CN114102580B - Industrial robot zero point calibration method, calibration device and electronic equipment - Google Patents
Industrial robot zero point calibration method, calibration device and electronic equipment Download PDFInfo
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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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Abstract
The invention provides an industrial robot zero point calibration method, a calibration device and electronic equipment, which belong to the technical field of robot zero point setting, and the calibration method comprises the following steps: after entering a zero calibration program, acquiring a mechanical zero offset value based on the encoder value before power failure; the encoder zero offset value is obtained through the encoder value before power failure of the robot and the current encoder value when the robot is powered on again; determining the pulse offset which needs to be offset after the zero point of the robot is lost through the encoder value, the mechanical zero point offset value and the encoder zero point offset value before power failure; and compensating the encoder value by using the pulse offset during robot motion control calculation, and completing zero calibration. The method does not need to manually perform zero calibration work by a user, can automatically recover the zero of the robot, is simple to operate and has high efficiency of recovering the zero of the robot.
Description
Technical Field
The present invention relates to the field of robot zero point setting technologies, and in particular, to an industrial robot zero point calibration method, a calibration device, and an electronic device.
Background
In the process of using the industrial robot, the pulse count of the robot is lost due to various conditions such as the voltage drop of the battery of the encoder, the self fault of the robot, the disconnection of a power line of the encoder and the like, so that the zero point of the robot is lost. The robot zero point is an initial position of the robot operation model, and when the zero point is incorrect, the robot cannot move correctly. And the zero point loss can cause the offset of a terminal connecting rod coordinate system, thereby further causing the problems of inaccuracy of the absolute position of the robot, error calibration of a tool coordinate system and the like. At present, a technician usually retrieves the zero point of the robot through a manual adjustment mode after losing the zero point, but the manual adjustment of the zero point of the retrieval robot is low in efficiency and poor in accuracy, and cannot meet the requirements of modern production.
Chinese patent CN109108969a discloses a method and apparatus for processing robot zero point. The method comprises the following steps: determining a single-circle value of a current encoder of the robot; determining a single-turn value of a factory zero encoder of the robot; comparing the single-turn value of the current encoder with the single-turn value of the factory zero encoder, and determining a compensation parameter; and calculating zero position information of the robot according to the current encoder single-turn value and the factory zero encoder single-turn value and the compensation parameter. The method solves the problem of lower efficiency of retrieving the zero point of the robot when the zero point of the robot is lost in the related art. However, in the method, a technician still needs to move the shaft needing to recover the factory zero point to the vicinity of the mechanical zero-point scale, the operation is complex and complicated, and the efficiency of recovering the robot zero point is low.
Disclosure of Invention
In order to overcome the problems in the related art, one of the purposes of the invention is to provide an industrial robot zero point calibration method, which can automatically recover the robot zero point without manual zero point calibration work of a user, is simple to operate and has high efficiency of recovering the robot zero point.
An industrial robot zero calibration method, comprising:
entering a zero calibration program to obtain a mechanical zero offset value based on the encoder value before power failure;
The encoder zero offset value is obtained through the encoder value before power failure of the robot and the current encoder value when the robot is powered on again;
determining pulse offset required to be biased after zero loss of the robot through the encoder value before power failure, the mechanical zero offset value and the encoder zero offset value;
And compensating the encoder value by using the pulse offset during robot motion control calculation, and completing zero calibration.
In a preferred technical solution of the present invention, using the pulse offset to compensate an encoder value during robot motion control calculation includes:
subtracting the pulse offset from the current encoder value when power is on to obtain a motion control encoder value;
The position information of the robot is adjusted by the motion control using the encoder values.
In a preferred technical scheme of the invention, the pulse bias is determined by the following formula:
Pulse bias = encoder value before power down-mechanical zero bias value + encoder zero bias value.
In a preferred technical solution of the present invention, the mechanical zero offset value is determined by the following formula:
mechanical zero offset value = pre-outage encoder value-mechanical zero encoder value.
In the preferred technical scheme of the invention, if the robot is not provided with a mechanical zero point, the mechanical zero point deviation value is zero.
In a preferred embodiment of the present invention, the encoder zero offset value is determined by the following formula:
encoder zero offset value = current encoder value-encoder value before power down.
