CN114474045A - Robot absolute accuracy detection method and device and robot - Google Patents
Robot absolute accuracy detection method and device and robot Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 claims abstract description 27
- 238000003860 storage Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 238000012360 testing method Methods 0.000 abstract description 9
- 238000011031 large-scale manufacturing process Methods 0.000 abstract description 4
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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
- 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
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Abstract
The invention provides a method and a device for detecting the absolute accuracy of a robot and the robot, wherein the method comprises the following steps: acquiring a size value of a first part assembled on the robot; establishing a coordinate system by taking the tail end of the first part as an origin according to the size numerical value; controlling the end of the first part to be connected with the end of the second part; and controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result. The method has the advantages that the method is used for detecting the accuracy of the industrial robot, the assembly is simple and rapid, special performance testing equipment is not required to be configured, the cost is low, the testing method is simple to operate and easy to apply, the absolute accuracy of the industrial robot can be effectively verified, the robot is only required to be controlled to rotate along the coordinate axis, the accuracy testing time is greatly shortened, the detection time length is shortened, the detection efficiency is improved, and the method is suitable for accuracy detection of large-scale production in factories.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for detecting the absolute accuracy of a robot, the robot and a storage medium.
Background
In the field of robots, absolute accuracy is a set of compensation values measured by professional equipment, and the robot is compensated to improve the path accuracy of the robot, and a general kinematic control algorithm of the robot gives the rod length of the robot, such as L2 and L4 in fig. 1, and the reduction ratio of each joint, but due to manufacturing and assembly errors, control parameters such as the actual rod length and the reduction ratio always have certain deviation from the actual control parameters, and further the absolute accuracy of the robot is influenced.
At present, absolute precision testing of a robot is mainly performed through a laser tracker and matched testing software, the laser tracker is expensive in equipment, high in equipment cost, long in detection time, and not suitable for detection of large-scale production in factories, and the time consumption is generally about 2-3 hours.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for detecting absolute accuracy of a robot, and a storage medium, which can improve detection efficiency and are suitable for accuracy detection in mass production in a factory.
A method for detecting absolute accuracy of a robot, comprising:
acquiring a size value of a first part assembled on the robot;
establishing a coordinate system by taking the tail end of the first part as an origin according to the size numerical value;
controlling the end of the first part to be connected with the end of the second part;
and controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result.
An absolute accuracy detecting apparatus of a robot, comprising:
the size value acquisition module is used for acquiring the size value of a first part assembled on the robot;
the coordinate system establishing module is used for establishing a coordinate system by taking the tail end of the first part as an origin according to the size numerical value;
the connection control module is used for controlling the connection of the tail end of the first part and the tail end of the second part;
and the rotation control module is used for controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result.
A robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described method of absolute accuracy detection of a robot.
A computer-readable storage medium, storing a computer program which, when executed by a processor, implements the above-described absolute accuracy detection method for a robot.
The method and the device for detecting the absolute accuracy of the robot, the robot and the storage medium are used for detecting in a mode of setting the first part and the second part, the assembly is simple and rapid, special performance testing equipment is not required to be configured, the cost is low, the testing method is simple to operate and easy to apply, the absolute accuracy of the industrial robot can be effectively verified, the robot is only required to be controlled to rotate along the coordinate axis, the accuracy testing time is greatly shortened, the length of the detection time is shortened, the detection efficiency is improved, and the method and the device are suitable for accuracy detection of large-scale factory production.
Drawings
Fig. 1 is a schematic view of a motion model of an industrial robot according to the invention;
FIG. 2 is a schematic flow chart of a method for detecting absolute accuracy of a robot according to the present invention;
FIG. 3 is a schematic view of a first component of the present invention in engagement with a second component;
FIG. 4 is a schematic flow chart of a coordinate system establishing step in the present invention;
FIG. 5 is a schematic flow chart of a first detection result output step according to the present invention;
FIG. 6 is a flowchart illustrating a second detection result output step according to the present invention;
FIG. 7 is a dimensional schematic of a first component of the present invention;
FIG. 8 is a dimensional schematic of a flange interface of the present invention;
FIG. 9 is a schematic view of a first part of the present invention secured to the end of a robot;
FIG. 10 is a block diagram of an absolute accuracy detecting apparatus of a robot according to the present invention;
fig. 11 is an internal configuration diagram of the robot in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 2, a method for detecting an absolute accuracy of a robot is provided, which is described by taking the method as an example applied to a robot, and includes the following steps:
in the invention, the robot mainly refers to an industrial robot, a multi-joint manipulator or a multi-degree-of-freedom machine device used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by depending on the power energy and the control capability of the robot.
