisection method, and marking the position as a seventeenth position, namely the twelfth position;
step S623 includes the steps of:
and S6231, recording the position of the flange when the tail end is positioned on the first light beam by a dichotomy, and marking the position as an eighteenth position, namely the seventh position.
5. The method of calibrating a coordinate system of a robotic tool according to claim 4, wherein the robot comprises a control system and the flange, wherein one end of the control system is connected to the flange to control movement of the tool, and the other end is connected to the first beam sensor and the second beam sensor.
6. The method of calibrating a robotic tool coordinate system according to claim 5, wherein the first beam sensor and the second beam sensor each include a beam emitter and a beam receiver, respectively, the beam receiver sending a blocking signal to the control system when the tip blocks the first beam or the second beam, the control system being capable of registering a current position of the flange; when the tail end leaves the first light beam or the second light beam, the light beam receiver sends a receiving signal to the control system, and the control system can record the current position of the flange.
7. The method for calibrating a robot tool coordinate system according to claim 6, wherein,
step S6211 includes the steps of:
s62111, setting a fourth track, parallel to the upper surface of the working platform and located at one end of the second light beam, and controlling the tool to move along the fourth track, wherein the fourth track enables the end to block the second light beam;
s62112, recording the position of the flange when the tail end blocks the second light beam, and recording the position as a nineteenth position;
s62113, setting a fifth trajectory, wherein the trajectory is located above the fourth trajectory, and the fifth trajectory coincides with the orthographic projection of the fourth trajectory on the working platform, and when the tool is controlled to keep the current posture and move along the fifth trajectory, the tail end cannot block the second light beam;
s62114, setting a sixth track line, wherein the sixth track line is positioned in the middle of the fourth track line and the fifth track line in the vertical direction, controlling the tool to keep the current posture to move along the sixth track line, and judging whether the tail end blocks the second light beam;
s62115, if the tail end can block the second light beam, continuously moving the translation track of the tool upwards from the sixth track line by a dichotomy until the moment when the control system receives the blocking signal and switches to the moment when the control system receives the receiving signal, recording the position of the flange, and recording the position as a twentieth position, namely the eleventh position;
if the tail end cannot block the second light beam, continuously moving the translation track of the tool upwards from the fourth track line by a dichotomy until the moment when the control system receives the blocking signal to switch to the moment when the control system receives the receiving signal, recording the position of the flange, and recording the position as a twenty-first position, namely the eleventh position.
8. The method of calibrating a robot tool coordinate system of claim 1, wherein the orthographic projections of said first beam and said second beam on said work platform are perpendicular to each other.
9. The method of calibrating a robot tool coordinate system according to claim 1, wherein the first beam sensor is a laser sensor and the first beam is a laser beam;
the second beam sensor is a laser sensor, and the second beam is a laser beam.
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