In a preferred technical scheme of the invention, before entering the zero calibration procedure, the method further comprises the following steps:
Before the zero calibration procedure is entered, the method further comprises the following steps:
when the robot is electrified, detecting the current encoder value of each current shaft motor, and comparing the current encoder value with the encoder value before power failure of each shaft motor before power failure;
if the difference value between the current encoder value and the encoder value before power failure is larger than a threshold value, judging that the zero point of the robot is lost; if the difference value between the encoder value and the encoder value before power-off is smaller than or equal to a threshold value during power-on, judging that the zero point of the robot is normal;
after judging that the zero point of the robot is lost, reminding a user whether to perform a zero point calibration program or not;
If the user selects to enter a zero calibration program, entering the zero calibration program, and calculating the pulse offset; if the user chooses not to enter the zero calibration program, the encoder value is not biased, and the motion control calculation is performed according to the current encoder value.
Another object of the present invention is to provide an industrial robot zero point calibration device, comprising:
a first unit for determining a current encoder value when the robot is powered on;
the second unit records a mechanical zero point and automatically stores a coder value before power failure before the robot is powered off;
a third unit for calculating the mechanical zero offset value, the encoder zero offset value, and the pulse offset;
the teaching unit is used for carrying out information interaction with a user, prompting the user whether the zero point of the robot is lost or not, and entering a zero point calibration program or not according to the selection of the user;
And the control unit receives the instruction of the teaching unit and automatically calibrates the zero point of the robot according to the pulse offset.
The device can calibrate the zero point of the industrial robot automatically, reduces manual operation steps, has high efficiency of retrieving the zero point of the robot, and has higher industrial value.
In the preferred technical scheme of the invention, the teaching unit prompts the user that the zero point correction of the robot is successful after the third unit calculates the pulse offset.
It is still another object of the present invention to provide an electronic apparatus including:
A processor; and
A memory having executable code stored thereon that, when executed by the processor, causes the processor to perform the calibration method as described above.
The electronic device can automatically calibrate the zero point of the industrial robot.
The beneficial effects of the invention are as follows:
After entering a zero calibration program, the method obtains a mechanical zero offset value based on the encoder value before power failure, and calculates the encoder zero offset value by the encoder value before power failure and the current encoder value when power is on again; and then the pulse offset is obtained through the calculation of the encoder value, the mechanical zero offset value and the encoder zero offset value before power failure, the motion of the robot is controlled and calculated by utilizing the pulse offset, and the controller carries out offset processing on the encoder value after the zero of the robot is lost according to the pulse offset, so that the automatic zero calibration can be realized. The whole process does not need to manually operate each shaft to move to the vicinity of the mechanical zero graduation by a user, the zero calibration operation is simple, and the efficiency of retrieving the robot zero is high.
The invention also provides an industrial robot zero point calibration device which can calibrate the zero point of the industrial robot without manual operation of a user and has high zero point recovery efficiency. The invention also provides electronic equipment for executing the zero calibration method.
Drawings
FIG. 1 is a flow chart of an industrial robot zero calibration method provided by the invention;
FIG. 2 is a flow chart of the user operation steps of the present invention;
FIG. 3 is a schematic diagram of the calculation of the pulse bias provided by the present invention;
fig. 4 is a schematic diagram of successful zero calibration of a subscriber unit provided by the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the invention. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The zero point calibration method of the industrial robot comprises the following steps of:
entering a zero calibration program to obtain a mechanical zero offset value based on the encoder value before power failure;
The encoder zero offset value is obtained through the encoder value before power failure of the robot and the current encoder value when the robot is powered on again;
determining pulse offset required to be biased after zero loss of the robot through the encoder value before power failure, the mechanical zero offset value and the encoder zero offset value;
And (3) compensating the encoder value by using the pulse offset when the robot motion control is calculated, and completing zero calibration. The encoder value before power failure is a value corresponding to an encoder zero point of the industrial robot.
After entering a zero calibration program, the method obtains the encoder zero offset value by acquiring a mechanical zero offset value based on the encoder value before power failure and calculating the encoder zero offset value by the encoder value before power failure and the current encoder value when power is on again; and then the pulse offset is obtained through the calculation of the encoder value, the mechanical zero offset value and the encoder zero offset value before power failure, the motion of the robot is controlled and calculated by utilizing the pulse offset, and the controller carries out offset processing on the encoder value after the zero of the robot is lost according to the pulse offset, so that the automatic zero correction can be realized. The whole process is realized through a computer program, the manual operation of a user is not needed, each shaft moves to the vicinity of a mechanical zero scale, the zero calibration operation is simple, and the efficiency of retrieving the robot zero is high.