In terms of the first part, the first part may be a part with a sharp end of any shape or component, for example, the first part may include a needle point of a connector and may be connected to an end of a robot through the connector, the first part is only an example of the present invention, and any shape of part with a sharp end in the field may be applied to the robot in the present invention as the first part, so as to implement the above-mentioned absolute accuracy detection method.
Specifically, the size values of the first part, such as the length, the width, the height, and the like, can be obtained, and the invention does not excessively limit the types of the sizes.
For how to obtain the size value of the first part, the size value of the first part can be obtained through various modes such as infrared scanning or measurement, and then, a control system of the robot can obtain the size value; in an embodiment, the execution subject of the absolute accuracy detection method may be a control system of the detection apparatus, so that the control system of the detection apparatus may be connected with a control system of the robot to obtain the dimension value of the first part.
102, establishing a coordinate system by taking the tail end of the first part as an origin according to the size numerical value;
further, after obtaining the dimension value, a coordinate system may be established, specifically, the dimension value of the first part may be converted into corresponding coordinate data, and a coordinate system, that is, a coordinate system of a motion trajectory in the robot, in which the end of the first part is used as an origin, may be established with the end of the first part being used as the origin.
103, controlling the tail end of the first part to be connected with the tail end of the second part;
it should be noted that the second component may be disposed at any position within the moving range of the robot, and the present invention is not limited thereto.
In terms of the second component, it may also be any shape or component that includes a sharp end, such as a base and a second component that is composed of a needle point on the base.
Referring to FIG. 3, a schematic view of a first part of the present invention interfacing with a second part is shown; after the coordinate system is established, the control system of the robot can control the end of the first part and the end of the second part on the robot to be connected, namely, the end of the first part is contacted with the end of the second part, and under an ideal state, the distance between the first part and the second part approaches zero infinitely.
And 104, controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result.
Further applied to the embodiment, the control system of the robot may control the robot to rotate around the coordinate axis direction of the coordinate system, that is, may control the robot arm of the robot to rotate around the coordinate axis direction, and output the detection result;
after the rotation, the deviation degree between the tail end of the first part and the tail end of the second part can be judged, a threshold value can be preset, and when the distance between the tail end of the first part and the tail end of the second part is within the threshold value, the detection result is that the absolute precision of the robot body is qualified; and if the absolute accuracy of the robot body exceeds the threshold value, the obtained detection result is that the absolute accuracy of the robot body is unqualified.
In this application, detect through the mode that sets up first part and second part, the assembly is simple swift, need not dispose special performance test equipment, and is with low costs, and test method easy operation easily uses, can effectual verification industrial robot's absolute precision, only needs control robot to rotate along the coordinate axis, and the precision test time that has significantly reduced examines time length, improves detection efficiency, is applicable to the precision detection of mill's large-scale production.
Referring to FIG. 4, a flow chart illustrating a coordinate system establishing step of the present invention is shown; the steps include:
and step 12, establishing a coordinate system by taking the tail end of the first part as an origin according to the coordinate value.
In the invention, the size value of the first part is firstly converted into a coordinate value, for example, the size value of the first part can be d2, d3 and d4, and then the size value can be converted into the coordinate value to obtain (d2, -d4, d3,0,0,0), and a coordinate system is established by taking the tail end of the first part as an origin, so that the algorithm is simple and is easy to calculate.
Referring to FIG. 5, a flow chart of a first detection result output step of the present invention is shown; the method comprises the following steps:
step 22, judging whether the distance is smaller than a preset threshold value;
and step 23, outputting a first detection result when the distance is smaller than a preset threshold value.
Further, after the control system of the robot controls the robot to rotate around the coordinate axis direction of the coordinate system, the distance between the first part and the second part is obtained, that is, the distance between the end of the first part and the end of the second part opposite to the end of the first part is obtained, and then it is determined whether the distance is smaller than a preset threshold value, it should be noted that the preset threshold value may be any value set by a person skilled in the art according to an actual situation, which is not limited by the present invention.