Encoders can be classified into incremental and absolute types according to the operating principle. The scheme mainly aims at an incremental encoder, the incremental encoder converts displacement into a periodic electric signal, the electric signal is converted into counting pulses, and the number of the pulses is used for representing the displacement, so that the zero calibration of the robot can be completed by calculating the pulse offset and supplementing the pulse offset to the motion control of the robot. Therefore, the industrial robot zero point calibration method provided by the invention calculates the pulse offset through the relative relation among the encoder zero point encoder value, the mechanical zero point encoder value and the encoder value after zero point loss, and automatically corrects the zero point by performing offset processing on the encoder value. The robot zero point can be automatically recovered without manual teaching and other operations. In the recovery process, the teaching points are not required to be taught by a demonstrator, and visual adjustment is not required to be carried out through the zero-degree limiting mark of the robot body. Not only can manpower and material resources be effectively saved, but also the zero point calibration precision can be improved. After the robot is powered on, whether a zero point is lost needs to be detected, if the zero point is lost, a user is reminded of whether zero point calibration is needed, if yes, a zero point calibration program is entered, and if no, zero point calibration work is not performed.
Further, using the pulse offset, compensating the encoder value in robot motion control calculation, comprising:
subtracting the pulse offset from the current encoder value when power is on to obtain a motion control encoder value;
the position information of the robot is adjusted by the motion control using the encoder values. That is, the robot is lost in pulse counting due to various conditions such as a drop in the battery voltage of the encoder, a failure of the robot itself, or disconnection of the power line of the encoder, and the zero position is deviated. Loss of pulse count results in pulse bias, and the claimed scheme proceeds based on this principle. The correct zero value of the robot can be obtained by finding the pulse offset and compensating the pulse offset to the value of the encoder on which the robot is electrified again. Based on the correct zero value, the industrial robot can perform normal operation.
Further, in the present embodiment, a calculation method for determining the pulse offset amount that needs to be offset after the zero point of the robot is lost is provided, which is determined by the following formula:
Pulse bias = encoder value before power down-mechanical zero bias value + encoder zero bias value.
Still further, the mechanical zero offset value is determined by the following formula:
Mechanical zero offset value = pre-outage encoder value-mechanical zero encoder value. It should be noted that, not all industrial robots are provided with a mechanical zero point, and if the robots are not provided with a mechanical zero point, the mechanical zero point deviation value is zero. I.e. there is no deviation between the mechanical zero and the encoder value. The mechanical zero offset value may also be calculated using the following method: mechanical zero offset value = encoder value before power down-encoder value used for motion control, which is a theoretical calculation method, not used for actual calculation.
Further, the encoder zero offset value is determined by the following formula:
encoder zero offset value = current encoder value-encoder value before power down.
The encoder value before power failure is automatically stored by the controller of the robot before power failure of the robot, and the current encoder value is automatically detected by the controller of the robot after power failure of the robot.
Further, before the zero point calibration procedure is entered, the method further comprises the following steps:
Before the zero calibration procedure is entered, the method further comprises the following steps:
when the robot is electrified, detecting the current encoder value of each current shaft motor, and comparing the current encoder value with the encoder value before power failure of each shaft motor before power failure;
If the difference value between the current encoder value and the encoder value before power failure is larger than a threshold value, judging that the zero point of the robot is lost; if the difference value between the encoder value and the encoder value before power-off is smaller than or equal to a threshold value during power-on, judging that the zero point of the robot is normal; it should be noted that the threshold is not unique and can be modified according to different requirements of encoder accuracy. The zero offset requirements of different thresholds on the robot are different, and when the thresholds are smaller, the zero offset tolerance on the robot is smaller, otherwise, the zero offset tolerance on the robot is larger. The threshold may be dependent on different production requirements.
After judging that the zero point of the robot is lost, reminding a user whether to perform a zero point calibration program or not;
If the user selects to enter a zero calibration program, entering the zero calibration program, and calculating the pulse offset; if the user chooses not to enter the zero calibration program, the encoder value is not biased, and the motion control calculation is performed according to the current encoder value.
The invention also provides a calibration device for implementing the industrial robot zero calibration method, which comprises the following steps:
a first unit for determining a current encoder value when the robot is powered on; i.e. the first unit automatically detects the encoder value of the robot when the robot is powered up.
The second unit records a mechanical zero point and automatically stores a coder value before power failure before the robot is powered off; the mechanical zero point can be set or set.
A third unit for calculating the mechanical zero offset value, the encoder zero offset value, and the pulse offset;
The teaching unit is used for carrying out information interaction with a user, prompting the user whether the zero point of the robot is lost or not, and entering a zero point calibration program or not according to the selection of the user; the teaching unit prompts a user after detecting zero loss, and the teaching unit comprises an input device through which the user determines whether the program enters a zero calibration program.