If the preset threshold value can be 1mm, when the distance is smaller than 1mm, it is indicated that the deviation degree of the first part and the second part is not serious, the absolute precision of the robot body is qualified, and a first detection result is output: the absolute precision is qualified; and the detection result is rapidly output, and the detection efficiency is improved.
Referring to FIG. 6, a flow chart of a second detection result output step of the present invention is shown; the steps include:
and step 31, outputting a second detection result when the distance is larger than a preset threshold value.
When the distance between the tail end of the first part and the tail end of the opposite second part is larger than a preset threshold value, indicating that the deviation degree is serious, and outputting a second detection result: and if the absolute precision is unqualified, if the distance is greater than 1mm, the deviation degree of the first part and the second part is serious, the absolute precision of the robot body is unqualified, and the result can be displayed on a display device for convenient viewing.
The distance between the first part and the second part can be measured by an instrument such as a distance measuring instrument, the result is output to the robot, and the control system of the robot judges the distance.
In order that those skilled in the art will better understand the invention, the following description is given by way of a specific example:
referring to fig. 7, there is shown a schematic dimensional view of a first part of the present invention, which is mated with the robot end flange shown in fig. 8 with high precision by controlling the manufacturing precision of the locating pin holes and the locating bosses, as shown in fig. 9. The dimensions d2, d3 and d4 (i.e. d2, d3 and d4 in fig. 9) of the first part are measured using a high-precision measuring device with a positioning boss (fig. 7) machined with high precision as a measuring reference.
Referring to fig. 9, when the robot is in the zero position, the first part is fixed to the robot end flange through the positioning pin holes and the positioning bosses, and the demonstrator receives new information of a tool, to 1, the coordinate data of the tool, to 1, are (d2, -d4, d3,0,0,0), that is, a coordinate system is established with the needle point of the first part as an origin, and the needle point of the first part is controlled to rotate around the x, y and z axes of the coordinate system, theoretically, only the posture of the needle point changes, and the spatial position is fixed.
And controlling the robot to adjust the postures shown in the figure 3, aligning and connecting the needle points of the first part and the second part, controlling the needle point of the first part to rotate around the x, y and z axes of the coordinate data coordinate system, judging the deviation degree of the needle point of the first part and the needle point of the second part, judging that the absolute precision is qualified if the deviation is less than 1mm, and judging that the absolute precision is unqualified if the deviation is more than 1 mm.
Under the condition that the first part with the needle point is machined, the whole precision verification process only needs 10 minutes, the precision testing time is greatly shortened, and the method is suitable for precision detection in large-scale production of factories.
The first part machined with high precision as described above is intended to determine the relative position of the tip of the first part and the end of the robot at which the first part is fitted, as indicated by dimensions d2, d3, d4 in fig. 9. It is also within the scope of the invention if the relative position of the tip of the first part and the end of the robot can be determined with high accuracy by other means.
First, a first part with higher precision can be manufactured, one end of the first part can be fixed at the tail end of the robot, and the other end of the first part is provided with a needle point which can be matched with a tail end flange of the robot with high precision, so that the precise relative position of the needle point relative to the tail end flange can be determined.
The first part is matched with a flange at the tail end of the robot in a high-precision mode through a positioning pin hole and a positioning boss, then the relative position of the needle point and the positioning boss is determined through high-precision measuring equipment and is used as a tool value to be input into a control system of the robot, and the control system of the robot can receive the tool value.
And preparing a second part with a needle point, and fixing the second part at any position in the working range of the robot. And controlling the robot to align and connect the needle point of the first part fixed at the tail end of the robot flange with the needle point of the second part. And controlling the needle point of the first part to only change the posture, observing the deviation condition of the needle point of the first part and the needle point of the second part, judging that the absolute precision of the tested robot is good if the deviation is less than 1mm, and judging that the absolute precision of the tested robot is unqualified if the deviation is more than 1mm, so that the welding application and other applications cannot be met.
It should be understood that although the various steps in the flow charts of fig. 1-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 10, there is provided an absolute accuracy detecting apparatus of a robot, including: a dimension value acquisition module 301, a coordinate system establishment module 302, a connection control module 303 and a rotation control module 304, wherein:
a dimension value acquiring module 301, configured to acquire a dimension value of a first part mounted on the robot;
a coordinate system establishing module 302, configured to establish a coordinate system with the end of the first part as an origin according to the dimension value;
a connection control module 303 for controlling the connection of the end of the first part with the end of the second part;
and the rotation control module 304 is used for controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result.