And the control unit receives the instruction of the teaching unit and automatically calibrates the zero point of the robot according to the pulse offset.
Further, the teaching unit prompts the user that the zero point correction of the robot is successful after the third unit calculates the pulse offset.
The zero calibration device of the robot can calibrate the zero of the industrial robot without manual operation of a user, and is high in zero recovery efficiency.
The invention also provides an electronic device for executing the zero calibration method, which comprises:
A processor; and
A memory having executable code stored thereon that, when executed by the processor, causes the processor to perform the calibration method as described above.
The memory stores a computer program executable on the processor; the memory includes a U disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a removable hard disk, a magnetic disk, or an optical disk, etc. various media in which program codes can be stored.
The processor may be a single-chip microcomputer or an industrial computer.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures. In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An industrial robot zero calibration method, comprising:
after entering a zero calibration program, acquiring a mechanical zero offset value based on the encoder value before power failure;
obtaining an encoder zero offset value through an encoder value before power failure and a current encoder value when power is supplied again;
Determining pulse offset required to be biased after zero loss of the robot through the encoder value before power failure, the mechanical zero offset value and the encoder zero offset value; the pulse bias is determined by the following formula: pulse bias = encoder value-mechanical zero bias value + encoder zero bias value before power off; the pulse bias is determined by the following formula: pulse bias = encoder value-mechanical zero bias value + encoder zero bias value before power off;
And compensating the encoder value by using the pulse offset during robot motion control calculation, and completing zero calibration.
2. The industrial robot zero point calibration method according to claim 1, wherein:
the compensation of the encoder value during the calculation of the robot motion control by using the pulse offset comprises the following steps:
subtracting the pulse offset from the current encoder value when power is on to obtain a motion control encoder value;
The position information of the robot is adjusted by the motion control using the encoder values.
3. The industrial robot zero point calibration method according to claim 1, wherein:
and if the robot does not set a mechanical zero point, the mechanical zero point deviation value is zero.
4. The industrial robot zero point calibration method according to claim 1, wherein:
The encoder zero offset value is determined by the following formula:
encoder zero offset value = current encoder value-encoder value before power down.
5. The industrial robot zero point calibration method according to any one of claims 1 to 4, wherein:
Before the zero calibration procedure is entered, the method further comprises the following steps:
when the robot is electrified, detecting the current encoder value of each current shaft motor, and comparing the current encoder value with the encoder value before power failure of each shaft motor before power failure;
if the difference value between the current encoder value and the encoder value before power failure is larger than a threshold value, judging that the zero point of the robot is lost; if the difference value between the encoder value and the encoder value before power-off is smaller than or equal to a threshold value during power-on, judging that the zero point of the robot is normal;
after judging that the zero point of the robot is lost, reminding a user whether to perform a zero point calibration program or not;
If the user selects to enter a zero calibration program, entering the zero calibration program, and calculating the pulse offset; if the user chooses not to enter the zero calibration program, the encoder value is not biased, and the motion control calculation is performed according to the current encoder value.
6. An industrial robot zero calibration device, comprising:
a first unit for determining a current encoder value when the robot is powered on;
the second unit records a mechanical zero point and automatically stores a coder value before power failure before the robot is powered off;
the third unit is used for calculating a mechanical zero offset value, an encoder zero offset value and a pulse offset;
the teaching unit is used for carrying out information interaction with a user, prompting the user whether the zero point of the robot is lost or not, and entering a zero point calibration program or not according to the selection of the user;
And the control unit receives the instruction of the teaching unit and automatically calibrates the zero point of the robot according to the pulse offset.
7. The industrial robot zero point calibration device according to claim 6, wherein:
And the teaching unit prompts the user that the zero point correction of the robot is successful after the third unit calculates the pulse offset.
8. An electronic device, comprising:
A processor; and
A memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the calibration method of any of claims 1-5.
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| CN114753072B (en) * | 2022-05-30 | 2023-07-28 | 浙江越隆缝制设备有限公司 | Embroidery machine tabouret power-off protection control method, system and device |
| CN114905517B (en) * | 2022-05-30 | 2024-02-09 | 菲尼克斯(南京)智能制造技术工程有限公司 | Robot control method, robot and control system thereof |
| CN115816449A (en) * | 2022-11-29 | 2023-03-21 | 广汽本田汽车有限公司 | Robot origin correction device and using method and equipment thereof |
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