In one embodiment, the coordinate system establishing module comprises:
the conversion submodule is used for converting the size numerical value into a coordinate numerical value;
and the coordinate system establishing submodule is used for establishing a coordinate system by taking the tail end of the first part as an origin according to the coordinate value.
In one embodiment, the rotation control module comprises:
the distance obtaining submodule is used for controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain the distance between the first part and the second part;
the judging submodule is used for judging whether the distance is smaller than a preset threshold value or not;
and the first detection result output submodule is used for outputting a first detection result when the distance is smaller than a preset threshold value.
In one embodiment, the apparatus further comprises:
and the second detection result output module is used for outputting a second detection result when the distance is greater than a preset threshold value.
For specific limitations of the absolute accuracy detection device of the robot, reference may be made to the above limitations of the absolute accuracy detection method of the robot, and details thereof are not repeated here. The modules in the absolute accuracy detection device of the robot can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the robot, and can also be stored in a memory in the robot in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a robot is provided that may include a variety of computer devices and a variety of mechanical component devices, the internal structure of which may be as shown in fig. 11. The robot comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the robot is used to provide computational and control capabilities. The storage of the robot comprises a nonvolatile storage medium and an internal storage. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the robot is used for performing wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a XXX method. The display screen of the robot can be a liquid crystal display screen or an electronic ink display screen, and the input device of the robot can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the robot, an external keyboard, a touch pad or a mouse and the like
Those skilled in the art will appreciate that the configuration shown in fig. 11 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the robot to which the present application is applied, and that a particular robot may include more or fewer components than those shown, or combine certain components, or have a different arrangement of components.
In one embodiment, a robot is provided comprising a memory having a computer program stored therein and a processor implementing the steps of fig. 1-4 when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, implements the steps of fig. 1-4.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for detecting absolute accuracy of a robot, comprising:
acquiring a size value of a first part assembled on the robot;
establishing a coordinate system by taking the tail end of the first part as an origin according to the size numerical value;
controlling the end of the first part to be connected with the end of the second part;
and controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result.
2. The absolute accuracy detecting method according to claim 1, wherein the establishing of the coordinate system with the end of the first part as an origin based on the dimension value includes:
converting the dimension values into coordinate values;
and establishing a coordinate system by taking the tail end of the first part as an origin according to the coordinate values.
3. The absolute accuracy detection method according to claim 1, wherein the controlling robot rotates around a coordinate axis direction of the coordinate system to obtain the detection result, and the method comprises:
controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain the distance between the first part and the second part;
judging whether the distance is smaller than a preset threshold value or not;
and outputting a first detection result when the distance is smaller than a preset threshold value.
4. The absolute accuracy detection method according to claim 3, characterized in that the method further comprises:
and outputting a second detection result when the distance is larger than a preset threshold value.
5. An absolute accuracy detecting apparatus for a robot, comprising:
the size value acquisition module is used for acquiring the size value of a first part assembled on the robot;
the coordinate system establishing module is used for establishing a coordinate system by taking the tail end of the first part as an origin according to the size numerical value;
the connection control module is used for controlling the connection of the tail end of the first part and the tail end of the second part;
and the rotation control module is used for controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain a detection result.
6. The absolute accuracy detection apparatus according to claim 5, wherein the coordinate system establishing module includes:
the conversion submodule is used for converting the size numerical value into a coordinate numerical value;
and the coordinate system establishing submodule is used for establishing a coordinate system by taking the tail end of the first part as an origin according to the coordinate value.
7. The absolute accuracy detection apparatus according to claim 5, wherein the rotation control module includes:
the distance obtaining submodule is used for controlling the robot to rotate around the coordinate axis direction of the coordinate system to obtain the distance between the first part and the second part;
the judgment submodule is used for judging whether the distance is smaller than a preset threshold value or not;
and the first detection result output submodule is used for outputting a first detection result when the distance is smaller than a preset threshold value.
8. The absolute accuracy detection apparatus according to claim 7, characterized in that the apparatus further comprises:
and the second detection result output module is used for outputting a second detection result when the distance is greater than a preset threshold value.
9. A robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of absolute accuracy detection of a robot as claimed in any one of claims 1 to 4.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the absolute accuracy detection method of the robot of any one of claims 1 to 4.
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